From 8634d1fbf539003daea4517d4a9786a49a59220a Mon Sep 17 00:00:00 2001 From: fgrossman Date: Wed, 27 May 2026 16:21:54 -0400 Subject: [PATCH 1/7] Changes for adding firmware loader This adds the firmware loader, and changes the old firmware checks to just say that an update is available. --- package.json | 3 +- public/firmware-loader/boards/xrp-2350.json | 34 + .../agxrp/AgXRPLib/agxrp_controller.py | 288 ++++ .../agxrp/AgXRPLib/agxrp_csv_logger.py | 171 +++ .../xrp-2350/agxrp/AgXRPLib/agxrp_sensor.py | 100 ++ .../agxrp/AgXRPLib/agxrp_sensor_as7343.py | 222 +++ .../agxrp/AgXRPLib/agxrp_sensor_kit copy.py | 362 +++++ .../agxrp/AgXRPLib/agxrp_sensor_kit.py | 466 ++++++ .../agxrp/AgXRPLib/agxrp_sensor_kit_demo.py | 232 +++ .../AgXRPLib/agxrp_sensor_resistive_soil.py | 140 ++ .../agxrp/AgXRPLib/agxrp_sensor_scd4x.py | 132 ++ .../agxrp/AgXRPLib/agxrp_sensor_soil.py | 149 ++ .../agxrp/AgXRPLib/agxrp_sensor_veml.py | 101 ++ .../agxrp/AgXRPLib/agxrp_water_pump.py | 223 +++ .../agxrp/AgXRPLib/agxrp_webserver.py | 1146 +++++++++++++++ .../xrp-2350/agxrp/AgXRPLib/qwiic_as7343.py | 1267 +++++++++++++++++ .../xrp-2350/agxrp/AgXRPLib/qwiic_cy8cmbr3.py | 1004 +++++++++++++ .../agxrp/AgXRPLib/qwiic_i2c/__init__.py | 202 +++ .../AgXRPLib/qwiic_i2c/circuitpython_i2c.py | 371 +++++ .../agxrp/AgXRPLib/qwiic_i2c/i2c_driver.py | 392 +++++ .../agxrp/AgXRPLib/qwiic_i2c/linux_i2c.py | 385 +++++ .../AgXRPLib/qwiic_i2c/micropython_i2c.py | 213 +++ .../agxrp/AgXRPLib/qwiic_oled/__init__.py | 63 + .../AgXRPLib/qwiic_oled/fonts/0_font5x7.bin | Bin 0 -> 1281 bytes .../AgXRPLib/qwiic_oled/fonts/1_font8x16.bin | Bin 0 -> 1542 bytes .../AgXRPLib/qwiic_oled/fonts/2_7segment.bin | Bin 0 -> 266 bytes .../qwiic_oled/fonts/3_fontlargenumber.bin | Bin 0 -> 798 bytes .../fonts/4_fontlargeletter31x48.bin | Bin 0 -> 10794 bytes .../agxrp/AgXRPLib/qwiic_oled/oled_fonts.py | 258 ++++ .../agxrp/AgXRPLib/qwiic_oled/oled_logos.py | 110 ++ .../AgXRPLib/qwiic_oled/qwiic_large_oled.py | 96 ++ .../AgXRPLib/qwiic_oled/qwiic_micro_oled.py | 97 ++ .../AgXRPLib/qwiic_oled/qwiic_oled_base.py | 1139 +++++++++++++++ .../AgXRPLib/qwiic_oled/qwiic_oled_display.py | 96 ++ .../xrp-2350/agxrp/AgXRPLib/qwiic_scd4x.py | 739 ++++++++++ .../AgXRPLib/qwiic_soil_moisture_sensor.py | 183 +++ .../xrp-2350/agxrp/AgXRPLib/qwiic_veml.py | 694 +++++++++ .../boards/xrp-2350/agxrp/XRPLib/__init__.py | 10 + .../boards/xrp-2350/agxrp/XRPLib/board.py | 127 ++ .../xrp-2350/agxrp/XRPLib/controller.py | 30 + .../boards/xrp-2350/agxrp/XRPLib/defaults.py | 34 + .../agxrp/XRPLib/differential_drive.py | 304 ++++ .../xrp-2350/agxrp/XRPLib/encoded_motor.py | 191 +++ .../boards/xrp-2350/agxrp/XRPLib/encoder.py | 119 ++ .../boards/xrp-2350/agxrp/XRPLib/gamepad.py | 97 ++ .../boards/xrp-2350/agxrp/XRPLib/imu.py | 559 ++++++++ .../boards/xrp-2350/agxrp/XRPLib/imu_defs.py | 83 ++ .../boards/xrp-2350/agxrp/XRPLib/motor.py | 96 ++ .../xrp-2350/agxrp/XRPLib/motor_group.py | 94 ++ .../boards/xrp-2350/agxrp/XRPLib/pid.py | 129 ++ .../xrp-2350/agxrp/XRPLib/rangefinder.py | 93 ++ .../xrp-2350/agxrp/XRPLib/reflectance.py | 49 + .../boards/xrp-2350/agxrp/XRPLib/resetbot.py | 62 + .../boards/xrp-2350/agxrp/XRPLib/servo.py | 66 + .../boards/xrp-2350/agxrp/XRPLib/timeout.py | 23 + .../boards/xrp-2350/agxrp/XRPLib/version.py | 1 + .../boards/xrp-2350/agxrp/XRPLib/webserver.py | 326 +++++ .../boards/xrp-2350/agxrp/ble/__init__.py | 0 .../xrp-2350/agxrp/ble/ble_uart_peripheral.py | 158 ++ .../boards/xrp-2350/agxrp/ble/blerepl.py | 99 ++ .../boards/xrp-2350/agxrp/ble/isrunning | Bin 0 -> 1 bytes .../boards/xrp-2350/agxrp/firmware.uf2 | Bin 0 -> 1725952 bytes .../boards/xrp-2350/agxrp/main.py | 155 ++ .../boards/xrp-2350/agxrp/phew/__init__.py | 77 + .../boards/xrp-2350/agxrp/phew/dns.py | 32 + .../boards/xrp-2350/agxrp/phew/logging.py | 111 ++ .../boards/xrp-2350/agxrp/phew/server.py | 358 +++++ .../boards/xrp-2350/agxrp/phew/template.py | 65 + .../boards/xrp-2350/agxrp/project.json | 77 + .../micropython/XRPExamples/__init__.py | 0 .../XRPExamples/dashboard sample.py | 65 + .../micropython/XRPExamples/drive_examples.py | 72 + .../XRPExamples/gamepad_example.blocks | 15 + .../XRPExamples/installation_verification.py | 84 ++ .../micropython/XRPExamples/led_example.py | 79 + .../XRPExamples/sensor_examples.py | 75 + .../XRPExamples/webserver_example.py | 48 + .../micropython/XRPExamples/xrp_test.py | 76 + .../xrp-2350/micropython/XRPLib/__init__.py | 10 + .../xrp-2350/micropython/XRPLib/board.py | 127 ++ .../xrp-2350/micropython/XRPLib/controller.py | 30 + .../xrp-2350/micropython/XRPLib/dashboard.py | 257 ++++ .../xrp-2350/micropython/XRPLib/defaults.py | 34 + .../micropython/XRPLib/differential_drive.py | 340 +++++ .../micropython/XRPLib/encoded_motor.py | 191 +++ .../xrp-2350/micropython/XRPLib/encoder.py | 119 ++ .../xrp-2350/micropython/XRPLib/gamepad.py | 169 +++ .../boards/xrp-2350/micropython/XRPLib/imu.py | 559 ++++++++ .../xrp-2350/micropython/XRPLib/imu_defs.py | 83 ++ .../xrp-2350/micropython/XRPLib/motor.py | 96 ++ .../micropython/XRPLib/motor_group.py | 94 ++ .../boards/xrp-2350/micropython/XRPLib/pid.py | 129 ++ .../xrp-2350/micropython/XRPLib/puppet.py | 869 +++++++++++ .../micropython/XRPLib/rangefinder.py | 93 ++ .../micropython/XRPLib/reflectance.py | 49 + .../xrp-2350/micropython/XRPLib/resetbot.py | 76 + .../xrp-2350/micropython/XRPLib/servo.py | 66 + .../xrp-2350/micropython/XRPLib/timeout.py | 23 + .../xrp-2350/micropython/XRPLib/webserver.py | 326 +++++ .../xrp-2350/micropython/ble/__init__.py | 0 .../micropython/ble/ble_uart_peripheral.py | 158 ++ .../xrp-2350/micropython/ble/blerepl.py | 99 ++ .../boards/xrp-2350/micropython/ble/isrunning | Bin 0 -> 1 bytes .../boards/xrp-2350/micropython/firmware.uf2 | Bin 0 -> 1725952 bytes .../xrp-2350/micropython/phew/__init__.py | 77 + .../boards/xrp-2350/micropython/phew/dns.py | 32 + .../xrp-2350/micropython/phew/logging.py | 111 ++ .../xrp-2350/micropython/phew/server.py | 358 +++++ .../xrp-2350/micropython/phew/template.py | 65 + .../boards/xrp-2350/micropython/project.json | 45 + .../XRPExamples/__init__.py | 0 .../XRPExamples/dashboard sample.py | 65 + .../XRPExamples/drive_examples.py | 72 + .../XRPExamples/gamepad_example.blocks | 15 + .../XRPExamples/installation_verification.py | 84 ++ .../XRPExamples/led_example.py | 79 + .../XRPExamples/sensor_examples.py | 75 + .../XRPExamples/webserver_example.py | 48 + .../XRPExamples/xrp_test.py | 76 + .../sparkfun-red-vision/XRPLib/__init__.py | 10 + .../sparkfun-red-vision/XRPLib/board.py | 127 ++ .../sparkfun-red-vision/XRPLib/controller.py | 30 + .../sparkfun-red-vision/XRPLib/dashboard.py | 257 ++++ .../sparkfun-red-vision/XRPLib/defaults.py | 34 + .../XRPLib/differential_drive.py | 340 +++++ .../XRPLib/encoded_motor.py | 191 +++ .../sparkfun-red-vision/XRPLib/encoder.py | 119 ++ .../sparkfun-red-vision/XRPLib/gamepad.py | 169 +++ .../sparkfun-red-vision/XRPLib/imu.py | 559 ++++++++ .../sparkfun-red-vision/XRPLib/imu_defs.py | 83 ++ .../sparkfun-red-vision/XRPLib/motor.py | 96 ++ .../sparkfun-red-vision/XRPLib/motor_group.py | 94 ++ .../sparkfun-red-vision/XRPLib/pid.py | 129 ++ .../sparkfun-red-vision/XRPLib/puppet.py | 869 +++++++++++ .../sparkfun-red-vision/XRPLib/rangefinder.py | 93 ++ .../sparkfun-red-vision/XRPLib/reflectance.py | 49 + .../sparkfun-red-vision/XRPLib/resetbot.py | 76 + .../sparkfun-red-vision/XRPLib/servo.py | 66 + .../sparkfun-red-vision/XRPLib/timeout.py | 23 + .../sparkfun-red-vision/XRPLib/webserver.py | 326 +++++ .../sparkfun-red-vision/ble/__init__.py | 0 .../ble/ble_uart_peripheral.py | 158 ++ .../sparkfun-red-vision/ble/blerepl.py | 99 ++ .../sparkfun-red-vision/ble/isrunning | Bin 0 -> 1 bytes .../xrp-2350/sparkfun-red-vision/firmware.uf2 | Bin 0 -> 8610816 bytes .../sparkfun-red-vision/phew/__init__.py | 77 + .../xrp-2350/sparkfun-red-vision/phew/dns.py | 32 + .../sparkfun-red-vision/phew/logging.py | 111 ++ .../sparkfun-red-vision/phew/server.py | 358 +++++ .../sparkfun-red-vision/phew/template.py | 65 + .../xrp-2350/sparkfun-red-vision/project.json | 45 + .../boards/xrp-2350/wpilib/firmware.uf2 | Bin 0 -> 956416 bytes .../boards/xrp-2350/wpilib/project.json | 6 + public/firmware-loader/boards/xrp-beta.json | 20 + .../micropython/XRPExamples/__init__.py | 0 .../XRPExamples/dashboard sample.py | 65 + .../micropython/XRPExamples/drive_examples.py | 72 + .../XRPExamples/gamepad_example.blocks | 15 + .../XRPExamples/installation_verification.py | 84 ++ .../micropython/XRPExamples/led_example.py | 79 + .../XRPExamples/sensor_examples.py | 75 + .../XRPExamples/webserver_example.py | 48 + .../micropython/XRPExamples/xrp_test.py | 76 + .../xrp-beta/micropython/XRPLib/__init__.py | 10 + .../xrp-beta/micropython/XRPLib/board.py | 127 ++ .../xrp-beta/micropython/XRPLib/controller.py | 30 + .../xrp-beta/micropython/XRPLib/dashboard.py | 257 ++++ .../xrp-beta/micropython/XRPLib/defaults.py | 34 + .../micropython/XRPLib/differential_drive.py | 340 +++++ .../micropython/XRPLib/encoded_motor.py | 191 +++ .../xrp-beta/micropython/XRPLib/encoder.py | 119 ++ .../xrp-beta/micropython/XRPLib/gamepad.py | 169 +++ .../boards/xrp-beta/micropython/XRPLib/imu.py | 559 ++++++++ .../xrp-beta/micropython/XRPLib/imu_defs.py | 83 ++ .../xrp-beta/micropython/XRPLib/motor.py | 96 ++ .../micropython/XRPLib/motor_group.py | 94 ++ .../boards/xrp-beta/micropython/XRPLib/pid.py | 129 ++ .../xrp-beta/micropython/XRPLib/puppet.py | 869 +++++++++++ .../micropython/XRPLib/rangefinder.py | 93 ++ .../micropython/XRPLib/reflectance.py | 49 + .../xrp-beta/micropython/XRPLib/resetbot.py | 76 + .../xrp-beta/micropython/XRPLib/servo.py | 66 + .../xrp-beta/micropython/XRPLib/timeout.py | 23 + .../xrp-beta/micropython/XRPLib/webserver.py | 326 +++++ .../xrp-beta/micropython/ble/__init__.py | 0 .../micropython/ble/ble_uart_peripheral.py | 158 ++ .../xrp-beta/micropython/ble/blerepl.py | 99 ++ .../boards/xrp-beta/micropython/ble/isrunning | Bin 0 -> 1 bytes .../boards/xrp-beta/micropython/firmware.uf2 | Bin 0 -> 1736704 bytes .../xrp-beta/micropython/phew/__init__.py | 77 + .../boards/xrp-beta/micropython/phew/dns.py | 32 + .../xrp-beta/micropython/phew/logging.py | 111 ++ .../xrp-beta/micropython/phew/server.py | 358 +++++ .../xrp-beta/micropython/phew/template.py | 65 + .../boards/xrp-beta/micropython/project.json | 45 + .../boards/xrp-beta/wpilib/firmware.uf2 | Bin 0 -> 945152 bytes .../boards/xrp-beta/wpilib/project.json | 6 + .../firmware-loader/images/board-xrp-2350.jpg | Bin 0 -> 71454 bytes .../images/board-xrp-2350_bootsel.jpg | Bin 0 -> 129864 bytes .../images/board-xrp-2350_poweroff.jpg | Bin 0 -> 130327 bytes .../images/board-xrp-2350_selectdir.jpg | Bin 0 -> 122297 bytes .../firmware-loader/images/board-xrp-beta.jpg | Bin 0 -> 72488 bytes .../images/board-xrp-beta_bootsel.jpg | Bin 0 -> 121287 bytes .../images/board-xrp-beta_poweroff.jpg | Bin 0 -> 124013 bytes .../images/board-xrp-beta_selectdir.jpg | Bin 0 -> 48224 bytes .../firmware-loader/images/project-agxrp.svg | 5 + .../images/project-micropython.svg | 4 + .../images/project-sparkfun-red-vision.svg | 7 + .../firmware-loader/images/project-wpilib.svg | 5 + public/firmware-loader/index.json | 20 + public/firmware-loader/wizard-assets.json | 23 + src/assets/images/firmware-loader.svg | 4 + .../dialogs/firmware-backup-promptdlg.tsx | 68 + .../dialogs/firmware-install-wizard.tsx | 620 ++++++++ src/components/dialogs/firmware-loaderdlg.tsx | 453 ++++++ src/components/navbar.tsx | 229 ++- src/connections/usbconnection.ts | 72 +- src/managers/commandstoxrpmgr.ts | 110 +- src/managers/connectionmgr.ts | 2 + src/utils/i18n/locales/en/en.json | 48 + src/utils/i18n/locales/es/es.json | 48 + 221 files changed, 31892 insertions(+), 158 deletions(-) create mode 100644 public/firmware-loader/boards/xrp-2350.json create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_controller.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_csv_logger.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_as7343.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit copy.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit_demo.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_resistive_soil.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_scd4x.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_soil.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_veml.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_water_pump.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_webserver.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_as7343.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_cy8cmbr3.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/__init__.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/circuitpython_i2c.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/i2c_driver.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/linux_i2c.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/micropython_i2c.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/__init__.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/0_font5x7.bin create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/1_font8x16.bin create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/2_7segment.bin create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/3_fontlargenumber.bin create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/4_fontlargeletter31x48.bin create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/oled_fonts.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/oled_logos.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_large_oled.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_micro_oled.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_oled_base.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_oled_display.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_scd4x.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_soil_moisture_sensor.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_veml.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/__init__.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/board.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/controller.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/defaults.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/differential_drive.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/encoded_motor.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/encoder.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/gamepad.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/imu.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/imu_defs.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/motor.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/motor_group.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/pid.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/rangefinder.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/reflectance.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/resetbot.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/servo.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/timeout.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/version.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/webserver.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/ble/__init__.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/ble/ble_uart_peripheral.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/ble/blerepl.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/ble/isrunning create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/firmware.uf2 create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/main.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/phew/__init__.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/phew/dns.py create mode 100644 public/firmware-loader/boards/xrp-2350/agxrp/phew/logging.py create mode 100644 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public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/webserver_example.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/xrp_test.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/__init__.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/board.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/controller.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/dashboard.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/defaults.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/differential_drive.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoded_motor.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoder.py create mode 100644 public/firmware-loader/boards/xrp-2350/micropython/XRPLib/gamepad.py create 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create mode 100644 public/firmware-loader/images/board-xrp-beta_selectdir.jpg create mode 100644 public/firmware-loader/images/project-agxrp.svg create mode 100644 public/firmware-loader/images/project-micropython.svg create mode 100644 public/firmware-loader/images/project-sparkfun-red-vision.svg create mode 100644 public/firmware-loader/images/project-wpilib.svg create mode 100644 public/firmware-loader/index.json create mode 100644 public/firmware-loader/wizard-assets.json create mode 100644 src/assets/images/firmware-loader.svg create mode 100644 src/components/dialogs/firmware-backup-promptdlg.tsx create mode 100644 src/components/dialogs/firmware-install-wizard.tsx create mode 100644 src/components/dialogs/firmware-loaderdlg.tsx diff --git a/package.json b/package.json index 1f72390..7585558 100644 --- a/package.json +++ b/package.json @@ -11,8 +11,7 @@ "build": "tsc -b && vite build", "lint": "eslint .", "preview": "vite preview --base=./ --open", - "test": "vitest", - "postinstall": "flowbite-react patch" + "test": "vitest" }, "dependencies": { "@blockly/field-colour": "^6.0.4", diff --git a/public/firmware-loader/boards/xrp-2350.json b/public/firmware-loader/boards/xrp-2350.json new file mode 100644 index 0000000..8a0b970 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350.json @@ -0,0 +1,34 @@ +{ + "title": "XRP — choose a project", + "description": "Select the firmware package to install on this board.", + "projects": [ + { + "id": "micropython", + "name": "MicroPython", + "description": "MicroPython runtime and XRP libraries.", + "image": "/firmware-loader/images/project-micropython.svg", + "nextLevel": "boards/xrp-2350/micropython/project.json" + }, + { + "id": "wpilib", + "name": "WPILib", + "description": "WPILib-based firmware and tools.", + "image": "/firmware-loader/images/project-wpilib.svg", + "nextLevel": "boards/xrp-2350/wpilib/project.json" + }, + { + "id": "agxrp", + "name": "AgXRP", + "description": "AgXRP firmware and resources for agricultural robotics use cases.", + "image": "/firmware-loader/images/project-agxrp.svg", + "nextLevel": "boards/xrp-2350/agxrp/project.json" + }, + { + "id": "sparkfun-red-vision", + "name": "SparkFun Red Vision Board", + "description": "Firmware and configuration for the SparkFun Red Vision board.", + "image": "/firmware-loader/images/project-sparkfun-red-vision.svg", + "nextLevel": "boards/xrp-2350/sparkfun-red-vision/project.json" + } + ] +} diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_controller.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_controller.py new file mode 100644 index 0000000..3f9554b --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_controller.py @@ -0,0 +1,288 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_controller.py +# +# AgXRPController class that manages automatic watering control for plant systems. +# Each plant system consists of a soil moisture sensor and water pump pair. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +import time +import uasyncio +from lib.AgXRPLib.agxrp_water_pump import AgXRPWaterPump + +class AgXRPController: + """! + Controller class that manages automatic watering control for plant systems. + + This class coordinates soil moisture sensors and water pumps to automatically + water plants when soil moisture falls below a threshold. Each plant system + consists of a soil sensor and pump pair with independent control parameters. + """ + + def __init__(self, sensor_kit): + """! + Constructor + + @param sensor_kit: AgXRPSensorKit instance + """ + self._sensor_kit = sensor_kit + self._water_pumps = {} # Dictionary mapping pump_index to AgXRPWaterPump + self._plant_systems = {} # Dictionary mapping (sensor_index, pump_index) tuple to plant system data + self._control_loop_task = None + self._control_loop_running = False + + def get_sensor_kit(self): + """! + Get the sensor kit instance. + + @return **AgXRPSensorKit** The sensor kit instance + """ + return self._sensor_kit + + def register_water_pump(self, pump_index: int, csv_filename: str = None): + """! + Register a water pump for control. + + @param pump_index: The motor index for the pump (1, 2, 3, or 4) + @type pump_index: int + @param csv_filename: Optional CSV filename for logging (default: "water_pump_log_{index}.csv") + @type csv_filename: str + @return **bool** True if registration was successful, False otherwise + """ + if pump_index in self._water_pumps: + print(f"WARNING: Pump {pump_index} is already registered. Overwriting...") + + try: + if csv_filename is None: + csv_filename = f"water_pump_log_{pump_index}.csv" + + pump = AgXRPWaterPump(index=pump_index, csv_filename=csv_filename) + self._water_pumps[pump_index] = pump + print(f"Water pump {pump_index} registered successfully") + return True + except Exception as e: + print(f"ERROR: Failed to register water pump {pump_index}: {e}") + return False + + def get_pump(self, pump_index: int): + """! + Get a water pump instance by index. + + @param pump_index: The pump index + @type pump_index: int + @return **AgXRPWaterPump** The pump instance, or None if not registered + """ + return self._water_pumps.get(pump_index) + + def register_plant_system(self, sensor_index: int, pump_index: int, + interval_minutes: float, threshold: float, + duration_seconds: float, enabled: bool = True): + """! + Register a plant system (sensor + pump pair) for automatic control. + + @param sensor_index: Soil sensor index (1-4) + @type sensor_index: int + @param pump_index: Pump index (must be registered first) + @type pump_index: int + @param interval_minutes: Frequency to check soil moisture in minutes (can be fractional) + @type interval_minutes: float + @param threshold: Soil moisture threshold below which to water (pF for capacitive sensors, 0-100% for resistive) + @type threshold: float + @param duration_seconds: How long to run the pump when watering (seconds) + @type duration_seconds: float + @param enabled: Whether the control loop is active for this system (default: True) + @type enabled: bool + @return **bool** True if registration was successful, False otherwise + """ + if sensor_index not in [1, 2, 3, 4]: + print(f"ERROR: Invalid sensor index {sensor_index}. Must be 1-4.") + return False + + if pump_index not in self._water_pumps: + print(f"ERROR: Pump {pump_index} not registered. Register pump first.") + return False + + # Verify sensor exists + sensor = self._sensor_kit.soil_sensors.get(sensor_index) + if sensor is None or not sensor.is_connected(): + print(f"ERROR: Soil sensor {sensor_index} not registered or not connected.") + return False + + system_key = (sensor_index, pump_index) + + # Create or update plant system + self._plant_systems[system_key] = { + "sensor_index": sensor_index, + "pump_index": pump_index, + "interval_minutes": interval_minutes, + "threshold": threshold, + "duration_seconds": duration_seconds, + "enabled": enabled, + "last_check_time": time.time() + } + + print(f"Plant system registered: Sensor {sensor_index} -> Pump {pump_index} " + f"(Interval: {interval_minutes} min, Threshold: {threshold}%, " + f"Duration: {duration_seconds}s, Enabled: {enabled})") + return True + + def update_plant_system(self, sensor_index: int, pump_index: int, **kwargs): + """! + Update plant system parameters. + + @param sensor_index: Soil sensor index (1-4) + @type sensor_index: int + @param pump_index: Pump index + @type pump_index: int + @param kwargs: Parameters to update (interval_minutes, threshold, duration_seconds, enabled) + @return **bool** True if update was successful, False otherwise + """ + system_key = (sensor_index, pump_index) + + if system_key not in self._plant_systems: + print(f"ERROR: Plant system (Sensor {sensor_index}, Pump {pump_index}) not registered.") + return False + + system = self._plant_systems[system_key] + + # Update allowed parameters + if "interval_minutes" in kwargs: + system["interval_minutes"] = float(kwargs["interval_minutes"]) + if "threshold" in kwargs: + system["threshold"] = float(kwargs["threshold"]) + if "duration_seconds" in kwargs: + system["duration_seconds"] = float(kwargs["duration_seconds"]) + if "enabled" in kwargs: + system["enabled"] = bool(kwargs["enabled"]) + + print(f"Plant system updated: Sensor {sensor_index} -> Pump {pump_index}") + return True + + def get_plant_systems(self): + """! + Get all registered plant systems. + + @return **dict** Dictionary of plant systems, keyed by (sensor_index, pump_index) tuple + """ + return self._plant_systems.copy() + + def get_plant_system(self, sensor_index: int, pump_index: int): + """! + Get a specific plant system. + + @param sensor_index: Soil sensor index (1-4) + @type sensor_index: int + @param pump_index: Pump index + @type pump_index: int + @return **dict** Plant system data, or None if not found + """ + system_key = (sensor_index, pump_index) + return self._plant_systems.get(system_key) + + async def _control_loop(self): + """! + Internal async control loop that checks plant systems and activates pumps. + + This method runs continuously, checking each enabled plant system at its + specified interval and activating pumps when soil moisture is below threshold. + """ + while self._control_loop_running: + current_time = time.time() + + # Check each plant system + for system_key, system in self._plant_systems.items(): + if not system["enabled"]: + continue + + sensor_index = system["sensor_index"] + pump_index = system["pump_index"] + interval_seconds = system["interval_minutes"] * 60.0 + + # Check if enough time has passed since last check + time_since_last_check = current_time - system["last_check_time"] + + if time_since_last_check >= interval_seconds: + # Time to check this system + try: + # Get soil moisture reading + sensor = self._sensor_kit.soil_sensors.get(sensor_index) + + if sensor and sensor.is_connected(): + # Update sensor to get latest reading + sensor.update() + moisture = sensor.get_moisture() + unit = "%" if sensor.get_sensor_name() == "ResistiveSoil" else "pF" + print(f"Control check: Sensor {sensor_index} -> Pump {pump_index}: " + f"Moisture = {moisture:.1f} {unit}, Threshold = {system['threshold']:.1f} {unit}") + + # Check if watering is needed + if moisture < system["threshold"]: + print(f"Watering needed! Activating Pump {pump_index} for {system['duration_seconds']}s") + + # Get pump and activate it + pump = self._water_pumps[pump_index] + if pump: + # Activate pump with logging + pump.set_pump_effort( + effort=1, + time_ms=int(system["duration_seconds"] * 1000), + log=True, + soil_moisture=moisture + ) + + # Update last check time + system["last_check_time"] = current_time + else: + print(f"WARNING: Sensor {sensor_index} not connected. Skipping check.") + except Exception as e: + print(f"ERROR in control loop for system {system_key}: {e}") + + # Sleep for a short interval before next check (1 second) + await uasyncio.sleep(1.0) + + def start_control_loop(self): + """! + Start the async control loop. + + This creates a background task that continuously monitors and controls + all enabled plant systems. + """ + if self._control_loop_running: + print("WARNING: Control loop is already running.") + return + + if len(self._plant_systems) == 0: + print("WARNING: No plant systems registered. Control loop will do nothing.") + return + + self._control_loop_running = True + + try: + loop = uasyncio.get_event_loop() + self._control_loop_task = loop.create_task(self._control_loop()) + print("Control loop started") + except Exception as e: + print(f"ERROR: Failed to start control loop: {e}") + self._control_loop_running = False + + def stop_control_loop(self): + """! + Stop the async control loop. + """ + if not self._control_loop_running: + print("WARNING: Control loop is not running.") + return + + self._control_loop_running = False + + if self._control_loop_task: + try: + self._control_loop_task.cancel() + except: + pass + self._control_loop_task = None + + print("Control loop stopped") + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_csv_logger.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_csv_logger.py new file mode 100644 index 0000000..30077e0 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_csv_logger.py @@ -0,0 +1,171 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_csv_logger.py +# +# CSV logger class for periodic logging of sensor data. +# Uses Micropython Timer for periodic logging. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +import time + +try: + from machine import Timer, RTC + MICROPYTHON = True +except ImportError: + # Fallback for non-Micropython environments (for testing) + MICROPYTHON = False + import threading + from datetime import datetime + +class AgXRPCSVLogger: + """! + CSV logger for periodic logging of sensor data. + + This class manages periodic CSV file logging using a Micropython Timer. + It collects data from all registered sensors and writes it to a CSV file + at specified intervals. + """ + + def __init__(self, filename, period_ms): + """! + Constructor + + @param filename: Name of the CSV file to write to + @param period_ms: Logging period in milliseconds + """ + self._filename = filename + self._period_ms = period_ms + self._timer = None + self._header_written = False + self._sensor_data_callback = None + self._running = False + + def set_sensor_data_callback(self, callback): + """! + Set the callback function to collect sensor data. + + The callback should return a dictionary with all sensor data. + + @param callback: Function that returns a dict of sensor data + """ + self._sensor_data_callback = callback + + def _get_datetime_string(self): + """! + Get current date/time as a formatted string. + + Uses RTC in Micropython, or datetime in standard Python. + + @return **str** Formatted datetime string (YYYY-MM-DD HH:MM:SS) + """ + if MICROPYTHON: + try: + rtc = RTC() + dt = rtc.datetime() + # RTC.datetime() returns: (year, month, day, weekday, hours, minutes, seconds, subseconds) + return f"{dt[0]:04d}-{dt[1]:02d}-{dt[2]:02d} {dt[4]:02d}:{dt[5]:02d}:{dt[6]:02d}" + except Exception as e: + print(f"Error getting RTC datetime: {e}") + return "0000-00-00 00:00:00" + else: + # Fallback for non-Micropython + return datetime.now().strftime("%Y-%m-%d %H:%M:%S") + + def _write_header(self, fieldnames): + """! + Write CSV header row. + + @param fieldnames: List of column names + """ + try: + with open(self._filename, 'w') as f: + f.write(','.join(fieldnames) + '\n') + self._header_written = True + except Exception as e: + print(f"Error writing CSV header: {e}") + + def _write_row(self, data_dict): + """! + Write a data row to the CSV file. + + @param data_dict: Dictionary of sensor data + """ + try: + # Append mode - header should already be written + with open(self._filename, 'a') as f: + # Always start with datetime string from RTC + row = [self._get_datetime_string()] + + # Add sensor values in consistent order + for key in sorted(data_dict.keys()): + row.append(str(data_dict[key])) + + f.write(','.join(row) + '\n') + except Exception as e: + print(f"Error writing CSV row: {e}") + + def _timer_callback(self, timer=None): + """! + Timer callback function that collects and logs data. + + @param timer: Timer object (for Micropython) + """ + if not self._running or self._sensor_data_callback is None: + return + + try: + # Collect data from all sensors + data_dict = self._sensor_data_callback() + + if data_dict: + # Write header if not already written + if not self._header_written: + # Create fieldnames list: datetime + sorted sensor keys + fieldnames = ['datetime'] + sorted(data_dict.keys()) + self._write_header(fieldnames) + + # Write data row + self._write_row(data_dict) + except Exception as e: + print(f"Error in CSV logger callback: {e}") + + def start(self): + """! + Start the periodic logging timer. + """ + if self._running: + return + + self._running = True + + if MICROPYTHON: + # Micropython Timer + self._timer = Timer(-1) # Virtual timer + self._timer.init( + period=self._period_ms, + mode=Timer.PERIODIC, + callback=self._timer_callback + ) + else: + # Fallback for non-Micropython (for testing) + def periodic_log(): + while self._running: + self._timer_callback() + time.sleep(self._period_ms / 1000.0) + + self._timer = threading.Thread(target=periodic_log, daemon=True) + self._timer.start() + + def stop(self): + """! + Stop the periodic logging timer. + """ + self._running = False + + if self._timer: + if MICROPYTHON: + self._timer.deinit() + self._timer = None + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor.py new file mode 100644 index 0000000..4c16726 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor.py @@ -0,0 +1,100 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor.py +# +# Base interface class for AgXRP sensor wrappers. +# All sensor wrappers inherit from this class to provide a common interface. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +class AgXRPSensor: + """! + Base class for all AgXRP sensor wrappers. + + This class defines the common interface that all sensor wrappers should implement. + It provides a consistent API for the AgXRPSensorKit to interact with different sensors. + """ + + def __init__(self, i2c_driver=None): + """! + Constructor + + @param i2c_driver: Optional I2C driver instance to use + """ + self._i2c_driver = i2c_driver + self._sensor = None + self._connected = False + + def update(self): + """! + Read the latest sensor data and store it internally. + + This method should be called periodically to refresh sensor readings. + It should handle errors gracefully and return True on success, False on failure. + + Subclasses must override this method. + + @return **bool** True if update was successful, False otherwise + """ + raise NotImplementedError("Subclasses must implement update()") + + def get_display_lines(self): + """! + Get formatted strings for OLED display. + + Returns a list of strings, each representing one line to display on the OLED. + The strings should be formatted appropriately for the display size. + + Subclasses must override this method. + + @return **list** List of strings, one per display line + """ + raise NotImplementedError("Subclasses must implement get_display_lines()") + + def get_csv_data(self): + """! + Get sensor data as a dictionary for CSV logging. + + Returns a dictionary where keys are column names and values are the sensor readings. + The dictionary will be merged with other sensors' data for CSV output. + + Subclasses must override this method. + + @return **dict** Dictionary of sensor values with descriptive keys + """ + raise NotImplementedError("Subclasses must implement get_csv_data()") + + def get_sensor_name(self): + """! + Get the sensor identifier name. + + Returns a string identifier for this sensor type (e.g., "SCD4x", "AS7343", "VEML"). + + Subclasses must override this method. + + @return **str** Sensor name identifier + """ + raise NotImplementedError("Subclasses must implement get_sensor_name()") + + def is_connected(self): + """! + Check if the sensor is connected and initialized. + + @return **bool** True if sensor is connected, False otherwise + """ + return self._connected + + def begin(self): + """! + Initialize the sensor. + + This method should initialize the underlying sensor hardware and configure it + for normal operation. It should set self._connected appropriately. + + Subclasses must override this method. + + @return **bool** True if initialization was successful, False otherwise + """ + raise NotImplementedError("Subclasses must implement begin()") + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_as7343.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_as7343.py new file mode 100644 index 0000000..fc21539 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_as7343.py @@ -0,0 +1,222 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor_as7343.py +# +# Wrapper class for the AS7343 spectral sensor. +# Provides a unified interface for the AgXRPSensorKit. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +from lib.AgXRPLib.qwiic_as7343 import QwiicAS7343 +from lib.AgXRPLib.agxrp_sensor import AgXRPSensor + +class AgXRPSensorAS7343(AgXRPSensor): + """! + Wrapper class for the Qwiic AS7343 spectral sensor. + + This class wraps the QwiicAS7343 sensor and provides a common interface + for reading spectral data (Blue, Green, Red, NIR values). + """ + + def __init__(self, i2c_driver=None): + """! + Constructor + + @param i2c_driver: I2C driver instance to use + """ + super().__init__(i2c_driver) + self._blue = 0 + self._green = 0 + self._red = 0 + self._nir = 0 + + def begin(self): + """! + Initialize the AS7343 sensor. + + This includes powering on, setting AutoSmux to 18 channels, + and enabling spectral measurements. + + @return **bool** True if initialization was successful, False otherwise + """ + try: + self._sensor = QwiicAS7343(i2c_driver=self._i2c_driver) + + if not self._sensor.is_connected(): + return False + + if not self._sensor.begin(): + return False + + # Power on the device + self._sensor.power_on() + + # Set AutoSmux to output all 18 channels + if not self._sensor.set_auto_smux(self._sensor.kAutoSmux18Channels): + return False + + # Enable spectral measurements + if not self._sensor.spectral_measurement_enable(): + return False + + self._connected = True + return True + except Exception as e: + print(f"Error initializing AS7343: {e}") + return False + + def update(self): + """! + Read the latest sensor data. + + Reads all spectral channels and calculates Blue, Green, Red, and NIR values. + + @return **bool** True if data was read successfully, False otherwise + """ + if not self._connected or self._sensor is None: + return False + + try: + # Read all spectral data + self._sensor.read_all_spectral_data() + + # Calculate the 4 values + # 1) Blue: average of kChPurpleF1405nm, kChDarkBlueF2425nm, kChBlueFz450nm, + # kChLightBlueF3475nm, kChBlueF4515nm + blue_channels = [ + self._sensor.get_data(self._sensor.kChPurpleF1405nm), + self._sensor.get_data(self._sensor.kChDarkBlueF2425nm), + self._sensor.get_data(self._sensor.kChBlueFz450nm), + self._sensor.get_data(self._sensor.kChLightBlueF3475nm), + self._sensor.get_data(self._sensor.kChBlueF4515nm) + ] + blue_value = sum(blue_channels) / len(blue_channels) + + # 2) Green: average of kChGreenF5550nm, kChGreenFy555nm + green_channels = [ + self._sensor.get_data(self._sensor.kChGreenF5550nm), + self._sensor.get_data(self._sensor.kChGreenFy555nm) + ] + green_value = sum(green_channels) / len(green_channels) + + # 3) Red: average of kChBrownF6640nm, kChRedF7690nm, kChDarkRedF8745nm + red_channels = [ + self._sensor.get_data(self._sensor.kChBrownF6640nm), + self._sensor.get_data(self._sensor.kChRedF7690nm), + self._sensor.get_data(self._sensor.kChDarkRedF8745nm) + ] + red_value = sum(red_channels) / len(red_channels) + + # 4) NIR: kChNir855nm + nir_value = self._sensor.get_data(self._sensor.kChNir855nm) + + # Cap values at 999 + self._blue = min(blue_value, 999) + self._green = min(green_value, 999) + self._red = min(red_value, 999) + self._nir = min(nir_value, 999) + + return True + except Exception as e: + print(f"Error reading AS7343: {e}") + return False + + def get_display_lines(self): + """! + Get formatted strings for OLED display with bar graphs. + + @return **list** List of strings for display + """ + def format_with_bar(label, value, max_value=999, max_bar_length=14): + """Format value with bar graph""" + bar_length = int((value / max_value) * max_bar_length) + bar = "#" * bar_length + return f"{label}: {int(value):3d} {bar}" + + return [ + format_with_bar("B", self._blue), + format_with_bar("G", self._green), + format_with_bar("R", self._red), + format_with_bar("N", self._nir) + ] + + def get_csv_data(self): + """! + Get sensor data as a dictionary for CSV logging. + + @return **dict** Dictionary with sensor values + """ + return { + "blue": self._blue, + "green": self._green, + "red": self._red, + "nir": self._nir + } + + def get_sensor_name(self): + """! + Get the sensor identifier name. + + @return **str** Sensor name + """ + return "AS7343" + + def get_blue(self): + """! + Get the current Blue value. + + @return **float** Blue value + """ + return self._blue + + def get_green(self): + """! + Get the current Green value. + + @return **float** Green value + """ + return self._green + + def get_red(self): + """! + Get the current Red value. + + @return **float** Red value + """ + return self._red + + def get_nir(self): + """! + Get the current NIR value. + + @return **float** NIR value + """ + return self._nir + + def set_led_on(self): + """! + Set the LED on. + + @return **bool** True if successful, False otherwise + """ + return self._sensor.set_led_on() + + def set_led_off(self): + """! + Set the LED off. + + @return **bool** True if successful, False otherwise + """ + return self._sensor.set_led_off() + + def set_led_drive(self, drive): + """! + Set the LED drive. + + @param int drive: The drive to set + + @return **bool** True if successful, False otherwise + """ + return self._sensor.set_led_drive(drive) + \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit copy.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit copy.py new file mode 100644 index 0000000..37229dc --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit copy.py @@ -0,0 +1,362 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor_kit.py +# +# Main AgXRPSensorKit class that coordinates all sensors, OLED display, and CSV logging. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c +import lib.AgXRPLib.qwiic_oled as qwiic_oled +import time +import sys + +from lib.AgXRPLib.agxrp_sensor_scd4x import AgXRPSensorSCD4x +from lib.AgXRPLib.agxrp_sensor_as7343 import AgXRPSensorAS7343 +from lib.AgXRPLib.agxrp_sensor_veml import AgXRPSensorVEML +from lib.AgXRPLib.agxrp_sensor_soil import AgXRPSensorSoil +from lib.AgXRPLib.agxrp_csv_logger import AgXRPCSVLogger + +class AgXRPSensorKit: + """! + Main sensor kit class that coordinates all sensors, OLED display, and CSV logging. + + This class manages the registration and operation of sensors, OLED display, + and CSV logging. Users register only the components they have available. + """ + + def __init__(self, sda_pin=4, scl_pin=5, i2c_freq=100000): + """! + Constructor + + @param sda_pin: SDA pin number for I2C (default: 4) + @param scl_pin: SCL pin number for I2C (default: 5) + @param i2c_freq: I2C frequency in Hz (default: 100000) + """ + self._sda_pin = sda_pin + self._scl_pin = scl_pin + self._i2c_freq = i2c_freq + + # Initialize I2C driver + print("Initializing I2C driver...") + self._i2c_driver = qwiic_i2c.getI2CDriver(sda=sda_pin, scl=scl_pin, freq=i2c_freq) + + if self._i2c_driver is None or (hasattr(self._i2c_driver, '_i2cbus') and self._i2c_driver._i2cbus is None): + print("ERROR: Unable to initialize I2C driver") + print("Make sure SDA and SCL pins are correctly specified") + self._i2c_driver = None + + # Registered components + self._scd4x = None + self._as7343 = None + self._veml = None + self._soil = None + self._oled = None + self._csv_logger = None + self._oled_current_page = 0 + self._oled_last_page_switch = time.time() + self._oled_page_interval = 2.0 + + def register_scd4x(self): + """! + Register the SCD4x CO2 sensor. + + @return **bool** True if registration was successful, False otherwise + """ + if self._i2c_driver is None: + print("ERROR: I2C driver not initialized") + return False + + print("Registering SCD4x sensor...") + self._scd4x = AgXRPSensorSCD4x(i2c_driver=self._i2c_driver) + + if not self._scd4x.begin(): + print("ERROR: Failed to initialize SCD4x sensor") + self._scd4x = None + return False + + print("SCD4x sensor registered successfully") + return True + + def register_as7343(self): + """! + Register the AS7343 spectral sensor. + + @return **bool** True if registration was successful, False otherwise + """ + if self._i2c_driver is None: + print("ERROR: I2C driver not initialized") + return False + + print("Registering AS7343 sensor...") + self._as7343 = AgXRPSensorAS7343(i2c_driver=self._i2c_driver) + + if not self._as7343.begin(): + print("ERROR: Failed to initialize AS7343 sensor") + self._as7343 = None + return False + + print("AS7343 sensor registered successfully") + return True + + def register_veml(self): + """! + Register the VEML ambient light sensor. + + @return **bool** True if registration was successful, False otherwise + """ + if self._i2c_driver is None: + print("ERROR: I2C driver not initialized") + return False + + print("Registering VEML sensor...") + self._veml = AgXRPSensorVEML(i2c_driver=self._i2c_driver) + + if not self._veml.begin(): + print("ERROR: Failed to initialize VEML sensor") + self._veml = None + return False + + print("VEML sensor registered successfully") + return True + + def register_soil(self, adc_pin=44): + """! + Register the soil moisture sensor. + + @param adc_pin: GPIO pin number for ADC (default: 44) + @return **bool** True if registration was successful, False otherwise + """ + print("Registering soil sensor...") + self._soil = AgXRPSensorSoil(i2c_driver=None, adc_pin=adc_pin) + + if not self._soil.begin(): + print("ERROR: Failed to initialize soil sensor") + self._soil = None + return False + + print("Soil sensor registered successfully") + return True + + def register_oled(self, oled_instance=None): + """! + Register the OLED display. + + @param oled_instance: Optional existing OLED instance, or None to create one + @return **bool** True if registration was successful, False otherwise + """ + if self._i2c_driver is None: + print("ERROR: I2C driver not initialized") + return False + + print("Registering OLED display...") + + if oled_instance is None: + self._oled = qwiic_oled.QwiicLargeOled(i2c_driver=self._i2c_driver) + else: + self._oled = oled_instance + + if not self._oled.connected: + print("ERROR: OLED Display isn't connected") + self._oled = None + return False + + self._oled.begin() + self._oled.clear(self._oled.ALL) # Clear the display's memory + self._oled.display() + self._oled_current_page = 0 + self._oled_last_page_switch = time.time() + + print("OLED display registered successfully") + return True + + def register_csv_logger(self, filename, period_ms): + """! + Register the CSV logger. + + @param filename: Name of the CSV file to write to + @param period_ms: Logging period in milliseconds + @return **bool** True if registration was successful, False otherwise + """ + print(f"Registering CSV logger (file: {filename}, period: {period_ms}ms)...") + + self._csv_logger = AgXRPCSVLogger(filename, period_ms) + + # Set callback to collect data from all sensors + def collect_sensor_data(): + data = {} + if self._scd4x and self._scd4x.is_connected(): + data.update(self._scd4x.get_csv_data()) + if self._as7343 and self._as7343.is_connected(): + data.update(self._as7343.get_csv_data()) + if self._veml and self._veml.is_connected(): + data.update(self._veml.get_csv_data()) + if self._soil and self._soil.is_connected(): + data.update(self._soil.get_csv_data()) + return data + + self._csv_logger.set_sensor_data_callback(collect_sensor_data) + self._csv_logger.start() + + print("CSV logger registered successfully") + return True + + def _update_oled_display(self): + """! + Update the OLED display with current sensor readings. + + Dynamically determines layout based on which sensors are registered. + """ + if self._oled is None: + return + + try: + # Clear the display buffer + self._oled.clear(self._oled.PAGE) + + # Set font to 0 for all text + self._oled.set_font_type(0) + + # Collect display lines from all registered sensors + all_lines = [] + + if self._scd4x and self._scd4x.is_connected(): + all_lines.extend(self._scd4x.get_display_lines()) + + if self._as7343 and self._as7343.is_connected(): + all_lines.extend(self._as7343.get_display_lines()) + + if self._veml and self._veml.is_connected(): + all_lines.extend(self._veml.get_display_lines()) + + if self._soil and self._soil.is_connected(): + all_lines.extend(self._soil.get_display_lines()) + + # Display lines (max 8 lines for 128x64 display with 8px line height) + y_positions = [0, 8, 16, 24, 32, 40, 48, 56] + lines_per_page = len(y_positions) + total_lines = len(all_lines) + + if total_lines <= lines_per_page: + self._oled_current_page = 0 + self._oled_last_page_switch = time.time() + start_index = 0 + else: + total_pages = (total_lines + lines_per_page - 1) // lines_per_page + + if self._oled_current_page >= total_pages: + self._oled_current_page = 0 + + current_time = time.time() + if current_time - self._oled_last_page_switch >= self._oled_page_interval: + self._oled_current_page = (self._oled_current_page + 1) % total_pages + self._oled_last_page_switch = current_time + + start_index = self._oled_current_page * lines_per_page + + display_lines = all_lines[start_index:start_index + lines_per_page] + + for i, line in enumerate(display_lines): + self._oled.set_cursor(0, y_positions[i]) + self._oled.print(line) + + # Update the display + self._oled.display() + except Exception as e: + print(f"Error updating OLED display: {e}") + + def update(self): + """! + Update all registered sensors and refresh OLED/CSV if registered. + + This method should be called periodically in the main loop. + It handles sensor read failures gracefully. + + @return **bool** True if at least one sensor was updated successfully + """ + success = False + + # Update SCD4x + if self._scd4x and self._scd4x.is_connected(): + try: + if self._scd4x.update(): + success = True + except Exception as e: + print(f"Error updating SCD4x: {e}") + + # Update AS7343 + if self._as7343 and self._as7343.is_connected(): + try: + if self._as7343.update(): + success = True + except Exception as e: + print(f"Error updating AS7343: {e}") + + # Update VEML + if self._veml and self._veml.is_connected(): + try: + if self._veml.update(): + success = True + except Exception as e: + print(f"Error updating VEML: {e}") + + # Update Soil + if self._soil and self._soil.is_connected(): + try: + if self._soil.update(): + success = True + except Exception as e: + print(f"Error updating soil sensor: {e}") + + # Update OLED display + if self._oled: + self._update_oled_display() + + # CSV logging is handled by the timer callback automatically + + return success + + def run(self): + """! + Main loop that continuously updates sensors and displays data. + + This method runs indefinitely until interrupted (Ctrl+C). + """ + print("\nStarting AgXRPSensorKit main loop...") + print("(Press Ctrl+C to exit)\n") + + try: + while True: + self.update() + + # Print to console for debugging + sensor_readings = [] + if self._scd4x and self._scd4x.is_connected(): + sensor_readings.append(f"CO2: {self._scd4x.get_co2()} ppm, " + f"Temp: {self._scd4x.get_temperature():.1f} C, " + f"Humidity: {self._scd4x.get_humidity():.1f} %") + if self._as7343 and self._as7343.is_connected(): + sensor_readings.append(f"B: {int(self._as7343.get_blue())}, " + f"G: {int(self._as7343.get_green())}, " + f"R: {int(self._as7343.get_red())}, " + f"N: {int(self._as7343.get_nir())}") + if self._veml and self._veml.is_connected(): + sensor_readings.append(f"Light: {self._veml.get_ambient_light():.1f} lux") + if self._soil and self._soil.is_connected(): + sensor_readings.append(f"Soil: {self._soil.get_moisture():.1f}%") + + if sensor_readings: + print(" | ".join(sensor_readings)) + + # SCD4x has data ready every 5 seconds, so check frequently + # AS7343 and VEML can be read more frequently + time.sleep(0.5) + + except (KeyboardInterrupt, SystemExit): + print("\nShutting down AgXRPSensorKit...") + if self._csv_logger: + self._csv_logger.stop() + print("AgXRPSensorKit stopped") + sys.exit(0) + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit.py new file mode 100644 index 0000000..bbe5fb0 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit.py @@ -0,0 +1,466 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor_kit.py +# +# Main AgXRPSensorKit class that coordinates all sensors, OLED display, and CSV logging. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c +import lib.AgXRPLib.qwiic_oled as qwiic_oled +import time +import sys + +from lib.AgXRPLib.agxrp_sensor_scd4x import AgXRPSensorSCD4x +from lib.AgXRPLib.agxrp_sensor_as7343 import AgXRPSensorAS7343 +from lib.AgXRPLib.agxrp_sensor_veml import AgXRPSensorVEML +from lib.AgXRPLib.agxrp_sensor_soil import AgXRPSensorSoil +from lib.AgXRPLib.agxrp_sensor_resistive_soil import AgXRPResistiveSoilSensor +from lib.AgXRPLib.agxrp_csv_logger import AgXRPCSVLogger + +class AgXRPSensorKit: + """! + Main sensor kit class that coordinates all sensors, OLED display, and CSV logging. + + This class manages the registration and operation of sensors, OLED display, + and CSV logging. Users register only the components they have available. + """ + + def __init__(self, bus0_enabled=True, bus1_enabled=False, i2c_freq=100000): + """! + Constructor + + @param bus0_enabled: Enable bus 0 (sda=4, scl=5) (default: True) + @param bus1_enabled: Enable bus 1 (sda=38, scl=39) (default: False) + @param i2c_freq: I2C frequency in Hz (default: 100000) + """ + self._i2c_freq = i2c_freq + + # Initialize I2C drivers for each bus + self._i2c_driver_bus0 = None + self._i2c_driver_bus1 = None + + # Bus 0: sda=4, scl=5 + if bus0_enabled: + print("Initializing I2C bus 0 (sda=4, scl=5)...") + self._i2c_driver_bus0 = qwiic_i2c.getI2CDriver(sda=4, scl=5, freq=i2c_freq) + if self._i2c_driver_bus0 is None or (hasattr(self._i2c_driver_bus0, '_i2cbus') and self._i2c_driver_bus0._i2cbus is None): + print("ERROR: Unable to initialize I2C bus 0") + self._i2c_driver_bus0 = None + else: + print("I2C bus 0 initialized successfully") + + # Bus 1: sda=38, scl=39 + if bus1_enabled: + print("Initializing I2C bus 1 (sda=38, scl=39)...") + self._i2c_driver_bus1 = qwiic_i2c.getI2CDriver(sda=38, scl=39, freq=i2c_freq) + if self._i2c_driver_bus1 is None or (hasattr(self._i2c_driver_bus1, '_i2cbus') and self._i2c_driver_bus1._i2cbus is None): + print("ERROR: Unable to initialize I2C bus 1") + self._i2c_driver_bus1 = None + else: + print("I2C bus 1 initialized successfully") + + # Store bus configuration + self._bus0_enabled = bus0_enabled + self._bus1_enabled = bus1_enabled + + # Registered components + self.co2_sensor = None + self.spectral_sensor = None + self.light_sensor = None + self.soil_sensors = {} # Dictionary keyed by sensor_index (1-4) + self.screen = None + self._csv_logger = None + self._oled_current_page = 0 + self._oled_last_page_switch = time.time() + self._oled_page_interval = 2.0 + + def _get_i2c_driver(self, bus): + """! + Get the I2C driver for the specified bus. + + @param bus: Bus number (0 or 1) + @return I2C driver instance or None if bus is not enabled + """ + if bus == 0: + if not self._bus0_enabled: + print(f"ERROR: Bus 0 is not enabled") + return None + return self._i2c_driver_bus0 + elif bus == 1: + if not self._bus1_enabled: + print(f"ERROR: Bus 1 is not enabled") + return None + return self._i2c_driver_bus1 + else: + print(f"ERROR: Invalid bus number {bus}. Must be 0 or 1.") + return None + + def register_co2_sensor(self, bus=0): + """! + Register the SCD4x CO2 sensor. + + @param bus: I2C bus number (0 or 1, default: 0) + @return **bool** True if registration was successful, False otherwise + """ + i2c_driver = self._get_i2c_driver(bus) + if i2c_driver is None: + print("ERROR: I2C driver not available for bus {}".format(bus)) + return False + + print("Registering SCD4x sensor on bus {}...".format(bus)) + self.co2_sensor = AgXRPSensorSCD4x(i2c_driver=i2c_driver) + + if not self.co2_sensor.begin(): + print("ERROR: Failed to initialize SCD4x sensor") + self.co2_sensor = None + return False + + print("SCD4x sensor registered successfully") + return True + + def register_spectral_sensor(self, bus=0): + """! + Register the AS7343 spectral sensor. + + @param bus: I2C bus number (0 or 1, default: 0) + @return **bool** True if registration was successful, False otherwise + """ + i2c_driver = self._get_i2c_driver(bus) + if i2c_driver is None: + print("ERROR: I2C driver not available for bus {}".format(bus)) + return False + + print("Registering AS7343 sensor on bus {}...".format(bus)) + self.spectral_sensor = AgXRPSensorAS7343(i2c_driver=i2c_driver) + + if not self.spectral_sensor.begin(): + print("ERROR: Failed to initialize AS7343 sensor") + self.spectral_sensor = None + return False + + self.spectral_sensor.set_led_off() + + print("AS7343 sensor registered successfully") + return True + + def register_light_sensor(self, bus=0): + """! + Register the VEML ambient light sensor. + + @param bus: I2C bus number (0 or 1, default: 0) + @return **bool** True if registration was successful, False otherwise + """ + i2c_driver = self._get_i2c_driver(bus) + if i2c_driver is None: + print("ERROR: I2C driver not available for bus {}".format(bus)) + return False + + print("Registering VEML sensor on bus {}...".format(bus)) + self.light_sensor = AgXRPSensorVEML(i2c_driver=i2c_driver) + + if not self.light_sensor.begin(): + print("ERROR: Failed to initialize VEML sensor") + self.light_sensor = None + return False + + print("VEML sensor registered successfully") + return True + + def register_soil_sensor(self, sensor_index, bus, address=0x37): + """! + Register a soil moisture sensor. + + @param sensor_index: Sensor index (1-4) + @param bus: I2C bus number (0 or 1) + @param address: I2C address (default: 0x37, the default for QwiicCY8CMBR3) + @return **bool** True if registration was successful, False otherwise + """ + if sensor_index < 1 or sensor_index > 4: + print(f"ERROR: Invalid sensor_index {sensor_index}. Must be 1-4.") + return False + + if sensor_index in self.soil_sensors: + print(f"WARNING: Soil sensor {sensor_index} is already registered. Overwriting...") + + i2c_driver = self._get_i2c_driver(bus) + if i2c_driver is None: + print(f"ERROR: I2C driver not available for bus {bus}") + return False + + print(f"Registering soil sensor {sensor_index} on bus {bus}, address 0x{address:02X}...") + self.soil_sensors[sensor_index] = AgXRPSensorSoil(i2c_driver=i2c_driver, address=address) + + if not self.soil_sensors[sensor_index].begin(): + print(f"ERROR: Failed to initialize soil sensor {sensor_index}") + del self.soil_sensors[sensor_index] + return False + + print(f"Soil sensor {sensor_index} registered successfully") + return True + + def register_resistive_soil_sensor(self, sensor_index, bus=0, address=0x28): + """! + Register a resistive (Qwiic) soil moisture sensor. + + @param sensor_index: Sensor index (1-4) + @param bus: I2C bus number (0 or 1, default: 0) + @param address: I2C address (default: 0x28, the Qwiic soil moisture default) + @return **bool** True if registration was successful, False otherwise + """ + if sensor_index < 1 or sensor_index > 4: + print(f"ERROR: Invalid sensor_index {sensor_index}. Must be 1-4.") + return False + + if sensor_index in self.soil_sensors: + print(f"WARNING: Soil sensor {sensor_index} is already registered. Overwriting...") + + i2c_driver = self._get_i2c_driver(bus) + if i2c_driver is None: + print(f"ERROR: I2C driver not available for bus {bus}") + return False + + print(f"Registering resistive soil sensor {sensor_index} on bus {bus}, address 0x{address:02X}...") + self.soil_sensors[sensor_index] = AgXRPResistiveSoilSensor(i2c_driver=i2c_driver, address=address) + + if not self.soil_sensors[sensor_index].begin(): + print(f"ERROR: Failed to initialize resistive soil sensor {sensor_index}") + del self.soil_sensors[sensor_index] + return False + + print(f"Resistive soil sensor {sensor_index} registered successfully") + return True + + def register_screen(self, bus=0, oled_instance=None): + """! + Register the OLED display. + + @param bus: I2C bus number (0 or 1, default: 0) + @param oled_instance: Optional existing OLED instance, or None to create one + @return **bool** True if registration was successful, False otherwise + """ + if oled_instance is None: + i2c_driver = self._get_i2c_driver(bus) + if i2c_driver is None: + print("ERROR: I2C driver not available for bus {}".format(bus)) + return False + print("Registering OLED display on bus {}...".format(bus)) + self.screen = qwiic_oled.QwiicLargeOled(i2c_driver=i2c_driver) + else: + print("Registering OLED display (using provided instance)...") + self.screen = oled_instance + + if not self.screen.connected: + print("ERROR: OLED Display isn't connected") + self.screen = None + return False + + self.screen.begin() + self.screen.clear(self.screen.ALL) # Clear the display's memory + self.screen.display() + self._oled_current_page = 0 + self._oled_last_page_switch = time.time() + + print("OLED display registered successfully") + return True + + def register_csv_logger(self, filename, period_ms): + """! + Register the CSV logger. + + @param filename: Name of the CSV file to write to + @param period_ms: Logging period in milliseconds + @return **bool** True if registration was successful, False otherwise + """ + print(f"Registering CSV logger (file: {filename}, period: {period_ms}ms)...") + + self._csv_logger = AgXRPCSVLogger(filename, period_ms) + + # Set callback to collect data from all sensors + def collect_sensor_data(): + data = {} + if self.co2_sensor and self.co2_sensor.is_connected(): + data.update(self.co2_sensor.get_csv_data()) + if self.spectral_sensor and self.spectral_sensor.is_connected(): + data.update(self.spectral_sensor.get_csv_data()) + if self.light_sensor and self.light_sensor.is_connected(): + data.update(self.light_sensor.get_csv_data()) + for sensor_index, sensor in self.soil_sensors.items(): + if sensor and sensor.is_connected(): + # Prefix data keys with sensor index + sensor_data = sensor.get_csv_data() + for key, value in sensor_data.items(): + data[f"{key}_{sensor_index}"] = value + return data + + self._csv_logger.set_sensor_data_callback(collect_sensor_data) + self._csv_logger.start() + + print("CSV logger registered successfully") + return True + + def _update_oled_display(self): + """! + Update the OLED display with current sensor readings. + + Dynamically determines layout based on which sensors are registered. + """ + if self.screen is None: + return + + try: + # Clear the display buffer + self.screen.clear(self.screen.PAGE) + + # Set font to 0 for all text + self.screen.set_font_type(0) + + # Collect display lines from all registered sensors + all_lines = [] + + if self.co2_sensor and self.co2_sensor.is_connected(): + all_lines.extend(self.co2_sensor.get_display_lines()) + + if self.spectral_sensor and self.spectral_sensor.is_connected(): + all_lines.extend(self.spectral_sensor.get_display_lines()) + + if self.light_sensor and self.light_sensor.is_connected(): + all_lines.extend(self.light_sensor.get_display_lines()) + + for sensor_index, sensor in sorted(self.soil_sensors.items()): + if sensor and sensor.is_connected(): + all_lines.extend(sensor.get_display_lines()) + + # Display lines (max 8 lines for 128x64 display with 8px line height) + y_positions = [0, 8, 16, 24, 32, 40, 48, 56] + lines_per_page = len(y_positions) + total_lines = len(all_lines) + + if total_lines <= lines_per_page: + self._oled_current_page = 0 + self._oled_last_page_switch = time.time() + start_index = 0 + else: + total_pages = (total_lines + lines_per_page - 1) // lines_per_page + + if self._oled_current_page >= total_pages: + self._oled_current_page = 0 + + current_time = time.time() + if current_time - self._oled_last_page_switch >= self._oled_page_interval: + self._oled_current_page = (self._oled_current_page + 1) % total_pages + self._oled_last_page_switch = current_time + + start_index = self._oled_current_page * lines_per_page + + display_lines = all_lines[start_index:start_index + lines_per_page] + + for i, line in enumerate(display_lines): + self.screen.set_cursor(0, y_positions[i]) + self.screen.print(line) + + # Update the display + self.screen.display() + except Exception as e: + print(f"Error updating OLED display: {e}") + + def update(self): + """! + Update all registered sensors and refresh OLED/CSV if registered. + + This method should be called periodically in the main loop. + It handles sensor read failures gracefully. + + @return **bool** True if at least one sensor was updated successfully + """ + success = False + + # Update SCD4x + if self.co2_sensor and self.co2_sensor.is_connected(): + try: + if self.co2_sensor.update(): + success = True + except Exception as e: + print(f"Error updating SCD4x: {e}") + + # Update AS7343 + if self.spectral_sensor and self.spectral_sensor.is_connected(): + try: + if self.spectral_sensor.update(): + success = True + except Exception as e: + print(f"Error updating AS7343: {e}") + + # Update VEML + if self.light_sensor and self.light_sensor.is_connected(): + try: + if self.light_sensor.update(): + success = True + except Exception as e: + print(f"Error updating VEML: {e}") + + # Update soil sensors + for sensor_index, sensor in self.soil_sensors.items(): + if sensor and sensor.is_connected(): + try: + if sensor.update(): + success = True + except Exception as e: + print(f"Error updating soil sensor {sensor_index}: {e}") + + # Update OLED display + if self.screen: + self._update_oled_display() + + # CSV logging is handled by the timer callback automatically + + return success + + def run(self): + """! + Main loop that continuously updates sensors and displays data. + + This method runs indefinitely until interrupted (Ctrl+C). + """ + print("\nStarting AgXRPSensorKit main loop...") + print("(Press Ctrl+C to exit)\n") + + try: + while True: + self.update() + + # Print to console for debugging + sensor_readings = [] + if self.co2_sensor and self.co2_sensor.is_connected(): + sensor_readings.append(f"CO2: {self.co2_sensor.get_co2()} ppm, " + f"Temp: {self.co2_sensor.get_temperature():.1f} C, " + f"Humidity: {self.co2_sensor.get_humidity():.1f} %") + if self.spectral_sensor and self.spectral_sensor.is_connected(): + sensor_readings.append(f"B: {int(self.spectral_sensor.get_blue())}, " + f"G: {int(self.spectral_sensor.get_green())}, " + f"R: {int(self.spectral_sensor.get_red())}, " + f"N: {int(self.spectral_sensor.get_nir())}") + if self.light_sensor and self.light_sensor.is_connected(): + sensor_readings.append(f"Light: {self.light_sensor.get_ambient_light():.1f} lux") + for sensor_index, sensor in sorted(self.soil_sensors.items()): + if sensor and sensor.is_connected(): + if sensor.get_sensor_name() == "ResistiveSoil": + sensor_readings.append(f"Soil{sensor_index}: {sensor.get_moisture()}%") + else: + sensor_readings.append(f"Soil{sensor_index}: {sensor.get_moisture():.1f} pF") + + if sensor_readings: + print(" | ".join(sensor_readings)) + + # SCD4x has data ready every 5 seconds, so check frequently + # AS7343 and VEML can be read more frequently + time.sleep(0.5) + + except (KeyboardInterrupt, SystemExit): + print("\nShutting down AgXRPSensorKit...") + if self._csv_logger: + self._csv_logger.stop() + print("AgXRPSensorKit stopped") + sys.exit(0) + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit_demo.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit_demo.py new file mode 100644 index 0000000..dcd222c --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_kit_demo.py @@ -0,0 +1,232 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor_kit_demo.py +# +# Demo script showing usage of the AgXRPSensorKit. +# Demonstrates full configuration with all sensors, and partial configurations. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +import sys +import time +from lib.AgXRPLib.agxrp_sensor_kit import AgXRPSensorKit + +def demo_full_configuration(): + """! + Demo with all sensors, OLED, and CSV logger registered. + """ + print("\n" + "="*60) + print("Demo 1: Full Configuration (All Sensors + OLED + CSV Logger)") + print("="*60) + + # Create kit with default I2C pins + kit = AgXRPSensorKit(sda_pin=4, scl_pin=5, i2c_freq=100000) + + # Register all sensors + kit.register_co2_sensor() + kit.register_spectral_sensor() + kit.register_light_sensor() + kit.register_soil_sensor() + + # Register OLED display + kit.register_screen() + + # Register CSV logger (logs every 5 seconds) + kit.register_csv_logger("sensor_data.csv", 5000) + + print("\nAll components registered. Starting main loop...") + print("Data will be logged to 'sensor_data.csv' every 5 seconds.") + print("Press Ctrl+C to stop.\n") + + # Run the main loop + kit.run() + +def demo_partial_configuration(): + """! + Demo with only SCD4x and OLED (no CSV logger). + """ + print("\n" + "="*60) + print("Demo 2: Partial Configuration (SCD4x + OLED only)") + print("="*60) + + # Create kit + kit = AgXRPSensorKit(sda_pin=4, scl_pin=5, i2c_freq=100000) + + # Register only SCD4x + kit.register_co2_sensor() + + # Register OLED display + kit.register_screen() + + print("\nSCD4x and OLED registered. Starting main loop...") + print("Press Ctrl+C to stop.\n") + + # Run the main loop + kit.run() + +def demo_manual_update_loop(): + """! + Demo showing manual update() loop instead of run() method. + """ + print("\n" + "="*60) + print("Demo 3: Manual Update Loop (AS7343 + VEML)") + print("="*60) + + # Create kit + kit = AgXRPSensorKit(sda_pin=4, scl_pin=5, i2c_freq=100000) + + # Register AS7343 and VEML + kit.register_spectral_sensor() + kit.register_light_sensor() + + # Register OLED + kit.register_screen() + + print("\nAS7343, VEML, and OLED registered.") + print("Using manual update() loop instead of run() method.") + print("Press Ctrl+C to stop.\n") + + try: + # Manual update loop + for i in range(20): # Run for 20 iterations (10 seconds at 0.5s intervals) + kit.update() + + # Print readings + if kit.spectral_sensor and kit.spectral_sensor.is_connected(): + print(f"AS7343 - B: {int(kit.spectral_sensor.get_blue())}, " + f"G: {int(kit.spectral_sensor.get_green())}, " + f"R: {int(kit.spectral_sensor.get_red())}, " + f"N: {int(kit.spectral_sensor.get_nir())}") + + if kit.light_sensor and kit.light_sensor.is_connected(): + print(f"VEML - Light: {kit.light_sensor.get_ambient_light():.1f} lux") + + time.sleep(0.5) + + print("\nManual update loop completed.") + + except (KeyboardInterrupt, SystemExit): + print("\nManual update loop interrupted.") + +def demo_csv_logger_only(): + """! + Demo with CSV logger but no OLED display. + """ + print("\n" + "="*60) + print("Demo 4: CSV Logger Only (All Sensors, No OLED)") + print("="*60) + + # Create kit + kit = AgXRPSensorKit(sda_pin=4, scl_pin=5, i2c_freq=100000) + + # Register all sensors + kit.register_co2_sensor() + kit.register_spectral_sensor() + kit.register_light_sensor() + + # Register CSV logger (logs every 2 seconds) + kit.register_csv_logger("sensor_data_no_oled.csv", 2000) + + print("\nAll sensors and CSV logger registered (no OLED).") + print("Data will be logged to 'sensor_data_no_oled.csv' every 2 seconds.") + print("Press Ctrl+C to stop.\n") + + try: + # Run for 30 seconds + start_time = time.time() + while time.time() - start_time < 30: + kit.update() + time.sleep(0.5) + + print("\nCSV logger demo completed.") + + except (KeyboardInterrupt, SystemExit): + print("\nCSV logger demo interrupted.") + finally: + if kit._csv_logger: + kit._csv_logger.stop() + +def demo_soil_sensor(): + """! + Demo with soil sensor, OLED, and CSV logger. + """ + print("\n" + "="*60) + print("Demo 5: Soil Sensor (Soil + OLED + CSV Logger)") + print("="*60) + + # Create kit + kit = AgXRPSensorKit(sda_pin=4, scl_pin=5, i2c_freq=100000) + + # Register soil sensor (uses GPIO 44 by default) + kit.register_soil_sensor() + + # Register OLED display + kit.register_screen() + + # Register CSV logger (logs every 2 seconds) + kit.register_csv_logger("soil_sensor_data.csv", 2000) + + print("\nSoil sensor, OLED, and CSV logger registered.") + print("Soil sensor is reading from GPIO 44 (ADC).") + print("Data will be logged to 'soil_sensor_data.csv' every 2 seconds.") + print("Press Ctrl+C to stop.\n") + + try: + # Run for 60 seconds or until interrupted + start_time = time.time() + while time.time() - start_time < 60: + kit.update() + + # Print soil sensor readings + if kit.soil_sensor and kit.soil_sensor.is_connected(): + print(f"Soil - Moisture: {kit.soil_sensor.get_moisture():.1f}%, " + f"Raw ADC: {kit.soil_sensor.get_raw_value()}") + + time.sleep(0.5) + + print("\nSoil sensor demo completed.") + + except (KeyboardInterrupt, SystemExit): + print("\nSoil sensor demo interrupted.") + finally: + if kit._csv_logger: + kit._csv_logger.stop() + +def main(): + """! + Main function - select which demo to run. + """ + print("\nAgXRPSensorKit Demo Script") + print("="*60) + print("\nAvailable demos:") + print("1. Full Configuration (All Sensors + OLED + CSV Logger)") + print("2. Partial Configuration (SCD4x + OLED only)") + print("3. Manual Update Loop (AS7343 + VEML)") + print("4. CSV Logger Only (All Sensors, No OLED)") + print("5. Soil Sensor (Soil + OLED + CSV Logger)") + print("\nNote: This script assumes sensors are connected.") + print("If a sensor is not connected, that demo may fail.") + print("="*60) + + # For this demo, we'll run the full configuration by default + # In a real scenario, you might want to add user input to select which demo + + try: + # Run full configuration demo + demo_full_configuration() + except KeyboardInterrupt: + print("\nDemo interrupted by user.") + sys.exit(0) + except Exception as e: + print(f"\nError running demo: {e}") + print("\nTrying partial configuration demo instead...") + try: + demo_partial_configuration() + except Exception as e2: + print(f"\nError in partial demo: {e2}") + sys.exit(1) + +if __name__ == '__main__': + main() + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_resistive_soil.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_resistive_soil.py new file mode 100644 index 0000000..3c5736e --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_resistive_soil.py @@ -0,0 +1,140 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor_resistive_soil.py +# +# Wrapper class for the SparkFun Qwiic resistive soil moisture sensor. +# Provides a unified interface for the AgXRPSensorKit. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +from lib.AgXRPLib.qwiic_soil_moisture_sensor import QwiicSoilMoistureSensor +from lib.AgXRPLib.agxrp_sensor import AgXRPSensor + + +# Raw ADC range from Qwiic soil moisture sensor (10-bit) +_RAW_MAX = 1023 + + +class AgXRPResistiveSoilSensor(AgXRPSensor): + """! + Wrapper class for the SparkFun Qwiic resistive soil moisture sensor. + + This class wraps the QwiicSoilMoistureSensor and provides a common interface + for reading soil moisture as a percentage 0-100 (0 = dry, 100 = wet). + """ + + def __init__(self, i2c_driver=None, address=None): + """! + Constructor + + @param i2c_driver: I2C driver instance + @param address: I2C address (default: 0x28, the Qwiic default) + """ + super().__init__(i2c_driver) + self._address = address + self._moisture_raw = 0 # Raw level 0-1023 from sensor + + def begin(self): + """! + Initialize the resistive soil sensor. + + @return **bool** True if initialization was successful, False otherwise + """ + try: + self._sensor = QwiicSoilMoistureSensor( + address=self._address, + i2c_driver=self._i2c_driver + ) + + if not self._sensor.begin(): + print(f"ERROR: Qwiic resistive soil sensor not found at address 0x{self._sensor.address:02X}") + self._connected = False + return False + + self._connected = True + return True + except Exception as e: + print(f"Error initializing resistive soil sensor: {e}") + self._connected = False + return False + + def update(self): + """! + Read the latest sensor data. + + Reads the raw moisture level from the sensor (0-1023) and stores it. + + @return **bool** True if data was read successfully, False otherwise + """ + if not self._connected or self._sensor is None: + return False + + try: + self._sensor.read_moisture_level() + self._moisture_raw = self._sensor.level + return True + except Exception as e: + print(f"Error reading resistive soil sensor: {e}") + return False + + def _moisture_percent(self): + """Convert raw 0-1023 to percentage 0-100 (0=dry, 100=wet).""" + p = round((self._moisture_raw / _RAW_MAX) * 100) + return 100 - max(0, min(100, p)) + + def get_display_lines(self): + """! + Get formatted strings for OLED display. + + @return **list** List of strings for display + """ + return [f"Resistive Soil: {self._moisture_percent()}%"] + + def get_csv_data(self): + """! + Get sensor data as a dictionary for CSV logging. + + @return **dict** Dictionary with sensor values (soil_moisture 0-100) + """ + return { + "soil_moisture": self._moisture_percent() + } + + def get_sensor_name(self): + """! + Get the sensor identifier name. + + @return **str** Sensor name + """ + return "ResistiveSoil" + + def get_moisture(self): + """! + Get the current soil moisture as a percentage (0-100). + 0 = dry, 100 = wet. Use this value for controller threshold (e.g. water when below 30%). + + @return **int** Moisture percentage 0-100 + """ + return self._moisture_percent() + + def set_led(self, enable): + """! + Enable or disable the LED on the sensor. + + @param enable: If True, turn LED on; if False, turn LED off + @return **bool** True if successful, False otherwise + """ + if not self._connected or self._sensor is None: + print("ERROR: Sensor not connected") + return False + + try: + if enable: + self._sensor.led_on() + else: + self._sensor.led_off() + return True + except Exception as e: + print(f"Error setting LED: {e}") + return False diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_scd4x.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_scd4x.py new file mode 100644 index 0000000..c17a45d --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_scd4x.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor_scd4x.py +# +# Wrapper class for the SCD4x CO2 sensor. +# Provides a unified interface for the AgXRPSensorKit. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +from lib.AgXRPLib.qwiic_scd4x import QwiicSCD4x +from lib.AgXRPLib.agxrp_sensor import AgXRPSensor + +class AgXRPSensorSCD4x(AgXRPSensor): + """! + Wrapper class for the Qwiic SCD4x CO2 sensor. + + This class wraps the QwiicSCD4x sensor and provides a common interface + for reading CO2, temperature, and humidity values. + """ + + def __init__(self, i2c_driver=None): + """! + Constructor + + @param i2c_driver: I2C driver instance to use + """ + super().__init__(i2c_driver) + self._co2 = 0 + self._temperature = 0.0 + self._humidity = 0.0 + + def begin(self): + """! + Initialize the SCD4x sensor. + + @return **bool** True if initialization was successful, False otherwise + """ + try: + self._sensor = QwiicSCD4x(i2c_driver=self._i2c_driver) + + if not self._sensor.is_connected(): + return False + + if not self._sensor.begin(): + return False + + self._connected = True + return True + except Exception as e: + print(f"Error initializing SCD4x: {e}") + return False + + def update(self): + """! + Read the latest sensor data. + + The SCD4x provides new data approximately every 5 seconds. + This method will return False if new data is not yet available. + + @return **bool** True if new data was read, False otherwise + """ + if not self._connected or self._sensor is None: + return False + + try: + if self._sensor.read_measurement(): + self._co2 = self._sensor.get_co2() + self._temperature = self._sensor.get_temperature() + self._humidity = self._sensor.get_humidity() + return True + return False + except Exception as e: + print(f"Error reading SCD4x: {e}") + return False + + def get_display_lines(self): + """! + Get formatted strings for OLED display. + + @return **list** List of strings for display + """ + return [ + f"CO2: {self._co2} ppm", + f"Temp: {self._temperature:.1f} C", + f"Humidity: {self._humidity:.1f} %" + ] + + def get_csv_data(self): + """! + Get sensor data as a dictionary for CSV logging. + + @return **dict** Dictionary with sensor values + """ + return { + "co2": self._co2, + "temperature": self._temperature, + "humidity": self._humidity + } + + def get_sensor_name(self): + """! + Get the sensor identifier name. + + @return **str** Sensor name + """ + return "SCD4x" + + def get_co2(self): + """! + Get the current CO2 reading. + + @return **int** CO2 value in ppm + """ + return self._co2 + + def get_temperature(self): + """! + Get the current temperature reading. + + @return **float** Temperature in degrees Celsius + """ + return self._temperature + + def get_humidity(self): + """! + Get the current humidity reading. + + @return **float** Humidity percentage + """ + return self._humidity + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_soil.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_soil.py new file mode 100644 index 0000000..1395e08 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_soil.py @@ -0,0 +1,149 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor_soil.py +# +# Wrapper class for the QwiicCY8CMBR3 capacitive soil moisture sensor. +# Provides a unified interface for the AgXRPSensorKit. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +from lib.AgXRPLib.agxrp_sensor import AgXRPSensor +from lib.AgXRPLib.qwiic_cy8cmbr3 import QwiicCY8CMBR3 + +class AgXRPSensorSoil(AgXRPSensor): + """! + Wrapper class for the QwiicCY8CMBR3 capacitive soil moisture sensor. + + This class provides a common interface for reading soil moisture values + from a QwiicCY8CMBR3 capacitive sensor connected via I2C. + """ + + def __init__(self, i2c_driver=None, address=0x37): + """! + Constructor + + @param i2c_driver: I2C driver instance + @param address: I2C address (default: 0x37, the default for QwiicCY8CMBR3) + """ + super().__init__(i2c_driver) + self._address = address + self._sensor = None + self._moisture = 0.0 # Capacitance in pF + self._raw_value = 0.0 # Raw capacitance in pF + + def begin(self): + """! + Initialize the soil sensor. + + @return **bool** True if initialization was successful, False otherwise + """ + try: + # Create QwiicCY8CMBR3 instance + self._sensor = QwiicCY8CMBR3(address=self._address, i2c_driver=self._i2c_driver) + + # Check if connected + if not self._sensor.is_connected(): + print(f"ERROR: QwiicCY8CMBR3 sensor not connected at address 0x{self._address:02X}") + self._connected = False + return False + + # Initialize the sensor + if not self._sensor.begin(): + print(f"ERROR: Failed to initialize QwiicCY8CMBR3 sensor at address 0x{self._address:02X}") + self._connected = False + return False + + self._connected = True + return True + except Exception as e: + print(f"Error initializing soil sensor: {e}") + self._connected = False + return False + + def update(self): + """! + Read the latest sensor data. + + Reads the capacitance value from the sensor in picofarads (pF). + + @return **bool** True if data was read successfully, False otherwise + """ + if not self._connected or self._sensor is None: + return False + + try: + # Read capacitance in pF + self._raw_value = self._sensor.get_capacitance_pf() + self._moisture = self._raw_value # Store as pF for now + + return True + except Exception as e: + print(f"Error reading soil sensor: {e}") + return False + + def get_display_lines(self): + """! + Get formatted strings for OLED display. + + @return **list** List of strings for display + """ + return [ + f"Soil: {self._moisture:.1f} pF", + f"Addr: 0x{self._address:02X}" + ] + + def get_csv_data(self): + """! + Get sensor data as a dictionary for CSV logging. + + @return **dict** Dictionary with sensor values + """ + return { + "soil_moisture": self._moisture, + "soil_raw": self._raw_value + } + + def get_sensor_name(self): + """! + Get the sensor identifier name. + + @return **str** Sensor name + """ + return "Soil" + + def get_moisture(self): + """! + Get the current soil moisture reading. + + @return **float** Capacitance in picofarads (pF) + """ + return self._moisture + + def get_raw_value(self): + """! + Get the raw capacitance value. + + @return **float** Raw capacitance in picofarads (pF) + """ + return self._raw_value + + def set_led(self, enable): + """! + Enable or disable the LED on the sensor. + + @param enable: If True, turn LED on; if False, turn LED off + @return **bool** True if successful, False otherwise + """ + if not self._connected or self._sensor is None: + print("ERROR: Sensor not connected") + return False + + try: + if enable: + return self._sensor.led_on(True) + else: + return self._sensor.led_off() + except Exception as e: + print(f"Error setting LED: {e}") + return False diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_veml.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_veml.py new file mode 100644 index 0000000..4d27321 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_sensor_veml.py @@ -0,0 +1,101 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_sensor_veml.py +# +# Wrapper class for the VEML ambient light sensor. +# Provides a unified interface for the AgXRPSensorKit. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +from lib.AgXRPLib.qwiic_veml import QwiicVEML +from lib.AgXRPLib.agxrp_sensor import AgXRPSensor + +class AgXRPSensorVEML(AgXRPSensor): + """! + Wrapper class for the Qwiic VEML ambient light sensor. + + This class wraps the QwiicVEML sensor and provides a common interface + for reading ambient light values in lux. + """ + + def __init__(self, i2c_driver=None): + """! + Constructor + + @param i2c_driver: I2C driver instance to use + """ + super().__init__(i2c_driver) + self._ambient_light = 0.0 + + def begin(self): + """! + Initialize the VEML sensor. + + @return **bool** True if initialization was successful, False otherwise + """ + try: + self._sensor = QwiicVEML(i2c_driver=self._i2c_driver) + + if not self._sensor.is_connected(): + return False + + if not self._sensor.begin(): + return False + + self._connected = True + return True + except Exception as e: + print(f"Error initializing VEML: {e}") + return False + + def update(self): + """! + Read the latest sensor data. + + @return **bool** True if data was read successfully, False otherwise + """ + if not self._connected or self._sensor is None: + return False + + try: + self._ambient_light = self._sensor.read_light() + return True + except Exception as e: + print(f"Error reading VEML: {e}") + return False + + def get_display_lines(self): + """! + Get formatted strings for OLED display. + + @return **list** List of strings for display + """ + return [f"Light: {self._ambient_light:.1f} lux"] + + def get_csv_data(self): + """! + Get sensor data as a dictionary for CSV logging. + + @return **dict** Dictionary with sensor values + """ + return { + "ambient_light": self._ambient_light + } + + def get_sensor_name(self): + """! + Get the sensor identifier name. + + @return **str** Sensor name + """ + return "VEML" + + def get_ambient_light(self): + """! + Get the current ambient light reading. + + @return **float** Ambient light in lux + """ + return self._ambient_light + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_water_pump.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_water_pump.py new file mode 100644 index 0000000..7f4ff4f --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_water_pump.py @@ -0,0 +1,223 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_water_pump.py +# +# AgXRPWaterPump class for controlling peristaltic pumps using encoded motors. +#------------------------------------------------------------------------------- + +from lib.XRPLib.encoded_motor import EncodedMotor +from machine import Timer, RTC +import micropython +import time +import os + +class AgXRPWaterPump: + """! + Class for controlling a peristaltic pump using an encoded motor. + + Each instance controls a single pump. Create separate instances for left and right pumps. + """ + + def __init__(self, index: int=1, csv_filename: str="water_pump_log.csv"): + """! + Initialize the water pump with a specific motor index. + + :param index: The motor index (1 for left, 2 for right, 3 for motor 3, 4 for motor 4) + :type index: int + :param csv_filename: Name of the CSV file to log watering events to + :type csv_filename: str + """ + self._motor = EncodedMotor.get_default_encoded_motor(index=index) + self._timer = Timer(-1) # Virtual timer for time-based control + self._current_effort = 0.0 + self._csv_filename = csv_filename + # MicroPython on RP2040 (such as RP2350) may not have os.path.exists. + # Instead, try opening the file to see if it exists. + self._header_written = False + if csv_filename: + try: + with open(csv_filename, 'r') as f: + self._header_written = True + except OSError: + self._header_written = False + + def _get_datetime_string(self): + """! + Get current date/time as a formatted string using RTC. + + :return: Formatted datetime string (YYYY-MM-DD HH:MM:SS) + :rtype: str + """ + try: + rtc = RTC() + dt = rtc.datetime() + # RTC.datetime() returns: (year, month, day, weekday, hours, minutes, seconds, subseconds) + return f"{dt[0]:04d}-{dt[1]:02d}-{dt[2]:02d} {dt[4]:02d}:{dt[5]:02d}:{dt[6]:02d}" + except Exception as e: + print(f"Error getting RTC datetime: {e}") + return "0000-00-00 00:00:00" + + def _write_csv_header(self): + """! + Write CSV header row if it doesn't exist. + """ + if self._header_written or not self._csv_filename: + return + + try: + with open(self._csv_filename, 'w') as f: + f.write('datetime,revolutions,duration_seconds, soil_moisture\n') + self._header_written = True + except Exception as e: + print(f"Error writing CSV header: {e}") + + def _log_to_csv(self, revolutions: float, duration_seconds: float, soil_moisture: float=None): + """! + Log a watering event to the CSV file. + + :param revolutions: Number of pump revolutions (0 if time-based) + :type revolutions: float + :param duration_seconds: Duration the pump ran in seconds + :type duration_seconds: float + :param soil_moisture: Soil moisture as a percentage + :type soil_moisture: float + """ + if not self._csv_filename: + return + + try: + # Write header if needed + self._write_csv_header() + + # Append data row + with open(self._csv_filename, 'a') as f: + datetime_str = self._get_datetime_string() + if soil_moisture is not None: + f.write(f'{datetime_str},{revolutions},{duration_seconds},{soil_moisture}\n') + else: + f.write(f'{datetime_str},{revolutions},{duration_seconds}\n') + except Exception as e: + print(f"Error writing to CSV: {e}") + + def set_pump_effort(self, effort: float, time_ms: float = 0, log: bool = False, soil_moisture: float = None): + """! + Set the effort (power) for the pump. + + :param effort: The effort to set the pump to, from -1 to 1 + :type effort: float + :param time_ms: Time in milliseconds to run the pump. If 0, the pump runs indefinitely. + :type time_ms: float + :param log: Whether to log the watering event to the CSV file + :type log: bool + :param soil_moisture: Soil moisture as a percentage + :type soil_moisture: float + """ + # Stop any existing timer + try: + self._timer.deinit() + except: + pass + + self._current_effort = effort + self._motor.set_effort(effort) + + # If time_ms is 0, run indefinitely (no timer) + if time_ms > 0: + # Record start time for logging + start_time = time.time() + + # Use ONE_SHOT mode to stop after specified time + def stop_callback(timer): + self._motor.set_effort(0) + self._current_effort = 0.0 + # Log to CSV (0 revolutions for time-based pumping) + actual_duration = time.time() - start_time + if log and soil_moisture is not None: + self._log_to_csv(0.0, actual_duration, soil_moisture) + elif log: + self._log_to_csv(0.0, actual_duration) + else: + pass + timer.deinit() + + def scheduled_stop_callback(_): + stop_callback(self._timer) + + self._timer.init(mode=Timer.ONE_SHOT, + period=int(time_ms), + callback=lambda t: micropython.schedule(scheduled_stop_callback, 0)) + + def stop_pump(self): + """! + Stop the pump immediately. + """ + # Stop the timer if running + try: + self._timer.deinit() + except: + pass + + self._motor.set_effort(0) + self._current_effort = 0.0 + + def pump_water(self, revolutions: float, effort: float = 0.5, log: bool = False, soil_moisture: float = None): + """! + Pump water for a specified number of pump revolutions. + + Accounts for the 26:3 gear ratio, so the motor must turn revolutions * (26/3) times + to achieve the desired pump revolutions. + + :param revolutions: Number of pump revolutions to perform (positive for forward, negative for reverse) + :type revolutions: float + :param effort: The effort to use for pumping, from 0 to 1 (default: 0.5) + :type effort: float + :param log: Whether to log the watering event to the CSV file + :type log: bool + :param soil_moisture: Soil moisture as a percentage + :type soil_moisture: float + """ + # Stop any existing timer + try: + self._timer.deinit() + except: + pass + + # Record start time for logging + start_time = time.time() + + # Determine direction based on sign of revolutions + direction = 1 if revolutions >= 0 else -1 + target_revolutions = abs(revolutions) + + # Calculate target motor revolutions accounting for gear ratio (26:3) + # Motor must turn 26/12 times for each pump revolution + gear_ratio = 26.0 / 12.0 + target_motor_revolutions = target_revolutions * gear_ratio + + # Reset encoder position to start from zero + self._motor.reset_encoder_position() + + # Set effort with appropriate direction + pump_effort = effort * direction + self._motor.set_effort(pump_effort) + self._current_effort = pump_effort + + # Monitor position until target is reached + while True: + current_position = abs(self._motor.get_position()) + if current_position >= target_motor_revolutions: + break + time.sleep(0.01) # Small delay to avoid busy waiting + + # Stop the motor once target is reached + self._motor.set_effort(0) + self._current_effort = 0.0 + + # Calculate duration and log to CSV + duration_seconds = time.time() - start_time + if log and soil_moisture is not None: + self._log_to_csv(revolutions, duration_seconds, soil_moisture) + elif log: + self._log_to_csv(revolutions, duration_seconds) + else: + pass \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_webserver.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_webserver.py new file mode 100644 index 0000000..8fd135b --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/agxrp_webserver.py @@ -0,0 +1,1146 @@ +#!/usr/bin/env python +#------------------------------------------------------------------------------- +# agxrp_webserver.py +# +# Minimalistic web server for displaying sensor data on Raspberry Pi Pico W. +# Provides modular sensor registration and access point mode. +#------------------------------------------------------------------------------- +# Written for AgXRPSensorKit, 2024 +#=============================================================================== + +import random +import time +from phew import server, access_point, dns, logging +from lib.AgXRPLib.agxrp_water_pump import AgXRPWaterPump + +class AgXRPWebServer: + """! + Minimalistic web server for displaying sensor data. + + This class provides a simple web interface to display sensor readings + from AgXRPSensorKit. Sensors are registered modularly, and the server + runs in access point mode. + """ + + def __init__(self): + """! + Constructor + + Initializes the webserver with empty sensor registrations and data storage. + """ + # Sensor registration flags + self._temperature_registered = False + self._humidity_registered = False + self._co2_registered = False + self._blue_light_registered = False + self._green_light_registered = False + self._red_light_registered = False + self._nir_light_registered = False + self._light_intensity_registered = False + self._soil_moisture_1_registered = False + self._soil_moisture_2_registered = False + + # Sensor data storage + self._sensor_data = {} + + # Water pump storage: dictionary mapping pump index to AgXRPWaterPump instance + # (kept for backward compatibility when controller is not used) + self._water_pumps = {} + + # Controller instance (optional) + self._controller = None + + # Access point configuration + self._wlan = None + self._ip_address = None + self._use_random_data = False + + # Server state + self._server_running = False + + def register_temperature(self): + """! + Register temperature sensor for display. + + @return **bool** True if registration was successful + """ + self._temperature_registered = True + if "temperature" not in self._sensor_data: + self._sensor_data["temperature"] = None + return True + + def register_humidity(self): + """! + Register humidity sensor for display. + + @return **bool** True if registration was successful + """ + self._humidity_registered = True + if "humidity" not in self._sensor_data: + self._sensor_data["humidity"] = None + return True + + def register_co2(self): + """! + Register CO2 sensor for display. + + @return **bool** True if registration was successful + """ + self._co2_registered = True + if "co2" not in self._sensor_data: + self._sensor_data["co2"] = None + return True + + def register_blue_light(self): + """! + Register blue light sensor for display. + + @return **bool** True if registration was successful + """ + self._blue_light_registered = True + if "blue_light" not in self._sensor_data: + self._sensor_data["blue_light"] = None + return True + + def register_green_light(self): + """! + Register green light sensor for display. + + @return **bool** True if registration was successful + """ + self._green_light_registered = True + if "green_light" not in self._sensor_data: + self._sensor_data["green_light"] = None + return True + + def register_red_light(self): + """! + Register red light sensor for display. + + @return **bool** True if registration was successful + """ + self._red_light_registered = True + if "red_light" not in self._sensor_data: + self._sensor_data["red_light"] = None + return True + + def register_nir_light(self): + """! + Register NIR (Near-Infrared) light sensor for display. + + @return **bool** True if registration was successful + """ + self._nir_light_registered = True + if "nir_light" not in self._sensor_data: + self._sensor_data["nir_light"] = None + return True + + def register_light_intensity(self): + """! + Register light intensity sensor for display. + + @return **bool** True if registration was successful + """ + self._light_intensity_registered = True + if "light_intensity" not in self._sensor_data: + self._sensor_data["light_intensity"] = None + return True + + def register_soil_moisture_sensor_1(self): + """! + Register first soil moisture sensor for display. + + @return **bool** True if registration was successful + """ + self._soil_moisture_1_registered = True + if "soil_moisture_1" not in self._sensor_data: + self._sensor_data["soil_moisture_1"] = None + return True + + def register_soil_moisture_sensor_2(self): + """! + Register second soil moisture sensor for display. + + @return **bool** True if registration was successful + """ + self._soil_moisture_2_registered = True + if "soil_moisture_2" not in self._sensor_data: + self._sensor_data["soil_moisture_2"] = None + return True + + def register_soil_moisture(self): + """! + Register soil moisture sensor for display (backward compatibility). + + This method registers sensor 1 for backward compatibility with older code. + + @return **bool** True if registration was successful + """ + return self.register_soil_moisture_sensor_1() + + def register_controller(self, controller): + """! + Register an AgXRPController instance. + + @param controller: AgXRPController instance + @type controller: AgXRPController + @return **bool** True if registration was successful + """ + self._controller = controller + print("Controller registered with webserver") + return True + + def register_water_pump(self, pump_index: int, csv_filename: str = None): + """! + Register a water pump for web control. + + If a controller is registered, this delegates to the controller. + Otherwise, it registers the pump directly (backward compatibility). + + @param pump_index: The motor index for the pump (1, 2, 3, or 4) + @type pump_index: int + @param csv_filename: Optional CSV filename for logging (default: "water_pump_log_{index}.csv") + @type csv_filename: str + @return **bool** True if registration was successful, False otherwise + """ + if self._controller: + # Delegate to controller + return self._controller.register_water_pump(pump_index, csv_filename) + else: + # Backward compatibility: register directly + if pump_index in self._water_pumps: + print(f"WARNING: Pump {pump_index} is already registered. Overwriting...") + + try: + if csv_filename is None: + csv_filename = f"water_pump_log_{pump_index}.csv" + + pump = AgXRPWaterPump(index=pump_index, csv_filename=csv_filename) + self._water_pumps[pump_index] = pump + print(f"Water pump {pump_index} registered successfully") + return True + except Exception as e: + print(f"ERROR: Failed to register water pump {pump_index}: {e}") + return False + + def start_access_point(self, ssid="AgXRP_SensorKit", password="sensor123", use_random_data=False): + """! + Start the access point and web server. + + @param ssid: SSID for the access point (default: "AgXRP_SensorKit") + @param password: Password for the access point (default: "sensor123") + @param use_random_data: If True, generate random data for testing (default: False) + @return **bool** True if access point started successfully + """ + try: + # Create access point + self._wlan = access_point(ssid, password) + self._ip_address = self._wlan.ifconfig()[0] + self._use_random_data = use_random_data + + print(f"Access point '{ssid}' started") + print(f"IP address: {self._ip_address}") + + # Setup DNS catchall for captive portal behavior + dns.run_catchall(self._ip_address) + + # Register routes + self._register_routes() + + # Start server in background (non-blocking) + # Note: server.run() is blocking, so this should be called separately + # or in a separate thread/task + + return True + except Exception as e: + print(f"Error starting access point: {e}") + return False + + def _register_routes(self): + """! + Register web server routes. + """ + def index_handler(request): + try: + return self._generate_html() + except Exception as e: + print(f"Error in index_handler: {e}") + return f"

Error

{str(e)}

", 500 + + def update_handler(request): + try: + # Refresh data (generate random if enabled) + if self._use_random_data: + self._generate_random_data() + return self._generate_html() + except Exception as e: + print(f"Error in update_handler: {e}") + return f"

Error

{str(e)}

", 500 + + def api_sensors_handler(request): + """! + API endpoint that returns sensor data as JSON. + Used by JavaScript to update sensor values without page reload. + """ + try: + # Refresh data (generate random if enabled) + if self._use_random_data: + self._generate_random_data() + + # Return sensor data as JSON + import json + json_data = json.dumps(self._sensor_data) + return (json_data, 200, "application/json") + except Exception as e: + print(f"Error in api_sensors_handler: {e}") + import json + error_data = json.dumps({"error": str(e)}) + return (error_data, 500, "application/json") + + def pump_start_handler(request, pump_index): + """! + Handler for starting a water pump. + URL format: /pump/start/ + Accepts effort parameter via query string, form data, or JSON body (default: 1.0) + + @param request: HTTP request object + @param pump_index: Pump index from URL parameter + """ + try: + pump_index = int(pump_index) + import json + + # Get effort from request (default to 1.0) + effort = 1.0 + + # Check query parameters first + if hasattr(request, 'query') and request.query and "effort" in request.query: + effort = float(request.query["effort"]) + # Check form data + elif hasattr(request, 'form') and request.form and "effort" in request.form: + effort = float(request.form["effort"]) + # Check JSON data + elif hasattr(request, 'data') and request.data and "effort" in request.data: + effort = float(request.data["effort"]) + + # Clamp effort to valid range + effort = max(-1.0, min(1.0, effort)) + + # Try to get pump from controller first, then fall back to direct storage + pump = None + if self._controller: + pump = self._controller.get_pump(pump_index) + elif pump_index in self._water_pumps: + pump = self._water_pumps[pump_index] + + if pump: + # Start pump with specified effort and run indefinitely + pump.set_pump_effort(effort, time_ms=0) + print(f"Pump {pump_index} started with effort {effort}") + + # Turn on LED for corresponding soil sensor if controller is registered + if self._controller: + self._turn_on_soil_sensor_led(pump_index) + + return (json.dumps({"status": "success", "message": f"Pump {pump_index} started with effort {effort}"}), 200, "application/json") + else: + return (json.dumps({"status": "error", "message": f"Pump {pump_index} not registered"}), 404, "application/json") + except ValueError as e: + print(f"Error in pump_start_handler: Invalid parameter: {e}") + import json + return (json.dumps({"status": "error", "message": "Invalid pump index or effort value"}), 400, "application/json") + except Exception as e: + print(f"Error in pump_start_handler: {e}") + import json + return (json.dumps({"status": "error", "message": str(e)}), 500, "application/json") + + def pump_stop_handler(request, pump_index): + """! + Handler for stopping a water pump. + URL format: /pump/stop/ + + @param request: HTTP request object + @param pump_index: Pump index from URL parameter + """ + try: + pump_index = int(pump_index) + import json + + # Try to get pump from controller first, then fall back to direct storage + pump = None + if self._controller: + pump = self._controller.get_pump(pump_index) + elif pump_index in self._water_pumps: + pump = self._water_pumps[pump_index] + + if pump: + pump.stop_pump() + print(f"Pump {pump_index} stopped") + + # Turn off LED for corresponding soil sensor if controller is registered + if self._controller: + self._turn_off_soil_sensor_led(pump_index) + + return (json.dumps({"status": "success", "message": f"Pump {pump_index} stopped"}), 200, "application/json") + else: + return (json.dumps({"status": "error", "message": f"Pump {pump_index} not registered"}), 404, "application/json") + except ValueError as e: + print(f"Error in pump_stop_handler: Invalid pump index: {e}") + import json + return (json.dumps({"status": "error", "message": "Invalid pump index"}), 400, "application/json") + except Exception as e: + print(f"Error in pump_stop_handler: {e}") + import json + return (json.dumps({"status": "error", "message": str(e)}), 500, "application/json") + + def api_controller_plant_systems_handler(request): + """! + API endpoint that returns all plant systems with their current settings. + """ + try: + import json + if not self._controller: + return (json.dumps({"error": "Controller not registered"}), 404, "application/json") + + plant_systems = self._controller.get_plant_systems() + # Convert to list format for easier JSON handling + systems_list = [] + for (sensor_index, pump_index), system_data in plant_systems.items(): + systems_list.append({ + "sensor_index": sensor_index, + "pump_index": pump_index, + "interval_minutes": system_data["interval_minutes"], + "threshold": system_data["threshold"], + "duration_seconds": system_data["duration_seconds"], + "pump_effort": system_data.get("pump_effort", 1.0), + "enabled": system_data["enabled"] + }) + + return (json.dumps({"plant_systems": systems_list}), 200, "application/json") + except Exception as e: + print(f"Error in api_controller_plant_systems_handler: {e}") + import json + error_data = json.dumps({"error": str(e)}) + return (error_data, 500, "application/json") + + def api_controller_plant_system_update_handler(request, sensor_index, pump_index): + """! + API endpoint to update a plant system's settings. + URL format: /api/controller/plant_system// + Accepts POST with JSON body containing: interval_minutes, threshold, duration_seconds, enabled + """ + try: + import json + sensor_index = int(sensor_index) + pump_index = int(pump_index) + + if not self._controller: + return (json.dumps({"status": "error", "message": "Controller not registered"}), 404, "application/json") + + # Parse request data - phew provides form, data, and query attributes + update_data = {} + + # Check form data first (for multipart/form-data or application/x-www-form-urlencoded) + if hasattr(request, 'form') and request.form: + if "interval_minutes" in request.form: + update_data["interval_minutes"] = float(request.form["interval_minutes"]) + if "threshold" in request.form: + update_data["threshold"] = float(request.form["threshold"]) + if "duration_seconds" in request.form: + update_data["duration_seconds"] = float(request.form["duration_seconds"]) + if "pump_effort" in request.form: + update_data["pump_effort"] = float(request.form["pump_effort"]) + if "enabled" in request.form: + enabled_val = request.form["enabled"] + update_data["enabled"] = enabled_val.lower() in ["true", "1", "on", "yes"] + + # Check JSON data + elif hasattr(request, 'data') and request.data: + if "interval_minutes" in request.data: + update_data["interval_minutes"] = float(request.data["interval_minutes"]) + if "threshold" in request.data: + update_data["threshold"] = float(request.data["threshold"]) + if "duration_seconds" in request.data: + update_data["duration_seconds"] = float(request.data["duration_seconds"]) + if "pump_effort" in request.data: + update_data["pump_effort"] = float(request.data["pump_effort"]) + if "enabled" in request.data: + enabled_val = request.data["enabled"] + if isinstance(enabled_val, bool): + update_data["enabled"] = enabled_val + else: + update_data["enabled"] = str(enabled_val).lower() in ["true", "1", "on", "yes"] + + # Check query parameters + elif hasattr(request, 'query') and request.query: + if "interval_minutes" in request.query: + update_data["interval_minutes"] = float(request.query["interval_minutes"]) + if "threshold" in request.query: + update_data["threshold"] = float(request.query["threshold"]) + if "duration_seconds" in request.query: + update_data["duration_seconds"] = float(request.query["duration_seconds"]) + if "pump_effort" in request.query: + update_data["pump_effort"] = float(request.query["pump_effort"]) + if "enabled" in request.query: + enabled_val = request.query["enabled"] + update_data["enabled"] = enabled_val.lower() in ["true", "1", "on", "yes"] + else: + return (json.dumps({"status": "error", "message": "No data provided"}), 400, "application/json") + + # Update the plant system + if self._controller.update_plant_system(sensor_index, pump_index, **update_data): + return (json.dumps({"status": "success", "message": f"Plant system updated"}), 200, "application/json") + else: + return (json.dumps({"status": "error", "message": "Failed to update plant system"}), 400, "application/json") + + except ValueError as e: + print(f"Error in api_controller_plant_system_update_handler: Invalid parameters: {e}") + import json + return (json.dumps({"status": "error", "message": "Invalid sensor or pump index"}), 400, "application/json") + except Exception as e: + print(f"Error in api_controller_plant_system_update_handler: {e}") + import json + return (json.dumps({"status": "error", "message": str(e)}), 500, "application/json") + + def catchall_handler(request): + # Redirect any unmatched routes to index + try: + return self._generate_html() + except Exception as e: + print(f"Error in catchall_handler: {e}") + return f"

Error

{str(e)}

", 500 + + # Register routes using add_route + server.add_route("/", index_handler, methods=["GET"]) + server.add_route("/update", update_handler, methods=["GET", "POST"]) + server.add_route("/api/sensors", api_sensors_handler, methods=["GET"]) + server.add_route("/pump/start/", pump_start_handler, methods=["GET", "POST"]) + server.add_route("/pump/stop/", pump_stop_handler, methods=["GET", "POST"]) + server.add_route("/api/controller/plant_systems", api_controller_plant_systems_handler, methods=["GET"]) + server.add_route("/api/controller/plant_system//", api_controller_plant_system_update_handler, methods=["POST"]) + + # Set catchall handler for any other routes + server.set_callback(catchall_handler) + + def _turn_on_soil_sensor_led(self, pump_index): + """! + Turn on LED for soil sensor(s) associated with the given pump. + + @param pump_index: Pump index + """ + try: + if not self._controller: + return + + sensor_kit = self._controller.get_sensor_kit() + if not sensor_kit: + return + + # Find sensor_index(es) associated with this pump_index + plant_systems = self._controller.get_plant_systems() + for (sensor_index, pump_idx), system_data in plant_systems.items(): + if pump_idx == pump_index: + # Get the soil sensor + soil_sensor = sensor_kit.soil_sensors.get(sensor_index) + if soil_sensor and soil_sensor.is_connected(): + soil_sensor.set_led(True) + print(f"LED turned on for soil sensor {sensor_index} (pump {pump_index})") + except Exception as e: + print(f"Error turning on soil sensor LED: {e}") + + def _turn_off_soil_sensor_led(self, pump_index): + """! + Turn off LED for soil sensor(s) associated with the given pump. + + @param pump_index: Pump index + """ + try: + if not self._controller: + return + + sensor_kit = self._controller.get_sensor_kit() + if not sensor_kit: + return + + # Find sensor_index(es) associated with this pump_index + plant_systems = self._controller.get_plant_systems() + for (sensor_index, pump_idx), system_data in plant_systems.items(): + if pump_idx == pump_index: + # Get the soil sensor + soil_sensor = sensor_kit.soil_sensors.get(sensor_index) + if soil_sensor and soil_sensor.is_connected(): + soil_sensor.set_led(False) + print(f"LED turned off for soil sensor {sensor_index} (pump {pump_index})") + except Exception as e: + print(f"Error turning off soil sensor LED: {e}") + + def update_sensor_data(self, data_dict): + """! + Update sensor data from AgXRPSensorKit. + + @param data_dict: Dictionary containing sensor readings + Keys can be: temperature, humidity, co2, blue_light, + green_light, red_light, nir_light, light_intensity, + soil_moisture_1, soil_moisture_2, soil_moisture (backward compat) + """ + # Update only registered sensors + if "temperature" in data_dict and self._temperature_registered: + self._sensor_data["temperature"] = data_dict["temperature"] + + if "humidity" in data_dict and self._humidity_registered: + self._sensor_data["humidity"] = data_dict["humidity"] + + if "co2" in data_dict and self._co2_registered: + self._sensor_data["co2"] = data_dict["co2"] + + if "blue_light" in data_dict and self._blue_light_registered: + self._sensor_data["blue_light"] = data_dict["blue_light"] + elif "blue" in data_dict and self._blue_light_registered: + self._sensor_data["blue_light"] = data_dict["blue"] + + if "green_light" in data_dict and self._green_light_registered: + self._sensor_data["green_light"] = data_dict["green_light"] + elif "green" in data_dict and self._green_light_registered: + self._sensor_data["green_light"] = data_dict["green"] + + if "red_light" in data_dict and self._red_light_registered: + self._sensor_data["red_light"] = data_dict["red_light"] + elif "red" in data_dict and self._red_light_registered: + self._sensor_data["red_light"] = data_dict["red"] + + if "nir_light" in data_dict and self._nir_light_registered: + self._sensor_data["nir_light"] = data_dict["nir_light"] + elif "nir" in data_dict and self._nir_light_registered: + self._sensor_data["nir_light"] = data_dict["nir"] + + if "light_intensity" in data_dict and self._light_intensity_registered: + self._sensor_data["light_intensity"] = data_dict["light_intensity"] + elif "ambient_light" in data_dict and self._light_intensity_registered: + self._sensor_data["light_intensity"] = data_dict["ambient_light"] + + if "soil_moisture_1" in data_dict and self._soil_moisture_1_registered: + self._sensor_data["soil_moisture_1"] = data_dict["soil_moisture_1"] + elif "soil_moisture" in data_dict and self._soil_moisture_1_registered: + # Backward compatibility: if only one sensor registered as sensor 1 + self._sensor_data["soil_moisture_1"] = data_dict["soil_moisture"] + + if "soil_moisture_2" in data_dict and self._soil_moisture_2_registered: + self._sensor_data["soil_moisture_2"] = data_dict["soil_moisture_2"] + + def _generate_random_data(self): + """! + Generate random sensor data for testing. + """ + if self._temperature_registered: + self._sensor_data["temperature"] = round(random.uniform(15.0, 30.0), 1) + + if self._humidity_registered: + self._sensor_data["humidity"] = round(random.uniform(20.0, 80.0), 1) + + if self._co2_registered: + self._sensor_data["co2"] = random.randint(400, 1000) + + if self._blue_light_registered: + self._sensor_data["blue_light"] = random.randint(0, 999) + + if self._green_light_registered: + self._sensor_data["green_light"] = random.randint(0, 999) + + if self._red_light_registered: + self._sensor_data["red_light"] = random.randint(0, 999) + + if self._nir_light_registered: + self._sensor_data["nir_light"] = random.randint(0, 999) + + if self._light_intensity_registered: + self._sensor_data["light_intensity"] = round(random.uniform(0.0, 1000.0), 1) + + if self._soil_moisture_1_registered: + self._sensor_data["soil_moisture_1"] = round(random.uniform(0.0, 100.0), 1) + + if self._soil_moisture_2_registered: + self._sensor_data["soil_moisture_2"] = round(random.uniform(0.0, 100.0), 1) + + def _generate_html(self): + """! + Generate the HTML page displaying sensor data. + + @return **str** HTML content + """ + html = """ + + + + AgXRP Sensor Data + + + +

AgXRP Sensor Data

+
+""" + + # Add registered sensor data + sensor_count = 0 + + if self._temperature_registered: + value = self._sensor_data.get("temperature") + display_value = f"{value:.1f}°C" if value is not None else "No data" + html += f'
Temperature:{display_value}
\n' + sensor_count += 1 + + if self._humidity_registered: + value = self._sensor_data.get("humidity") + display_value = f"{value:.1f}%" if value is not None else "No data" + html += f'
Humidity:{display_value}
\n' + sensor_count += 1 + + if self._co2_registered: + value = self._sensor_data.get("co2") + display_value = f"{value} ppm" if value is not None else "No data" + html += f'
CO2 PPM:{display_value}
\n' + sensor_count += 1 + + if self._blue_light_registered: + value = self._sensor_data.get("blue_light") + display_value = f"{int(value)}" if value is not None else "No data" + html += f'
Blue Light:{display_value}
\n' + sensor_count += 1 + + if self._green_light_registered: + value = self._sensor_data.get("green_light") + display_value = f"{int(value)}" if value is not None else "No data" + html += f'
Green Light:{display_value}
\n' + sensor_count += 1 + + if self._red_light_registered: + value = self._sensor_data.get("red_light") + display_value = f"{int(value)}" if value is not None else "No data" + html += f'
Red Light:{display_value}
\n' + sensor_count += 1 + + if self._nir_light_registered: + value = self._sensor_data.get("nir_light") + display_value = f"{int(value)}" if value is not None else "No data" + html += f'
NIR Light:{display_value}
\n' + sensor_count += 1 + + if self._light_intensity_registered: + value = self._sensor_data.get("light_intensity") + display_value = f"{value:.1f} lux" if value is not None else "No data" + html += f'
Light Intensity:{display_value}
\n' + sensor_count += 1 + + if self._soil_moisture_1_registered: + value = self._sensor_data.get("soil_moisture_1") + display_value = f"{value:.1f}%" if value is not None else "No data" + html += f'
Soil Moisture 1:{display_value}
\n' + sensor_count += 1 + + if self._soil_moisture_2_registered: + value = self._sensor_data.get("soil_moisture_2") + display_value = f"{value:.1f}%" if value is not None else "No data" + html += f'
Soil Moisture 2:{display_value}
\n' + sensor_count += 1 + + if sensor_count == 0: + html += '
No sensors registered
\n' + + html += """
+""" + + # Add water pump controls if any pumps are registered + pumps_to_display = [] + if self._controller: + # Get pumps from controller + controller_pumps = {} + for (sensor_idx, pump_idx), system in self._controller.get_plant_systems().items(): + if pump_idx not in controller_pumps: + controller_pumps[pump_idx] = [] + controller_pumps[pump_idx].append(sensor_idx) + pumps_to_display = sorted(controller_pumps.keys()) + elif len(self._water_pumps) > 0: + pumps_to_display = sorted(self._water_pumps.keys()) + + if pumps_to_display: + html += """
+

Water Pump Controls

+""" + # Sort pumps by index for consistent display + for pump_index in pumps_to_display: + html += f"""
+
Pump {pump_index}
+
+ + +
+
+ + +
+
+""" + html += """
+""" + + # Add controller configuration UI if controller is registered + if self._controller: + plant_systems = self._controller.get_plant_systems() + if len(plant_systems) > 0: + html += """
+

Automatic Watering Controller

+""" + # Generate form for each plant system + for (sensor_index, pump_index), system_data in sorted(plant_systems.items()): + html += f"""
+

Plant System: Sensor {sensor_index} + Pump {pump_index}

+
+
+ + +
+
+ + +
+
+ + +
+
+ + +
+
+ +
+
+ + +
+
+ + +
+
+
+ +
+
+""" + html += """
+""" + + # Add JavaScript for dynamic sensor updates + html += """ + + +""" + + return html + + def run(self): + """! + Start the web server (blocking call). + + This should be called after start_access_point(). + """ + if self._wlan is None: + print("ERROR: Access point not started. Call start_access_point() first.") + return + + print(f"Starting web server on {self._ip_address}") + self._server_running = True + + # Generate initial random data if enabled + if self._use_random_data: + self._generate_random_data() + + # Start server (blocking) + server.run(host="0.0.0.0", port=80) + + def get_ip_address(self): + """! + Get the IP address of the access point. + + @return **str** IP address, or None if not started + """ + return self._ip_address + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_as7343.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_as7343.py new file mode 100644 index 0000000..7934044 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_as7343.py @@ -0,0 +1,1267 @@ +#------------------------------------------------------------------------------- +# qwiic_as7343.py +# +# Python library for the SparkFun Qwiic AS7343, available here: +# https://www.sparkfun.com/products/TODO +#------------------------------------------------------------------------------- +# Written by SparkFun Electronics, May 2025 +# +# This python library supports the SparkFun Electroncis Qwiic ecosystem +# +# More information on Qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +#=============================================================================== +# Copyright (c) 2025 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#=============================================================================== + +"""! +qwiic_as7343 +============ +Python module for the [SparkFun Qwiic AS7343](https://www.sparkfun.com/products/TODO) +This is a port of the existing [Arduino Library](https://github.com/sparkfun/SparkFun_AS7343_Arduino_Library) +This package can be used with the overall [SparkFun Qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) +New to Qwiic? Take a look at the entire [SparkFun Qwiic ecosystem](https://www.sparkfun.com/qwiic). +""" + +# The Qwiic_I2C_Py platform driver is designed to work on almost any Python +# platform, check it out here: https://github.com/sparkfun/Qwiic_I2C_Py +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c + +# Define the device name and I2C addresses. These are set in the class defintion +# as class variables, making them avilable without having to create a class +# instance. This allows higher level logic to rapidly create a index of Qwiic +# devices at runtine +_DEFAULT_NAME = "Qwiic AS7343" + +# Some devices have multiple available addresses - this is a list of these +# addresses. NOTE: The first address in this list is considered the default I2C +# address for the device. +_AVAILABLE_I2C_ADDRESS = [0x39] + +# Define the class that encapsulates the device being created. All information +# associated with this device is encapsulated by this class. The device class +# should be the only value exported from this module. +class QwiicAS7343(object): + # Set default name and I2C address(es) + device_name = _DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + + # --------- Constant Variables --------- + kNumChannels = 18 + kDefaultAS7343DeviceID = 0x81; + + # ----------- Register Bank Settings ----------- + kRegBank0 = 0x00 # Register bank 0 (default) + kRegBank1 = 0x01 # Register bank 1 + + # ----------- Sensor Channels ----------- + # Use these to access each channel individually from the _data array in the class. + # The channels are defined in the datasheet as FZ, FY, FXL, NIR, 2xVIS, FD, F1-F8. + # When AutoSmux is set to 18 channels, the channels are in this order: + # Cycle 1: FZ, FY, FXL, NIR, 2xVIS, FD + # Cycle 2: F2, F3, F4, F6, 2xVIS, FD + # Cycle 3: F1, F7, F8, F5, 2xVIS, FD + kChBlueFz450nm = 0x00 # Blue peak wavelength 450 nanometers (cycle 1) + kChGreenFy555nm = 0x01 # Green (wide bandwidth) peak wavelength 555 nanometers (cycle 1) + kChOrangeFxl600nm = 0x02 # Orange peak wavelength 600 nanometers (cycle 1) + kChNir855nm = 0x03 # NIR peak wavelength 855 nanometers (cycle 1) + kChVis1 = 0x04 # VIS (cycle 1) + kChFd1 = 0x05 # Flicker Detection (cycle 1) + kChDarkBlueF2425nm = 0x06 # Dark Blue peak wavelength 425 nanometers (cycle 2) + kChLightBlueF3475nm = 0x07 # Light Blue peak wavelength 475 nanometers (cycle 2) + kChBlueF4515nm = 0x08 # Blue peak wavelength 515 nanometers (cycle 2) + kChBrownF6640nm = 0x09 # Brown peak wavelength 640 nanometers (cycle 2) + kChVis2 = 0x0A # VIS (cycle 2) + kChFd2 = 0x0B # Flicker Detection (cycle 2) + kChPurpleF1405nm = 0x0C # Purple peak wavelength 405 nanometers (cycle 3) + kChRedF7690nm = 0x0D # Red peak wavelength 690 nanometers (cycle 3) + kChDarkRedF8745nm = 0x0E # Dark Red peak wavelength 745 nanometers (cycle 3) + kChGreenF5550nm = 0x0F # Green (Narrow bandwidth) peak wavelength 550 nanometers (cycle 3) + kChVis3 = 0x10 # VIS (cycle 3) + kChFd3 = 0x11 # Flicker Detection (cycle 3) + + # ----------- Sensor Gain Settings ----------- + kAgain0_5 = 0x00 # 0.5x gain + kAgain1 = 0x01 + kAgain2 = 0x02 + kAgain4 = 0x03 + kAgain8 = 0x04 + kAgain16 = 0x05 + kAgain32 = 0x06 + kAgain64 = 0x07 + kAgain128 = 0x08 + kAgain256 = 0x09 + kAgain512 = 0x0A + kAgain1024 = 0x0B + kAgain2048 = 0x0C + + # ----------- Flicker Detection Gain Settings ----------- + kFdGain0_5 = 0x00 # 0.5x gain + kFdGain1 = 0x01 + kFdGain2 = 0x02 + kFdGain4 = 0x03 + kFdGain8 = 0x04 + kFdGain16 = 0x05 + kFdGain32 = 0x06 + kFdGain64 = 0x07 + kFdGain128 = 0x08 + kFdGain256 = 0x09 + kFdGain512 = 0x0A + kFdGain1024 = 0x0B + kFdGain2048 = 0x0C + + # ----------- FIFO Threshold Settings ----------- + kFifoThresholdLvl1 = 0x00 + kFifoThresholdLvl4 = 0x01 + kFifoThresholdLvl8 = 0x02 + kFifoThresholdLvl16 = 0x03 + + # ----------- Spectral Threshold Channel ----------- + kSpectralThresholdChannel0 = 0x00 + kSpectralThresholdChannel1 = 0x01 + kSpectralThresholdChannel2 = 0x02 + kSpectralThresholdChannel3 = 0x03 + kSpectralThresholdChannel4 = 0x04 + kSpectralThresholdChannel5 = 0x05 + + # ----------- Automatic Channel Read-out ----------- + kAutoSmux6Channels = 0x00 # 6 channel readout + kAutoSmux12Channels = 0x02 # 12 channel readout + kAutoSmux18Channels = 0x03 # 18 channel readout + + # ----------- GPIO Mode Settings ----------- + kGpioModeInput = 0x00 # GPIO set to input mode + kGpioModeOutput = 0x01 # GPIO set to output mode + + # ----------- GPIO Output Settings ----------- + kGpioOutputLow = 0x00 # GPIO set to low + kGpioOutputHigh = 0x01 # GPIO set to high + + # Register Definitions: + # ----------- AUX ID Register ----------- + kRegAuxID = 0x58 + + kShiftAuxID = 0 + + kMaskAuxID = 0b1111 << kShiftAuxID + + # ----------- REV ID Register ----------- + kRegRevID = 0x59 + + kShiftRevID = 0 + + kMaskRevID = 0b111 << kShiftRevID + + # ----------- ID Register ----------- + kRegID = 0x5A + # Register is a single 8bit value + + # ----------- CFG12 Register ----------- + kRegCfg12 = 0x66 + + kShiftCfg12Reserved = 0 + kShiftCfg12SpThCh = 5 + + kMaskCfg12Reserved = 0b11111 << kShiftCfg12Reserved + kMaskCfg12SpThCh = 0b111 << kShiftCfg12SpThCh + + # ----------- Enable Register ----------- + kRegEnable = 0x80 + + kShiftEnablePon = 0 + kShiftEnableSpEn = 1 + kShiftEnableWen = 3 + kShiftEnableSmuxEn = 4 + kShiftEnableFden = 6 + kShiftEnableEnable = 8 + + kMaskEnablePon = 0b1 << kShiftEnablePon + kMaskEnableSpEn = 0b1 << kShiftEnableSpEn + kMaskEnableWen = 0b1 << kShiftEnableWen + kMaskEnableSmuxEn = 0b1 << kShiftEnableSmuxEn + kMaskEnableFden = 0b1 << kShiftEnableFden + kMaskEnableEnable = 0b1 << kShiftEnableEnable + + # ----------- ATime Register ----------- + kRegATime = 0x81 # Register Address, register is a single uint8_t. + + # ----------- WTime Register ----------- + kRegWTime = 0x83 # Register Address, register is a single uint8_t. + + + # ----------- SP TH L Register ----------- + kRegSpThL = 0x84 + + kShiftSpThLSpThLsb = 0 + kShiftSpThLSpThMsb = 8 + + kMaskSpThLSpThLsb = 0xFF << kShiftSpThLSpThLsb + kMaskSpThLSpThMsb = 0xFF << kShiftSpThLSpThMsb + + # ----------- SP TH H Register ----------- + kRegSpThH = 0x86 + + kShiftSpThHSpThLsb = 0 + kShiftSpThHSpThMsb = 8 + + kMaskSpThHSpThLsb = 0xFF << kShiftSpThHSpThLsb + kMaskSpThHSpThMsb = 0xFF << kShiftSpThHSpThMsb + + # ----------- Status Register ----------- + kRegStatus = 0x93 + + kShiftStatusSint = 0 + kShiftStatusFint = 2 + kShiftStatusAint = 3 + kShiftStatusAsat = 7 + + kMaskStatusSint = 0b1 << kShiftStatusSint + kMaskStatusFint = 0b1 << kShiftStatusFint + kMaskStatusAint = 0b1 << kShiftStatusAint + kMaskStatusAsat = 0b1 << kShiftStatusAsat + + # ----------- A Status Register ----------- + kRegAStatus = 0x94 + + kShiftAStatusAgainStatus = 0 + kShiftAStatusAsatStatus = 7 + + kMaskAStatusAgainStatus = 0b1111 << kShiftAStatusAgainStatus + kMaskAStatusAsatStatus = 0b1 << kShiftAStatusAsatStatus + + # ----------- Data Registers ----------- + kRegData0 = 0x95 + kRegData1 = 0x97 + kRegData2 = 0x99 + kRegData3 = 0x9B + kRegData4 = 0x9D + kRegData5 = 0x9F + kRegData6 = 0xA1 + kRegData7 = 0xA3 + kRegData8 = 0xA5 + kRegData9 = 0xA7 + kRegData10 = 0xA9 + kRegData11 = 0xAB + kRegData12 = 0xAD + kRegData13 = 0xAF + kRegData14 = 0xB1 + kRegData15 = 0xB3 + kRegData16 = 0xB5 + kRegData17 = 0xB7 + + kShiftDataLsb = 0 + kShiftDataMsb = 8 + + kMaskDataLsb = 0xFF << kShiftDataLsb + kMaskDataMsb = 0xFF << kShiftDataMsb + + # ----------- Status 2 Register ----------- + kRegStatus2 = 0x90 + + kShiftStatus2FdsatDig = 0 + kShiftStatus2FdsatAna = 1 + kShiftStatus2AsatAna = 3 + kShiftStatus2AsatDig = 4 + kShiftStatus2Avalid = 6 + + kMaskStatus2FdsatDig = 0b1 << kShiftStatus2FdsatDig + kMaskStatus2FdsatAna = 0b1 << kShiftStatus2FdsatAna + kMaskStatus2AsatAna = 0b1 << kShiftStatus2AsatAna + kMaskStatus2AsatDig = 0b1 << kShiftStatus2AsatDig + kMaskStatus2Avalid = 0b1 << kShiftStatus2Avalid + + # ----------- Status 3 Register ----------- + kRegStatus3 = 0x91 + + kShiftStatus3IntSpL = 4 + kShiftStatus3IntSpH = 5 + + kMaskStatus3IntSpL = 0b1 << kShiftStatus3IntSpL + kMaskStatus3IntSpH = 0b1 << kShiftStatus3IntSpH + + # ----------- Status 4 Register ----------- + kRegStatus4 = 0xBC + + kShiftStatus4IntBusy = 0 + kShiftStatus4SaiAct = 1 + kShiftStatus4SpTrig = 2 + kShiftStatus4FdTrig = 4 + kShiftStatus4OvTemp = 5 + kShiftStatus4FifoOv = 7 + + kMaskStatus4IntBusy = 0b1 << kShiftStatus4IntBusy + kMaskStatus4SaiAct = 0b1 << kShiftStatus4SaiAct + kMaskStatus4SpTrig = 0b1 << kShiftStatus4SpTrig + kMaskStatus4FdTrig = 0b1 << kShiftStatus4FdTrig + kMaskStatus4OvTemp = 0b1 << kShiftStatus4OvTemp + kMaskStatus4FifoOv = 0b1 << kShiftStatus4FifoOv + + # ----------- Status 5 Register ----------- + kRegStatus5 = 0x93 + + kShiftStatus5SintSmux = 2 + kShiftStatus5SintFd = 3 + kShiftStatus5Reserved = 4 + kShiftStatus5ReservedOne = 6 + + kMaskStatus5SintSmux = 0b1 << kShiftStatus5SintSmux + kMaskStatus5SintFd = 0b1 << kShiftStatus5SintFd + kMaskStatus5Reserved = 0b11 << kShiftStatus5Reserved + kMaskStatus5ReservedOne = 0b111 << kShiftStatus5ReservedOne + + # ----------- FD Status Register ----------- + kRegFdStatus = 0xE3 + + kShiftFdStatusFd100HzDet = 0 + kShiftFdStatusFd120HzDet = 1 + kShiftFdStatusFd100HzValid = 2 + kShiftFdStatusFd120HzValid = 3 + kShiftFdStatusFdSaturation = 4 + kShiftFdStatusFdMeasValid = 5 + + kMaskFdStatusFd100HzDet = 0b1 << kShiftFdStatusFd100HzDet + kMaskFdStatusFd120HzDet = 0b1 << kShiftFdStatusFd120HzDet + kMaskFdStatusFd100HzValid = 0b1 << kShiftFdStatusFd100HzValid + kMaskFdStatusFd120HzValid = 0b1 << kShiftFdStatusFd120HzValid + kMaskFdStatusFdSaturation = 0b1 << kShiftFdStatusFdSaturation + kMaskFdStatusFdMeasValid = 0b1 << kShiftFdStatusFdMeasValid + + # ----------- Cfg0 Register ----------- + kRegCfg0 = 0xBF + + kShiftCfg0Wlong = 2 + kShiftCfg0RegBank = 4 + kShiftCfg0LowPower = 5 + + kMaskCfg0Wlong = 0b1 << kShiftCfg0Wlong + kMaskCfg0RegBank = 0b1 << kShiftCfg0RegBank + kMaskCfg0LowPower = 0b1 << kShiftCfg0LowPower + + # ----------- Cfg1 Register ----------- + kRegCfg1 = 0xC6 + + kShiftCfg1Again = 0 + + kMaskCfg1Again = 0b11111 << kShiftCfg1Again + + # ----------- Cfg3 Register ----------- + kRegCfg3 = 0xC7 + + kShiftCfg3Sai = 4 + + kMaskCfg3Sai = 0b1 << kShiftCfg3Sai + + # ----------- Cfg6 Register ----------- + kRegCfg6 = 0xF5 + + kShiftCfg6SmuxCmd = 3 + + kMaskCfg6SmuxCmd = 0b11 << kShiftCfg6SmuxCmd + + # ----------- Cfg8 Register ----------- + kRegCfg8 = 0xC9 + + kShiftCfg8FifoTh = 6 + + kMaskCfg8FifoTh = 0b11 << kShiftCfg8FifoTh + + # ----------- Cfg9 Register ----------- + kRegCfg9 = 0xCA + + kShiftCfg9SiencSmux = 5 + kShiftCfg9SiencFd = 7 + + kMaskCfg9SiencSmux = 0b1 << kShiftCfg9SiencSmux + kMaskCfg9SiencFd = 0b1 << kShiftCfg9SiencFd + + # ----------- Cfg10 Register ----------- + kRegCfg10 = 0x65 + + kShiftCfg10FdPers = 0 + + kMaskCfg10FdPers = 0b111 << kShiftCfg10FdPers + + # ----------- Pers Register ----------- + kRegPers = 0xCF + + kShiftPersApers = 0 + + kMaskPersApers = 0b1111 << kShiftPersApers + + # ----------- Gpio Register ----------- + kRegGpio = 0x6B + + kShiftGpioIn = 0 + kShiftGpioOut = 1 + kShiftGpioInEn = 2 + kShiftGpioInv = 3 + + kMaskGpioIn = 0b1 << kShiftGpioIn + kMaskGpioOut = 0b1 << kShiftGpioOut + kMaskGpioInEn = 0b1 << kShiftGpioInEn + kMaskGpioInv = 0b1 << kShiftGpioInv + + # ----------- AStep Register ----------- + kRegAStep = 0xD4 + + kShiftAStepL = 0 + kShiftAStepH = 8 + + kMaskAStepL = 0xFF << kShiftAStepL + kMaskAStepH = 0xFF << kShiftAStepH + + # ----------- Cfg20 Register ----------- + kRegCfg20 = 0xD6 + + kShiftCfg20AutoSmux = 5 + kShiftCfg20FdFifo8b = 7 + + kMaskCfg20AutoSmux = 0b11 << kShiftCfg20AutoSmux + kMaskCfg20FdFifo8b = 0b1 << kShiftCfg20FdFifo8b + + # ----------- Led Register ----------- + kRegLed = 0xCD + + kShiftLedDrive = 0 + kShiftLedAct = 7 + + kMaskLedDrive = 0b1111111 << kShiftLedDrive + kMaskLedAct = 0b1 << kShiftLedAct + + # ----------- Agc Gain Max Register ----------- + kRegAgcGainMax = 0xD7 + + kShiftAgcGainMax = 4 + + kMaskAgcGainMax = 0b1111 << kShiftAgcGainMax + + # ----------- Az Config Register ----------- + kRegAzConfig = 0xDE + + # Register is a single 8-bit value + + # ----------- Fd Time1 Register ----------- + kRegFdTime1 = 0xE0 + + # Register is a single 8-bit value + + # ----------- Fd Time2 Register ----------- + kRegFdTime2 = 0xE2 + + kShiftFdTime2FdTimeH = 0 + kShiftFdTime2FdGain = 3 + + kMaskFdTime2FdTimeH = 0b111 << kShiftFdTime2FdTimeH + kMaskFdTime2FdGain = 0b11111 << kShiftFdTime2FdGain + + # ----------- Fd Time Cfg0 Register ----------- + kRegFdTimeCfg0 = 0xDF + + kShiftFdTimeCfg0FifoWriteFd = 7 + + kMaskFdTimeCfg0FifoWriteFd = 0b1 << kShiftFdTimeCfg0FifoWriteFd + + # ----------- Int Enab Register ----------- + kRegIntEnab = 0xF9 + + kShiftIntEnabSein = 0 + kShiftIntEnabFien = 2 + kShiftIntEnabSpIen = 3 + kShiftIntEnabAsien = 7 + + kMaskIntEnabSein = 0b1 << kShiftIntEnabSein + kMaskIntEnabFien = 0b1 << kShiftIntEnabFien + kMaskIntEnabSpIen = 0b1 << kShiftIntEnabSpIen + kMaskIntEnabAsien = 0b1 << kShiftIntEnabAsien + + # ----------- Control Register ----------- + kRegControl = 0xFA + + kShiftControlClearSaiAct = 0 + kShiftControlFifoClr = 1 + kShiftControlSpManAz = 2 + kShiftControlSwReset = 3 + + kMaskControlClearSaiAct = 0b1 << kShiftControlClearSaiAct + kMaskControlFifoClr = 0b1 << kShiftControlFifoClr + kMaskControlSpManAz = 0b1 << kShiftControlSpManAz + kMaskControlSwReset = 0b1 << kShiftControlSwReset + + # ----------- Fifo Map Register ----------- + kRegFifoMap = 0xFC + + kShiftFifoMapFifoWriteAStatus = 0 + kShiftFifoMapFifoWriteCh0Data = 1 + kShiftFifoMapFifoWriteCh1Data = 2 + kShiftFifoMapFifoWriteCh2Data = 3 + kShiftFifoMapFifoWriteCh3Data = 4 + kShiftFifoMapFifoWriteCh4Data = 5 + kShiftFifoMapFifoWriteCh5Data = 6 + + kMaskFifoMapFifoWriteAStatus = 0b1 << kShiftFifoMapFifoWriteAStatus + kMaskFifoMapFifoWriteCh0Data = 0b1 << kShiftFifoMapFifoWriteCh0Data + kMaskFifoMapFifoWriteCh1Data = 0b1 << kShiftFifoMapFifoWriteCh1Data + kMaskFifoMapFifoWriteCh2Data = 0b1 << kShiftFifoMapFifoWriteCh2Data + kMaskFifoMapFifoWriteCh3Data = 0b1 << kShiftFifoMapFifoWriteCh3Data + kMaskFifoMapFifoWriteCh4Data = 0b1 << kShiftFifoMapFifoWriteCh4Data + kMaskFifoMapFifoWriteCh5Data = 0b1 << kShiftFifoMapFifoWriteCh5Data + + # ----------- Fifo Lvl Register ----------- + kRegFifoLvl = 0xFD + + # Register is a single 8-bit value + + # ----------- FData Register ----------- + kRegFData = 0xFE + + kShiftFDataL = 0 + kShiftFDataH = 8 + + kMaskFDataL = 0xFF << kShiftFDataL + kMaskFDataH = 0xFF << kShiftFDataH + + + def __init__(self, address=None, i2c_driver=None): + """! + Constructor + + @param int, optional address: The I2C address to use for the device + If not provided, the default address is used + @param I2CDriver, optional i2c_driver: An existing i2c driver object + If not provided, a driver object is created + """ + + # Use address if provided, otherwise pick the default + if address in self.available_addresses: + self.address = address + else: + self.address = self.available_addresses[0] + + # Load the I2C driver if one isn't provided + if i2c_driver is None: + self._i2c = qwiic_i2c.getI2CDriver() + if self._i2c is None: + print("Unable to load I2C driver for this platform.") + return + else: + self._i2c = i2c_driver + + self._data = [None] * self.kNumChannels + + def is_connected(self): + """! + Determines if this device is connected + + @return **bool** `True` if connected, otherwise `False` + """ + # Check if connected by seeing if an ACK is received + if not self._i2c.isDeviceConnected(self.address): + print("Device not connected") + return False + + # Check that Part Number Identifier is correct (read only and should always be 0x81) + if self.get_device_id() != self.kDefaultAS7343DeviceID: + print("Device ID mismatch") + return False + + return True + + connected = property(is_connected) + + def begin(self): + """! + Initializes this device with default parameters + + @return **bool** Returns `True` if successful, otherwise `False` + """ + # Confirm device is connected before doing anything + return self.is_connected() + + def set_register_bank(self, bank): + """! + Sets the register bank for the device + + @param int bank: The register bank to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the bank is valid + if bank not in [self.kRegBank0, self.kRegBank1]: + return False + + # Read the current cfg0 register + cfg0 = self._i2c.read_byte(self.address, self.kRegCfg0) + + # Clear the register bank bits + cfg0 &= ~self.kMaskCfg0RegBank + + # Set the new register bank + cfg0 |= (bank << self.kShiftCfg0RegBank) & self.kMaskCfg0RegBank + + # Write the new cfg0 register value + self._i2c.write_byte(self.address, self.kRegCfg0, cfg0) + return True + + def read_register(self, register): + """! + Reads a single byte from the specified register + + @param int register: The register to read from + + @return **int** The value read from the register + """ + + # Set the register bank as needed to access the specified register. + # if the desired register is equal to or greater than 0x80, set bank 0. + # Otherwise, set bank 1. + if register >= 0x80: + self.set_register_bank(self.kRegBank0) + else: + self.set_register_bank(self.kRegBank1) + + # Read the register value + return self._i2c.read_byte(self.address, register) + + def get_device_id(self): + """! + Gets the device ID of the AS7343 + + @return **int** The device ID + """ + # Read the device ID register + return self.read_register(self.kRegID) + + def power_on(self, enable=True): + """! + Powers on the AS7343 + + @param bool enable: `True` to power on, `False` to power off + + @return **bool** `True` if successful, otherwise `False` + """ + # Read the current enable register + enable_reg = self.read_register(self.kRegEnable) + + # Set the power on bit + if enable: + enable_reg |= self.kMaskEnablePon + else: + enable_reg &= ~self.kMaskEnablePon + + # Write the new enable register value + self._i2c.write_byte(self.address, self.kRegEnable, enable_reg) + return True + + def power_off(self): + """! + Powers off the AS7343 + + @return **bool** `True` if successful, otherwise `False` + """ + return self.power_on(False) + + def spectral_measurement_enable(self, enable=True): + """! + Enables or disables spectral measurement + + @param bool enable: `True` to enable, `False` to disable + + @return **bool** `True` if successful, otherwise `False` + """ + # Read the current enable register + enable_reg = self.read_register(self.kRegEnable) + + # Set the spectral measurement enable bit + if enable: + enable_reg |= self.kMaskEnableSpEn + else: + enable_reg &= ~self.kMaskEnableSpEn + + # Write the new enable register value + self._i2c.write_byte(self.address, self.kRegEnable, enable_reg) + return True + + def spectral_measurement_disable(self): + """! + Disables spectral measurement + + @return **bool** `True` if successful, otherwise `False` + """ + return self.spectral_measurement_enable(False) + + def read_all_spectral_data(self): + """! + Reads all spectral data from the AS7343 + + @return None + """ + + # Set the register bank to bank 0 to access the data registers + self.set_register_bank(self.kRegBank0) + + # Read the spectral data registers + for i in range(self.kNumChannels): + self._data[i] = (self._i2c.read_word(self.address, self.kRegData0 + (i * 2))) + + + def get_data(self, channel): + """! + Gets the data for a specific channel + + @param int channel: The channel to get data from + + @return **int** The data for the specified channel or `None` if invalid + """ + # Check if the channel is valid + if channel < 0 or channel >= self.kNumChannels: + return None + + # Return the data for the specified channel + return self._data[channel] + + def set_auto_smux(self, auto_smux): + """! + Sets the automatic SMUX mode + + @param int auto_smux: The automatic SMUX mode to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the auto SMUX mode is valid + if auto_smux not in [self.kAutoSmux6Channels, self.kAutoSmux12Channels, self.kAutoSmux18Channels]: + return False + + # Read the current cfg20 register + cfg20 = self.read_register(self.kRegCfg20) + + # Clear the automatic SMUX bits + cfg20 &= ~self.kMaskCfg20AutoSmux + + # Set the new automatic SMUX mode + cfg20 |= (auto_smux << self.kShiftCfg20AutoSmux) & self.kMaskCfg20AutoSmux + + # Write the new cfg20 register value + self._i2c.write_byte(self.address, self.kRegCfg20, cfg20) + return True + + def set_led_on(self, led_on = True): + """! + Sets the LED state + + @param bool led_on: `True` to turn on the LED, `False` to turn it off + + @return **bool** `True` if successful, otherwise `False` + """ + # Read the current LED register + led_reg = self.read_register(self.kRegLed) + + # Set the LED state + if led_on: + led_reg |= self.kMaskLedAct + else: + led_reg &= ~self.kMaskLedAct + + # Write the new LED register value + self._i2c.write_byte(self.address, self.kRegLed, led_reg) + return True + + def set_led_off(self): + """! + Turns off the LED + + @return **bool** `True` if successful, otherwise `False` + """ + return self.set_led_on(False) + + def set_led_drive(self, drive): + """! + Sets the LED drive current + + @param int drive: The LED drive current to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the drive current is valid + if drive < 0 or drive > 127: + return False + + # Read the current LED register + led_reg = self.read_register(self.kRegLed) + + # Set the LED drive current + led_reg &= ~self.kMaskLedDrive + led_reg |= (drive << self.kShiftLedDrive) & self.kMaskLedDrive + + # Write the new LED register value + self._i2c.write_byte(self.address, self.kRegLed, led_reg) + return True + + def get_red(self): + """! + Gets the red channel data + + @return **int** The red channel data + """ + return self.get_data(self.kChRedF7690nm) + + def get_green(self): + """! + Gets the green channel data + + @return **int** The green channel data + """ + return self.get_data(self.kChGreenF5550nm) + + def get_blue(self): + """! + Gets the blue channel data + + @return **int** The blue channel data + """ + return self.get_data(self.kChBlueFz450nm) + + def get_nir(self): + """! + Gets the NIR channel data + + @return **int** The NIR channel data + """ + return self.get_data(self.kChNir855nm) + + # TODO: Check endianness for these write_words + def set_spectral_int_threshold_high(self, spThH): + """! + Sets the spectral intensity threshold high value + + @param 16-bit positive int spThH: The spectral intensity threshold high value + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the spectral intensity threshold high value is valid + if spThH < 0 or spThH > 0xFFFF: + return False + + # Right the full 16-bit value to the register + self._i2c.write_word(self.address, self.kRegSpThH, spThH) + return True + + def set_spectral_int_threshold_low(self, spThL): + """! + Sets the spectral intensity threshold low value + + @param 16-bit positive int spThL: The spectral intensity threshold low value + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the spectral intensity threshold low value is valid + if spThL < 0 or spThL > 0xFFFF: + return False + + # Right the full 16-bit value to the register + self._i2c.write_word(self.address, self.kRegSpThL, spThL) + return True + + def spectral_int_enable(self, enable=True): + """! + Enables or disables spectral intensity measurement + + @param bool enable: `True` to enable, `False` to disable + + @return **bool** `True` if successful, otherwise `False` + """ + # Read the current cfg20 register + intEnab = self.read_register(self.kRegIntEnab) + + # Set the spectral intensity enable bit + if enable: + intEnab |= self.kMaskIntEnabSpIen + else: + intEnab &= ~self.kMaskIntEnabSpIen + + # Write the new INT_ENAB register value + self._i2c.write_byte(self.address, self.kRegIntEnab, intEnab) + return True + + def spectral_int_disable(self): + """! + Disables spectral intensity measurement + + @return **bool** `True` if successful, otherwise `False` + """ + return self.spectral_int_enable(False) + + def set_spectral_threshold_channel(self, channel): + """! + Sets the spectral threshold channel + + @param int channel: The spectral threshold channel to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the spectral threshold channel is valid + if channel not in [self.kSpectralThresholdChannel0, self.kSpectralThresholdChannel1, + self.kSpectralThresholdChannel2, self.kSpectralThresholdChannel3, + self.kSpectralThresholdChannel4, self.kSpectralThresholdChannel5]: + return False + + # Read the current cfg12 register + cfg12 = self.read_register(self.kRegCfg12) + + # Clear the spectral threshold channel bits + cfg12 &= ~self.kMaskCfg12SpThCh + + # Set the new spectral threshold channel + cfg12 |= (channel << self.kShiftCfg12SpThCh) & self.kMaskCfg12SpThCh + + # Write the new cfg12 register value + self._i2c.write_byte(self.address, self.kRegCfg12, cfg12) + return True + + def get_system_interrupt_status(self): + """! + Gets the system interrupt status + + @return **bool** The system interrupt status + """ + # Read the status register + status = self.read_register(self.kRegStatus) + + # Check if the system interrupt is set + return (status & self.kMaskStatusSint) == self.kMaskStatusSint + + def get_spectral_channel_interrupt_status(self): + """! + Gets the spectral channel interrupt status + + @return **int** The spectral channel interrupt status + """ + # Read the status register + status = self.read_register(self.kRegStatus) + + # Check if the spectral channel interrupt is set + return (status & self.kMaskStatusAint) == self.kMaskStatusAint + + def get_spectral_interrupt_high_status(self): + """! + Gets the spectral interrupt high status + + @return **int** The spectral interrupt high status + """ + # Read the status3 register + status3 = self.read_register(self.kRegStatus3) + + # Check if the spectral interrupt high is set + return (status3 & self.kMaskStatus3IntSpH) == self.kMaskStatus3IntSpH + + def get_spectral_trigger_error_status(self): + """! + Gets the spectral trigger error status + + @return **int** The spectral trigger error status + """ + # Read the status4 register + status4 = self.read_register(self.kRegStatus4) + + # Check if the spectral trigger error is set + return (status4 & self.kMaskStatus4SpTrig) == self.kMaskStatus4SpTrig + + def set_wait_time(self, wait_time): + """! + Sets the wait time for the AS7343 + + @param int wait_time: The wait time to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the wait time is valid + if wait_time < 0 or wait_time > 255: + return False + + # Write the new wait time to the register + self._i2c.write_byte(self.address, self.kRegWTime, wait_time) + return True + + def get_wait_time(self): + """! + Gets the wait time for the AS7343 + + @return **int** The wait time + """ + # Read the wait time register + return self.read_register(self.kRegWTime) + + def wait_time_enable(self, enable=True): + """! + Enables or disables the wait time + + @param bool enable: `True` to enable, `False` to disable + + @return **bool** `True` if successful, otherwise `False` + """ + # Read the current enable register + enable_reg = self.read_register(self.kRegEnable) + + # Set the wait time enable bit + if enable: + enable_reg |= self.kMaskEnableWen + else: + enable_reg &= ~self.kMaskEnableWen + + # Write the new enable register value + self._i2c.write_byte(self.address, self.kRegEnable, enable_reg) + return True + + def wait_time_disable(self): + """! + Disables the wait time + + @return **bool** `True` if successful, otherwise `False` + """ + return self.wait_time_enable(False) + + def get_spectral_valid_status(self): + """! + Gets the spectral valid status + + @return **int** The spectral valid status + """ + # Read the status2 register + status2 = self.read_register(self.kRegStatus2) + + # Check if the spectral valid status is set + return (status2 & self.kMaskStatus2Avalid) == self.kMaskStatus2Avalid + + def read_int_enable_reg(self): + """! + Reads the interrupt enable register + + @return **int** The interrupt enable register value + """ + # Read the interrupt enable register + return self.read_register(self.kRegIntEnab) + + def set_gpio_mode(self, mode): + """! + Sets the GPIO mode + + @param int mode: The GPIO mode to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the GPIO mode is valid + if mode not in [self.kGpioModeInput, self.kGpioModeOutput]: + return False + + # Read the current GPIO register + gpio_reg = self.read_register(self.kRegGpio) + + # Set the GPIO mode + gpio_reg &= ~self.kMaskGpioInEn + + if mode == self.kGpioModeInput: + gpio_reg |= self.kMaskGpioInEn + + # Write the new GPIO register value + self._i2c.write_byte(self.address, self.kRegGpio, gpio_reg) + return True + + def get_gpio_input_status(self): + """! + Gets the GPIO input status + + @return **int** The GPIO input status + """ + # Read the GPIO register + gpio_reg = self.read_register(self.kRegGpio) + + # Check if the GPIO input status is set + return (gpio_reg & self.kMaskGpioIn) == self.kMaskGpioIn + + def set_gpio_output(self, output): + """! + Sets the GPIO output + + @param int output: The GPIO output to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the GPIO output is valid + if output not in [self.kGpioOutputLow, self.kGpioOutputHigh]: + return False + + # Read the current GPIO register + gpio_reg = self.read_register(self.kRegGpio) + + # Set the GPIO output + gpio_reg &= ~self.kMaskGpioOut + gpio_reg |= (output << self.kShiftGpioOut) & self.kMaskGpioOut + + # Write the new GPIO register value + self._i2c.write_byte(self.address, self.kRegGpio, gpio_reg) + return True + + def reset(self): + """! + Resets the AS7343 + + @return **bool** `True` if successful, otherwise `False` + """ + # Read the current control register + control_reg = self.read_register(self.kRegControl) + + # Set the reset bit + control_reg |= self.kMaskControlSwReset + + # Write the new control register value + self._i2c.write_byte(self.address, self.kRegControl, control_reg) + return True + + def set_spectral_int_persistence(self, persistence): + """! + Sets the spectral intensity persistence + + @param int persistence: The spectral intensity persistence to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the spectral intensity persistence is valid + if persistence < 0 or persistence > 0x0F: + return False + + # Read the current persistence register + pers_reg = self.read_register(self.kRegPers) + + # Set the spectral intensity persistence + pers_reg &= ~self.kMaskPersApers + pers_reg |= (persistence << self.kShiftPersApers) & self.kMaskPersApers + + # Write the new persistence register value + self._i2c.write_byte(self.address, self.kRegPers, pers_reg) + return True + + def clear_spectral_channel_interrupt(self): + """! + Clears the spectral channel interrupt + + @return **bool** `True` if successful, otherwise `False` + """ + # Read the current status register + status_reg = self.read_register(self.kRegStatus) + + # Clear the AINT bit by writing a 1 to it + status_reg |= self.kMaskStatusAint + + # Write the new status register value + self._i2c.write_byte(self.address, self.kRegStatus, status_reg) + return True + + def set_a_gain(self, gain): + """! + Sets the A gain + + @param int gain: The A gain to set + + @return **bool** `True` if successful, otherwise `False` + """ + # Check if the A gain is valid + if gain < self.kAgain0_5 or gain > self.kAgain2048: + return False + + # Read the current cfg1 register + cfg1 = self.read_register(self.kRegCfg1) + + # Set the A gain + cfg1 &= ~self.kMaskCfg1Again + cfg1 |= (gain << self.kShiftCfg1Again) & self.kMaskCfg1Again + + # Write the new cfg1 register value + self._i2c.write_byte(self.address, self.kRegCfg1, cfg1) + return True + + def flicker_detection_enable(self, enable=True): + """! + Enables or disables flicker detection + + @param bool enable: `True` to enable, `False` to disable + """ + # Read the current enable register + enable_reg = self.read_register(self.kRegEnable) + + # Set the flicker detection enable bit + if enable: + enable_reg |= self.kMaskEnableFden + else: + enable_reg &= ~self.kMaskEnableFden + + # Write the new enable register value + self._i2c.write_byte(self.address, self.kRegEnable, enable_reg) + + def flicker_detection_disable(self): + """! + Disables flicker detection + """ + return self.flicker_detection_enable(False) + + def get_fd_valid_status(self): + """! + Gets the flicker detection valid status + + @return **bool** The flicker detection valid status + """ + # Read the fd status register + fd_status = self.read_register(self.kRegFdStatus) + + # Check if the flicker detection valid status is set + return (fd_status & self.kMaskFdStatusFdMeasValid) == self.kMaskFdStatusFdMeasValid + + def get_fd_saturation_status(self): + """! + Gets the flicker detection saturation status + + @return **bool** The flicker detection saturation status + """ + # Read the fd status register + fd_status = self.read_register(self.kRegFdStatus) + + # Check if the flicker detection saturation status is set + return (fd_status & self.kMaskFdStatusFdSaturation) == self.kMaskFdStatusFdSaturation + + def get_fd_frequency(self): + """! + Gets the flicker detection frequency + + @return **int** The flicker detection frequency + """ + # Read the fd status register + fd_status = self.read_register(self.kRegFdStatus) + + # See which frequency bit is set (fd_100hz_det or fd_120hz_det) and check + # its corresponding valid bit (fd_100hz_valid or fd_120hz_valid) to determine the frequency + # return the frequency value + if (fd_status & self.kMaskFdStatusFd100HzDet) == self.kMaskFdStatusFd100HzDet and \ + (fd_status & self.kMaskFdStatusFd100HzValid) == self.kMaskFdStatusFd100HzValid: + return 100 + elif (fd_status & self.kMaskFdStatusFd120HzDet) == self.kMaskFdStatusFd120HzDet and \ + (fd_status & self.kMaskFdStatusFd120HzValid) == self.kMaskFdStatusFd120HzValid: + return 120 + else: + return 0 diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_cy8cmbr3.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_cy8cmbr3.py new file mode 100644 index 0000000..95c52c5 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_cy8cmbr3.py @@ -0,0 +1,1004 @@ +#------------------------------------------------------------------------------- +# qwiic_cy8cmbr3.py +# +# Python library for the SparkFun Qwiic Capacitive Soil Moisture Sensor, available here: +# https://www.sparkfun.com/products/TODO +#------------------------------------------------------------------------------- +# Written by SparkFun Electronics, January 2026 +# +# This python library supports the SparkFun Electroncis Qwiic ecosystem +# +# More information on Qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +#=============================================================================== +# Copyright (c) 2026 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#=============================================================================== + +""" +qwiic_cy8cmbr3 +============ +Python module for the [SparkFun Qwiic Capacitive Soil Moisture Sensor](https://www.sparkfun.com/products/TODO) +This is a port of the existing [Arduino Library](https://github.com/sparkfun/SparkFun_CY8CMBR3_Arduino_Library) +This package can be used with the overall [SparkFun Qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) +New to Qwiic? Take a look at the entire [SparkFun Qwiic ecosystem](https://www.sparkfun.com/qwiic). +""" + +# The Qwiic_I2C_Py platform driver is designed to work on almost any Python +# platform, check it out here: https://github.com/sparkfun/Qwiic_I2C_Py +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c + +# Define the device name and I2C addresses. These are set in the class defintion +# as class variables, making them avilable without having to create a class +# instance. This allows higher level logic to rapidly create a index of Qwiic +# devices at runtine +_DEFAULT_NAME = "Qwiic CY8CMBR3" + +# Some devices have multiple available addresses - this is a list of these +# addresses. NOTE: The first address in this list is considered the default I2C +# address for the device. +_AVAILABLE_I2C_ADDRESS = [0x37] +# Add the other allowable addresses (0x08 to 0x77) to the end of the list +_AVAILABLE_I2C_ADDRESS.extend(list(range(0x08, 0x78))) + +# Define the class that encapsulates the device being created. All information +# associated with this device is encapsulated by this class. The device class +# should be the only value exported from this module. +class QwiicCY8CMBR3(object): + # Set default name and I2C address(es) + device_name = _DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + default_address = _AVAILABLE_I2C_ADDRESS[0] + + # Register Map + kRegSensorEn = 0x00 + kRegFssEn = 0x02 + kRegToggleEn = 0x04 + kRegLedOnEn = 0x06 + kRegSensitivity0 = 0x08 + kRegSensitivity1 = 0x09 + kRegSensitivity2 = 0x0A + kRegSensitivity3 = 0x0B + kRegBaseThreshold0 = 0x0C + kRegBaseThreshold1 = 0x0D + kRegFingerThreshold2 = 0x0E + kRegFingerThreshold3 = 0x0F + kRegFingerThreshold4 = 0x10 + kRegFingerThreshold5 = 0x11 + kRegFingerThreshold6 = 0x12 + kRegFingerThreshold7 = 0x13 + kRegFingerThreshold8 = 0x14 + kRegFingerThreshold9 = 0x15 + kRegFingerThreshold10 = 0x16 + kRegFingerThreshold11 = 0x17 + kRegFingerThreshold12 = 0x18 + kRegFingerThreshold13 = 0x19 + kRegFingerThreshold14 = 0x1A + kRegFingerThreshold15 = 0x1B + kRegSensorDebounce = 0x1C + kRegButtonHys = 0x1D + kRegButtonLbr = 0x1F + kRegButtonNnt = 0x20 + kRegButtonNt = 0x21 + kRegProxEn = 0x26 + kRegProxCfg = 0x27 + kRegProxCfg2 = 0x28 + kRegProxTouchTh0 = 0x2A + kRegProxTouchTh1 = 0x2C + kRegProxResolution0 = 0x2E + kRegProxResolution1 = 0x2F + kRegProxHys = 0x30 + kRegProxLbr = 0x32 + kRegProxNnt = 0x33 + kRegProxNt = 0x34 + kRegProxPositiveTh0 = 0x35 + kRegProxPositiveTh1 = 0x36 + kRegProxNegativeTh0 = 0x39 + kRegProxNegativeTh1 = 0x3A + kRegLedOnTime = 0x3D + kRegBuzzerCfg = 0x3E + kRegBuzzerOnTime = 0x3F + kRegGpoCfg = 0x40 + kRegPwmDutyCycleCfg0 = 0x41 + kRegPwmDutyCycleCfg1 = 0x42 + kRegPwmDutyCycleCfg2 = 0x43 + kRegPwmDutyCycleCfg3 = 0x44 + kRegPwmDutyCycleCfg4 = 0x45 + kRegPwmDutyCycleCfg5 = 0x46 + kRegPwmDutyCycleCfg6 = 0x47 + kRegPwmDutyCycleCfg7 = 0x48 + kRegSpoCfg = 0x4C + kRegDeviceCfg0 = 0x4D + kRegDeviceCfg1 = 0x4E + kRegDeviceCfg2 = 0x4F + kRegDeviceCfg3 = 0x50 + kRegI2cAddr = 0x51 + kRegRefreshCtrl = 0x52 + kRegStateTimeout = 0x55 + kRegSliderCfg = 0x5D + kRegSlider1Cfg = 0x61 + kRegSlider1Resolution = 0x62 + kRegSlider1Threshold = 0x63 + kRegSlider2Cfg = 0x67 + kRegSlider2Resolution = 0x68 + kRegSlider2Threshold = 0x69 + kRegSliderLbr = 0x71 + kRegSliderNnt = 0x72 + kRegSliderNt = 0x73 + kRegScratchpad0 = 0x7A + kRegScratchpad1 = 0x7B + kRegConfigCrc = 0x7E + kRegGpoOutputState = 0x80 + kRegSensorId = 0x82 + kRegCtrlCmd = 0x86 + kRegCtrlCmdStatus = 0x88 + kRegCtrlCmdErr = 0x89 + kRegSystemStatus = 0x8A + kRegPrevCtrlCmdCode = 0x8C + kRegFamilyId = 0x8F + kRegDeviceId = 0x90 + kRegDeviceRev = 0x92 + kRegCalcCrc = 0x94 + kRegTotalWorkingSns = 0x97 + kRegSnsCpHigh = 0x98 + kRegSnsVddShort = 0x9A + kRegSnsGndShort = 0x9C + kRegSnsSnsShort = 0x9E + kRegCmodShieldTest = 0xA0 + kRegButtonStat = 0xAA + kRegLatchedButtonStat = 0xAC + kRegProxStat = 0xAE + kRegLatchedProxStat = 0xAF + kRegSlider1Position = 0xB0 + kRegLiftoffSlider1Position = 0xB1 + kRegSlider2Position = 0xB2 + kRegLiftoffSlider2Position = 0xB3 + kRegSyncCounter0 = 0xB9 + kRegDiffCnt0 = 0xBA + kRegDiffCnt1 = 0xBC + kRegDiffCnt2 = 0xBE + kRegDiffCnt3 = 0xC0 + kRegDiffCnt4 = 0xC2 + kRegDiffCnt5 = 0xC4 + kRegDiffCnt6 = 0xC6 + kRegDiffCnt7 = 0xC8 + kRegDiffCnt8 = 0xCA + kRegDiffCnt9 = 0xCC + kRegDiffCnt10 = 0xCE + kRegDiffCnt11 = 0xD0 + kRegDiffCnt12 = 0xD2 + kRegDiffCnt13 = 0xD4 + kRegDiffCnt14 = 0xD6 + kRegDiffCnt15 = 0xD8 + kRegGpoData = 0xDA + kRegSyncCounter1 = 0xDB + kRegDebugSensorId = 0xDC + kRegDebugCp = 0xDD + kRegDebugDiffCnt0 = 0xDE + kRegDebugBaseline0 = 0xE0 + kRegDebugRawCnt0 = 0xE2 + kRegDebugAvgRawCnt0 = 0xE4 + kRegSyncCounter2 = 0xE7 + + # Note: Currently since the only supported SparkFun products use the CY8CMBR3102, only CS0 and GPO0 are used. + # If other sensors or GPOs are used in the future, additional shifts and masks can be added here. + # Shifts and Masks + # SENSOR_EN: Capacitive sensor enable/disable configuration. + kSensorEnShiftCs0 = 0 + kSensorEnMaskCs0 = 0b01 + kSensorEnShiftCs1 = 1 + kSensorEnMaskCs1 = 0b10 + + # TOGGLE_EN: GPO toggle enable/disable. + kToggleEnShiftGpo0 = 0 + kToggleEnMaskGpo0 = 0b01 + + # LED_ON_EN: GPO extended LED ON duration enable/disable. + kLedOnEnShiftGpo0 = 0 + kLedOnEnMaskGpo0 = 0b01 + + # SENSITIVITY0: Sensitivities (units: counts/pF) for button sensors 0 - 3 + kSensitivity0ShiftCs0 = 0 + kSensitivity0MaskCs0 = 0b11 + + # GPO_CFG: GPO configuration + kGpoCfgShiftGpo0GpoCtl = 0 + kGpoCfgMaskGpo0GpoCtl = 1 << kGpoCfgShiftGpo0GpoCtl + kGpoCfgShiftGpo0GpoPwm = 1 + kGpoCfgMaskGpo0GpoPwm = 1 << kGpoCfgShiftGpo0GpoPwm + kGpoCfgShiftGpo0DriveMode = 2 + kGpoCfgMaskGpo0DriveMode = 1 << kGpoCfgShiftGpo0DriveMode + kGpoCfgShiftGpo0ActiveState = 3 + kGpoCfgMaskGpo0ActiveState = 1 << kGpoCfgShiftGpo0ActiveState + + # SPO_CFG: Special purpose output configuration + kSpoCfgShiftSpo0 = 0 + kSpoCfgMaskSpo0 = 0b00000111 + kSpoCfgShiftSpo1 = 4 + kSpoCfgMaskSpo1 = 0b01110000 + + # GPO_OUTPUT_STATE: GPO output state control + kGpoOutputStateShiftGpo0 = 0 + kGpoOutputStateMaskGpo0 = 0b01 + + # GPO_DATA: Current GPO state values + kGpoDataShiftGpo0 = 0 + kGpoDataMaskGpo0 = 0b01 + + # Auto-Reset Enable + kAutoResetShiftButtonSldArst = 4 + kAutoResetMaskButtonSldArst = 0b11 << kAutoResetShiftButtonSldArst + + kAutoResetShiftProximityArst = 6 + kAutoResetMaskProximityArst = 0b11 << kAutoResetShiftProximityArst + + + # Value Variables + # IDs + kDefaultCY8CMBR3102FamilyID = 0x9A # When polling the FAMILY_ID register, this should be returned on boot. + kDefaultCY8CMBR3102DeviceID = 0xA01 # When polling the DEVICE_ID register, this should be returned on boot. + + # Sensitivities + # Sensitivity values (counts per pF) + kCsSensitivity500CountsPerPf = 0 # 50 counts/0.1pF + kCsSensitivity250CountsPerPf = 1 # 50 counts/0.2pF + kCsSensitivity167CountsPerPf = 2 # 50 counts/0.3pF + kCsSensitivity125CountsPerPf = 3 # 50 counts/0.4pF + + # Refresh Intervals + kRefreshInterval20ms = 1 + kRefreshInterval40ms = 2 + kRefreshInterval60ms = 3 + kRefreshInterval80ms = 4 + kRefreshInterval100ms = 5 + kRefreshInterval120ms = 6 + kRefreshInterval140ms = 7 + kRefreshInterval160ms = 8 + kRefreshInterval180ms = 9 + kRefreshInterval200ms = 10 + kRefreshInterval220ms = 11 + kRefreshInterval240ms = 12 + kRefreshInterval260ms = 13 + kRefreshInterval280ms = 14 + kRefreshInterval300ms = 15 + kRefreshInterval320ms = 16 + kRefreshInterval340ms = 17 + kRefreshInterval360ms = 18 + kRefreshInterval380ms = 19 + kRefreshInterval400ms = 20 + kRefreshInterval420ms = 21 + kRefreshInterval440ms = 22 + kRefreshInterval460ms = 23 + kRefreshInterval480ms = 24 + kRefreshInterval500ms = 25 + + # Auto Reset Timeouts + kAutoResetTimeoutDisabled = 0 + kAutoResetTimeout5Seconds = 1 + kAutoResetTimeout20Seconds = 2 + + # Commands + kCtrlCmdNoOp = 0 + kCtrlCmdSaveConfig = 2 + kCtrlCmdCalcCrc = 3 + kCtrlCmdDeepSleep = 7 + kCtrlCmdResetLatch = 8 + kCtrlCmdAlpResetPs0 = 9 + kCtrlCmdAlpResetPs1 = 10 + kCtrlCmdSwReset = 255 + + def __init__(self, address=None, i2c_driver=None, enableDebug=False): + """ + Constructor + + :param address: The I2C address to use for the device + If not provided, the default address is used + :type address: int, optional + :param i2c_driver: An existing i2c driver object + If not provided, a driver object is created + :type i2c_driver: I2CDriver, optional + """ + self.enableDebug = enableDebug + + # Use address if provided, otherwise pick the default + if address in self.available_addresses: + self.address = address + else: + self.address = self.available_addresses[0] + + # Load the I2C driver if one isn't provided + if i2c_driver is None: + self._i2c = qwiic_i2c.getI2CDriver() + if self._i2c is None: + print("Unable to load I2C driver for this platform.") + return + else: + self._i2c = i2c_driver + + def is_connected(self): + """ + Determines if this device is connected + + :return: `True` if connected, otherwise `False` + :rtype: bool + """ + # Check ID registers to confirm connected + family_id = self.get_family_id() + device_id = self.get_device_id() + if (family_id != self.kDefaultCY8CMBR3102FamilyID or + device_id != self.kDefaultCY8CMBR3102DeviceID): + return False + + return True + + connected = property(is_connected) + + def begin(self): + """ + Initializes this device with default parameters + + :return: Returns `True` if successful, otherwise `False` + :rtype: bool + """ + # Confirm device is connected before doing anything + if not self.is_connected(): + return False + + if not self.enable(0, True): + return False + + if not self.enable(1, False): + return False + + if not self.set_sensitivity_cs0(self.kCsSensitivity500CountsPerPf): + return False + + if not self.set_refresh_interval(self.kRefreshInterval100ms): + return False + + if not self.set_spo0_config(5): # Set as GPO0 + return False + + if not self.set_gpo_config(controlByHost=True, pwmOutput=False, strongDrive=True, activeHigh=False): + return False + + if not self.set_auto_reset_enable(): + return False + + # Save the configuration to non-volatile memory and reset + if not self.save_config(): + return False + + if not self.reset(): + return False + + if not self.led_off(): + return False + + if not self.set_sensor_id(0): + return False + + return True + + def get_family_id(self): + """ + Reads and returns the Family ID register + + :return: The Family ID value + :rtype: int + """ + # Read the Family ID register + family_id = self._read_byte_with_retry(self.kRegFamilyId) + + return family_id + + def get_device_id(self): + """ + Reads and returns the Device ID register + + :return: The Device ID value + :rtype: int + """ + # Read the Device ID register + device_id = self._read_word_with_retry(self.kRegDeviceId) + + return device_id + + def enable(self, cs = 0, enable=True): + """ + Enables or disables the capacitive sensor 0 (CS0) + + :param cs: The capacitive sensor number (only 0 and 1 are supported) + + :param enable: If `True`, enables CS0 + If `False`, disables CS0 + + :return: Returns `True` if successful, otherwise `False` + """ + sensorEnVal = self._read_word_with_retry(self.kRegSensorEn) + + if cs == 0: + # Configure CS0 enable/disable + if enable: + sensorEnVal |= self.kSensorEnMaskCs0 + else: + sensorEnVal &= ~self.kSensorEnMaskCs0 + + elif cs == 1: + # Configure CS1 enable/disable + if enable: + sensorEnVal |= self.kSensorEnMaskCs1 + else: + sensorEnVal &= ~self.kSensorEnMaskCs1 + + else: + self.debug_print("Invalid capacitive sensor number.") + return False # Invalid capacitive sensor number + + # Write the sensor enable value to the SENSOR_EN register + self._write_word_with_retry(self.kRegSensorEn, sensorEnVal) + + return True + + def set_auto_reset_enable(self, enable=True, timeout=kAutoResetTimeout5Seconds): + """ + Enables or disables the auto-reset feature for buttons and sliders + + :param enable: If `True`, enables auto-reset + If `False`, disables auto-reset + :param timeout: The auto-reset timeout to set + Use one of the kAutoResetTimeout* constants defined in this class + :return: Returns `True` if successful, otherwise `False` + """ + # Ensure valid inputs + if timeout < self.kAutoResetTimeoutDisabled or timeout > self.kAutoResetTimeout20Seconds: + self.debug_print("Invalid auto-reset timeout value.") + return False # Invalid auto-reset timeout value + + deviceCfg2Val = self._read_byte_with_retry(self.kRegDeviceCfg2) + + if enable: + deviceCfg2Val &= ~self.kAutoResetMaskProximityArst + deviceCfg2Val |= (timeout << self.kAutoResetShiftProximityArst) & self.kAutoResetMaskProximityArst + + deviceCfg2Val &= ~self.kAutoResetMaskButtonSldArst + deviceCfg2Val |= (timeout << self.kAutoResetShiftButtonSldArst) & self.kAutoResetMaskButtonSldArst + else: + deviceCfg2Val &= ~self.kAutoResetMaskProximityArst + deviceCfg2Val |= (self.kAutoResetTimeoutDisabled << self.kAutoResetShiftProximityArst) & self.kAutoResetMaskProximityArst + + deviceCfg2Val &= ~self.kAutoResetMaskButtonSldArst + deviceCfg2Val |= (self.kAutoResetTimeoutDisabled << self.kAutoResetShiftButtonSldArst) & self.kAutoResetMaskButtonSldArst + + # Write the updated device configuration value back to the DEVICE_CFG2 register + self._write_byte_with_retry(self.kRegDeviceCfg2, deviceCfg2Val) + + return True + + def set_spo0_config(self, config): + """ + Sets the SPO0 configuration + + :param enable: If `True`, enables SPO0 + If `False`, disables SPO0 + :param mode: The SPO0 mode to set + :param threshold: The SPO0 threshold to set + + :return: Returns `True` if successful, otherwise `False` + """ + # Ensure valid inputs + spoCfgVal = self._read_byte_with_retry(self.kRegSpoCfg) + spoCfgVal &= ~self.kSpoCfgMaskSpo0 + spoCfgVal |= (config << self.kSpoCfgShiftSpo0) & self.kSpoCfgMaskSpo0 + + # Write the SPO0 configuration to the device + self._write_byte_with_retry(self.kRegSpoCfg, spoCfgVal) + + return True + + def set_sensitivity_cs0(self, sensitivity): + """ + Sets the sensitivity for the capacitive sensor 0 (CS0) + + :param sensitivity: The sensitivity value to set + Use one of the kCsSensitivity* constants defined in this class + + :return: Returns `True` if successful, otherwise `False` + """ + if sensitivity < self.kCsSensitivity500CountsPerPf or sensitivity > self.kCsSensitivity125CountsPerPf: + self.debug_print("Invalid sensitivity value.") + return False # Invalid sensitivity value + + # Read the current SENSITIVITY register value + sensVal = self._read_byte_with_retry(self.kRegSensitivity0) + + # Clear the bits associated with the capacitive sensor + sensVal &= ~self.kSensitivity0MaskCs0 + + # Set the new sensitivity value + sensVal |= (sensitivity << self.kSensitivity0ShiftCs0) & self.kSensitivity0MaskCs0 + + # Write the updated sensitivity value back to the register + self._write_byte_with_retry(self.kRegSensitivity0, sensVal) + + return True + + def set_refresh_interval(self, interval): + """ + Sets the refresh interval for the capacitive sensor + + :param interval: The refresh interval value to set + Use one of the kRefreshInterval* constants defined in this class + + :return: Returns `True` if successful, otherwise `False` + """ + if interval < self.kRefreshInterval20ms or interval > self.kRefreshInterval500ms: + self.debug_print("Invalid refresh interval value.") + return False # Invalid refresh interval value + + # Write the refresh interval value to the REFRESH_CTRL register + self._write_byte_with_retry(self.kRegRefreshCtrl, interval) + + return True + + def set_gpo_config(self, controlByHost, pwmOutput, strongDrive, activeHigh): + """ + Configures the GPO0 settings + + :param controlByHost: If `True`, GPO0 is controlled by the host + If `False`, GPO0 is controlled by the device + :param pwmOutput: If `True`, GPO0 outputs PWM signal + If `False`, GPO0 outputs digital signal + :param strongDrive: If `True`, GPO0 uses strong drive mode + If `False`, GPO0 uses weak drive mode + :param activeHigh: If `True`, GPO0 is active high + If `False`, GPO0 is active low + + :return: Returns `True` if successful, otherwise `False` + """ + gpoCfgVal = self._read_byte_with_retry(self.kRegGpoCfg) + + # Configure control by host/device + if controlByHost: + gpoCfgVal |= self.kGpoCfgMaskGpo0GpoCtl + else: + gpoCfgVal &= ~self.kGpoCfgMaskGpo0GpoCtl + + # Configure PWM/digital output + if pwmOutput: + gpoCfgVal |= self.kGpoCfgMaskGpo0GpoPwm + else: + gpoCfgVal &= ~self.kGpoCfgMaskGpo0GpoPwm + + # Configure strong/weak drive mode + if strongDrive: + gpoCfgVal |= self.kGpoCfgMaskGpo0DriveMode + else: + gpoCfgVal &= ~self.kGpoCfgMaskGpo0DriveMode + + # Configure active high/low + if activeHigh: + gpoCfgVal |= self.kGpoCfgMaskGpo0ActiveState + else: + gpoCfgVal &= ~self.kGpoCfgMaskGpo0ActiveState + + # Write the GPO configuration value to the GPO_CFG register + self._write_byte_with_retry(self.kRegGpoCfg, gpoCfgVal) + + return True + + def led_on(self, enable=True): + """ + Sets the GPO0 output state to turn on/off an LED + + :param enable: If `True`, turns on the LED + If `False`, turns off the LED + + :return: Returns `True` if successful, otherwise `False` + """ + gpoOutputVal = self._read_byte_with_retry(self.kRegGpoOutputState) + + if enable: + gpoOutputVal &= ~self.kGpoOutputStateMaskGpo0 # Active low + else: + gpoOutputVal |= self.kGpoOutputStateMaskGpo0 + + # Write the GPO output state value to the GPO_OUTPUT_STATE register + self._write_byte_with_retry(self.kRegGpoOutputState, gpoOutputVal) + + return True + + def led_off(self): + """ + Turns off the LED connected to GPO0 + + :return: Returns `True` if successful, otherwise `False` + """ + return self.led_on(False) + + def get_debug_sensor_id(self): + """ + Reads and returns the Debug Sensor ID register + + :return: The Debug Sensor ID value + :rtype: int + """ + # Read the Debug Sensor ID register + debugSensorId = self._read_byte_with_retry(self.kRegDebugSensorId) + + return debugSensorId + + def set_sensor_id(self, sensor_id=0): + """ + Sets the Sensor ID register + + :param sensor_id: The Sensor ID value to set + + :return: Returns `True` if successful, otherwise `False` + """ + # Write the Sensor ID value to the SENSOR_ID register + self._write_byte_with_retry(self.kRegSensorId, sensor_id) + + # Wait until the debug sensor ID matches the set sensor ID + while (self.get_debug_sensor_id() != sensor_id): + pass # Optionally, add a timeout here to avoid infinite loops + + return True + + def get_capacitance_pf(self): + """ + Reads and returns the capacitance value from CS0 in picofarads (pF) + + :return: The capacitance value in pF or 0 on error + :rtype: float + """ + # From datasheet 1.5.123 DEBUG_CP register (measurement is updated whenever there is a change in value of SENSOR_ID register) + # So, we'll first set the sensor ID to something else and then back to the desired sensorId to force an update. + if not self.set_sensor_id(1): + return 0.0 + + # Now set it back to our target sensor (CS0) + if not self.set_sensor_id(0): + return 0.0 + + # Read the capacitance value from the DebugCp register + capacitancePf = self._read_byte_with_retry(self.kRegDebugCp) + + return capacitancePf + + def get_diff_count(self): + """ + Reads and returns the difference count value from CS0 + + :return: The difference count value + :rtype: int + """ + # Read the difference count value from the DIFF_CNT0 register + diffCount = self._read_word_with_retry(self.kRegDiffCnt0) + + return diffCount + + def get_diff_pf(self): + """ + Reads and returns the difference count value from CS0 in picofarads (pF) + + :return: The difference count value in pF + :rtype: float + """ + # Read the difference count value from the DIFF_CNT0 register + diffCount = self.get_diff_count() + + # Read the sensitivity setting for CS0 + sensVal = self._read_byte_with_retry(self.kRegSensitivity0) + sensitivitySetting = (sensVal & self.kSensitivity0MaskCs0) >> self.kSensitivity0ShiftCs0 + + # Map sensitivity setting to counts per pF + if sensitivitySetting == self.kCsSensitivity500CountsPerPf: + countsPerPf = 500 + elif sensitivitySetting == self.kCsSensitivity250CountsPerPf: + countsPerPf = 250 + elif sensitivitySetting == self.kCsSensitivity167CountsPerPf: + countsPerPf = 167 + elif sensitivitySetting == self.kCsSensitivity125CountsPerPf: + countsPerPf = 125 + else: + self.debug_print("Invalid sensitivity setting.") + return 0.0 # Invalid sensitivity setting + + # Calculate capacitance in pF + capacitancePf = diffCount / countsPerPf + + return capacitancePf + + def get_baseline_count(self): + """ + Reads and returns the baseline count value from CS0 + + :return: The baseline count value + :rtype: int + """ + if not self.set_sensor_id(0): + return 0 + + # Read the baseline count value from the DebugBaseline0 register + baselineCount = self._read_word_with_retry(self.kRegDebugBaseline0) + + return baselineCount + + def check_saturation(self, rawCount): + """ + Checks if the raw count value indicates saturation + + :param rawCount: The raw count value to check + + :return: `True` if saturated, otherwise `False` + :rtype: bool + """ + # Read the current sensitivity setting for CS0 + sensVal = self._read_byte_with_retry(self.kRegSensitivity0) + sensitivitySetting = (sensVal & self.kSensitivity0MaskCs0) >> self.kSensitivity0ShiftCs0 + + if sensitivitySetting == self.kCsSensitivity500CountsPerPf: + saturationThreshold = 4094 + elif sensitivitySetting == self.kCsSensitivity250CountsPerPf: + saturationThreshold = 2046 + elif sensitivitySetting == self.kCsSensitivity167CountsPerPf: + saturationThreshold = 1022 + elif sensitivitySetting == self.kCsSensitivity125CountsPerPf: + saturationThreshold = 1022 + + return rawCount == saturationThreshold + + def get_raw_count(self, autoCalibrate=False): + """ + Reads and returns the raw count value from CS0 + + :param autoCalibrate: If `True`, performs auto-calibration if saturation is detected. + + Note: + Do not touch the sensor while auto-calibration is occurring. + It will range the sensor to a very high capacitance value which will not + be recoverable by future auto-calibrations until the sensor is manually reset. + ONLY ENABLE IF AWARE OF THE CONSEQUENCES OF A SOFTWARE RESET! + + :return: The raw count value + :rtype: int + """ + if not self.set_sensor_id(0): + return 0 + + # Read the raw count value from the DebugRawCnt0 register + rawCount = self._read_word_with_retry(self.kRegDebugRawCnt0) + + # If autocalibration is enabled, we'll call reset() if the raw count is at maximum (saturated) + if autoCalibrate: + if self.check_saturation(rawCount): + self.debug_print("Raw count saturated, performing software reset for auto-calibration.") + self.reset() + + return rawCount + + def is_ctrl_command_complete(self): + """ + Determines if the last control command has completed + + :return: `True` if the last command is complete, otherwise `False` + :rtype: bool + """ + ctrlCmd = self._read_byte_with_retry(self.kRegCtrlCmd) + + # If CTRL_CMD is 0, then the last command is complete + return (ctrlCmd == self.kCtrlCmdNoOp) + + def send_ctrl_command(self, command, waitForCompletion=True): + """ + Sends a control command to the device + + :param command: The control command to send + :param waitForCompletion: If `True`, waits for the command to complete + + :return: Returns `True` if successful, otherwise `False` + :rtype: bool + """ + # Write the command to the CTRL_CMD register + if not self._write_byte_with_retry(self.kRegCtrlCmd, command): + self.debug_print(f"Failed to write control command to CTRL_CMD register: 0x{command:X}") + return False + + if not waitForCompletion: + return True + + # Wait for the command to complete + while not self.is_ctrl_command_complete(): + pass # Optionally, add a timeout here to avoid infinite loops + + # Read the CTRL_CMD_ERR register to check for errors + ctrlCmdErr = self._read_byte_with_retry(self.kRegCtrlCmdErr) + if ctrlCmdErr is None: + return False + + if ctrlCmdErr != 0: # Assuming 0 means no error + self.debug_print(f"Control Command Error: {ctrlCmdErr}") + return False + + self.debug_print(f"Control Command 0x{command:X} executed successfully!") + return True # Return true to indicate success + + def save_config(self): + """ + Saves the current configuration to non-volatile memory + + :return: Returns `True` if successful, otherwise `False` + :rtype: bool + """ + # Calculate the CRC (using the CALC_CRC register) for the current configuration and load it in the CONFIG_CRC register + if not self.send_ctrl_command(self.kCtrlCmdCalcCrc): + return False + + # Read the calculated CRC from the CALC_CRC register + calcCrc = self._read_word_with_retry(self.kRegCalcCrc) + if calcCrc is None: + return False + + # Write the calculated CRC to the CONFIG_CRC register + if not self._write_word_with_retry(self.kRegConfigCrc, calcCrc): + return False + + # Send the SAVE_CONFIG command to save the current configuration to non-volatile memory + if not self.send_ctrl_command(self.kCtrlCmdSaveConfig): + return False + + return True # Return true to indicate success + + def set_i2c_address(self, new_address): + """ + Sets a new I2C address for the device + + :param new_address: The new I2C address to set + + :return: Returns `True` if successful, otherwise `False` + :rtype: bool + """ + if new_address not in self.available_addresses: + self.debug_print("Invalid I2C address.") + return False # Invalid I2C address + + # Write the new I2C address to the I2C_ADDR register + if not self._write_byte_with_retry(self.kRegI2cAddr, new_address): + return False + + # Save the configuration to non-volatile memory + if not self.save_config(): + return False + + # Reset but do not wait for completion as the address will change directly after + if not self.reset(waitForCompletion=False): + return False + + # Update the instance's address to the new address + self.address = new_address + + # wait for the command to complete on the new address + completionRetries = 10 + from time import sleep + while completionRetries > 0: + if self.is_ctrl_command_complete(): + break + completionRetries -= 1 + sleep(0.1) # Small delay before retrying + + return True # Return true to indicate success + + def reset(self, waitForCompletion=True): + """ + Performs a software reset of the device + + :param waitForCompletion: If `True`, waits for the reset to complete + + :return: Returns `True` if successful, otherwise `False` + :rtype: bool + """ + # Send the SW_RESET command to perform a software reset + if not self.send_ctrl_command(self.kCtrlCmdSwReset, waitForCompletion): + return False + + return True # Return true to indicate success + + def _read_byte_with_retry(self, register, retries=5): + """ + Reads a byte from the specified register with retry logic + + :param register: The register address to read from + :param retries: The number of retry attempts + + :return: The byte value read from the register or None on failure + :rtype: int or None + """ + for attempt in range(retries): + try: + value = self._i2c.read_byte(self.address, register) + return value + except Exception as e: + self.debug_print(f"Read attempt {attempt + 1} failed: {e}") + + def _read_word_with_retry(self, register, retries=5): + """ + Reads a word from the specified register with retry logic + + :param register: The register address to read from + :param retries: The number of retry attempts + + :return: The word value read from the register or None on failure + :rtype: int or None + """ + for attempt in range(retries): + try: + value = self._i2c.read_word(self.address, register) + return value + except Exception as e: + self.debug_print(f"Read word attempt {attempt + 1} failed: {e}") + + def _write_byte_with_retry(self, register, value, retries=5): + """ + Writes a byte to the specified register with retry logic + + :param register: The register address to write to + :param value: The byte value to write + :param retries: The number of retry attempts + + :return: Returns `True` if successful, otherwise `False` + :rtype: bool + """ + for attempt in range(retries): + try: + self._i2c.write_byte(self.address, register, value) + return True + except Exception as e: + self.debug_print(f"Write attempt {attempt + 1} failed: {e}") + return False + + def _write_word_with_retry(self, register, value, retries=5): + """ + Writes a word to the specified register with retry logic + + :param register: The register address to write to + :param value: The word value to write + :param retries: The number of retry attempts + + :return: Returns `True` if successful, otherwise `False` + :rtype: bool + """ + for attempt in range(retries): + try: + self._i2c.write_word(self.address, register, value) + return True + except Exception as e: + self.debug_print(f"Write word attempt {attempt + 1} failed: {e}") + return False + + def debug_print(self, str): + """ + Prints debug information to the console if debugging is enabled + + :param str: The string to print + """ + if self.enableDebug: + print("QwiicCY8CMBR3: " + str) diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/__init__.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/__init__.py new file mode 100644 index 0000000..ada7599 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/__init__.py @@ -0,0 +1,202 @@ +#----------------------------------------------------------------------------- +# __init__.py +# +#----------------------------------------------------------------------------- +# +# +# Written by SparkFun Electronics, May 2019 +# +# This python library supports the SparkFun Electroncis qwiic +# qwiic sensor/board ecosystem on a Raspberry Pi (and compatable) single +# board computers. +# +# More information on qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2019 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== + +""" +qwiic_i2c +========= + +A package to abstract the interface to the platform specific I2C bus calls. +This package is part of the python package for SparkFun qwiic ecosystem. + +New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic). + +:example: + + >>> import qwiic_i2c + >>> connectedDevices = i2cDriver.scan() + >>> if myDeviceAddress in connectedDevices: + with qwiic_i2c.getI2CDriver() as i2c: + i2c.writeByte(myDeviceAddress, register, 0x3F) + +:example: + >>> import qwiic_i2c + >>> if qwiic_i2c.isDeviceConnected(myDeviceAddress): + with qwiic_i2c.getI2CDriver() as i2c: + i2c.writeByte(myDeviceAddress, register, 0x3F) +""" +# Package to abstract the interace to the execution platforms I2C bus for QWIIC. +# +#----------------------------------------------------------------------------- +# Drivers and driver baseclass +from .i2c_driver import I2CDriver + +# All supported platform module and class names +_supported_platforms = { + "linux_i2c": "LinuxI2C", + "circuitpython_i2c": "CircuitPythonI2C", + "micropython_i2c": "MicroPythonI2C" +} + +# List of platform drivers found on this system +_drivers = [] + +# Loop through all supported platform drivers, see if they're included, and +# append them to the driver list if so +for module_name, class_name in _supported_platforms.items(): + try: + sub_module = __import__("lib.AgXRPLib.qwiic_i2c." + module_name, None, None, [None]) + _drivers.append(getattr(sub_module, class_name)) + except: + pass + +_default_driver = None + +#------------------------------------------------- +# Exported method to get the I2C driver for the execution plaform. +# +# If no driver is found, a None value is returned +def getI2CDriver(*args, **argk): + """ + .. function:: getI2CDriver() + + Returns the qwiic I2C driver object for current platform. + + :return: A qwiic I2C driver object for the current platform. + :rtype: object + + :example: + + >>> import qwiic_i2c + >>> i2cDriver = qwiic_i2c.getI2CDriver() + >>> myData = i2cDriver.readByte(0x73, 0x34) + """ + + # If no parameters are provided, return the default driver if we have it + global _default_driver + if len(argk) == 0 and _default_driver != None: + return _default_driver + + # Loop through all the drivers to find the one for this platform + for driverClass in _drivers: + if driverClass.isPlatform(): + # Found it! + driver = driverClass(*args, **argk) + + # If no parameters are provided, set this as the default driver + if len(argk) == 0: + _default_driver = driver + + # And return it + return driver + + # If we get here, we didn't find a driver for this platform + return None + +def get_i2c_driver(*args, **argk): + """ + .. function:: get_i2c_driver() + + Returns the qwiic I2C driver object for current platform. + + :return: A qwiic I2C driver object for the current platform. + :rtype: object + + :example: + + >>> import qwiic_i2c + >>> i2cDriver = qwiic_i2c.get_i2c_driver() + >>> myData = i2cDriver.readByte(0x73, 0x34) + """ + return getI2CDriver(*args, **argk) + +#------------------------------------------------- +# Method to determine if a particular device (at the provided address) +# is connected to the bus. +def isDeviceConnected(devAddress, *args, **argk): + """ + .. function:: isDeviceConnected() + + Function to determine if a particular device (at the provided address) + is connected to the bus. + + :param devAddress: The I2C address of the device to check + + :return: True if the device is connected, otherwise False. + :rtype: bool + + """ + i2c = getI2CDriver(*args, **argk) + + if not i2c: + print("Unable to load the I2C driver for this device") + return False + + return i2c.isDeviceConnected(devAddress) + +def is_device_connected(devAddress, *args, **argk): + """ + .. function:: is_device_connected() + + Function to determine if a particular device (at the provided address) + is connected to the bus. + + :param devAddress: The I2C address of the device to check + + :return: True if the device is connected, otherwise False. + :rtype: bool + + """ + return isDeviceConnected(devAddress, *args, **argk) + +#------------------------------------------------- +# Method to determine if a particular device (at the provided address) +# is connected to the bus. +def ping(devAddress, *args, **argk): + """ + .. function:: ping() + + Function to determine if a particular device (at the provided address) + is connected to the bus. + + :param devAddress: The I2C address of the device to check + + :return: True if the device is connected, otherwise False. + :rtype: bool + + """ + return isDeviceConnected(devAddress, *args, **argk) diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/circuitpython_i2c.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/circuitpython_i2c.py new file mode 100644 index 0000000..b8c31d4 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/circuitpython_i2c.py @@ -0,0 +1,371 @@ +#----------------------------------------------------------------------------- +# cirucitpy_i2c.py +# +# Encapsulate CircuitPython I2C interface +#------------------------------------------------------------------------ +# +# Written by SparkFun Electronics, May 2019 +# +# +# More information on qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2019 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== + +# Import items from __future__ ? +# NO: There is no future with cicuit py + +from .i2c_driver import I2CDriver + +import sys +import os + +_PLATFORM_NAME = "CircuitPython" + +#----------------------------------------------------------------------------- +# Internal function to connect to the systems I2C bus. +# +# Attempts to fail elegantly. Put this in a central place to support +# error handling -- especially on non-circuitpy platforms +# +def _connectToI2CBus(sda=None, scl=None, freq=100000, *args, **argk): + + try: + import board + import busio + except Exception as ee: + print("Error: Unable to load the I2C subsystem modules") + return None + + daBus = None + + error=False + + # Connect - catch errors + + try: + if sda != None and scl != None: + daBus = busio.I2C(scl, sda, frequency=freq) + elif hasattr(board, "STEMMA_I2C"): + daBus = board.STEMMA_I2C() + else: + daBus = busio.I2C(board.SCL, board.SDA, frequency=freq) + except Exception as ee: + if type(ee) is RuntimeError: + print("Error:\tUnable to connect to I2C bus. %s" % (ee)) + print("\t\tEnsure a board is connected to the %s board." % (os.uname().machine)) + else: + print("Error:\tFailed to connect to I2C bus. Error: %s" % (ee)) + + # We had an error.... + error=True + + # below is probably not needed, but ... + if(not error and daBus == None): + print("Error: Failed to connect to I2C bus. Unable to continue") + + return daBus + +def _connect_to_i2c_bus(*args, **argk): + return _connectToI2CBus(*args, **argk) + +# notes on determining CirPy platform +# +# - os.uname().sysname == samd* +# +# +class CircuitPythonI2C(I2CDriver): + + # Constructor + name = _PLATFORM_NAME + + _i2cbus = None + + def __init__(self, sda=None, scl=None, freq=100000, *args, **argk): + + # Call the super class. The super calss will use default values if not + # proviced + I2CDriver.__init__(self) + + self._sda = sda + self._scl = scl + self._freq = freq + + self._i2cbus = _connectToI2CBus(sda=self._sda, scl=self._scl, freq=self._freq) + + # Okay, are we running on a circuit py system? + @classmethod + def isPlatform(cls): + try: + return 'circuitpython' in sys.implementation + except: + return False + + @classmethod + def is_platform(cls): + return cls.isPlatform() + +#------------------------------------------------------------------------- + # General get attribute method + # + # Used to intercept getting the I2C bus object - so we can perform a lazy + # connect .... + # + def __getattr__(self, name): + + if(name == "i2cbus"): + return self._i2cbus + + else: + # Note - we call __getattribute__ to the super class (object). + return super(I2CDriver, self).__getattribute__(name) + + #------------------------------------------------------------------------- + # General set attribute method + # + # Basically implemented to make the i2cbus attribute readonly to users + # of this class. + # + def __setattr__(self, name, value): + + if(name != "i2cbus"): + super(I2CDriver, self).__setattr__(name, value) + + #---------------------------------------------------------- + # read Data Command + + def readWord(self, address, commandCode): + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + buffer = bytearray(2) + + try: + if (commandCode == None): + self._i2cbus.readfrom_into(address, buffer) + else: + self._i2cbus.writeto_then_readfrom(address, bytes([commandCode]), buffer) + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + # build and return a word + return (buffer[1] << 8 ) | buffer[0] + + def read_word(self, address, commandCode): + return self.readWord(address, commandCode) + + #---------------------------------------------------------- + def readByte(self, address, commandCode = None): + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + buffer = bytearray(1) + + try: + if (commandCode == None): + self._i2cbus.readfrom_into(address, buffer) + else: + self._i2cbus.writeto_then_readfrom(address, bytes([commandCode]), buffer) + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + return buffer[0] + + def read_byte(self, address, commandCode = None): + return self.readByte(address, commandCode) + + #---------------------------------------------------------- + def readBlock(self, address, commandCode, nBytes): + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + buffer = bytearray(nBytes) + + try: + if (commandCode == None): + self._i2cbus.readfrom_into(address, buffer) + else: + self._i2cbus.writeto_then_readfrom(address, bytes([commandCode]), buffer) + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + return list(buffer) + + def read_block(self, address, commandCode, nBytes): + return self.readBlock(address, commandCode, nBytes) + + #-------------------------------------------------------------------------- + # write Data Commands + # + # Send a command to the I2C bus for this device. + # + # value = 16 bits of valid data.. + # + + def writeCommand(self, address, commandCode): + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + try: + self._i2cbus.writeto(address, bytes([commandCode])) + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + def write_command(self, address, commandCode): + return self.writeCommand(address, commandCode) + + #---------------------------------------------------------- + def writeWord(self, address, commandCode, value): + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + buffer = [0, 0] + buffer[0] = value & 0xFF + buffer[1] = (value >> 8) & 0xFF + + try: + self._i2cbus.writeto(address, bytes([commandCode] + buffer)) + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + def write_word(self, address, commandCode, value): + return self.writeWord(address, commandCode, value) + + #---------------------------------------------------------- + def writeByte(self, address, commandCode, value): + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + try: + self._i2cbus.writeto(address, bytes([commandCode] + [value])) + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + def write_byte(self, address, commandCode, value): + return self.writeByte(address, commandCode, value) + + #---------------------------------------------------------- + def writeBlock(self, address, commandCode, value): + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + try: + self._i2cbus.writeto(address, bytes([commandCode] + value)) + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + def write_block(self, address, commandCode, value): + return self.writeBlock(address, commandCode, value) + + def writeReadBlock(self, address, writeBytes, readNBytes): + read_buffer = bytearray(readNBytes) + + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + try: + self._i2cbus.writeto_then_readfrom(address, bytes(writeBytes), read_buffer) + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + return list(read_buffer) + + + def write_read_block(self, address, writeBytes, readNBytes): + return self.writeReadBlock(address, writeBytes, readNBytes) + + def isDeviceConnected(self, devAddress): + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + isConnected = False + try: + # Try to write nothing to the device + # If it throws an I/O error - the device isn't connected + self._i2cbus.writeto(devAddress, bytearray()) + isConnected = True + except: + try: + # Some platforms (e.g. ESP32) don't like writing an empty bytearray + # So we will try another connection test as well: + buff = bytearray(1) + self._i2cbus.readfrom_into(devAddress, buff) + isConnected = True + except: + pass + finally: + self._i2cbus.unlock() + + return isConnected + + def is_device_connected(self, devAddress): + return self.isDeviceConnected(devAddress) + + def ping(self, devAddress): + return self.isDeviceConnected(devAddress) + + #----------------------------------------------------------------------- + # scan() + # + # Scans the I2C bus and returns a list of addresses that have a devices connected + # + def scan(self): + """ Returns a list of addresses for the devices connected to the I2C bus.""" + if not self._i2cbus.try_lock(): + raise Exception("Unable to lock I2C bus") + + try: + devices = self._i2cbus.scan() + except Exception as e: + self._i2cbus.unlock() + raise e + else: + self._i2cbus.unlock() + + return devices + \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/i2c_driver.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/i2c_driver.py new file mode 100644 index 0000000..25327a8 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/i2c_driver.py @@ -0,0 +1,392 @@ +# +#----------------------------------------------------------------------------- +# i2c_driver.py +# +# Base class used to define the interface for the platform classes. +# +# A platform class performs the following: +# +# - Determines if the object is executing on it's desired platform +# - Platforms are strucutre into broad classifications. For example +# - Linux systems +# - CircuitPython +# +# - Implements platform specific logic to support a given operation (I2C for now) +# +# This specific class does very little besides define the base interface +# +#------------------------------------------------------------------------ +# +# Written by SparkFun Electronics, May 2019 +# +# +# More information on qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2019 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== + +""" +i2c_driver +============ +This is an abstract class used to define the common I2C interface for the qwiic I2C +implementation. Platform specific drivers sub-class this object and implement the +neccessary methods. + +This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) + +New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic). + +""" + +#----------------------------------------------------------------------------- +# Platform +# +# Base class to define the interface for our platform I2C driver +# +# +class I2CDriver(object): + """ + I2CDriver + + Implements the interface for the I2C bus for the qwiic ecosystem. + + :return: The I2C Driver interface for the qwiic system. + :rtype: Object + """ + + # stubs + name = 'qwiic I2C abstract base class' + + def __init__(self, *args, **argk): + pass + + + # A class method is used to determine if the system is executing on the desired platform + + @classmethod + def isPlatform(cls): + """ + Called to determine if the specific driver supports the current platorm + + :return: True if this platform is supported, otherwise False + :rtype: bool + + """ + pass + + @classmethod + def is_platform(cls): + """ + Called to determine if the specific driver supports the current platorm + + :return: True if this platform is supported, otherwise False + :rtype: bool + + """ + pass + + #------------------------------------------------------------------------- + # stubs to support Python with statements. + # + # Helpful for I2C interactions that require a mutex. + + def __enter__(self): + return self + + def __exit__(self, type, value, traceback): + pass + + + #------------------------------------------------------------------------- + # read Data Command + + def readWord(self, address, commandCode): + """ + Called to read a word (16 bits) from a specific device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from, or `None` for no command + + :return: Returns the read data + :rtype: integer - first 16 bits contain the read data. + + """ + return None + + def read_word(self, address, commandCode): + """ + Called to read a word (16 bits) from a specific device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from, or `None` for no command + + :return: Returns the read data + :rtype: integer - first 16 bits contain the read data. + + """ + return None + + def readByte(self, address, commandCode): + """ + Called to read a byte (8 bits) from a specific device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from, or `None` for no command + + :return: Returns the read data + :rtype: integer - first 8 bits contain the read data. + + """ + return None + + def read_byte(self, address, commandCode): + """ + Called to read a byte (8 bits) from a specific device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from, or `None` for no command + + :return: Returns the read data + :rtype: integer - first 8 bits contain the read data. + + """ + return None + + def readBlock(self, address, commandCode, nBytes): + """ + Called to read a block of bytesfrom a specific device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from, or `None` for no command + :param nBytes: The number of bytes to read from the device + + :return: Returns the read data as a list of integers. + :rtype: list + + """ + return None + + def read_block(self, address, commandCode, nBytes): + """ + Called to read a block of bytesfrom a specific device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from, or `None` for no command + :param nBytes: The number of bytes to read from the device + + :return: Returns the read data as a list of integers. + :rtype: list + + """ + return None + + #-------------------------------------------------------------------------- + # write Data Commands + # + # Send a command to the I2C bus for this device. + # + # value = 16 bits of valid data.. + # + + def writeCommand(self, address, commandCode): + """ + Called to write a command to a device. No actual data is written + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from + + :return: None + + """ + return None + + def write_command(self, address, commandCode): + """ + Called to write a command to a device. No actual data is written + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from + + :return: None + + """ + return None + + def writeWord(self, address, commandCode, value): + """ + Called to write a word (16 bits) to a device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from + :param value: The word (16 bits) to write to the I2C bus + + :return: None + + """ + + return None + + def write_word(self, address, commandCode, value): + """ + Called to write a word (16 bits) to a device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from + :param value: The word (16 bits) to write to the I2C bus + + :return: None + + """ + return None + + def writeByte(self, address, commandCode, value): + """ + Called to write a byte (8 bits) to a device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from + :param value: The byte (8 bits) to write to the I2C bus + + :return: None + + """ + + return None + + def write_byte(self, address, commandCode, value): + """ + Called to write a byte (8 bits) to a device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from + :param value: The byte (8 bits) to write to the I2C bus + + :return: None + + """ + return None + + def writeBlock(self, address, commandCode, value): + """ + Called to write a block of bytes to a device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from + :param value: A list of bytes (ints) to write on the I2C bus. + + :return: None + + """ + pass + + def write_block(self, address, commandCode, value): + """ + Called to write a block of bytes to a device. + + :param address: The I2C address of the device to read from + :param commandCode: The "command" or register to read from + :param value: A list of bytes (ints) to write on the I2C bus. + + :return: None + + """ + return None + + def writeReadBlock(self, address, writeBytes, readNBytes): + """ + Called to write a block of bytes to a device, send no stop bit, and then read a block of bytes. + + :param address: The I2C address of the device to read from + :param writeBytes: A list of bytes (ints) to write on the I2C bus. + :param readNBytes: The number of bytes to read from the device + + :return: A list of bytes read from the device. + :rtype: list + + """ + return None + + def write_read_block(self, address, writeBytes, readNBytes): + """ + Called to write a block of bytes to a device, send no stop bit, and then read a block of bytes. + + :param address: The I2C address of the device to read from + :param writeBytes: A list of bytes (ints) to write on the I2C bus. + :param readNBytes: The number of bytes to read from the device + + :return: A list of bytes read from the device. + :rtype: list + + """ + return None + + + def isDeviceConnected(self, devAddress): + """ + Determines if a particular device (at the provided address) + is connected to the bus. + + :param devAddress: The I2C address of the device to check + + :return: True if the device is connected, otherwise False. + :rtype: bool + + """ + return None + + def is_device_connected(self, devAddress): + """ + Determines if a particular device (at the provided address) + is connected to the bus. + + :param devAddress: The I2C address of the device to check + + :return: True if the device is connected, otherwise False. + :rtype: bool + + """ + return None + + def ping(self, devAddress): + """ + Determines if a particular device (at the provided address) + is connected to the bus. + + :param devAddress: The I2C address of the device to check + + :return: True if the device is connected, otherwise False. + :rtype: bool + + """ + return None + + def scan(self): + """ + Used to scan the I2C bus, returning a list of I2C address attached to the computer. + + :return: A list of I2C addresses. If no devices are attached, an empty list is returned. + :rtype: list + + """ + return None diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/linux_i2c.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/linux_i2c.py new file mode 100644 index 0000000..8596d29 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/linux_i2c.py @@ -0,0 +1,385 @@ +#----------------------------------------------------------------------------- +# linux_i2c.py +# +# Encapsulate the Linux Plaform bus interface +#------------------------------------------------------------------------ +# +# Written by SparkFun Electronics, May 2019 +# +# This python library supports the SparkFun Electroncis qwiic +# qwiic sensor/board ecosystem on a Raspberry Pi (and compatable) single +# board computers. +# +# More information on qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2019 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== + +from .i2c_driver import I2CDriver + +import sys + + +_PLATFORM_NAME = "Linux" + +_retry_count = 3 + +# Supported Boards Mappings from Device Base Model Name (Or name fragment) to bus id. +_kSupportedBoards = { + "Raspberry Pi": 1, + "Jetson Orin Nano": 7 +} + +_kDefaultBoard = "Raspberry Pi" + +#----------------------------------------------------------------------------- +# Internal function to identify the linux board we are running on. Returns empty string on error +def _get_board_name(): + try: + with open('/proc/device-tree/model') as f: + return f.read() + except: + #TODO: We could also have this raise/error out here if we'd prefer + return "" + +#----------------------------------------------------------------------------- +# Internal function to identify the i2c Bus ID based on platform +def _get_i2c_bus_id(): + foundBoardName = _get_board_name() + + for board in _kSupportedBoards.keys(): + if board in foundBoardName: + return _kSupportedBoards[board] + + # TODO: we could also have this raise/error out here if we'd prefer... + print(f"Unable to automatically detect Linux board in i2c driver. Assuming {_kDefaultBoard}...") + return _kSupportedBoards[_kDefaultBoard] + +#----------------------------------------------------------------------------- +# Internal function to connect to the systems I2C bus. +# +# Attempts to fail elegantly - often an issue with permissions with the I2C +# bus. Users of this system should be added to the system i2c group +# +def _connectToI2CBus(iBus=1, *args, **argk): + + try: + import smbus2 + except Exception as ee: + print("Error: Unable to load smbus module. Unable to continue", file=sys.stderr) + return None + + daBus = None + + error=False + + # Connect - catch errors + + try: + daBus = smbus2.SMBus(iBus) + except Exception as ee: + if(type(ee) is IOError and ee.errno == 13): + print("Error:\tUnable to connect to I2C bus %d: Permission denied.\n\tVerify you have permissoin to access the I2C bus" % (iBus), file=sys.stderr) + else: + print("Error:\tFailed to connect to I2C bus %d. Error: %s" % (iBus, str(ee)), file=sys.stderr) + + # We had an error.... + error=True + + # below is probably not needed, but ... + if(not error and daBus == None): + print("Error: Failed to connect to I2C bus %d" % (iBus), file=sys.stderr) + + return daBus + +def _connect_to_i2c_bus(*args, **argk): + return _connectToI2CBus(*args, **argk) + +# notes on determining Linux platform +# +# - sys.platform == 'linux' or 'linux2', os.uname ->> res.sysname or res[0]=='Linux' +# ## Means it's a linux system - and we support it +# +# To find out a particular system: +# +# - Need to start looking at particular hardware classes in /proc/cpuinfo +# +class LinuxI2C(I2CDriver): + global _i2c_msg + + # Constructor + name = _PLATFORM_NAME + + _i2cbus = None + _i2c_msg = None + + def __init__(self, iBus=1, *args, **argk): + + # Call the super class. The super calss will use default values if not + # proviced + I2CDriver.__init__(self) + + self._iBus = _get_i2c_bus_id() + + self._i2cbus = _connectToI2CBus(self._iBus) + + # Okay, are we running on a Linux system? + @classmethod + def isPlatform(cls): + + return sys.platform in ('linux', 'linux2') + + @classmethod + def is_platform(cls): + return cls.isPlatform() + +#------------------------------------------------------------------------- + # General get attribute method + # + # Used to intercept getting the I2C bus object - so we can perform a lazy + # connect .... + # + def __getattr__(self, name): + + if(name == "i2cbus"): + return self._i2cbus + + else: + # Note - we call __getattribute__ to the super class (object). + return super(I2CDriver, self).__getattribute__(name) + + #------------------------------------------------------------------------- + # General set attribute method + # + # Basically implemented to make the i2cbus attribute readonly to users + # of this class. + # + def __setattr__(self, name, value): + + if(name != "i2cbus"): + super(I2CDriver, self).__setattr__(name, value) + +#------------------------------------------------------------------------- + # read Data Command + + # Performs a general read of from the device at
without a command/register code + def _read_no_command(self, address, nBytes): + from smbus2 import i2c_msg + + full_read_msg = i2c_msg.read(address, nBytes) + self._i2cbus.i2c_rdwr(full_read_msg) + + return list(full_read_msg) + + def readWord(self, address, commandCode): + + data = 0 + + # add some error handling and recovery.... + for i in range(_retry_count): + try: + if commandCode == None: + data = self._read_no_command(address, 2) # TODO: Check this, we may need to switch endianess + else: + data = self._i2cbus.read_word_data(address, commandCode) + + break # break if try succeeds + + except IOError as ioErr: + # we had an error - let's try again + if i == _retry_count-1: + raise ioErr + pass + + return data + + def read_word(self, address, commandCode): + return self.readWord(address, commandCode) + + def readByte(self, address, commandCode = None): + data = 0 + for i in range(_retry_count): + try: + if commandCode == None: + data = self._i2cbus.read_byte(address) + elif commandCode != None: + data = self._i2cbus.read_byte_data(address, commandCode) + + break # break if try succeeds + + except IOError as ioErr: + # we had an error - let's try again + if i == _retry_count-1: + raise ioErr + pass + + return data + + def read_byte(self, address, commandCode = None): + return self.readByte(address, commandCode) + + def readBlock(self, address, commandCode, nBytes): + data = 0 + for i in range(_retry_count): + try: + if commandCode == None: + data = self._read_no_command(address, nBytes) + else: + data = self._i2cbus.read_i2c_block_data(address, commandCode, nBytes) + + break # break if try succeeds + + except IOError as ioErr: + # we had an error - let's try again + if i == _retry_count-1: + raise ioErr + pass + + return data + + def read_block(self, address, commandCode, nBytes): + return self.readBlock(address, commandCode, nBytes) + + #-------------------------------------------------------------------------- + # write Data Commands + # + # Send a command to the I2C bus for this device. + # + # value = 16 bits of valid data.. + # + + def writeCommand(self, address, commandCode): + + return self._i2cbus.write_byte(address, commandCode) + + def write_command(self, address, commandCode): + return self.writeCommand(address, commandCode) + + def writeWord(self, address, commandCode, value): + + return self._i2cbus.write_word_data(address, commandCode, value) + + def write_word(self, address, commandCode, value): + return self.writeWord(address, commandCode, value) + + def writeByte(self, address, commandCode, value): + + return self._i2cbus.write_byte_data(address, commandCode, value) + + def write_byte(self, address, commandCode, value): + return self.writeByte(address, commandCode, value) + + def writeBlock(self, address, commandCode, value): + + # if value is a bytearray - convert to list of ints (it's what + # required by this call) + tmpVal = list(value) if type(value) == bytearray else value + self._i2cbus.write_i2c_block_data(address, commandCode, tmpVal) + + def write_block(self, address, commandCode, value): + return self.writeBlock(address, commandCode, value) + + def writeReadBlock(self, address, writeBytes, readNBytes): + return self.__i2c_rdwr__(address, writeBytes, readNBytes) + + def write_read_block(self, address, writeBytes, readNBytes): + return self.writeReadBlock(address, writeBytes, readNBytes) + + def isDeviceConnected(self, devAddress): + isConnected = False + try: + # Try to write nothing to the device + # If it throws an I/O error - the device isn't connected + + if "Jetson Orin Nano" in _get_board_name(): + self._i2cbus.read_byte(devAddress) + else: + self._i2cbus.write_quick(devAddress) + + isConnected = True + except: + pass + + return isConnected + + def is_device_connected(self, devAddress): + return self.isDeviceConnected(devAddress) + + def ping(self, devAddress): + return self.isDeviceConnected(devAddress) + + #----------------------------------------------------------------------- + # scan() + # + # Scans the I2C bus and returns a list of addresses that have a devices connected + # + def scan(self): + """ Returns a list of addresses for the devices connected to the I2C bus.""" + foundDevices = [] + # Loop over the list of legal addresses (0x08 - 0x77) + for currAddress in range(0x08, 0x78): + if self.ping(currAddress) == True: + foundDevices.append(currAddress) + return foundDevices + + #----------------------------------------------------------------------- + # Custom method for reading +8-bit register using `i2c_msg` from `smbus2` + # + def __i2c_rdwr__(self, address, write_message, read_nbytes): + """ + Custom method used for 16-bit (or greater) register reads + :param address: 7-bit address + :param write_message: list with register(s) to read + :param read_nbytes: number of bytes to be read + + :return: response of read transaction + :rtype: list + """ + global _i2c_msg + + # Loads i2c_msg if not previously loaded + if _i2c_msg == None: + from smbus2 import i2c_msg + _i2c_msg = i2c_msg + + # Sets up write and read transactions for reading a register + write = _i2c_msg.write(address, write_message) + read = _i2c_msg.read(address, read_nbytes) + + # Read Register + for i in range(_retry_count): + try: + self._i2cbus.i2c_rdwr(write, read) + + break # break if try succeeds + + except IOError as ioErr: + # we had an error - let's try again + if i == _retry_count-1: + raise ioErr + pass + + # Return read transaction (list) + # Note - To retreive values, list the return: list(read) + return read diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/micropython_i2c.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/micropython_i2c.py new file mode 100644 index 0000000..91a897a --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_i2c/micropython_i2c.py @@ -0,0 +1,213 @@ +#----------------------------------------------------------------------------- +# micropython_i2c.py +# +# Encapsulate MicroPython port I2C interface +#------------------------------------------------------------------------ +# +# Written by oclyke, Feb 2021 +# +# +# More information on qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2021 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== + +from .i2c_driver import I2CDriver + +import sys + +_PLATFORM_NAME = "MicroPython" + +# used internally in this file to get i2c class object +def _connectToI2CBus(sda=None, scl=None, freq=100000, *args, **argk): + try: + from machine import I2C, Pin + if sys.platform == 'rp2': + if sda is not None and scl is not None: + # I2C busses follow every other pair of pins + scl_id = (scl // 2) % 2 + sda_id = (sda // 2) % 2 + # Check if both pins are on the same bus + if scl_id != sda_id: + raise Exception("I2C SCL and SDA pins must be on same ports") + return I2C(id=scl_id, scl=Pin(scl), sda=Pin(sda), freq=freq) + else: + return I2C() + elif 'xbee' in sys.platform: + return I2C(id=1, freq=freq) + elif 'esp32' in sys.platform: + if sda is not None and scl is not None: + return I2C(scl=Pin(scl), sda=Pin(sda), freq=freq) + else: + return I2C() + elif 'mimxrt' in sys.platform: + # Default freq for mimxrt (400k) is too fast for some devices, so we pass freq in + return I2C(id=0, freq=freq) # TODO: We can remove the id=0 argument once the MicroPython PR #16956 is merged + else: + raise Exception("Unknown MicroPython platform: " + sys.platform) + except Exception as e: + print(str(e)) + print('error: failed to connect to i2c bus') + return None + +def _connect_to_i2c_bus(*args, **argk): + return _connectToI2CBus(*args, **argk) + +class MicroPythonI2C(I2CDriver): + + # Constructor + name = _PLATFORM_NAME + _i2cbus = None + + def __init__(self, sda=None, scl=None, freq=100000, *args, **argk): + I2CDriver.__init__(self) # init super + + self._sda = sda + self._scl = scl + self._freq = freq + + self._i2cbus = _connectToI2CBus(sda=self._sda, scl=self._scl, freq=self._freq) + + @classmethod + def isPlatform(cls): + try: + return 'micropython' in sys.implementation + except: + return False + + @classmethod + def is_platform(cls): + return cls.isPlatform() + +#------------------------------------------------------------------------- + # General get attribute method + # + # Used to intercept getting the I2C bus object - so we can perform a lazy + # connect .... + # + def __getattr__(self, name): + + if(name == "i2cbus"): + return self._i2cbus + + else: + # Note - we call __getattribute__ to the super class (object). + return super(I2CDriver, self).__getattribute__(name) + + #------------------------------------------------------------------------- + # General set attribute method + # + # Basically implemented to make the i2cbus attribute readonly to users + # of this class. + # + def __setattr__(self, name, value): + + if(name != 'i2cbus'): + super(I2CDriver, self).__setattr__(name, value) + + # read commands ---------------------------------------------------------- + def readWord(self, address, commandCode): + if (commandCode == None): + buffer = self._i2cbus.readfrom(address, 2) + else: + buffer = self._i2cbus.readfrom_mem(address, commandCode, 2) + + return (buffer[1] << 8 ) | buffer[0] + + def read_word(self, address, commandCode): + return self.readWord(address, commandCode) + + def readByte(self, address, commandCode = None): + if (commandCode == None): + return self._i2cbus.readfrom(address, 1)[0] + + return self._i2cbus.readfrom_mem(address, commandCode, 1)[0] + + def read_byte(self, address, commandCode = None): + return self.readByte(address, commandCode) + + def readBlock(self, address, commandCode, nBytes): + if (commandCode == None): + return self._i2cbus.readfrom(address, nBytes) + + return self._i2cbus.readfrom_mem(address, commandCode, nBytes) + + def read_block(self, address, commandCode, nBytes): + return self.readBlock(address, commandCode, nBytes) + + # write commands---------------------------------------------------------- + def writeCommand(self, address, commandCode): + self._i2cbus.writeto(address, commandCode.to_bytes(1, 'little')) + + def write_command(self, address, commandCode): + return self.writeCommand(address, commandCode) + + def writeWord(self, address, commandCode, value): + self._i2cbus.writeto_mem(address, commandCode, value.to_bytes(2, 'little')) + + def write_word(self, address, commandCode, value): + return self.writeWord(address, commandCode, value) + + def writeByte(self, address, commandCode, value): + self._i2cbus.writeto_mem(address, commandCode, value.to_bytes(1, 'little')) + + def write_byte(self, address, commandCode, value): + return self.writeByte(address, commandCode, value) + + def writeBlock(self, address, commandCode, value): + self._i2cbus.writeto_mem(address, commandCode, bytes(value)) + + def write_block(self, address, commandCode, value): + return self.writeBlock(address, commandCode, value) + + def writeReadBlock(self, address, writeBytes, readNBytes): + # micropython I2C doesn't have a corresponding "i2c_rdwr" function like smbus2, so we will make our own by passing stop=False to not send stop bits between repeated transfers + self._i2cbus.writeto(address, bytes(writeBytes), False) + return self._i2cbus.readfrom(address, readNBytes) + + def write_read_block(self, address, writeBytes, readNBytes): + return self.writeReadBlock(address, writeBytes, readNBytes) + + def isDeviceConnected(self, devAddress): + isConnected = False + try: + # Try to write nothing to the device + # If it throws an I/O error - the device isn't connected + self._i2cbus.writeto(devAddress, bytearray()) + isConnected = True + except: + pass + + return isConnected + + def is_device_connected(self, devAddress): + return self.isDeviceConnected(devAddress) + + def ping(self, devAddress): + return self.isDeviceConnected(devAddress) + + # scan ------------------------------------------------------------------- + def scan(self): + """ Returns a list of addresses for the devices connected to the I2C bus.""" + return self._i2cbus.scan() diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/__init__.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/__init__.py new file mode 100644 index 0000000..9b5114e --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/__init__.py @@ -0,0 +1,63 @@ +#----------------------------------------------------------------------------- +# __init__.py +# +#------------------------------------------------------------------------ +# +# +# Written by SparkFun Electronics, May 2021 +# +# +# More information on qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2021 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== +#----------------------------------------------------------------------------- +# this package encapsulates the resources used for the SSD1306 OLED display driver +# +#----------------------------------------------------------------------------- + +# +# This is mostly a port of existing Arduino functionaly, so pylint is sad. +# The goal is to keep the public interface pthonic, but internal is internal +# +# pylint: disable=line-too-long +# + +""" +qwiic_oled +================= +The SSD1306 display driver Python module for the OLED display packages + +This python package is a ported from the [SparkFun OLED Arduino Library](https://github.com/sparkfun/SparkFun_Qwiic_OLED_Arduino_Library) + +This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) + +New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic). + +""" + +from .qwiic_oled_base import QwiicOledBase +from .qwiic_micro_oled import QwiicMicroOled +from .qwiic_oled_display import QwiicOledDisplay +from .qwiic_large_oled import QwiicLargeOled \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/0_font5x7.bin b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/0_font5x7.bin new file mode 100644 index 0000000000000000000000000000000000000000..a606256471d7a32394233e45e17b57b1607ef22c GIT binary patch literal 1281 zcmXw3F>l*e5I$10{Ajo~qY^L;uo9&(io^_N)IgvNntF67gH)}i4#=i*P|Jyf4E0jD zLuHrZ%h+xn(jh<#Btfzm{RKsb0$utax^(lZ!Ki^k0DDhB?~%uQckjOYcsy`{K)(D5 zaPb~Lc|G3OSGr9HGWp0O?#g%&Vv{|QY zVPO%~t?s^i>FzU6*9p;ekEu0QQ%55hjfyf87(D;s$FB~#ynLI#eMzKDB8rh23LzHH zum~wDD9dGBw&OW=am8CH&iMh1@VSUfWw=a>S*4pFl4nob(dWizKo$!Cdd&y$YdTmu z<6s^k@ZxJ52p53EL%>p!=2YRy-u536ej8-W7rGEb3LAcpnKH=Ca*Vl>WI=R2uvt+@ocwZP@~eN4(%SP zL_I1>D9?3fnrUkMo^c-u5yh0GZeY5U8mW%_beG!H z4H}5BdwzbN2G8Q%07x4@4}6Qa-zLE6iEjO7-7UX)^Q5$ixo1cy8CH|z)UP64znUOt zBTi1~a{1v&sgoqhu!Gfxog|LG0O+MYh`q@+2)&d}n`U!5ZQN>1(>Uqz_f6w;NoG-t z_pcR(VXM^-LwnQrt7n_r)EL9huU}6(_(q*A?9!HN=B62D(f#LlHf9@la=H1B@%#6g zTtKK(WFAa>I}H0Rhtk>^oGmS#Og>n@JE=FD8x2&=x*ZOv;mn5(m9wGz`OB{xO5@(Y z0N?S!vD8`(6}f-}E-n&W*oqu*;B&x%;#Lm1qD+-3ZfEGb#xP#Fs$NMmRb5jm3SJeA zR(RSJ^8sDl$+rr}?*AFNS`g;_M u35CC3U|m9vk4d}KHrvHjc@_T~nub&q1#FrN0#pQ{4C^1QmB2;eEa5*ejx0C; literal 0 HcmV?d00001 diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/1_font8x16.bin b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/1_font8x16.bin new file mode 100644 index 0000000000000000000000000000000000000000..4a877bc1e3166aa0dfce75d0b56a832c020eb713 GIT binary patch literal 1542 zcmZ8h!D`z;5FM>IiYda~`cQN*%_2yPg?&?EK0sWRSKqCo-Y&^T!5{$n5;@ zHi%@?FK=!>r4l}zf1lM1m}r}PmsUPS$Z8S-_Rx|Rt7@vqr$o_DOpix;UWjo}$`kpAbCU$Ekwk^(nuN!R zbU$}*-+lgb`5uK{q>CDG+tq!KK!d)vSS{;Hycjh1i(h~}gq<@6q0njpuWrVcew?Z{ zTZeVlN}H86G3JxEMc>%(-Y4*l{ht-fWgr=OO-F;gbW!uFa#HUmyZQvc_3D}xP4kBH z)Q<(2k%kMT`3f}TF-VuH%(AkA5k>0>JJtGtfb~Z`6-PhlYF+!j#Iox?Y<0Qx{X;zS z0U-o<%%e|~p`&h7dFfLSoK2r#khsU+6M0~12;1DvLy~I$i1LM}@i8tvU?6Zgau6DN z5jsceb<0?Vw%$^tLBI}f>z!+$=`)?0g=;pO4RL>mIY3<>#5?yJn-GMn)rJb69ShHF z*?GrDjeGv4+qn06KBC+jdWG{mwD)(IFyOHHu7d>Z@1({c0VwOb1PrY>&fmNx5W+>A zM?D|+xClXUE_fdZzeBBQtg{vzF+JY6XK!+K!XFIy1Q^}KV}D$uDCA$ E0M1;issI20 literal 0 HcmV?d00001 diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/2_7segment.bin b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/2_7segment.bin new file mode 100644 index 0000000000000000000000000000000000000000..ae021a24161b8f1ac3f20efec3378a107d8ee4bb GIT binary patch literal 266 zcmd-Q(Boy4W55C`{xC5E0n?ufnB@OD1_q{PAOMTOSatsy8i0V|e;rTRl0?=`)1hieylPJ|vRYA?h845QIYS*?^lsWznKmx%RM`50$pP z80C^hO((C2zs#p(H%H6@h!%}khGfFRe&9)=TsUgS47u%25*3-UvoK>8QQWOXiZFdn z_~+Zbtx{{_Z*$K*&P8Ly3v1B=^KqtB^(i2Z$~S9R9$beHb4G<3Q+l{l){XlG;YUwaya9W%V@XriXyk@oadG$S$zoWrNKJFiG%LjuC3=muz@MA zn0W_u`eB~aLxVA%RvbbeDI&6?3xeN)cs!qW%vtjw&c~FZH^-FHz9XPZe+^RHQri5u jEovxABp*@=7wb>~7VS@kev8lRjx+xO#0S&j literal 0 HcmV?d00001 diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/4_fontlargeletter31x48.bin b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/fonts/4_fontlargeletter31x48.bin new file mode 100644 index 0000000000000000000000000000000000000000..352edc5c26121f2121393f42a6cb9494528d5428 GIT binary patch literal 10794 zcmd5?OOE8Y5tT-bRxJ`KFME+lU1639Lnzrd@ez7<0-PwR;l(WL0zQkaUd<&8TYZD< zod64x-wXaipUkT2s_rot$zc3Q27|#MmHE$q{$q3>h0^v?x_~i|U@KSp%jME_?VPFW zr>RV%C@rUH=w`HuMPWX%T?Pb2r^io?luwWUoTgqWAoFx|B`?dr{`c#}^-j?`PiG~s zl>(6tU7?GXDE5Arp(KIkpoI84X%W%|{Uk~37++gAZFlMW>Rhm#&wY<+HD0NfE`i{6vHv@D}o9Ju#0|fU=RoI#8sYAG_KS zQIr0?`komzG<@$w`NmrVGe0jj{akk`Yvd5d&-Ipr^CZbnjxI)Z4c0S+ZdlXKv}CYaLrQ(OjI6Zg0ZNS$n4M zA^itL%)V=E9}<-q%Y6|eE`B@_fQmfJz@yo|1)h0U6g3juPan)lLWN|ws@PdkV(CMf zXTej9%uQ>G^Z>E4o`zl@Beuh*r7dHUW_dj>blj9)`)!Qqp6z#T=8NSp&8voZ2|-NW zUm7pd8H{V2R_B_iiE&NND#p1uh=OjI>MYhXC7fg>=&co5Qi0~dI`k0b`L;oiQ=FEA zci=zkxiO0UpTuc|O?B#5ok;sB$WGonUiZOIsq^+^f=3ZvwyE<}O9Xif~@u3K-6_Y;KMEJex}jTMQ`w zK1y75lYWWK5jN=QYK5T11?-1$9H+;5s<^hfjXbXRP~#}((jBA(^esqCUKNFrDGIu> zcl6-k6&+qRt;!lUM;vZ^4>5CDpSO54*Ty#j5X09PMd@z$_v>9|Ik%*L<`EgZoSe-U zGVX$U18qr5)?)fKi4m4_VRfs9qg!fxWt*n-p}^?!n7b1|73ytQ4QG3jqlVL2*ivB_ zMs29~q64?TioVySAz~DCMi{3>5Ctl!(Ul%u!`M^u0O;@1;%X1W^&>aexZ! 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Character: %d, File:%s" % (iChar, _loadFontFile)) + + fp.close() + # cascade this up + raise exError + + fp.close() + + + # method to override [] access for this object. + # + # key => character index into the data. + + def __getitem__(self, key): + + # key -> the absolute index into the font data array - not pretty, but that's fonts + + if key < 0 or key >= len(self._fontData): + raise IndexError("Index (%d) out of range[0,%d]." % (key, len(self._fontData))) + + return self._fontData[key] + + +def _check_if_exists(filename): + """! + Checks if a file or directory exists. Works on MicroPython and CircuitPython + which do not have os.path functions (as well as Linux which does). + """ + try: + os.stat(filename) + return True + except: + return False + +# handy util +def _getFontDir(): + + # First check if font directory exists where it is installed when using a frozen SparkFun MicroPython package + # It should exist in "_frozen_data" if the package is frozen + if _check_if_exists("_frozen_data" + os.sep + "fonts"): + return "_frozen_data" + os.sep + "fonts" + + return __file__.rsplit(os.sep, 1)[0] + os.sep + "fonts" + +#----------------------------------------- +# General Structure +# +# Fonts are stored in the fonts subfolder of this package. Uses filenames +# to deliniate the fonts. +# +# Name Structure +# _.bin +# +# This system lists the filenames and builds the index map +# +# Only when font data is requested is the data loaded for that font. +# +# +def _initFontSystem(): + + global _isInited, _fontIndexMap + + if _isInited: + return + + _isInited = True + + fDir = _getFontDir() + + try: + tmpFiles = os.listdir(fDir) + except: + print("OLED fonts do not exists - check your installation") + return + + + fontFiles = [] + + for tFile in tmpFiles: + if tFile.find('.bin') == -1: + continue + + fontFiles.append(tFile) + + # get our font names + + if len(fontFiles) == 0: + print("OLED - no fonts found") + return + + + # build our font index + + _fontIndexMap = [''] * len(fontFiles) + + for fBase in fontFiles: + + iSep = fBase.find('_') + if iSep == -1: + print("Invalid Font File: %s " % fBase) + continue + nFont = int(fBase[0:iSep]) + + # stash the name, strip off the number and the suffix + _fontIndexMap[nFont] = fBase[iSep+1:-4] + +def count(): + + if not _isInited: + _initFontSystem() + + return len(_fontIndexMap) + +def font_names(): + + if not _isInited: + _initFontSystem() + + return _fontIndexMap + +def get_font(iFont): + + global _fontCache, _fontCacheIndex + + if not _isInited: + _initFontSystem() + + if iFont != _fontCacheIndex: + + fFont = _getFontDir() + os.sep + str(iFont) + '_' + _fontIndexMap[iFont] + '.bin' + + _fontCache = OLEDFont(fFont) + _fontCacheIndex = iFont + + return _fontCache + + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/oled_logos.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/oled_logos.py new file mode 100644 index 0000000..f5bf7c3 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/oled_logos.py @@ -0,0 +1,110 @@ +#----------------------------------------------------------------------------- +# oled_logos.py +# +# Utilities to manage the splash screen logo for the OLED display +# +#------------------------------------------------------------------------ +# +# Written by SparkFun Electronics, Feb 2021 +# +# This python library supports the SparkFun Electroncis qwiic +# qwiic sensor/board ecosystem on a Raspberry Pi (and compatable) single +# board computers. +# +# More information on qwiic is at https:= www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2021 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== + + +def add_logo(screenbuffer=None): + """! + Define a function to Init a screen buffer that is setup for the sparkfun OLED. + This is copied from the Arduino lib. + Use http://en.radzio.dxp.pl/bitmap_converter/ to generate output + Make sure the bitmap is n*8 pixels tall (pad white pixels to lower area as needed) + Otherwise the bitmap bitmap_converter will compress some of the bytes together + + # LCD Memory organised in 64 horizontal pixel and 6 (8 on large display) rows of byte + """ + + # B B .............B ----- + # y y .............y \ + # t t .............t \ + # e e .............e \ + # 0 1 .............63 \ + # \ + # D0 D0.............D0 \ + # D1 D1.............D1 / ROW 0 + # D2 D2.............D2 / + # D3 D3.............D3 / + # D4 D4.............D4 / + # D5 D5.............D5 / + # D6 D6.............D6 / + # D7 D7.............D7 ---- + if screenbuffer is None: + #return blank_screenbuffer = [0x00]*int(LCDWIDTH*LCDHEIGHT/8 + 1) #Blank Screen Area in bytes (Total Pixels/8 + 1) + print("Error: No input for screen buffer") + elif len(screenbuffer) == 1024: + # screenbuffer[:] = [0x00]*len(screenbuffer) #Blank Screen Area in bytes = buffersize + + screenbuffer[:] = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xF0, 0xF8, 0xFC, 0xFC, 0xFC, 0xFC, 0x9C, 0x1C, 0x08, 0x00, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF0, 0xF0, 0xF8, 0xF8, 0x98, 0x83, 0x87, 0x8F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 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0xF0, 0xF8, 0xF8, 0xF8, 0xF8, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0xC0, 0xE0, 0xF0, 0xF9, 0xF8, 0xF8, 0x78, 0x38, 0x58, 0x68, 0x70, 0x78, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x79, 0x79, 0x79, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0x00, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF0, 0xF8, 0x78, 0x78, 0xF8, 0xF8, 0xF8, 0xF8, 0xF0, 0xF0, 0xC3, 0xCF, 0xCF, 0xDF, 0xDF, 0x9F, 0x3F, 0x3E, 0x3E, 0x3E, 0x7C, 0xFD, 0xFD, 0xFD, 0xF9, 0xF1, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0xF1, 0xF9, 0xF9, 0xF9, 0xFD, 0x3D, 0x3C, 0x3C, 0x1C, 0x1E, 0xDF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x07, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x3F, 0x7F, 0xFF, 0xFF, 0xFF, 0xF9, 0xF0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x0F, 0x0F, 0x1F, 0x3F, 0x3F, 0x00, 0x13, 0x27, 0x24, 0x24, 0x3C, 0x19, 0x00, 0x00, 0x00, 0x3F, 0x3F, 0x00, 0x00, 0x30, 0x3E, 0x0F, 0x09, 0x0F, 0x3E, 0x30, 0x00, 0x3F, 0x3F, 0x04, 0x0C, 0x1F, 0x33, 0x20, 0x00, 0x00, 0x3F, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x27, 0x24, 0x24, 0x3C, 0x19, 0x00, 0x1F, 0x3F, 0x20, 0x20, 0x20, 0x3F, 0x1F, 0x00, 0x3F, 0x3F, 0x06, 0x0C, 0x0C, 0x06, 0x3F, 0x3F, 0x00, 0x3F, 0x3F, 0x24, 0x24, 0x24, 0x20, 0x00, 0x00, 0x00, 0x3F, 0x3F, 0x00, 0x00, 0x00, 0x3F, 0x3F, 0x04, 0x04, 0x04, 0x3F, 0x3F, 0x00, 0x20, 0x3F, 0x3F, 0x20, 0x00, 0x3F, 0x3F, 0x03, 0x06, 0x0C, 0x18, 0x3F, 0x3F, 0x00, 0x1F, 0x3F, 0x31, 0x20, 0x28, 0x39, 0x39] + elif len(screenbuffer) == 512: + # SparkFun Name Logo + screenbuffer[:] = [0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x80, 0x80, 0x00, 0x00, 0x00, 0x80, 0x80, 0xC0, 0xC0, 0xC0, 0x80, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x80, 0x80, 0xC0, 0xC0, 0xC0, 0x80, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x00, 0xFC, 0xFE, 0xFE, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x80, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xF8, 0xFE, 0xFE, 0xFF, 0xFF, 0xDF, 0xCF, 0xCF, 0x0F, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x00, 0x00, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x80, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0x7F, 0x7F, 0x7F, 0xFF, 0xFB, 0xF1, 0xF1, 0xF3, 0xF7, 0xFF, 0xEF, 0xEF, 0xCF, 0x80, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x0F, 0x03, 0x03, 0x03, 0x03, 0x07, 0x1F, 0xFF, 0xFF, 0xFF, 0xFE, 0xF8, 0x00, 0xCF, 0xCF, 0xEF, 0xEF, 0xEF, 0xE3, 0xE1, 0xF1, 0xF1, 0xF3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x0F, 0x07, 0x07, 0x03, 0x03, 0x03, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xEF, 0x87, 0x03, 0x01, 0x03, 0x03, 0x03, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0x03, 0x03, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0x03, 0x03, 0x03, 0x03, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x06, 0x1E, 0x3E, 0x3E, 0x7E, 0x7E, 0x78, 0x78, 0x78, 0x79, 0x7D, 0x7F, 0x3F, 0x3F, 0x1F, 0x07, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x3E, 0x3C, 0x78, 0x78, 0x78, 0x7C, 0x7F, 0x3F, 0x3F, 0x1F, 0x0F, 0x03, 0x0F, 0x3F, 0x3F, 0x7F, 0x7F, 0x7F, 0x78, 0x78, 0x78, 0x78, 0x3C, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x60, 0x00, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x01, 0x01, 0x03, 0x0F, 0x1F, 0x7F, 0x7F, 0x7F, 0x7C, 0x78, 0x60, 0x00, 0x00, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x3F, 0x3F, 0x7F, 0x7F, 0x7C, 0x78, 0x78, 0x78, 0x3C, 0x1F, 0x7F, 0x7F, 0x7F, 0x7F, 0x00, 0x00, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x1F, 0x3F, 0x7F, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00] + elif len(screenbuffer) == 384: + # Flame Icon + screenbuffer[:] = [\ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF, \ + 0xFF, 0xFF, 0xFF, 0x0F, 0x07, 0x07, 0x06, 0x06, 0x00, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x81, 0x07, 0x0F, 0x3F, 0x3F, 0xFF, 0xFF, 0xFF, \ + 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFE, 0xFC, 0xFC, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFC, 0xF8, 0xE0, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFC, \ + 0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xF0, 0xFD, 0xFF, \ + 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, \ + 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, \ + 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x07, 0x01, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, \ + 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x1F, 0x0F, 0x0F, 0x0F, 0x0F, \ + 0x0F, 0x0F, 0x0F, 0x0F, 0x07, 0x07, 0x07, 0x03, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, \ + 0x7F, 0x3F, 0x1F, 0x0F, 0x07, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00] + else: + screenbuffer[:] = [0x00]*len(screenbuffer) #Blank Screen Area in bytes = buffersize + + #return screenbuffer + +# define the class that encapsulates the device being created. All information associated with this +# device is encapsulated by this class. The device class should be the only value exported +# from this module. \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_large_oled.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_large_oled.py new file mode 100644 index 0000000..fb64fc0 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_large_oled.py @@ -0,0 +1,96 @@ +#----------------------------------------------------------------------------- +# qwiic_large_oled.py +# +#------------------------------------------------------------------------ +# +# Written by SparkFun Electronics, May 2021 +# +# +# More information on qwiic is at https:= www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2021 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== +# +# This is mostly a port of existing Arduino functionaly, so pylint is sad. +# The goal is to keep the public interface pthonic, but internal is internal +# +# pylint: disable=line-too-long, bad-whitespace, invalid-name, too-many-lines +# pylint: disable=too-many-lines, too-many-arguments, too-many-instance-attributes +# pylint: disable=too-many-public-methods + +""" +qwiic_large_oled +================= +Python module for a 128 x 64 OLED Display + +This python package is a port of the existing [SparkFun Micro OLED Arduino Library](https://github.com/sparkfun/SparkFun_Micro_OLED_Arduino_Library) + +This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) + +New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic). + +""" + +import math +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c + +from lib.AgXRPLib.qwiic_oled.qwiic_oled_base import QwiicOledBase + +# Define the device name and I2C addresses. These are set in the class defintion +# as class variables, making them avilable without having to create a class instance. +# +# The name of this device - note this is private +_DEFAULT_NAME = "Qwiic Large OLED Display (128x64)" + +# Some devices have multiple available addresses - this is a list of these addresses. +# NOTE: The first address in this list is considered the default I2C address for the +# device. + +_AVAILABLE_I2C_ADDRESS = [0x3D, 0x3C] +_LCDWIDTH = 128 +_LCDHEIGHT = 64 + +class QwiicLargeOled(QwiicOledBase): + """ + QwiicLargeOled + + :param address: The I2C address to use for the device. + If not provided, the default address is used. + :param i2c_driver: An existing i2c driver object. If not provided + a driver object is created. + :return: The OLED Display device object. + :rtype: Object + """ + + # Constructor + device_name =_DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + + def __init__(self, address=None, i2c_driver=None): + + # Did the user specify an I2C address? + self.address = address if address is not None else self.available_addresses[0] + + # Instantiate OLED Display Driver - Base Class + super().__init__(address, _LCDWIDTH, _LCDHEIGHT, i2c_driver) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_micro_oled.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_micro_oled.py new file mode 100644 index 0000000..cb08122 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_micro_oled.py @@ -0,0 +1,97 @@ +#----------------------------------------------------------------------------- +# qwiic_micro_oled.py +# +#------------------------------------------------------------------------ +# +# Written by SparkFun Electronics, May 2021 +# +# +# More information on qwiic is at https:= www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2021 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== +# +# This is mostly a port of existing Arduino functionaly, so pylint is sad. +# The goal is to keep the public interface pthonic, but internal is internal +# +# pylint: disable=line-too-long, bad-whitespace, invalid-name, too-many-lines +# pylint: disable=too-many-lines, too-many-arguments, too-many-instance-attributes +# pylint: disable=too-many-public-methods + +""" +qwiic_micro_oled +==================== +Python module for the [Qwiic Micro OLED Display](https://www.sparkfun.com/products/14532) + +This python package is a port of the existing [SparkFun Micro OLED Arduino Library](https://github.com/sparkfun/SparkFun_Micro_OLED_Arduino_Library) + +This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) + +New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic). + +""" + +import math +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c + +from lib.AgXRPLib.qwiic_oled.qwiic_oled_base import QwiicOledBase + +# Define the device name and I2C addresses. These are set in the class defintion +# as class variables, making them avilable without having to create a class instance. +# +# The name of this device - note this is private +_DEFAULT_NAME = "Qwiic Micro OLED (64x48)" + +# Some devices have multiple availabel addresses - this is a list of these addresses. +# NOTE: The first address in this list is considered the default I2C address for the +# device. + +_AVAILABLE_I2C_ADDRESS = [0x3D, 0x3C] +_LCDWIDTH = 64 +_LCDHEIGHT = 48 + + +class QwiicMicroOled(QwiicOledBase): + """ + QwiicMicroOled + + :param address: The I2C address to use for the device. + If not provided, the default address is used. + :param i2c_driver: An existing i2c driver object. If not provided + a driver object is created. + :return: The OLED Display device object. + :rtype: Object + """ + + # Constructor + device_name =_DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + + def __init__(self, address=None, i2c_driver=None): + + # Did the user specify an I2C address? + self.address = address if address is not None else self.available_addresses[0] + + # Instantiate OLED Display Driver - Base Class + super().__init__(address, _LCDWIDTH, _LCDHEIGHT, i2c_driver) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_oled_base.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_oled_base.py new file mode 100644 index 0000000..d03395d --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_oled_base.py @@ -0,0 +1,1139 @@ +#----------------------------------------------------------------------------- +# qwiic_oled_base.py +# +#------------------------------------------------------------------------ +# +# Written by SparkFun Electronics, May 2021 +# +# +# More information on qwiic is at https:= www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2021 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== +# +# This is mostly a port of existing Arduino functionaly, so pylint is sad. +# The goal is to keep the public interface pthonic, but internal is internal +# +# pylint: disable=line-too-long, bad-whitespace, invalid-name, too-many-lines +# pylint: disable=too-many-lines, too-many-arguments, too-many-instance-attributes +# pylint: disable=too-many-public-methods + +"""! +qwiic_oled_base +================= +The base Python module for the SSD1306 display driver on the following OLED displays: +- [Qwiic Micro OLED]](https://www.sparkfun.com/products/14532) +- [Qwiic OLED Display](https://www.sparkfun.com/products/17153) + +This python package is a port of the existing [SparkFun Micro OLED Arduino Library](https://github.com/sparkfun/SparkFun_Micro_OLED_Arduino_Library) + +This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) + +New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic). +""" + +import sys +import math +# import time + +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c + +from . import oled_fonts +from . import oled_logos + +# Define the device name and I2C addresses. These are set in the class defintion +# as class variables, making them avilable without having to create a class instance. +# +# The name of this device - note this is private +_DEFAULT_NAME = "OLED Display Driver (SSD1306)" + +# Use the configuration for the Qwiic Micro OLED display as a default +#================================================================================== +# Some devices have multiple availabel addresses - this is a list of these addresses. +# NOTE: The first address in this list is considered the default I2C address for the +# device. +_AVAILABLE_I2C_ADDRESS = [0x3D, 0x3C] + +_LCDWIDTH = 64 +_LCDHEIGHT = 48 +#================================================================================== + +# The defines from the OLED Aurdino library + +I2C_COMMAND = 0x00 +I2C_DATA = 0x40 + +FONTHEADERSIZE = 6 + +WIDGETSTYLE0 = 0 +WIDGETSTYLE1 = 1 +WIDGETSTYLE2 = 2 + +SETCONTRAST = 0x81 +DISPLAYALLONRESUME = 0xA4 +DISPLAYALLON = 0xA5 +NORMALDISPLAY = 0xA6 +INVERTDISPLAY = 0xA7 +DISPLAYOFF = 0xAE +DISPLAYON = 0xAF +SETDISPLAYOFFSET = 0xD3 +SETCOMPINS = 0xDA +SETVCOMDESELECT = 0xDB +SETDISPLAYCLOCKDIV = 0xD5 +SETPRECHARGE = 0xD9 +SETMULTIPLEX = 0xA8 +SETLOWCOLUMN = 0x00 +SETHIGHCOLUMN = 0x10 +SETSTARTLINE = 0x40 +MEMORYMODE = 0x20 +COMSCANINC = 0xC0 +COMSCANDEC = 0xC8 +SEGREMAP = 0xA0 +CHARGEPUMP = 0x8D +EXTERNALVCC = 0x01 +SWITCHCAPVCC = 0x02 + +# Scroll +ACTIVATESCROLL = 0x2F +DEACTIVATESCROLL = 0x2E +SETVERTICALSCROLLAREA = 0xA3 +RIGHTHORIZONTALSCROLL = 0x26 +LEFT_HORIZONTALSCROLL = 0x27 +VERTICALRIGHTHORIZONTALSCROLL = 0x29 +VERTICALLEFTHORIZONTALSCROLL = 0x2A + + +class QwiicOledBase(object): + """! + QwiicOledBase + + @param address: The I2C address to use for the device. + If not provided, the default address is used. + @param i2c_driver: An existing i2c driver object. If not provided + a driver object is created. + + @return **Object** The SSD1306 OLED device object. + """ + + # Constructor + device_name =_DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + + # user exposed constants + BLACK = 0 + WHITE = 1 + + NORM = 0 + XOR = 1 + + PAGE = 0 + ALL = 1 + + + def __init__(self, address=None, pixel_width = _LCDWIDTH, pixel_height = _LCDHEIGHT, i2c_driver=None): + + # Did the user specify an I2C address? + self.address = address if address is not None else self.available_addresses[0] + + # Screen size: + self.LCDHEIGHT = pixel_height + self.LCDWIDTH = pixel_width + + # Load the I2C driver if one isn't provided + + if i2c_driver is None: + self._i2c = qwiic_i2c.getI2CDriver() + if self._i2c is None: + print("Unable to load I2C driver for this platform.") + return + else: + self._i2c = i2c_driver + + # define the screen buffer - since this is a two color display, only bits are used + # So the height is 8 bits / byte or LCDHEIGHT/8 + self._screenbuffer = bytearray(self.LCDWIDTH * int(math.ceil(self.LCDHEIGHT/8.))) + + # Set initial contents + self._screenbuffer = [0x00]*int(self.LCDWIDTH*self.LCDHEIGHT/8) #Screen Area in bytes (Total Pixels/8) + + # Display SparkFun Logo + oled_logos.add_logo(self._screenbuffer) + + # Display ans Clear Page + # self.display() + # time.sleep(2) + # self.clear(self.PAGE) + + self.cursorX = 0 + self.cursorY = 0 + + self.foreColor = self.WHITE + self.drawMode = self.NORM + + # self.fontWidth = 0 + # self.fontHeight = 0 + # self.fontStartChar = 0 + # self.fontTotalChar = 0 + self.fontType = 0 + # self.fontData = None + self._font = None + + self.nFonts = oled_fonts.count() + + + #-------------------------------------------------------------------------- + def is_connected(self): + """! + Determine if a SSD1306 OLED device is conntected to the system.. + + @return **bool** True if the device is connected, otherwise False. + """ + if self._i2c is None: + return False + return self._i2c.isDeviceConnected(self.address) + + connected = property(is_connected) + + #-------------------------------------------------------------------------- + def begin(self): + """! + Initialize the operation of the SSD1306 display driver for the OLED module + + @return **bool** Returns true of the initializtion was successful, otherwise False. + """ + + self.set_font_type(0) + self.set_color(self.WHITE) + self.set_draw_modee(self.NORM) + self.set_cursor(0,0) + + # Display Init sequence + self._i2c.writeByte(self.address, I2C_COMMAND, DISPLAYOFF) # 0xAE + + self._i2c.writeByte(self.address, I2C_COMMAND, SETDISPLAYCLOCKDIV) # 0xD5 + self._i2c.writeByte(self.address, I2C_COMMAND, 0x80) # the suggested ratio 0x80 + + self._i2c.writeByte(self.address, I2C_COMMAND, SETMULTIPLEX) # 0xA8 + self._i2c.writeByte(self.address, I2C_COMMAND, self.LCDHEIGHT - 1) + + self._i2c.writeByte(self.address, I2C_COMMAND, SETDISPLAYOFFSET) # 0xD3 + self._i2c.writeByte(self.address, I2C_COMMAND, 0x0) # no offset + + self._i2c.writeByte(self.address, I2C_COMMAND, SETSTARTLINE | 0x0) # line #0 + + self._i2c.writeByte(self.address, I2C_COMMAND, CHARGEPUMP) # enable charge pump + self._i2c.writeByte(self.address, I2C_COMMAND, 0x14) + + self._i2c.writeByte(self.address, I2C_COMMAND, NORMALDISPLAY) # 0xA6 + self._i2c.writeByte(self.address, I2C_COMMAND, DISPLAYALLONRESUME) # 0xA4 + + self._i2c.writeByte(self.address, I2C_COMMAND, SEGREMAP | 0x1) + self._i2c.writeByte(self.address, I2C_COMMAND, COMSCANDEC) + + self._i2c.writeByte(self.address, I2C_COMMAND, SETCOMPINS) # 0xDA + if len(self._screenbuffer) == 512: + self._i2c.writeByte(self.address, I2C_COMMAND, 0x02) # rect (128x32 OLED modules) + else: + self._i2c.writeByte(self.address, I2C_COMMAND, 0x12) # square and large (64x48 or 128x64 OLED modules) + + self._i2c.writeByte(self.address, I2C_COMMAND, SETCONTRAST) # 0x81 + self._i2c.writeByte(self.address, I2C_COMMAND, 0x8F) + + self._i2c.writeByte(self.address, I2C_COMMAND, SETPRECHARGE) # 0xd9 + self._i2c.writeByte(self.address, I2C_COMMAND, 0x22) + + self._i2c.writeByte(self.address, I2C_COMMAND, SETVCOMDESELECT) # 0xDB + self._i2c.writeByte(self.address, I2C_COMMAND, 0x30) + + self._i2c.writeByte(self.address, I2C_COMMAND, DISPLAYON) # --turn on oled panel + self.clear(self.ALL) # Erase hardware memory inside the OLED controller to aself random data in memory. + + #---------------------------------------------------- + # brief Set SSD1306 page address. + # Send page address command and address to the SSD1306 OLED controller. + + def set_page_address(self, pageAddress): + """! + Set SSD1306 page address. + + @param pageAddress: The page address command and address + + @return No return value + + + """ + + # self._i2c.writeByte(self.address, I2C_COMMAND, 0xb0|pageAddress) + + self._i2c.writeByte(self.address, I2C_COMMAND, 0x22) + self._i2c.writeByte(self.address, I2C_COMMAND, (pageAddress& (self.LCDHEIGHT - 1))) + self._i2c.writeByte(self.address, I2C_COMMAND, self.LCDHEIGHT - 1) + + #---------------------------------------------------- + # Send column address command and address to the SSD1306 OLED controller. + def set_column_address(self, colAddress): + """! + Set SSD1306 column address. + + @param colAddress: The column address command and address + + @return No return value + + + """ + + if len(self._screenbuffer) == 384: + self._i2c.writeByte(self.address, I2C_COMMAND, (0x10|(colAddress>>4))+0x02) + self._i2c.writeByte(self.address, I2C_COMMAND, (0x0f&colAddress)) + else: + self._i2c.writeByte(self.address, I2C_COMMAND, 0x21) + self._i2c.writeByte(self.address, I2C_COMMAND, (colAddress& (self.LCDWIDTH - 1))) + self._i2c.writeByte(self.address, I2C_COMMAND, self.LCDWIDTH -1) + + #---------------------------------------------------- + # To clear GDRAM inside the LCD controller, pass in the variable mode = ALL and to clear screen page buffer pass in the variable mode = PAGE. + + def clear(self, mode, value=0): + """! + Clear the display on the OLED Device. + + @param mode: To clear GDRAM inside the LCD controller, pass in the variable mode = ALL, + and to clear screen page buffer pass in the variable mode = PAGE. + @param value: The value to clear the screen to. Default value is 0 + + @return No return value + + + """ + + if mode == self.ALL: + for i in range(8): + self.set_page_address(i) + self.set_column_address(0) + #pylint: disable=unused-variable + for j in range(0x80): + self._i2c.writeByte(self.address, I2C_DATA, value) + #pylint: enable=unused-variable + else: + self._screenbuffer[:] = [value]*len(self._screenbuffer) + + #-------------------------------------------------------------------------- + # The WHITE color of the display will turn to BLACK and the BLACK will turn to WHITE. + + def invert(self, inv): + """! + Invert the display of the display. The WHITE color of the display will turn to BLACK and the BLACK will turn to WHITE. + + @param inv: If True, the screen is inverted. If False the screen is set to Normal mode. + + @return No return value + + + """ + if inv: + self._i2c.writeByte(self.address, I2C_COMMAND, INVERTDISPLAY) + else: + self._i2c.writeByte(self.address, I2C_COMMAND, NORMALDISPLAY) + + #-------------------------------------------------------------------------- + # OLED contract value from 0 to 255. Note: Contrast level is not very obvious. + + def contrast(self, contrast): + """! + Set the OLED contract value from 0 to 255. Note: Contrast level is not very obvious on the display. + + @param contrast: Contrast Value between 0-255 + + @return No return value + + + """ + self._i2c.writeByte(self.address, I2C_COMMAND, SETCONTRAST) # 0x81 + self._i2c.writeByte(self.address, I2C_COMMAND, contrast) + + #-------------------------------------------------------------------------- + # Bulk move the screen buffer to the SSD1306 controller's memory so that images/graphics drawn on the screen buffer will be displayed on the OLED. + + def display(self): + """! + Display the current screen buffer on the Display device. + Bulk move the screen buffer to the SSD1306 controller's memory so that images/graphics drawn on the screen buffer will be displayed on the OLED. + + @return No return value + + + """ + # the I2C library being used allows blocks upto 32 ints to be sent at a time. + # + # The screenbuffer is sliced into 32 int blocks and set. This results in a faster + # refresh than the ported method (Good god, it was updating a pixel at a time ... ) + # + lenBlock = 32 + lenLine = self.get_lcd_width() + lenHieght = self.get_lcd_height() + nBlocks = int(math.ceil(lenLine/lenBlock)) + mBlocks = int(math.ceil(lenHieght/8)) + + for i in range(mBlocks): + + self.set_page_address(i) + lineStart = i * lenLine # offset in the screen buffer for the current line/row + + for iBlock in range(nBlocks): + + iStart = iBlock * lenBlock + self.set_column_address(iStart) + iEnd = iStart + min(lenLine - iStart, lenBlock) # what's left - not > 32 in len + + # Send the block - take into account the current line/row offset + self._i2c.writeBlock(self.address, I2C_DATA, self._screenbuffer[lineStart+iStart:lineStart+iEnd]) + + # Leftover from port -> Arduino's print overridden so that we can use uView.print(). + #-------------------------------------------------------------------------- + def write(self, c): + """! + Write a character on the display using the current font, at the current position. + + @param c: Character to write. A value of '\\\\n' starts a new line. + + @return 1 on success + + + """ + if c == '\n': + # self.cursorY += self.fontHeight + self.cursorY += self._font.height + self.cursorX = 0 + elif c != '\r': + self.draw_char(self.cursorX, self.cursorY, c) + self.cursorX += self._font.width+1 + if self.cursorX > (self.LCDWIDTH - self._font.width): + self.cursorY += self._font.height + self.cursorX = 0 + + return 1 + + #-------------------------------------------------------------------------- + def print(self, text): + """! + Print a line of text on the display using the current font, + starting at the current position. + + @param text: The line of text to write. + + @return No return value + + + """ + + # a list or array? If not, make it one + if not hasattr(text, '__len__'): # scalar? + text = str(text) + + if isinstance(text, str): + text = bytearray(text, 'ascii') + + for curr in text: + self.write(curr) + + + #-------------------------------------------------------------------------- + # OLED's cursor position to x,y. + + def set_cursor(self, x, y): + """! + Set the current cusor position for writing text + + @param x: The X position on the display + @param y: The Y position on the display + + @return No return value + + + """ + self.cursorX = x + self.cursorY = y + + #-------------------------------------------------------------------------- + # Draw color pixel in the screen buffer's x,y position with NORM or XOR draw mode. + + def pixel(self, x, y, color=None, mode=None): + """! + Draw a pixel at a given position, with a given color. Pixel copy mode is + either Normal (source copy) or XOR + + @param x: The X position on the display + @param y: The Y position on the display + @param color: The color to draw. If not set, the default foreground color is used. + @param mode: The mode to draw the pixl to the screen bufffer. Value can be either + XOR or NORM. Default is NORM + + @return No return value + + + """ + + if color is None: + color = self.foreColor + + if mode is None: + mode = self.drawMode + + if x < 0 or x >= self.LCDWIDTH or y < 0 or y >= self.LCDHEIGHT: + return + + x = int(x) + y = int(y) + index = x + (y//8)*self.LCDWIDTH + + if mode == self.XOR: + if color == self.WHITE: + self._screenbuffer[index] ^= (1 << (y%8)) + + else: + if color == self.WHITE: + self._screenbuffer[index] |= (1 << (y%8)) + else: + self._screenbuffer[index] &= (~(1 << (y%8)) & 0xff) + + #-------------------------------------------------------------------------- + # Draw line using color and mode from x0,y0 to x1,y1 of the screen buffer. + + def line(self, x0, y0, x1, y1, color=None, mode=None): + """! + Draw a line starting at and ending at specified coordinates, with a given color. Pixel copy mode is either Normal (source copy) or XOR + + @param x0: The X starting position for the line + @param y0: The Y starting position for the line. + @param x1: The X ending position for the line + @param y1: The Y ending position for the line. + @param color: The color to draw. If not set, the default foreground color is used. + @param mode: The mode to draw the pixl to the screen bufffer. Value can be either XOR or NORM. Default is NORM + + @return No return value + + + """ + + if color is None: + color = self.foreColor + + if mode is None: + mode = self.drawMode + + steep = abs(y1 - y0) > abs(x1 - x0) + if steep: + # swap + (x0, y0) = (y0, x0) + (x1, y1) = (y1, x1) + + if x0 > x1: + # swap + (x0, x1) = (x1, x0) + (y0, y1) = (y1, y0) + + dx = x1 - x0 + dy = abs(y1 - y0) + + err = dx // 2 + + ystep = 1 if y0 < y1 else -1 + + + while x0 < x1: + + if steep: + self.pixel(y0, x0, color, mode) + else: + self.pixel(x0, y0, color, mode) + + err -= dy + if err < 0: + y0 += ystep + err += dx + x0 += 1 + + #-------------------------------------------------------------------------- + # Draw horizontal line using color and mode from x,y to x+width,y of the screen buffer. + + def line_h(self, x, y, width, color=None, mode=None): + """! + Draw a horizontal line defined by a starting position and width. A color can be specified. Pixel copy mode is either Normal (source copy) or XOR + + @param x: The X starting position for the line + @param y: The Y starting position for the line. + @param width: The width (length) of the line + @param color: The color to draw. If not set, the default foreground color is used. + @param mode: The mode to draw the pixl to the screen bufffer. Value can be either XOR or NORM. Default is NORM + + @return No return value + + + """ + + if color is None: + color = self.foreColor + + if mode is None: + mode = self.drawMode + + self.line(x, y, x+width, y, color, mode) + + #-------------------------------------------------------------------------- + # Draw vertical line using color and mode from x,y to x,y+height of the screen buffer. + + def line_v(self, x, y, height, color=None, mode=None): + """! + Draw a vertical line defined by a starting position and width. A color can be specified. + Pixel copy mode is either Normal (source copy) or XOR + + @param x: The X starting position for the line + @param y: The Y starting position for the line. + @param height: The height (length) of the line + @param color: The color to draw. If not set, the default foreground color is used. + @param mode: The mode to draw the pixl to the screen bufffer. Value can be either + XOR or NORM. Default is NORM + + @return No return value + + + """ + + if color is None: + color = self.foreColor + + if mode is None: + mode = self.drawMode + + self.line(x, y, x, y+height, color, mode) + + #-------------------------------------------------------------------------- + # Draw rectangle using color and mode from x,y to x+width,y+height of the screen buffer. + + def rect(self, x, y, width, height, color=None, mode=None): + """! + Draw a rectangle on the diplay. A color can be specified. Pixel copy mode is either Normal (source copy) or XOR + + @param x: The X starting position for the rectangle + @param y: The Y starting position for the rectangle. + @param width: The width of the rectangle + @param height: The height of the rectangle + @param color: The color to draw. If not set, the default foreground color is used. + @param mode: The mode to draw the pixl to the screen bufffer. + Value can be either XOR or NORM. Default is NORM + + @return No return value + + + """ + + if color is None: + color = self.foreColor + + if mode is None: + mode = self.drawMode + + self.line_h(x, y, width, color, mode) + self.line_h(x, y+height-1, width, color, mode) + + tempHeight = height-2 + + # skip drawing vertical lines to aself overlapping of pixel that will + # affect XOR plot if no pixel in between horizontal lines + if tempHeight < 1: + return + + self.line_v(x, y+1, tempHeight, color, mode) + self.line_v(x+width-1, y+1, tempHeight, color, mode) + + #-------------------------------------------------------------------------- + # Draw filled rectangle using color and mode from x,y to x+width,y+height of the screen buffer. + + def rect_fill(self, x, y, width, height, color=None, mode=None): + """! + Draw a filled rectangle on the diplay. A color can be specified. Pixel copy mode is either Normal (source copy) or XOR + + @param x: The X starting position for the rectangle + @param y: The Y starting position for the rectangle. + @param width: The width of the rectangle + @param height: The height of the rectangle + @param color: The color to draw. If not set, the default foreground color is used. + @param mode: The mode to draw the pixl to the screen bufffer. + Value can be either XOR or NORM. Default is NORM + + @return No return value + + + """ + + if color is None: + color = self.foreColor + + if mode is None: + mode = self.drawMode + + # // TODO - need to optimise the memory map draw so that this function will not call pixel one by one + for i in range(x, x+width): + self.line_v(i, y, height, color, mode) + + #-------------------------------------------------------------------------- + # Draw circle with radius using color and mode at x,y of the screen buffer. + + def circle(self, x0, y0, radius, color=None, mode=None): + """! + Draw a circle on the diplay. A color can be specified. Pixel copy mode is either Normal (source copy) or XOR + + @param x0: The X center position for the circle + @param y0: The Y center position for the circle. + @param radius: The radius of the circle + @param color: The color to draw. If not set, the default foreground color is used. + @param mode: The mode to draw the pixl to the screen bufffer. Value can be either XOR or NORM. Default is NORM + + @return No return value + + + """ + + if color is None: + color = self.foreColor + + if mode is None: + mode = self.drawMode + + # in the future- find a way to check for no overlapping of pixels so that XOR draw mode will work perfectly + f = 1 - radius + ddF_x = 1 + ddF_y = -2 * radius + x = 0 + y = radius + + self.pixel(x0, y0+radius, color, mode) + self.pixel(x0, y0-radius, color, mode) + self.pixel(x0+radius, y0, color, mode) + self.pixel(x0-radius, y0, color, mode) + + while x < y: + if f >= 0: + y -= 1 + ddF_y += 2 + f += ddF_y + + x += 1 + ddF_x += 2 + f += ddF_x + + self.pixel(x0 + x, y0 + y, color, mode) + self.pixel(x0 - x, y0 + y, color, mode) + self.pixel(x0 + x, y0 - y, color, mode) + self.pixel(x0 - x, y0 - y, color, mode) + + self.pixel(x0 + y, y0 + x, color, mode) + self.pixel(x0 - y, y0 + x, color, mode) + self.pixel(x0 + y, y0 - x, color, mode) + self.pixel(x0 - y, y0 - x, color, mode) + + # The height of the LCD return as byte. + + def get_lcd_height(self): + """! + The height of the display in pixels + + @return height of the display + :rvalue: integer + + + """ + return self.LCDHEIGHT + + height = property(get_lcd_height) + + # The width of the LCD return as byte. + def get_lcd_width(self): + """! + The width of the display in pixels + + @return width of the display + :rvalue: integer + + + """ + return self.LCDWIDTH + + width = property(get_lcd_width) + + # The cucrrent font's width return as byte. + + def get_font_width(self): + """! + The width of the current font + + @return width of the font + :rvalue: integer + + + """ + return self._font.width + + font_width = property(get_font_width) + + # The current font's height return as byte. + + def get_font_height(self): + """! + The height of the current font + + @return height of the font + :rvalue: integer + + + """ + return self._font.height + + font_height = property(get_font_height) + # Return the starting ASCII character of the currnet font, not all fonts start with ASCII character 0. Custom fonts can start from any ASCII character. + + def get_font_start_char(self): + """! + Return the starting ASCII character of the currnet font, not all fonts start with ASCII character 0. + Custom fonts can start from any ASCII character. + + @return Starting character of the current font. + :rvalue: integer + + + """ + return self._font.start_char + + # Return the total characters of the current font. + + def get_font_total_char(self): + """! + The total number of characters in the current font. + + @return Total number of characters + :rvalue: integer + + + """ + return self._font.total_char + + + # Return the total number of fonts loaded into the OLED's flash memory. + + def get_total_fonts(self): + """! + Return the total number of fonts loaded into the OLED's flash memory. + + @return Total number of fonts available + :rvalue: integer + + + """ + return self.nFonts + + # Return the font type number of the current font. + def get_font_type(self): + """! + Return the font type number of the current font. + + @return Font type number. + :rvalue: integer + + + """ + return self.fontType + + # Set the current font type number, ie changing to different fonts base on the type provided. + + def set_font_type(self, font_type): + """! + Set the current font type number, ie changing to different fonts base on the type provided. + + @param type: The type to set the font to. + + @return No return value + + + """ + + if font_type >= self.nFonts or font_type < 0: + return False + + self.fontType = font_type + self._font = oled_fonts.get_font(font_type) + if self._font is None: + return False + + return True + + font_type = property(get_font_type, set_font_type) + # Set the current draw's color. Only WHITE and BLACK available. + + def set_color(self, color): + """! + Set the current draw's color. Only WHITE and BLACK available. + + @param color: Color Value + + @return No return value + + + """ + self.foreColor = color + + # Set current draw mode with NORM or XOR. + + def set_draw_modee(self, mode): + """! + Set current draw mode with NORM or XOR. + + @param mode: Draw Mode + + @return No return value + + + """ + self.drawMode = mode + + # Draw character c using color and draw mode at x,y. + # pylint: disable=too-many-locals + def draw_char(self, x, y, c, color=None, mode=None): + """! + Draw character c using color and draw mode at x,y. Pixel copy mode is either Normal (source copy) or XOR + + @param x: The X position on the display + @param y: The Y position on the display + @param c: The character to draw + @param color: The color to draw. If not set, the default foreground color is used. + @param mode: The mode to draw the pixl to the screen bufffer. Value can be either XOR or NORM. Default is NORM + + @return No return value + + + """ + + if color is None: + color = self.foreColor + + if mode is None: + mode = self.drawMode + + if self._font is None: + return + + if c < self._font.start_char or c > (self._font.start_char + self._font.total_char - 1): # no bitmap for the required c + return + + tempC = c - self._font.start_char + + # // each row (in datasheet is call page) is 8 bits high, 16 bit high character will have 2 rows to be drawn + rowsToDraw = self._font.height//8 # 8 is LCD's page size, see SSD1306 datasheet + + if rowsToDraw <= 1: + rowsToDraw = 1 + + # figure out position of the character in the font map. integer math is key here + charPerRow = self._font.map_width // self._font.width + + rowPos = tempC // charPerRow # the number of full rows to skip + colPos = tempC % charPerRow # the number of chars into the last + iStart = rowPos * charPerRow * self._font.height//8 + colPos + + # each row on LCD is 8 bit height (see datasheet for explanation) + for row in range(rowsToDraw): + + # load in the current character block. + #pylint: disable=consider-using-enumerate, invalid-unary-operand-type + fBuffer = self._font[iStart + row * charPerRow] + for i in range(len(fBuffer)): + + for j in range(8): # 8 is the LCD's page height (see datasheet for explanation) + + self.pixel(x+i, y+j + (row*8), \ + color if fBuffer[i] & 0x01 << j else (~color & 0xFF), \ + mode) + #pylint: enable=consider-using-enumerate, invalid-unary-operand-type + + + def scroll_stop(self): + """! + Stop scrolling operation. + + @return No return value + + + """ + + self._i2c.writeByte(self.address, I2C_COMMAND, DEACTIVATESCROLL) + + + # Set row start to row stop on the OLED to scroll. + def scroll (self, start, stop, scrollCommand = RIGHTHORIZONTALSCROLL, vertOffset = 0): + """! + Set row start to row stop on the OLED to scroll. + Refer to http://learn.microview.io/intro/general-overview-of-microview.html for explanation of the rows. + + @param start: The staring position on the display + @param stop: The stopping position on the display + + @return No return value + + """ + if stop < start: # stop must be larger or equal to start + return + + if scrollCommand in [VERTICALRIGHTHORIZONTALSCROLL, VERTICALLEFTHORIZONTALSCROLL]: + self._i2c.writeByte(self.address, I2C_COMMAND, SETVERTICALSCROLLAREA) + self._i2c.writeByte(self.address, I2C_COMMAND, 0x00) + self._i2c.writeByte(self.address, I2C_COMMAND, self.LCDHEIGHT) + if vertOffset == 0: + vertOffset = 1 + + self.scroll_stop() # need to disable scrolling before starting to avoid memory corrupt + + self._i2c.writeByte(self.address, I2C_COMMAND, scrollCommand) + self._i2c.writeByte(self.address, I2C_COMMAND, 0x00) + self._i2c.writeByte(self.address, I2C_COMMAND, start) + self._i2c.writeByte(self.address, I2C_COMMAND, 0x7) # scroll speed frames , TODO + self._i2c.writeByte(self.address, I2C_COMMAND, stop) + self._i2c.writeByte(self.address, I2C_COMMAND, vertOffset) + if vertOffset == 0: # Horizontal scroll + self._i2c.writeByte(self.address, I2C_COMMAND, 0xFF) + self._i2c.writeByte(self.address, I2C_COMMAND, ACTIVATESCROLL) + + # Refer to http://learn.microview.io/intro/general-overview-of-microview.html for explanation of the rows. + + def scroll_right(self, start, stop): + """! + Set row start to row stop on the OLED to scroll right. + Refer to http://learn.microview.io/intro/general-overview-of-microview.html for explanation of the rows. + + @param start: The staring position on the display + @param stop: The stopping position on the display + + @return No return value + + + """ + self.scroll(start, stop, RIGHTHORIZONTALSCROLL) + + def scroll_left(self, start, stop): + """! + Set row start to row stop on the OLED to scroll right. + Refer to http://learn.microview.io/intro/general-overview-of-microview.html for explanation of the rows. + + @param start: The staring position on the display + @param stop: The stopping position on the display + + @return No return value + + + """ + self.scroll(start, stop, LEFT_HORIZONTALSCROLL) + + def scroll_vert_left(self,start,stop, vertOffset = 1): + """! + Set row start to row stop on the OLED to scroll vertical right (Diagonally). + Refer to http://learn.microview.io/intro/general-overview-of-microview.html for explanation of the rows. + + @param start: The staring position on the display + @param stop: The stopping position on the display + @param vert_offset: The vertical offset + + @return No return value + + + """ + self.scroll(start, stop, VERTICALLEFTHORIZONTALSCROLL, vertOffset) + + def scroll_vert_right(self, start, stop, vertOffset = 1): + """! + Set row start to row stop on the OLED to scroll vertical right (Diagonally). + Refer to http://learn.microview.io/intro/general-overview-of-microview.html for explanation of the rows. + + @param start: The staring position on the display + @param stop: The stopping position on the display + @param vert_offset: The vertical offset + + @return No return value + + + """ + self.scroll(start, stop, VERTICALRIGHTHORIZONTALSCROLL, vertOffset) + + # Flip the graphics on the OLED vertically. + def flip_vertical(self, flip): + """! + Flip the graphics on the OLED vertically. + + @return No return value + + + """ + + self._i2c.writeByte(self.address, I2C_COMMAND, COMSCANINC if flip else COMSCANDEC) + + # Flip the graphics on the OLED horizontally. + def flip_horizontal(self, flip): + """! + Flip the graphics on the OLED horizontally. + + @return No return value + + + """ + self._i2c.writeByte(self.address, I2C_COMMAND, SEGREMAP | ( 0x0 if flip else 0x1)) + self.clear(self.ALL) + self.display() + + # Return a pointer to the start of the RAM screen buffer for direct access. + def get_screenbuffer(self): + """! + Return a pointer to the start of the RAM screen buffer for direct access. + + @return **integer array** The internal screen buffer + """ + return self._screenbuffer + + + # Draw Bitmap image on screen. The array for the bitmap can be stored in the Arduino file, so user don't have to mess with the library files. + # To use, create uint8_t array that is 64x48 pixels (384 bytes). Then call .draw_bitmap and pass it the array. + + def draw_bitmap(self, bitArray): + """! + Draw Bitmap image on screen. + To use, create int array that is 64x48 pixels (384 bytes). Then call .draw_bitmap and pass it the array. + + @param bitArray: The bitmap to draw + + @return No return value + + + """ + + if len(bitArray) != len(self._screenbuffer): + print("draw_bitmap - Invalid Input size.", file=sys.stderr) + return + + self._screenbuffer[:] = bitArray diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_oled_display.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_oled_display.py new file mode 100644 index 0000000..8d8c6ed --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_oled/qwiic_oled_display.py @@ -0,0 +1,96 @@ +#----------------------------------------------------------------------------- +# qwiic_oled_display.py +# +#------------------------------------------------------------------------ +# +# Written by SparkFun Electronics, May 2019 +# +# +# More information on qwiic is at https:= www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +# +#================================================================================== +# Copyright (c) 2019 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#================================================================================== +# +# This is mostly a port of existing Arduino functionaly, so pylint is sad. +# The goal is to keep the public interface pthonic, but internal is internal +# +# pylint: disable=line-too-long, bad-whitespace, invalid-name, too-many-lines +# pylint: disable=too-many-lines, too-many-arguments, too-many-instance-attributes +# pylint: disable=too-many-public-methods + +""" +qwiic_oled_display +====================== +Python module for the [Qwiic OLED Display](https://www.sparkfun.com/products/17153) + +This python package is a port of the existing [SparkFun Micro OLED Arduino Library](https://github.com/sparkfun/SparkFun_Micro_OLED_Arduino_Library) + +This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) + +New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic). + +""" + +import math +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c + +from lib.AgXRPLib.qwiic_oled.qwiic_oled_base import QwiicOledBase + +# Define the device name and I2C addresses. These are set in the class defintion +# as class variables, making them avilable without having to create a class instance. +# +# The name of this device - note this is private +_DEFAULT_NAME = "Qwiic OLED Display (128x32)" + +# Some devices have multiple availabel addresses - this is a list of these addresses. +# NOTE: The first address in this list is considered the default I2C address for the +# device. + +_AVAILABLE_I2C_ADDRESS = [0x3C, 0x3D] +_LCDWIDTH = 128 +_LCDHEIGHT = 32 + +class QwiicOledDisplay(QwiicOledBase): + """ + QwiicOledDisplay + + :param address: The I2C address to use for the device. + If not provided, the default address is used. + :param i2c_driver: An existing i2c driver object. If not provided + a driver object is created. + :return: The OLED Display device object. + :rtype: Object + """ + + # Constructor + device_name =_DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + + def __init__(self, address=None, i2c_driver=None): + + # Did the user specify an I2C address? + self.address = address if address is not None else self.available_addresses[0] + + # Instantiate OLED Display Driver - Base Class + super().__init__(address, _LCDWIDTH, _LCDHEIGHT, i2c_driver) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_scd4x.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_scd4x.py new file mode 100644 index 0000000..d7c0234 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_scd4x.py @@ -0,0 +1,739 @@ +#------------------------------------------------------------------------------- +# qwiic_scd4x.py +# +# Python library for the SparkFun Qwiic SCD4x CO2 Sensor, available here: +# https://www.sparkfun.com/products/22396 +#------------------------------------------------------------------------------- +# Written by SparkFun Electronics, November 2024 +# +# This python library supports the SparkFun Electroncis Qwiic ecosystem +# +# More information on Qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +#=============================================================================== +# Copyright (c) 2023 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#=============================================================================== + +"""! +qwiic_scd4x +============ +Python module for the [SparkFun Qwiic SCD4x C02 sensor]https://www.sparkfun.com/products/22396 +This is a port of the existing [Arduino Library]https://github.com/sparkfun/SparkFun_SCD4x_Arduino_Library +This package can be used with the overall [SparkFun Qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) +New to Qwiic? Take a look at the entire [SparkFun Qwiic ecosystem](https://www.sparkfun.com/qwiic). +""" + +# The Qwiic_I2C_Py platform driver is designed to work on almost any Python +# platform, check it out here: https://github.com/sparkfun/Qwiic_I2C_Py +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c +import time + +# Define the device name and I2C addresses. These are set in the class defintion +# as class variables, making them avilable without having to create a class +# instance. This allows higher level logic to rapidly create a index of Qwiic +# devices at runtine +_DEFAULT_NAME = "Qwiic SCD4x" + +# Some devices have multiple available addresses - this is a list of these +# addresses. NOTE: The first address in this list is considered the default I2C +# address for the device. +_AVAILABLE_I2C_ADDRESS = [ 0x62] + +# Define the class that encapsulates the device being created. All information +# associated with this device is encapsulated by this class. The device class +# should be the only value exported from this module. +class QwiicSCD4x(object): + # Set default name and I2C address(es) + device_name = _DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + + # Basic Commands + kComStartPeriodicMeasurement = 0x21b1 + kComReadMeasurement = 0xec05 # execution time: 1ms + kComStopPeriodicMeasurement = 0x3f86 # execution time: 500ms + + # On-chip output signal compensation + kComSetTemperatureOffset = 0x241d # execution time: 1ms + kComGetTemperatureOffset = 0x2318 # execution time: 1ms + kComSetSensorAltitude = 0x2427 # execution time: 1ms + kComGetSensorAltitude = 0x2322 # execution time: 1ms + kComSetAmbientPressure = 0xe000 # execution time: 1ms + + # Field calibration + kComPerformForcedCalibration = 0x362f # execution time: 400ms + kComSetAutomaticSelfCalibrationEnabled = 0x2416 # execution time: 1ms + kComGetAutomaticSelfCalibrationEnabled = 0x2313 # execution time: 1ms + + # Low power + kComStartLowPowerPeriodicMeasurement = 0x21ac + kComGetDataReadyStatus = 0xe4b8 # execution time: 1ms + + # Advanced features + kComPersistSettings = 0x3615 # execution time: 800ms + kComGetSerialNumber = 0x3682 # execution time: 1ms + kComPerformSelfTest = 0x3639 # execution time: 10000ms + kComPerformFactoryReset = 0x3632 # execution time: 1200ms + kComReinit = 0x3646 # execution time: 20ms + kComGetFeatureSetVersion = 0x202F # execution time: 1ms + + # Low power single shot - SCD41 only + kComMeasureSingleShot = 0x219d # execution time: 5000ms + kComMeasureSingleShotRhtOnly = 0x2196 # execution time: 50ms + + # Sensor types + kTypeSCD40 = 0 + kTypeSCD41 = 1 + kTypeSDC4xInvalid = 2 + + def __init__(self, address=None, i2c_driver=None): + """! + Constructor + + @param int, optional address: The I2C address to use for the device + If not provided, the default address is used + @param I2CDriver, optional i2c_driver: An existing i2c driver object + If not provided, a driver object is created + """ + + # Use address if provided, otherwise pick the default + if address in self.available_addresses: + self.address = address + else: + self.address = self.available_addresses[0] + + # Load the I2C driver if one isn't provided + if i2c_driver is None: + self._i2c = qwiic_i2c.getI2CDriver() + if self._i2c is None: + print("Unable to load I2C driver for this platform.") + return + else: + self._i2c = i2c_driver + + self._sensorType = self.kTypeSCD40 + self._doingPeriodicMeasurement = False + + # Set by read_measurement + self._co2 = 0 + self._humidity = 0 + self._temperature = 0 + + def is_connected(self): + """! + Determines if this device is connected + + @return **bool** `True` if connected, otherwise `False` + """ + # Check if connected by seeing if an ACK is received + return self._i2c.isDeviceConnected(self.address) + + connected = property(is_connected) + + def begin(self, measBegin = True, autoCalibrate = True, skipStopPeriodicMeasurement = False, pollAndSetDeviceType = True): + """! + Initializes this device with default parameters + + @return **bool** Returns `True` if successful, otherwise `False` + """ + # Confirm device is connected before doing anything + if not self.is_connected(): + return False + + # If periodic measurements are already running, get_serial_number will fail... + # To be safe, let's stop period measurements before we do anything else + # The user can override this by setting skipStopPeriodicMeasurements to True + if skipStopPeriodicMeasurement == False: + self.stop_periodic_measurement() + + success = True + + serial_number = self.get_serial_number() + success &= (serial_number is not None) + + if pollAndSetDeviceType: + success &= self.get_feature_set_version() + + success &= self.set_automatic_self_calibration_enabled(autoCalibrate) + success &= (self.get_automatic_self_calibration_enabled() == autoCalibrate) + + if measBegin: + self.start_periodic_measurement() + + return True + + def start_periodic_measurement(self): + """! + Start periodic measurements. See 3.5.1 + signal update interval is 5 seconds. + """ + self.send_command(self.kComStartPeriodicMeasurement) + self._doingPeriodicMeasurement = True + + def stop_periodic_measurement(self, delayMillis = 500): + """! + stop_periodic_measurement can be called before begin() if required + Note that the sensor will only respond to other commands after waiting 500 ms after issuing the stop_periodic_measurement command. + + @param int delayMillis: The delay in milliseconds to wait after stopping the measurement + """ + self.send_command(self.kComStopPeriodicMeasurement) + self._doingPeriodicMeasurement = False + time.sleep(delayMillis / 1000) + + def read_measurement(self): + """! + Get 9 bytes from SCD4x. See 3.5.2 + Updates the internal CO2, humidity, and temperature values + Returns true if data is read successfully + Read sensor output. The measurement data can only be read out once per signal update interval as the + buffer is emptied upon read-out. If no data is available in the buffer, the sensor returns a NACK. + To avoid a NACK response, the get_data_ready_status can be issued to check data status + (see chapter 3.8.2 for further details). + + @return `True` if successful, otherwise `False` + :rtype + + """ + if self.get_data_ready_status() == False: + return False + + self.send_command(self.kComReadMeasurement) + + time.sleep(0.001) # specified by datasheet + + bytes_read = self._i2c.readBlock(self.address, None, 9) # By passing "None" we perform a general read. Requires new version of qwiic_i2c + co2_bytes = bytes_read[0:3] + temperature_bytes = bytes_read[3:6] + humidity_bytes = bytes_read[6:9] + + # Check CRC's + for bytes in [co2_bytes, humidity_bytes, temperature_bytes]: + if self.compute_crc8(bytes[0:2]) != bytes[2]: + return False + + # Convert to 16-bit values + self._co2 = (co2_bytes[0] << 8) | co2_bytes[1] + self._humidity = (humidity_bytes[0] << 8) | humidity_bytes[1] + self._temperature = (temperature_bytes[0] << 8) | temperature_bytes[1] + + # Perform conversions on the values (see 3.5.2) + self._temperature = -45 + (self._temperature * 175 / 65536) + self._humidity = self._humidity * 100 / 65536 + + return True + + # TODO: Arduino lib has booleans tracking whether to refresh these automatically, we can add this if needed, but might be best to + # force users to just call read_measurement() to explicitly refresh all of these at once so they are coherent + def get_co2(self): + """! + Get the CO2 value. Call read_measurement() first to update the value + + @return **int** The CO2 value + """ + return self._co2 + + def get_humidity(self): + """! + Get the humidity value. Call read_measurement() first to update the value + + @return **int** The humidity value + """ + return self._humidity + + def get_temperature(self): + """! + Get the temperature value. Call read_measurement() first to update the value + + @return **int** The temperature value + """ + return self._temperature + + def set_temperature_offset(self, offset, delayMillis = 1): + """! + Set the temperature offset (C). See 3.6.1 + Max command duration: 1ms + The user can set delayMillis to zero if they want the function to return immediately. + The temperature offset has no influence on the SCD4x CO2 accuracy. + Setting the temperature offset of the SCD4x inside the customer device correctly allows the user + to leverage the RH and T output signal. + + @param int offset: The temperature offset to set. Must be between 0 and 175 + @param int delayMillis: The delay in milliseconds to wait after setting the offset + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + if offset < 0 or offset >= 175: + return False + + offset_word = int(offset * 65536 / 175) # Toffset [°C] * 2^16 / 175 + self.send_command(self.kComSetTemperatureOffset, offset_word) + + if delayMillis > 0: + time.sleep(delayMillis / 1000) + + return True + + def get_temperature_offset(self): + """! + Get the temperature offset (C). See 3.6.2 + + @return **int** The temperature offset or None if unsuccessful + """ + if self._doingPeriodicMeasurement: + return None + + offset = self.read_register(self.kComGetTemperatureOffset) + if offset is None: + return None + + return offset * 175 / 65536 # TODO: Arduino uses 65535 here but datasheet and other functions says 65536 + + def set_sensor_altitude(self, altitude, delayMillis = 1): + """! + Set the sensor altitude (metres above sea level). See 3.6.3 + Max command duration: 1ms + The user can set delayMillis to zero if they want the function to return immediately. + Reading and writing of the sensor altitude must be done while the SCD4x is in idle mode. + Typically, the sensor altitude is set once after device installation. To save the setting to the EEPROM, + the persist setting (see chapter 3.9.1) command must be issued. + Per default, the sensor altitude is set to 0 meter above sea-level. + + @param int altitude: The altitude to set + @param int delayMillis: The delay in milliseconds to wait after setting the altitude + """ + if self._doingPeriodicMeasurement: + return False + + self.send_command(self.kComSetSensorAltitude, altitude) + + if delayMillis > 0: + time.sleep(delayMillis / 1000) + + def get_sensor_altitude(self): + """! + Get the sensor altitude (metres above sea level). See 3.6.4 + + @return **int** The sensor altitude or None if unsuccessful + """ + if self._doingPeriodicMeasurement: + return None + + return self.read_register(self.kComGetSensorAltitude) + + def set_ambient_pressure(self, pressure, delayMillis = 1): + """! + Set the ambient pressure (Pa). See 3.6.5 + Max command duration: 1ms + + Define the ambient pressure in Pascals, so RH and CO2 are compensated for atmospheric pressure + set_ambient_pressure overrides set_sensor_altitude + + The user can set delayMillis to zero if they want the function to return immediately. + The set_ambient_pressure command can be sent during periodic measurements to enable continuous pressure compensation. + set_ambient_pressure overrides set_sensor_altitude + + @param int pressure: The pressure to set. Must be between 0 and 6553500 + @param int delayMillis: The delay in milliseconds to wait after setting the pressure + """ + if pressure < 0 or pressure >= 6553500: + return False + + pressure_word = int(pressure / 100) + self.send_command(self.kComSetAmbientPressure, pressure_word) + if delayMillis > 0: + time.sleep(delayMillis / 1000) + + return True + + def perform_forced_recalibration(self, concentration): + """! + Perform forced recalibration. See 3.7.1 + To successfully conduct an accurate forced recalibration, the following steps need to be carried out: + 1. Operate the SCD4x in the operation mode later used in normal sensor operation (periodic measurement, + low power periodic measurement or single shot) for > 3 minutes in an environment with homogenous and + constant CO2 concentration. + 2. Issue stop_periodic_measurement. Wait 500 ms for the stop command to complete. + 3. Subsequently issue the perform_forced_recalibration command and optionally read out the FRC correction + (i.e. the magnitude of the correction) after waiting for 400 ms for the command to complete. + A return value of 0xffff indicates that the forced recalibration has failed. + + @param int concentration: The concentration to recalibrate to + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + self.send_command(self.kComPerformForcedCalibration, concentration) + + time.sleep(0.4) # specified by datasheet + + read_bytes = self._i2c.readBlock(self.address, None, 3) # By passing "None" we perform a general read. Requires new version of qwiic_i2c + + if self.compute_crc8(read_bytes[0:2]) != read_bytes[2]: + return False + + correction = ((read_bytes[0] << 8) | read_bytes[1]) - 32768 # FRC correction [ppm CO2] = word[0] – 0x8000 + + return (correction != 0xFFFF) + + def start_low_power_periodic_measurement(self): + """! + Start low power periodic measurements. See 3.8.1 + Signal update interval will be 30 seconds instead of 5 + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + self.send_command(self.kComStartLowPowerPeriodicMeasurement) + self._doingPeriodicMeasurement = True + return True + + def get_data_ready_status(self): + """! + Returns true when data is available. See 3.8.2 + + @return **bool** `True` if data is ready, otherwise `False` + """ + response = self.read_register(self.kComGetDataReadyStatus) + if response is None: + return False + + # If the least significant 11 bits of word[0] are 0 → data not ready + # else → data ready for read-out + return (response & 0x07FF) != 0 + + def persist_settings(self, delayMillis = 800): + """! + Persist settings: copy settings (e.g. temperature offset) from RAM to EEPROM. See 3.9.1 + + Configuration settings such as the temperature offset, sensor altitude and the ASC enabled/disabled parameter + are by default stored in the volatile memory (RAM) only and will be lost after a power-cycle. The persist_settings + command stores the current configuration in the EEPROM of the SCD4x, making them persistent across power-cycling. + + WARNING: To avoid unnecessary wear of the EEPROM, the persist_settings command should only be sent when persistence is required + and if actual changes to the configuration have been made. The EEPROM is guaranteed to endure at least 2000 write + cycles before failure. + + @param int delayMillis: The delay in milliseconds to wait after persisting the settings + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + self.send_command(self.kComPersistSettings) + if delayMillis > 0: + time.sleep(delayMillis / 1000) + + return True + + def get_serial_number(self): + """! + Get the serial number of the sensor + + @param int serialNumber: The serial number of the sensor + + @return **str** Serial Number if successful, otherwise `None` + """ + if self._doingPeriodicMeasurement: + return None + + self.send_command(self.kComGetSerialNumber) + + time.sleep(0.001) # specified by datasheet + + bytes_read = self._i2c.readBlock(self.address, None, 9) # By passing "None" we perform a general read. Requires new version of qwiic_i2c + + # Bytes are returned as 3 big-endian words, each with a CRC8 byte after + bytes_to_crc0 = bytes_read[0:3] + bytes_to_crc1 = bytes_read[3:6] + bytes_to_crc2 = bytes_read[6:9] + + serial = "" + + for bytes in [bytes_to_crc0, bytes_to_crc1, bytes_to_crc2]: + if self.compute_crc8(bytes[0:2]) != bytes[2]: + return None + serial += self.convert_hex_to_ascii(bytes[0] >> 4) + serial += self.convert_hex_to_ascii(bytes[0] & 0x0F) + serial += self.convert_hex_to_ascii(bytes[1] >> 4) + serial += self.convert_hex_to_ascii(bytes[1] & 0x0F) + + return serial + + def convert_hex_to_ascii(self, digit): + """! + Convert a hex digit to its ASCII representation + + @param int digit: The hex digit to convert + + @return **str** The ASCII representation of the hex digit + """ + if digit <= 9: + return chr(digit + 0x30) + else: + return chr(digit + 0x41 - 10) # Use upper case for A-F + + def perform_self_test(self): + """! + Perform self test. Takes 10 seconds to complete. See 3.9.3 + The perform_self_test feature can be used as an end-of-line test to check sensor functionality + and the customer power supply to the sensor. + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + response = self.read_register(self.kComPerformSelfTest, 10000) + + return response == 0x0000 + + def perform_factory_reset(self, delayMillis = 1200): + """! + Peform factory reset. See 3.9.4 + The perform_factory_reset command resets all configuration settings stored in the EEPROM + and erases the FRC and ASC algorithm history. + + @param int delayMillis: The delay in milliseconds to wait after performing the factory reset + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + self.send_command(self.kComPerformFactoryReset) + + if delayMillis > 0: + time.sleep(delayMillis / 1000) + + return True + + def reinit(self, delayMillis = 20): + """! + Re-initialize the sensor, load settings from EEPROM. See 3.9.5 + + The reinit command reinitializes the sensor by reloading user settings from EEPROM. + Before sending the reinit command, the stop measurement command must be issued. + If the reinit command does not trigger the desired re-initialization, + a power-cycle should be applied to the SCD4x + + @param int delayMillis: The delay in milliseconds to wait after re-initializing + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + self.send_command(self.kComReinit) + + if delayMillis > 0: + time.sleep(delayMillis / 1000) + + return True + + def measure_single_shot(self): + """! + SCD41 only. Request a single low-power measurement. Data will be ready in 5 seconds. See 3.10.1 + + In addition to periodic measurement modes, the SCD41 features a single shot measurement mode, + i.e. allows for on-demand measurements. + The typical communication sequence is as follows: + 1. The sensor is powered up. + 2. The I2C master sends a single shot command and waits for the indicated max. command duration time. + 3. The I2C master reads out data with the read measurement sequence (chapter 3.5.2). + 4. Steps 2-3 are repeated as required by the application. + + @return **bool** `True` if successful, otherwise `False` + """ + + if self._sensorType != self.kTypeSCD41: + return False + + if self._doingPeriodicMeasurement: + return False + + self.send_command(self.kComMeasureSingleShot) + + return True + + def measure_single_shot_rht_only(self): + """! + On-demand measurement of relative humidity and temperature only. SCD41 only. Data will be ready in 50ms + + The sensor output is read using the read_measurement command (chapter 3.5.2). + CO2 output is returned as 0 ppm. + + @return **bool** `True` if successful, otherwise `False` + """ + if self._sensorType != self.kTypeSCD41: + return False + + if self._doingPeriodicMeasurement: + return False + + self.send_command(self.kComMeasureSingleShotRhtOnly) + + return True + + def get_sensor_type(self): + """! + Get the sensor type. Allowable versions are kTypeSCD40, kTypeSCD41, and kTypeSDC4xInvalid + + @return **int** The sensor type + """ + return self._sensorType + + def set_sensor_type(self, sensorType): + """! + Set the sensor type. Allowable versions are kTypeSCD40, kTypeSCD41, and kTypeSDC4xInvalid + + @param int sensorType: The sensor type to set + """ + if sensorType == self.kTypeSCD40 or sensorType == self.kTypeSCD41 or sensorType == self.kTypeSDC4xInvalid: + self._sensorType = sensorType + + def get_feature_set_version(self): + """! + Save the feature set version/sensor type of the sensor. + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + feature_set = self.read_register(self.kComGetFeatureSetVersion) + + if feature_set is None: + return False + + read_type = ( (feature_set & 0x1000) >> 12 ) + + if read_type == self.kTypeSCD40: + self._sensorType = self.kTypeSCD40 + elif read_type == self.kTypeSCD41: + self._sensorType = self.kTypeSCD41 + else: + self._sensorType = self.kTypeSDC4xInvalid + + return True + + def set_automatic_self_calibration_enabled(self, enabled, delayMillis = 1): + """! + Enable/disable automatic self calibration. See 3.7.2 + Set the current state (enabled / disabled) of the automatic self-calibration. By default, ASC is enabled. + To save the setting to the EEPROM, the persist_setting (see chapter 3.9.1) command must be issued. + + @param bool enabled: `True` to enable, `False` to disable + @param int delayMillis: The delay in milliseconds to wait after setting the calibration + + @return **bool** `True` if successful, otherwise `False` + """ + if self._doingPeriodicMeasurement: + return False + + enabled_word = 0x0001 if enabled else 0x0000 + self.send_command(self.kComSetAutomaticSelfCalibrationEnabled, enabled_word) + time.sleep(delayMillis / 1000) + return True + + def get_automatic_self_calibration_enabled(self): + """! + Check if automatic self calibration is enabled. See 3.7.3 + + @return `True` if enabled, otherwise `False` + + """ + if self._doingPeriodicMeasurement: + return False + + return ( self.read_register(self.kComGetAutomaticSelfCalibrationEnabled) == 0x0001 ) + + def compute_crc8(self, data): + """! + Given a list of bytes, this calculate CRC8 for those bytes + CRC is only calc'd on the data portion (two bytes) of the four bytes being sent + From: http://www.sunshine2k.de/articles/coding/crc/understanding_crc.html + Tested with: http://www.sunshine2k.de/coding/javascript/crc/crc_js.html + x^8+x^5+x^4+1 = 0x31 + + @param list of int data: The data to compute the CRC for + + @return **int** The computed CRC8 value + """ + crc = 0xFF # Init with 0xFF + + for byte in data: + crc ^= byte # XOR-in the next input byte + + for i in range(8): + if crc & 0x80: + crc = (crc << 1) ^ 0x31 + else: + crc <<= 1 + + return crc & 0xFF # Ensure CRC is within 8-bit range + + def send_command(self, command, arguments = None): + """! + Sends a command along with arguments and CRC + + @param int command: The command to send + @param int arguments: A 16 bit value containing the arguments to send + """ + + bytes_to_write = [command >> 8, command & 0xFF] + + if arguments is not None: + arguments_to_wrte = [int(arguments) >> 8, int(arguments) & 0xFF] + crc = self.compute_crc8(arguments_to_wrte) + bytes_to_write += [arguments_to_wrte[0], arguments_to_wrte[1], crc] + + # we don't have an explicit way in the I2C drivers to write not to a specific register, + # but if we write the first as the register it should behave the same + self._i2c.writeBlock(self.address, bytes_to_write[0], bytes_to_write[1:]) + + def read_register(self, registerAddress, delayMillis = 1): + """! + Read a register from the sensor. Gets two bytes from SCD4x plus CRC + + @param int registerAddress: The address of the register to read + @param int delayMillis: The delay in milliseconds to wait after reading the register + + @return **int** The value of the register if successful, otherwise `None` + """ + self.send_command(registerAddress) + + time.sleep(delayMillis / 1000) + + bytes_read = self._i2c.readBlock(self.address, None, 3) # By passing "None" we perform a general read. Requires new version of qwiic_i2c + + if self.compute_crc8(bytes_read[0:2]) != bytes_read[2]: + return None + + return (bytes_read[0] << 8) | bytes_read[1] diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_soil_moisture_sensor.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_soil_moisture_sensor.py new file mode 100644 index 0000000..7ea6e37 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_soil_moisture_sensor.py @@ -0,0 +1,183 @@ +"""! +qwiic_soil_moisture_sensor +============ +Python module for the [SparkFun Qwiic Soil Moisture Sensor](https://www.sparkfun.com/products/17731) + +This python package is a port of the existing [SparkFun Soil Moisture Sensor Arduino Examples](https://github.com/sparkfun/Zio-Qwiic-Soil-Moisture-Sensor/tree/master/Firmware/Qwiic%20Soil%20Moisture%20Sensor%20Examples) + +This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) + +New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic). +""" + +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c + +#====================================================================== +# Basic setup of I2C commands and available I2C Addresses +# +# +# The name of this device - note this is private +_DEFAULT_NAME = "Qwiic Soil Moisture Sensor" + + +# Command addresses +COMMAND_LED_OFF = 0x00 +COMMAND_LED_ON = 0x01 +COMMAND_CHANGE_ADDRESS = 0x03 +COMMAND_GET_VALUE = 0x05 +COMMAND_NOTHING_NEW = 0x99 +SENSOR_STATUS = 0x3F +SOIL_MOISTURE_SENSOR_DEFAULT_ADDRESS = 0x28 + +############################################################################### +############################################################################### +# Some devices have multiple available addresses - this is a list of these addresses. +# NOTE: The first address in this list is considered the default I2C address for the +# device. +_FULL_ADDRESS_LIST = list(range(0x08,0x40)) # Full I2C Address List (excluding resrved addresses) +_FULL_ADDRESS_LIST.remove(SOIL_MOISTURE_SENSOR_DEFAULT_ADDRESS) # Remove Default Address of Soil Moisture Sensor from list +_AVAILABLE_I2C_ADDRESS = [SOIL_MOISTURE_SENSOR_DEFAULT_ADDRESS] # Initialize with Default Address of Soil Moisture Sensor +_AVAILABLE_I2C_ADDRESS.extend(_FULL_ADDRESS_LIST) # Add Full Range of I2C Addresses + + + +class QwiicSoilMoistureSensor(object): + """! + QwiicSoilMoistureSensor + + @param address: The I2C address to use for the device. + If not provided, the default address is used. + @param i2c_driver: An existing i2c driver object. If not provided + a driver object is created. + + @return **Object** The Soil Moisture Sensor device object. + """ + device_name = _DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + + # Constructor + def __init__(self, address=None, i2c_driver=None): + + # Did the user specify an I2C address? + if address in self.available_addresses: + self.address = address + else: + self.address = self.available_addresses[0] + + # load the I2C driver if one isn't provided + if i2c_driver is None: + self._i2c = qwiic_i2c.getI2CDriver() + if self._i2c is None: + print("Unable to load I2C driver for this platform.") + return + else: + self._i2c = i2c_driver + + # ---------------------------------- + # is_connected() + # + # Is an actual board connected to our system? + + def is_connected(self): + """! + Determine if a Soil MoistureSensor device is conntected to the system.. + + @return **bool** True if the device is connected, otherwise False. + """ + return self._i2c.isDeviceConnected(self.address) + + connected = property(is_connected) + + # ---------------------------------- + # begin() + # + # Initialize the system/validate the board. + def begin(self): + """! + Initialize the operation of the Soil Moisture Sensor module + + @return **bool** Returns true of the initialization was successful, otherwise False. + """ + + # Set variables + self.level = 0 + + # Basically return True if we are connected... + return self.is_connected() + + #****************************************************************************# + # + # Sensor functions + # + # ****************************************************************************# + # Updates the moisture level data + # Returns nothing + def read_moisture_level(self): + """! + Reads the results from the sensor and stores internally + """ + + data = self._i2c.readBlock(self.address, COMMAND_GET_VALUE, 2) + self.level = data[1] << 8 | data[0] + + #---------------------------------------------------- + # Checks to see if error bit is set + def check_status_error(self): + """! + Returns if the Error bit on the sensor is set. + + @return **integer** value of Error bit + """ + # return the status bit + value = self._i2c.readByte(self.address, SENSOR_STATUS) + + return value & 1 << 0 + + + # -------------------------------------------------------------- + # led_off() + # + # Turn the onboard LED off + def led_off(self): + """! + Turn off the onboard LED. + + @return **void** Nothing + """ + self._i2c.writeCommand(self.address, 0x00) + + # -------------------------------------------------------------- + # led_on + # + # Turns the onboard LED on + def led_on(self): + """! + Turn on the onboard LED. + + @return **void** Nothing + """ + self._i2c.writeCommand(self.address, 0x01) + + + # ---------------------------------------------- + # change_address(newAddress) + # + # This function changes the I2C address of the Qwiic Soil Moisture Sensor. The address + # is written to the memory location in EEPROM that determines its address. + def change_address(self, newAddress): + """! + Changes the I2C address of the Qwiic Soil Moisture Sensor reader + + @param newAddress: the new address to set the Soil Moisture Sensor reader to + + @return **bool** False if the address is out of range + """ + if newAddress < 0x08 or newAddress > 0x3F: + return False + + self._i2c.writeByte(self.address, COMMAND_CHANGE_ADDRESS, newAddress) + + self.address = newAddress + + + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_veml.py b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_veml.py new file mode 100644 index 0000000..f159aaa --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/AgXRPLib/qwiic_veml.py @@ -0,0 +1,694 @@ +#------------------------------------------------------------------------------- +# qwiic_veml.py +# +# Python library for the the following SparkFun sensors: +# 1) [SparkFun Qwiic VEML6030 Ambient Light Sensor](https://www.sparkfun.com/products/15436) +# 2) [SparkFun Qwiic VEML7700 Ambient Light Sensor](https://www.sparkfun.com/products/29211) +#------------------------------------------------------------------------------- +# Written by SparkFun Electronics, November 2023 +# +# This Python library supports the SparkFun Electroncis Qwiic +# +# More information on qwiic is at https://www.sparkfun.com/qwiic +# +# Do you like this library? Help support SparkFun. Buy a board! +#=============================================================================== +# Copyright (c) 2023 SparkFun Electronics +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +#=============================================================================== +# This code was generated in part with ChatGPT (created by OpenAI). The code was +# reviewed and edited by the following human(s): +# +# Dryw Wade +#=============================================================================== + +"""! +qwiic_veml +============ +Python module for the following sensors: +1) [SparkFun Qwiic VEML6030 Ambient Light Sensor](https://www.sparkfun.com/products/15436) +2) [SparkFun Qwiic VEML7700 Ambient Light Sensor](https://www.sparkfun.com/products/29211) +This is a port of the existing [Arduino Library](https://github.com/sparkfun/SparkFun_Ambient_Light_Sensor_Arduino_Library) +This package can be used in conjunction with the overall [SparkFun Qwiic Python Package](https://github.com/sparkfun/Qwiic_Py) +New to Qwiic? Take a look at the entire [SparkFun Qwiic ecosystem](https://www.sparkfun.com/qwiic). +""" + +# The Qwiic_I2C_Py platform driver is designed to work on almost any Python +# platform, check it out here: https://github.com/sparkfun/Qwiic_I2C_Py +import lib.AgXRPLib.qwiic_i2c as qwiic_i2c +import time + +# Define the device name and I2C addresses. These are set in the class defintion +# as class variables, making them avilable without having to create a class +# instance. This allows higher level logic to rapidly create a index of Qwiic +# devices at runtine +_DEFAULT_NAME = "Qwiic VEML" + +# Some devices have multiple available addresses - this is a list of these +# addresses. NOTE: The first address in this list is considered the default I2C +# address for the device. +_AVAILABLE_I2C_ADDRESS = [0x48, 0x10] + +# Define the class that encapsulates the device being created. All information +# associated with this device is encapsulated by this class. The device class +# should be the only value exported from this module. +class QwiicVEML(object): + # Set default name and I2C address(es) + device_name = _DEFAULT_NAME + available_addresses = _AVAILABLE_I2C_ADDRESS + + # Constants + VEML_ENABLE = 0x01 + VEML_DISABLE = 0x00 + VEML_SHUTDOWN = 0x01 + VEML_POWER = 0x00 + VEML_NO_INT = 0x00 + VEML_INT_HIGH = 0x01 + VEML_INT_LOW = 0x02 + VEML_UNKNOWN_ERROR = 0xFF + + # 16-bit registers + VEML_SETTING_REG = 0x00 + VEML_H_THRESH_REG = 0x01 + VEML_L_THRESH_REG = 0x02 + VEML_POWER_SAVE_REG = 0x03 + VEML_AMBIENT_LIGHT_DATA_REG = 0x04 + VEML_WHITE_LIGHT_DATA_REG = 0x05 + VEML_INTERRUPT_REG = 0x06 + + # 16-bit register masks + VEML_THRESH_MASK = 0x0 + VEML_GAIN_MASK = 0xE7FF + VEML_INTEG_MASK = 0xFC3F + VEML_PERS_PROT_MASK = 0xFFCF + VEML_INT_EN_MASK = 0xFFFD + VEML_SD_MASK = 0xFFFE + VEML_POW_SAVE_EN_MASK = 0x06 # Most of this register is reserved + VEML_POW_SAVE_MASK = 0x01 # Most of this register is reserved + VEML_INT_MASK = 0xC000 + + # Register bit positions + VEML_NO_SHIFT = 0x00 + VEML_INT_EN_POS = 0x01 + VEML_PSM_POS = 0x01 + VEML_PERS_PROT_POS = 0x04 + VEML_INTEG_POS = 0x06 + VEML_GAIN_POS = 0xB + VEML_INT_POS = 0xE + + # Table of lux conversion values depending on the integration time and gain. + # The arrays represent the all possible integration times and the index of the + # arrays represent the register's gain settings, which is directly analogous to + # their bit representations. + VEML_EIGHT_HIT = [0.0036, 0.0072, 0.0288, 0.0576] + VEML_FOUR_HIT = [0.0072, 0.0144, 0.0576, 0.1152] + VEML_TWO_HIT = [0.0144, 0.0288, 0.1152, 0.2304] + VEML_ONE_HIT = [0.0288, 0.0576, 0.2304, 0.4608] + VEML_FIFTY_IT = [0.0576, 0.1152, 0.4608, 0.9216] + VEML_TWENTY_FIVE_IT = [0.1152, 0.2304, 0.9216, 1.8432] + + # Gain settings + VEML_GAIN_1_8 = 0.125 + VEML_GAIN_1_4 = 0.25 + VEML_GAIN_1 = 1.0 + VEML_GAIN_2 = 2.0 + + # Integration times + VEML_INTEG_TIME_800 = 800 + VEML_INTEG_TIME_400 = 400 + VEML_INTEG_TIME_200 = 200 + VEML_INTEG_TIME_100 = 100 + VEML_INTEG_TIME_50 = 50 + VEML_INTEG_TIME_25 = 25 + + def __init__(self, address=None, i2c_driver=None): + """! + Constructor + + @param int, optional address: The I2C address to use for the device + If not provided, the default address is used + @param I2CDriver, optional i2c_driver: An existing i2c driver object + If not provided, a driver object is created + """ + + # Load the I2C driver if one isn't provided + if i2c_driver is None: + self._i2c = qwiic_i2c.getI2CDriver() + if self._i2c is None: + print("Unable to load I2C driver for this platform.") + return + else: + self._i2c = i2c_driver + + # Use address if provided, otherwise pick the default + if address in self.available_addresses: + self.address = address + else: + # Default to first available address if it is not provided + self.address = self.available_addresses[0] + + # Since the VEML6030 and the VEML7700 have different default addresses but both + # use the same overall driver, we should check all available addresses so that users don't + # have to specify the address manually, but CAN if they are using this device concurrently with + # other devices that have addresses within the available_addresses list. + # TODO: alternative is to make subclasses for each device, but that would + # be more for users to have to keep track of. + + # Try to dynamically check if any of our available addresses are connected: + if self._i2c is not None: + for addr in self.available_addresses: + if self._i2c.isDeviceConnected(addr): + self.address = addr + break + + def is_connected(self): + """! + Determines if this device is connected + + @return **bool** `True` if connected, otherwise `False` + """ + # Check if connected by seeing if an ACK is received + return self._i2c.isDeviceConnected(self.address) + + connected = property(is_connected) + + def begin(self): + """! + Initializes this device with default parameters + + @return **bool** Returns `True` if successful, otherwise `False` + """ + # Confirm device is connected before doing anything + if not self.is_connected(): + return False + + # VEML6030/7700 is powered down by default, so power it on! + self.power_on() + + # Done! + return True + + def set_gain(self, gain_val): + """! + Sets the gain + + @param gain_val: Gain, possible values: + 1/8, 1/4, 1, and 2 + :type: float + """ + # Determine gain bits + if gain_val == self.VEML_GAIN_1: + gain_bits = 0x00 + elif gain_val == self.VEML_GAIN_2: + gain_bits = 0x01 + elif gain_val == self.VEML_GAIN_1_8: + gain_bits = 0x02 + elif gain_val == self.VEML_GAIN_1_4: + gain_bits = 0x03 + else: + return + + # Write these bits + self._write_register(self.VEML_SETTING_REG, self.VEML_GAIN_MASK, gain_bits, self.VEML_GAIN_POS) + + def read_gain(self): + """! + Gets the gain + + @return **float** Gain, possible values: + 1/8, 1/4, 1, and 2 + """ + # Read the gain bits + gain_bits = self._read_register(self.VEML_SETTING_REG) + gain_bits &= ~self.VEML_GAIN_MASK + gain_bits = (gain_bits >> self.VEML_GAIN_POS) + + # Determine the true gain + if gain_bits == 0x00: + return self.VEML_GAIN_1 + elif gain_bits == 0x01: + return self.VEML_GAIN_2 + elif gain_bits == 0x02: + return self.VEML_GAIN_1_8 + elif gain_bits == 0x03: + return self.VEML_GAIN_1_4 + else: + return self.VEML_UNKNOWN_ERROR + + def set_integ_time(self, time): + """! + Sets the integration time + + @param int time: Integration time in ms, possible values: + 25, 50, 100, 200, 400, and 800 + """ + # Determine integration time bits + if time == self.VEML_INTEG_TIME_100: + time_bits = 0x00 + elif time == self.VEML_INTEG_TIME_200: + time_bits = 0x01 + elif time == self.VEML_INTEG_TIME_400: + time_bits = 0x02 + elif time == self.VEML_INTEG_TIME_800: + time_bits = 0x03 + elif time == self.VEML_INTEG_TIME_50: + time_bits = 0x08 + elif time == self.VEML_INTEG_TIME_25: + time_bits = 0x0C + else: + return + + # Write these bits + self._write_register(self.VEML_SETTING_REG, self.VEML_INTEG_MASK, time_bits, self.VEML_INTEG_POS) + + def read_integ_time(self): + """! + Gets the integration time + + @return **int** Integration time, ms + """ + # Read the integration time bits + time_bits = self._read_register(self.VEML_SETTING_REG) + time_bits &= ~self.VEML_INTEG_MASK + time_bits = time_bits >> self.VEML_INTEG_POS + + # Determine the true integration time + if time_bits == 0x00: + return self.VEML_INTEG_TIME_100 + elif time_bits == 0x01: + return self.VEML_INTEG_TIME_200 + elif time_bits == 0x02: + return self.VEML_INTEG_TIME_400 + elif time_bits == 0x03: + return self.VEML_INTEG_TIME_800 + elif time_bits == 0x08: + return self.VEML_INTEG_TIME_50 + elif time_bits == 0x0C: + return self.VEML_INTEG_TIME_25 + else: + return self.VEML_UNKNOWN_ERROR + + def set_protect(self, prot_val): + """! + Sets the persistence protect number + + @param int prot_val: Protect number + """ + # Determine protect number bits + if prot_val == 1: + prot_bits = 0x00 + elif prot_val == 2: + prot_bits = 0x01 + elif prot_val == 4: + prot_bits = 0x02 + elif prot_val == 8: + prot_bits = 0x03 + else: + return + + # Write these bits + self._write_register(self.VEML_SETTING_REG, self.VEML_PERS_PROT_MASK, prot_bits, self.VEML_PERS_PROT_POS) + + def read_protect(self): + """! + Gets the persistence protect number + + @return **int** Protect number (or VEML_UNKOWN_ERROR on error) + """ + # Read the protect number bits + prot_bits = self._read_register(self.VEML_SETTING_REG) + prot_bits &= ~self.VEML_PERS_PROT_MASK + prot_bits = prot_bits >> self.VEML_PERS_PROT_POS + + # Determine the true protect number + if prot_bits == 0x00: + return 1 + elif prot_bits == 0x01: + return 2 + elif prot_bits == 0x02: + return 4 + elif prot_bits == 0x03: + return 8 + else: + return self.VEML_UNKNOWN_ERROR + + def enable_int(self): + """! + Enables interrupts + """ + self._write_register(self.VEML_SETTING_REG, self.VEML_INT_EN_MASK, self.VEML_ENABLE, self.VEML_INT_EN_POS) + + def disable_int(self): + """! + Disables interrupts + """ + self._write_register(self.VEML_SETTING_REG, self.VEML_INT_EN_MASK, self.VEML_DISABLE, self.VEML_INT_EN_POS) + + def read_int_setting(self): + """! + Gets whether interrupts are enabled + + @return **bool** `True` if interrupts are enabled, otherwise `False` + """ + # Get interrupt bits + int_setting = self._read_register(self.VEML_SETTING_REG) + int_setting &= ~self.VEML_INT_EN_MASK + int_setting = int_setting >> self.VEML_INT_EN_POS + return bool(int_setting) + + def shut_down(self): + """! + Shuts down the device + """ + self._write_register(self.VEML_SETTING_REG, self.VEML_SD_MASK, self.VEML_SHUTDOWN, self.VEML_NO_SHIFT) + + def power_on(self): + """! + Powers on the device + """ + self._write_register(self.VEML_SETTING_REG, self.VEML_SD_MASK, self.VEML_POWER, self.VEML_NO_SHIFT) + # Wait 4ms for power on to complete + time.sleep(0.004) + + def enable_pow_save(self): + """! + Enables power saving mode + """ + self._write_register(self.VEML_POWER_SAVE_REG, self.VEML_POW_SAVE_EN_MASK, self.VEML_ENABLE, self.VEML_NO_SHIFT) + + def disable_pow_save(self): + """! + Disables power saving mode + """ + self._write_register(self.VEML_POWER_SAVE_REG, self.VEML_POW_SAVE_EN_MASK, self.VEML_DISABLE, self.VEML_NO_SHIFT) + + def read_pow_sav_enabled(self): + """! + Gets whether power saving is enabled + + @return **bool** `True` if power saving is enabled, otherwise `False` + """ + pow_sav_enabled = self._read_register(self.VEML_POWER_SAVE_REG) + pow_sav_enabled &= ~self.VEML_POW_SAVE_EN_MASK + return bool(pow_sav_enabled) + + def set_pow_sav_mode(self, mode_val): + """! + Sets the power saving mode. See datasheet for the effects of each value + + @param int mode_val: Power saving mode number, can be 1-4 + """ + # Determine power saving mode bits + if mode_val == 1: + mode_bits = 0x00 + elif mode_val == 2: + mode_bits = 0x01 + elif mode_val == 3: + mode_bits = 0x02 + elif mode_val == 4: + mode_bits = 0x03 + else: + return + + # Write these bits + self._write_register(self.VEML_POWER_SAVE_REG, self.VEML_POW_SAVE_MASK, mode_bits, self.VEML_PSM_POS) + + def read_pow_sav_mode(self): + """! + Gets the power saving mode. See datasheet for the effects of each value + + @return **int** Power saving mode number, can be 1-4 (or VEML_UNKOWN_ERROR on error) + """ + # Read the power saving mode bits + mode_bits = self._read_register(self.VEML_POWER_SAVE_REG) + mode_bits &= ~self.VEML_POW_SAVE_MASK + mode_bits = mode_bits >> self.VEML_PSM_POS + + # Determine the true power saving mode + if mode_bits == 0: + return 1 + elif mode_bits == 1: + return 2 + elif mode_bits == 2: + return 3 + elif mode_bits == 3: + return 4 + else: + return self.VEML_UNKNOWN_ERROR + + def read_interrupt(self): + """! + Gets whether an interrupt has triggered + + @return **int** Interrupt, can be the following: + VEML_NO_INT, VEML_INT_HIGH, or VEML_INT_LOW (or VEML_UNKOWN_ERROR on error) + """ + # Read the interrupt bits + interrupt = self._read_register(self.VEML_INTERRUPT_REG) + interrupt &= self.VEML_INT_MASK + interrupt = interrupt >> self.VEML_INT_POS + + # Determine whether an interrupt has occurred + if interrupt == 0: + return self.VEML_NO_INT + elif interrupt == 1: + return self.VEML_INT_HIGH + elif interrupt == 2: + return self.VEML_INT_LOW + else: + return self.VEML_UNKNOWN_ERROR + + def set_int_low_thresh(self, lux_val): + """! + Sets the low threshold for interrupts + + @param float lux_val: Low threshold in lux + """ + # Threshold cannot exceed 120k lux + if lux_val < 0 or lux_val > 120000: + return + + # Calculate bits and write them + bits = self._calculate_bits(lux_val) + self._write_register(self.VEML_L_THRESH_REG, self.VEML_THRESH_MASK, bits, self.VEML_NO_SHIFT) + + def read_low_thresh(self): + """! + Gets the low threshold for interrupts + + @return **float** Low threshold in lux + """ + # Read bits and convert to lux + bits = self._read_register(self.VEML_L_THRESH_REG) + lux_val = self._calculate_lux(bits) + return lux_val + + def set_int_high_thresh(self, lux_val): + """! + Sets the high threshold for interrupts + + @param float lux_val: High threshold in lux + """ + # Threshold cannot exceed 120k lux + if lux_val < 0 or lux_val > 120000: + return + + # Calculate bits and write them + bits = self._calculate_bits(lux_val) + self._write_register(self.VEML_H_THRESH_REG, self.VEML_THRESH_MASK, bits, self.VEML_NO_SHIFT) + + def read_high_thresh(self): + """! + Gets the high threshold for interrupts + + @return **float** High threshold in lux + """ + # Read bits and convert to lux + bits = self._read_register(self.VEML_H_THRESH_REG) + lux_val = self._calculate_lux(bits) + return lux_val + + def read_light(self): + """! + Gets the measured ambient light in lux + + @return **float** Measure ambient light in lux + """ + # Read bits and convert to lux + light_bits = self._read_register(self.VEML_AMBIENT_LIGHT_DATA_REG) + lux_val = self._calculate_lux(light_bits) + + # If > 1k lux, run compensation algorithm + if lux_val > 1000: + comp_lux = self._lux_compensation(lux_val) + return comp_lux + else: + return lux_val + + def read_white_light(self): + """! + Gets the measured white light in lux + + @return **float** Measure white light in lux + """ + # Read bits and convert to lux + light_bits = self._read_register(self.VEML_WHITE_LIGHT_DATA_REG) + lux_val = self._calculate_lux(light_bits) + + # If > 1k lux, run compensation algorithm + if lux_val > 1000: + comp_lux = self._lux_compensation(lux_val) + return comp_lux + else: + return lux_val + + def _lux_compensation(self, lux_val): + """! + Compensates lux values over 1000 + + @param float lux_val: Lux value + + @return **float** Compensated lux value + """ + # Found in page 10 of datasheet + comp_lux = ( + 0.00000000000060135 * (lux_val ** 4) + - 0.0000000093924 * (lux_val ** 3) + + 0.000081488 * (lux_val ** 2) + + 1.0023 * lux_val + ) + return comp_lux + + def _calculate_lux(self, light_bits): + """! + Calculates lux value from raw bits + + @param int light_bits: Raw bits + + @return **float** Lux value (or VEML_UNKOWN_ERROR on error) + """ + # Need to know the gain and integration time so we can adjust for them + gain = self.read_gain() + integ_time = self.read_integ_time() + + # Determine the lookup table index + if gain == self.VEML_GAIN_2: + conv_pos = 0 + elif gain == self.VEML_GAIN_1: + conv_pos = 1 + elif gain == self.VEML_GAIN_1_4: + conv_pos = 2 + elif gain == self.VEML_GAIN_1_8: + conv_pos = 3 + else: + return self.VEML_UNKNOWN_ERROR + + # Determine the lux conversion from the lookup table + if integ_time == self.VEML_INTEG_TIME_800: + lux_conv = self.VEML_EIGHT_HIT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_400: + lux_conv = self.VEML_FOUR_HIT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_200: + lux_conv = self.VEML_TWO_HIT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_100: + lux_conv = self.VEML_ONE_HIT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_50: + lux_conv = self.VEML_FIFTY_IT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_25: + lux_conv = self.VEML_TWENTY_FIVE_IT[conv_pos] + else: + return self.VEML_UNKNOWN_ERROR + + # Compute lux + calculated_lux = lux_conv * light_bits + return calculated_lux + + def _calculate_bits(self, lux_val): + """! + Calculates raw bits from lux value + + @param float lux_val: Lux value + + @return **int** Raw bits (or VEML_UNKOWN_ERROR on error) + """ + # Need to know the gain and integration time so we can adjust for them + gain = self.read_gain() + integ_time = self.read_integ_time() + + # Determine the lookup table index + if gain == self.VEML_GAIN_2: + conv_pos = 0 + elif gain == self.VEML_GAIN_1: + conv_pos = 1 + elif gain == self.VEML_GAIN_1_4: + conv_pos = 2 + elif gain == self.VEML_GAIN_1_8: + conv_pos = 3 + else: + return self.VEML_UNKNOWN_ERROR + + # Determine the lux conversion from the lookup table + if integ_time == self.VEML_INTEG_TIME_800: + lux_conv = self.VEML_EIGHT_HIT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_400: + lux_conv = self.VEML_FOUR_HIT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_200: + lux_conv = self.VEML_TWO_HIT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_100: + lux_conv = self.VEML_ONE_HIT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_50: + lux_conv = self.VEML_FIFTY_IT[conv_pos] + elif integ_time == self.VEML_INTEG_TIME_25: + lux_conv = self.VEML_TWENTY_FIVE_IT[conv_pos] + else: + return self.VEML_UNKNOWN_ERROR + + # Compute raw bits + calculated_bits = int(lux_val / lux_conv) + return calculated_bits + + def _write_register(self, w_reg, mask, bits, start_position): + """! + Writes specific bits to a register + + @param int w_reg: Register address + @param int mask: Bit mask + @param int bits: Bits to write + @param int start_position: Offset position + """ + # Read current register value + i2c_write = self._read_register(w_reg) + + # Clear bits in mask position, then write provided bits + i2c_write &= mask + i2c_write |= bits << start_position + + # Write new value back to register + self._i2c.writeWord(self.address, w_reg, i2c_write) + + def _read_register(self, reg): + """! + Reads a register + + @param int reg: Register address + + @return **int** Register value + """ + return self._i2c.readWord(self.address, reg) diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/__init__.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/__init__.py new file mode 100644 index 0000000..6759c04 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/__init__.py @@ -0,0 +1,10 @@ +""" + THIS LIBRARY WAS MADE FOR THE SPARKFUN XRP CONTROL BOARD. + PLEASE USE THE ASSOCIATED MICROPYTHON UF2 FILE. +""" + +import sys +if not "XRP" in sys.implementation._machine: + raise NotImplementedError("This library does not support your version of MicroPython. " + + "Please update your UF2 File for the Beta XRP Controller here: " + + "https://github.com/Open-STEM/XRP_MicroPython/releases/tag/v2.0.0") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/board.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/board.py new file mode 100644 index 0000000..8039f77 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/board.py @@ -0,0 +1,127 @@ +from machine import Pin, ADC, Timer +from neopixel import NeoPixel +import time +import sys + +class Board: + + _DEFAULT_BOARD_INSTANCE = None + + @classmethod + def get_default_board(cls): + """ + Get the default board instance. This is a singleton, so only one instance of the board will ever exist. + """ + if cls._DEFAULT_BOARD_INSTANCE is None: + cls._DEFAULT_BOARD_INSTANCE = cls() + return cls._DEFAULT_BOARD_INSTANCE + + def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON", + rgb_led_pin = "BOARD_NEOPIXEL", led_pin = "LED"): + """ + Implements for extra features on the XRP board. Handles the on/off switch, button, and LED. + + :param vin_pin: The pin the on/off switch is connected to + :type vin_pin: int + :param button_pin: The pin the button is connected to + :type button_pin: int + """ + + self.on_switch = ADC(Pin(vin_pin)) + + self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP) + + self.led = Pin(led_pin, Pin.OUT) + + if hasattr(Pin.board, rgb_led_pin): + self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1) + # A timer ID of -1 is a virtual timer. + # Leaves the hardware timers for more important uses + self._virt_timer = Timer(-1) + self.is_led_blinking = False + + + def are_motors_powered(self) -> bool: + """ + :return: Returns true if the batteries are connected and powering the motors, false otherwise + :rytpe: bool + """ + return self.on_switch.read_u16() > 20000 + + def is_button_pressed(self) -> bool: + """ + Returns the state of the button + + :return: True if the button is pressed, False otherwise + :rtype: bool + """ + return not self.button.value() + + def wait_for_button(self): + """ + Halts the program until the button is pressed + """ + + # Wait until user command before running + while not self.is_button_pressed(): + time.sleep(.01) + + # Wait until user to release button before running + while self.is_button_pressed(): + time.sleep(.01) + + + def led_on(self): + """ + Turns the LED on + Stops the blinking timer if it is running + """ + self.is_led_blinking = False + self.led.on() + self._virt_timer.deinit() + + def led_off(self): + """ + Turns the LED off + Stops the blinking timer if it is running + """ + self.is_led_blinking = False + self.led.off() + self._virt_timer.deinit() + + def led_blink(self, frequency: int=0): + """ + Blinks the LED at a given frequency. If the frequency is 0, the LED will stop blinking. + + :param frequency: The frequency to blink the LED at (in Hz) + :type frequency: int + """ + if self.is_led_blinking: + # disable the old timer so we can reinitialize it + self._virt_timer.deinit() + # We set it to twice in input frequency so that + # the led flashes on and off frequency times per second + if frequency != 0: + self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC, + callback=lambda t:self.led.toggle()) + self.is_led_blinking = True + else: + self._virt_timer.deinit() + self.is_led_blinking = False + + def set_rgb_led(self, r:int, g:int, b:int): + """ + Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta + + :param r: The amount of red in the desired color + :type r: int + :param g: The amount of green in the desired color + :type g: int + :param b: The amount of blue in the desired color + :type b: int + """ + if "rgb_led" in self.__dict__: + self.rgb_led[0] = (r, g, b) + self.rgb_led.write() + else: + raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta") diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/controller.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/controller.py new file mode 100644 index 0000000..8d14a60 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/controller.py @@ -0,0 +1,30 @@ +class Controller: + """ + An abstract class to be entended to demonstrate different types of control. A PID subclass has also been provided + """ + + def update(self, input) -> float: + """ + Handle a new update of this control loop given an effected input. + + :param error: The input to this controller for a given update. Usually an error or some other correctable value + :type error: float + + :return: The system output from the controller, to be used as an effort value or for any other purpose + :rtype: float + """ + pass + + def is_done(self) -> bool: + + """ + :return: If the controller has reached or settled at its desired value + :rtype: bool + """ + pass + + def clear_history(self): + """ + Clears all past data, such as integral sums or any other previous data + """ + pass \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/defaults.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/defaults.py new file mode 100644 index 0000000..38216c8 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/defaults.py @@ -0,0 +1,34 @@ +from .board import Board +from .differential_drive import DifferentialDrive +from .motor import SinglePWMMotor, DualPWMMotor +from .encoder import Encoder +from .encoded_motor import EncodedMotor +from .rangefinder import Rangefinder +from .imu import IMU +from .reflectance import Reflectance +from .servo import Servo +from .webserver import Webserver +from machine import Pin + +""" +A simple file that constructs all of the default objects for the XRP robot +Run "from XRPLib.defaults import *" to use +""" + +left_motor = EncodedMotor.get_default_encoded_motor(index=1) +right_motor = EncodedMotor.get_default_encoded_motor(index=2) +motor_three = EncodedMotor.get_default_encoded_motor(index=3) +motor_four = EncodedMotor.get_default_encoded_motor(index=4) +imu = IMU.get_default_imu() +drivetrain = DifferentialDrive.get_default_differential_drive() +rangefinder = Rangefinder.get_default_rangefinder() +reflectance = Reflectance.get_default_reflectance() +servo_one = Servo.get_default_servo(index=1) +servo_two = Servo.get_default_servo(index=2) +webserver = Webserver.get_default_webserver() +board = Board.get_default_board() + +if hasattr(Pin.board, "SERVO_3"): + servo_three = Servo.get_default_servo(index=3) +if hasattr(Pin.board, "SERVO_4"): + servo_four = Servo.get_default_servo(index=4) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/differential_drive.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/differential_drive.py new file mode 100644 index 0000000..5ed70f9 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/differential_drive.py @@ -0,0 +1,304 @@ +from .encoded_motor import EncodedMotor +from .imu import IMU +from .controller import Controller +from .pid import PID +from .timeout import Timeout +import time +import math + +class DifferentialDrive: + + _DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE =None + + @classmethod + def get_default_differential_drive(cls): + + """ + Get the default XRP differential drive instance. This is a singleton, so only one instance of the drivetrain will ever exist. + """ + + if cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE is None: + cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE = cls( + EncodedMotor.get_default_encoded_motor(index=1), + EncodedMotor.get_default_encoded_motor(index=2), + IMU.get_default_imu() + ) + + return cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE + + def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU = None, wheel_diam:float = 6.0, wheel_track:float = 15.5): + """ + A Differential Drive class designed for the XRP two-wheeled drive robot. + + :param leftMotor: The left motor of the drivetrain + :type leftMotor: EncodedMotor + :param rightMotor: The right motor of the drivetrain + :type rightMotor: EncodedMotor + :param imu: The IMU of the robot. If None, the robot will not use the IMU for turning or maintaining heading. + :type imu: IMU + :param wheelDiam: The diameter of the wheels in inches. Defaults to 6 cm. + :type wheelDiam: float + :param wheelTrack: The distance between the wheels in inches. Defaults to 15.5 cm. + :type wheelTrack: float + """ + + self.left_motor = left_motor + self.right_motor = right_motor + self.imu = imu + + self.brake_at_zero_power = False + self.wheel_diam = wheel_diam + self.track_width = wheel_track + + def set_effort(self, left_effort: float, right_effort: float) -> None: + """ + Set the raw effort of both motors individually + + :param leftEffort: The power (Bounded from -1 to 1) to set the left motor to. + :type leftEffort: float + :param rightEffort: The power (Bounded from -1 to 1) to set the right motor to. + :type rightEffort: float + """ + + self.left_motor.set_effort(left_effort) + self.right_motor.set_effort(right_effort) + + def set_speed(self, left_speed: float, right_speed: float) -> None: + """ + Set the speed of both motors individually + + :param leftSpeed: The speed (In Centimeters per Second) to set the left motor to. + :type leftSpeed: float + :param rightSpeed: The speed (In Centimeters per Second) to set the right motor to. + :type rightSpeed: float + """ + # Convert from cm/s to RPM + cmpsToRPM = 60 / (math.pi * self.wheel_diam) + self.left_motor.set_speed(left_speed*cmpsToRPM) + self.right_motor.set_speed(right_speed*cmpsToRPM) + + def set_zero_effort_behavior(self, brake_at_zero_effort): + + """ + Sets the behavior of both motor at 0 effort to either brake (hold position) or coast (free spin) + :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. + :type brake_at_zero_effort: bool + """ + self.left_motor.set_zero_effort_behavior(brake_at_zero_effort) + self.right_motor.set_zero_effort_behavior(brake_at_zero_effort) + + def stop(self) -> None: + """ + Stops both drivetrain motors by setting power to zero. + """ + self.left_motor.set_speed() + self.right_motor.set_speed() + self.set_effort(0,0) + + def arcade(self, straight:float, turn:float): + """ + Sets the raw effort of both motors based on the arcade drive scheme + + :param straight: The base effort (Bounded from -1 to 1) used to drive forwards or backwards. + :type straight: float + :param turn: The modifier effort (Bounded from -1 to 1) used to skew robot left (positive) or right (negative). + :type turn: float + """ + if straight == 0 and turn == 0: + self.set_effort(0, 0) + else: + scale = max(abs(straight), abs(turn))/(abs(straight) + abs(turn)) + left_speed = (straight - turn)*scale + right_speed = (straight + turn)*scale + self.set_effort(left_speed, right_speed) + + def reset_encoder_position(self) -> None: + """ + Resets the position of both motors' encoders to 0 + """ + + self.left_motor.reset_encoder_position() + self.right_motor.reset_encoder_position() + + def get_left_encoder_position(self) -> float: + """ + :return: the current position of the left motor's encoder in cm. + :rtype: float + """ + return self.left_motor.get_position()*math.pi*self.wheel_diam + + def get_right_encoder_position(self) -> float: + """ + :return: the current position of the right motor's encoder in cm. + :rtype: float + """ + return self.right_motor.get_position()*math.pi*self.wheel_diam + + + def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: + """ + Go forward the specified distance in centimeters, and exit function when distance has been reached. + Max_effort is bounded from -1 (reverse at full speed) to 1 (forward at full speed) + + :param distance: The distance for the robot to travel (In Centimeters) + :type distance: float + :param max_effort: The max effort for which the robot to travel (Bounded from -1 to 1). Default is half effort forward + :type max_effort: float + :param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds) + :type timeout: float + :param main_controller: The main controller, for handling the distance driven forwards + :type main_controller: Controller + :param secondary_controller: The secondary controller, for correcting heading error that may result during the drive. + :type secondary_controller: Controller + :return: if the distance was reached before the timeout + :rtype: bool + """ + # ensure effort is always positive while distance could be either positive or negative + if max_effort < 0: + max_effort *= -1 + distance *= -1 + + time_out = Timeout(timeout) + starting_left = self.get_left_encoder_position() + starting_right = self.get_right_encoder_position() + + + if main_controller is None: + main_controller = PID( + kp = 0.1, + ki = 0.04, + kd = 0.04, + min_output = 0.3, + max_output = max_effort, + max_integral = 10, + tolerance = 0.25, + tolerance_count = 3, + ) + + # Secondary controller to keep encoder values in sync + if secondary_controller is None: + secondary_controller = PID( + kp = 0.075, kd=0.001, + ) + + if self.imu is not None: + # record current heading to maintain it + initial_heading = self.imu.get_yaw() + else: + initial_heading = 0 + + while True: + + # calculate the distance traveled + left_delta = self.get_left_encoder_position() - starting_left + right_delta = self.get_right_encoder_position() - starting_right + dist_traveled = (left_delta + right_delta) / 2 + + # PID for distance + distance_error = distance - dist_traveled + effort = main_controller.update(distance_error) + + if main_controller.is_done() or time_out.is_done(): + break + + # calculate heading correction + if self.imu is not None: + # record current heading to maintain it + current_heading = self.imu.get_yaw() + else: + current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) + + headingCorrection = secondary_controller.update(initial_heading - current_heading) + + self.set_effort(effort - headingCorrection, effort + headingCorrection) + + time.sleep(0.01) + + self.stop() + + return not time_out.is_done() + + + def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool: + """ + Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading. + effort is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed) + Uses the IMU to determine the heading of the robot and P control for the motor controller. + + :param turnDegrees: The number of angle for the robot to turn (In Degrees) + :type turnDegrees: float + :param max_effort: The max speed for which the robot to travel (Bounded from -1 to 1) + :type max_effort: float + :param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds) + :type timeout: float + :param main_controller: The main controller, for handling the angle turned + :type main_controller: Controller + :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference + :type secondary_controller: Controller + :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False) + :type use_imu: bool + :return: if the distance was reached before the timeout + :rtype: bool + """ + + if max_effort < 0: + max_effort = -max_effort + turn_degrees = -turn_degrees + + time_out = Timeout(timeout) + starting_left = self.get_left_encoder_position() + starting_right = self.get_right_encoder_position() + + if main_controller is None: + main_controller = PID( + # kp = 0.2, + # ki = 0.004, + # kd = 0.0036, + kd = 0.0036 + 0.0034 * (max(max_effort, 0.5) - 0.5) * 2, + kp = 0.2, + ki = 0.004, + #kd = 0.007, + min_output = 0.1, + max_output = max_effort, + max_integral = 30, + tolerance = 1, + tolerance_count = 3 + ) + + # Secondary controller to keep encoder values in sync + if secondary_controller is None: + secondary_controller = PID( + kp = 0.25, + ) + + if use_imu and (self.imu is not None): + turn_degrees += self.imu.get_yaw() + + while True: + + # calculate encoder correction to minimize drift + left_delta = self.get_left_encoder_position() - starting_left + right_delta = self.get_right_encoder_position() - starting_right + encoder_correction = secondary_controller.update(left_delta + right_delta) + + if use_imu and (self.imu is not None): + # calculate turn error (in degrees) from the imu + turn_error = turn_degrees - self.imu.get_yaw() + else: + # calculate turn error (in degrees) from the encoder counts + turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) + + # Pass the turn error to the main controller to get a turn speed + turn_speed = main_controller.update(turn_error) + + # exit if timeout or tolerance reached + if main_controller.is_done() or time_out.is_done(): + break + + self.set_effort(-turn_speed - encoder_correction, turn_speed - encoder_correction) + + time.sleep(0.01) + + self.stop() + + return not time_out.is_done() diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/encoded_motor.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/encoded_motor.py new file mode 100644 index 0000000..de2fa6f --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/encoded_motor.py @@ -0,0 +1,191 @@ +from .motor import SinglePWMMotor, DualPWMMotor +from .encoder import Encoder +from machine import Timer +from .controller import Controller +from .pid import PID +import sys + +class EncodedMotor: + + ZERO_EFFORT_BREAK = True + ZERO_EFFORT_COAST = False + + _DEFAULT_LEFT_MOTOR_INSTANCE = None + _DEFAULT_RIGHT_MOTOR_INSTANCE = None + _DEFAULT_MOTOR_THREE_INSTANCE = None + _DEFAULT_MOTOR_FOUR_INSTANCE = None + + @classmethod + def get_default_encoded_motor(cls, index:int = 1): + """ + Get one of the default XRP motor instances. These are singletons, so only one instance of each of these will ever exist. + Raises an exception if an invalid index is requested. + + :param index: The index of the motor to get; 1 for left, 2 for right, 3 for motor 3, 4 for motor 4 + :type index: int + """ + + if "RP2350" in sys.implementation._machine: + MotorImplementation = DualPWMMotor + else: + MotorImplementation = SinglePWMMotor + + if index == 1: + if cls._DEFAULT_LEFT_MOTOR_INSTANCE is None: + cls._DEFAULT_LEFT_MOTOR_INSTANCE = cls( + MotorImplementation("MOTOR_L_IN_1", "MOTOR_L_IN_2", flip_dir=True), + Encoder(0, "MOTOR_L_ENCODER_A", "MOTOR_L_ENCODER_B") + ) + motor = cls._DEFAULT_LEFT_MOTOR_INSTANCE + elif index == 2: + if cls._DEFAULT_RIGHT_MOTOR_INSTANCE is None: + cls._DEFAULT_RIGHT_MOTOR_INSTANCE = cls( + MotorImplementation("MOTOR_R_IN_1", "MOTOR_R_IN_2"), + Encoder(1, "MOTOR_R_ENCODER_A", "MOTOR_R_ENCODER_B") + ) + motor = cls._DEFAULT_RIGHT_MOTOR_INSTANCE + elif index == 3: + if cls._DEFAULT_MOTOR_THREE_INSTANCE is None: + cls._DEFAULT_MOTOR_THREE_INSTANCE = cls( + MotorImplementation("MOTOR_3_IN_1", "MOTOR_3_IN_2", flip_dir=True), + Encoder(2, "MOTOR_3_ENCODER_A", "MOTOR_3_ENCODER_B") + ) + motor = cls._DEFAULT_MOTOR_THREE_INSTANCE + elif index == 4: + if cls._DEFAULT_MOTOR_FOUR_INSTANCE is None: + cls._DEFAULT_MOTOR_FOUR_INSTANCE = cls( + MotorImplementation("MOTOR_4_IN_1", "MOTOR_4_IN_2"), + Encoder(3, "MOTOR_4_ENCODER_A", "MOTOR_4_ENCODER_B") + ) + motor = cls._DEFAULT_MOTOR_FOUR_INSTANCE + else: + return Exception("Invalid motor index") + return motor + + def __init__(self, motor, encoder: Encoder): + + self._motor = motor + self._encoder = encoder + + self.brake_at_zero = False + + self.target_speed = None + self.DEFAULT_SPEED_CONTROLLER = PID( + kp=0.035, + ki=0.03, + kd=0, + max_integral=50 + ) + self.speedController = self.DEFAULT_SPEED_CONTROLLER + self.prev_position = 0 + self.speed = 0 + # Use a virtual timer so we can leave the hardware timers up for the user + self.updateTimer = Timer(-1) + # If the update timer is not running, start it at 50 Hz (20ms updates) + self.updateTimer.init(period=20, callback=lambda t:self._update()) + + + def set_effort(self, effort: float): + """ + :param effort: The effort to set this motor to, from -1 to 1 + :type effort: float + """ + if self.brake_at_zero and effort == 0: + self.brake() + else: + self._motor.set_effort(effort) + + # EncodedMotor.set_zero_effort_behavior(EncodedMotor.ZERO_POWER_BRAKE) + def set_zero_effort_behavior(self, brake_at_zero_effort): + """ + Sets the behavior of the motor at 0 effort to either brake (hold position) or coast (free spin) + :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. + :type brake_at_zero_effort: bool + """ + self.brake_at_zero = brake_at_zero_effort + + def brake(self): + """ + Causes the motor to resist rotation. + """ + # Exact impl of brake depends on which board is being used. + self._motor.brake() + + def coast(self): + """ + Allows the motor to spin freely. + """ + self._motor.coast() + + def get_position(self) -> float: + """ + :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. + :rtype: float + """ + if self._motor.flip_dir: + invert = -1 + else: + invert = 1 + return self._encoder.get_position()*invert + + def get_position_counts(self) -> int: + """ + :return: The position of the encoded motor, in encoder counts, relative to the last time reset was called. + :rtype: int + """ + if self._motor.flip_dir: + invert = -1 + else: + invert = 1 + return self._encoder.get_position_counts()*invert + + def reset_encoder_position(self): + """ + Resets the encoder position back to zero. + """ + self._encoder.reset_encoder_position() + + def get_speed(self) -> float: + """ + :return: The speed of the motor, in rpm + :rtype: float + """ + # Convert from counts per 20ms to rpm (60 sec/min, 50 Hz) + return self.speed*(60*50)/self._encoder.resolution + + def set_speed(self, speed_rpm: float = None): + """ + Sets target speed (in rpm) to be maintained passively + Call with no parameters or 0 to turn off speed control + + :param target_speed_rpm: The target speed for the motor in rpm, or None + :type target_speed_rpm: float, or None + """ + if speed_rpm is None or speed_rpm == 0: + self.target_speed = None + self.set_effort(0) + return + # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) + self.target_speed = speed_rpm*self._encoder.resolution/(60*50) + + def set_speed_controller(self, new_controller: Controller): + """ + Sets a new controller for speed control + + :param new_controller: The new Controller for speed control + :type new_controller: Controller + """ + self.speedController = new_controller + self.speedController.clear_history() + + def _update(self): + """ + Non-api method; used for updating motor efforts for speed control + """ + current_position = self.get_position_counts() + self.speed = current_position - self.prev_position + if self.target_speed is not None: + error = self.target_speed - self.speed + effort = self.speedController.update(error) + self._motor.set_effort(effort) + self.prev_position = current_position \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/encoder.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/encoder.py new file mode 100644 index 0000000..414b973 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/encoder.py @@ -0,0 +1,119 @@ +# Modified from https://forum.micropython.org/viewtopic.php?t=12277&p=66659 + +import machine +import rp2 +import time + +class Encoder: + _gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75 + _counts_per_motor_shaft_revolution = 12 + resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585 + + def __init__(self, index, encAPin: int|str, encBPin: int|str): + """ + Uses the on board PIO State Machine to keep track of encoder positions. + Only 4 encoders can be instantiated this way. + + :param index: The index of the state machine to be used, indexed 0-3. + :type index: int + :param encAPin: The pin the left reflectance sensor is connected to + :type encAPin: int + :param encBPin: The pin the right reflectance sensor is connected to + :type encBPin: int + """ + # if(abs(encAPin - encBPin) != 1): + # raise Exception("Encoder pins must be successive!") + basePin = machine.Pin(min(encAPin, encBPin), machine.Pin.IN) + nextPin = machine.Pin(max(encAPin, encBPin), machine.Pin.IN) + self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin) + self.reset_encoder_position() + self.sm.active(1) + + def reset_encoder_position(self): + """ + Resets the encoder position to 0 + """ + # It's possible for this to cause issues if in the middle of inrementing + # or decrementing, but the result should only be off by 1. If that's a + # problem, an alternative solution is to stop the state machine, then + # reset both x and the program counter. But that's excessive. + self.sm.exec("set(x, 0)") + + def get_position_counts(self): + """ + :return: The position of the encoded motor, in counts, relative to the last time reset was called. + :rtype: int + """ + # Read 5 times for it to get past the buffer + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + if(counts > 2**31): + counts -= 2**32 + return counts + + def get_position(self): + """ + :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. + :rtype: float + """ + return self.get_position_counts() / self.resolution + + @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT) + def _encoder(): + # Register descriptions: + # X - Encoder count, as a 32-bit number + # OSR - Previous pin values, only last 2 bits are used + # ISR - Push encoder count, and combine pin states together + + # Jump table + # The program counter is moved to memory address 0000 - 1111, based + # on the previous (left 2 bits) and current (right bits) pin states + jmp("read") # 00 -> 00 No change, continue + jmp("decr") # 00 -> 01 Reverse, decrement count + jmp("incr") # 00 -> 10 Forward, increment count + jmp("read") # 00 -> 11 Impossible, continue + + jmp("incr") # 01 -> 00 Forward, increment count + jmp("read") # 01 -> 01 No change, continue + jmp("read") # 01 -> 10 Impossible, continue + jmp("decr") # 01 -> 11 Reverse, decrement count + + jmp("decr") # 10 -> 00 Reverse, decrement count + jmp("read") # 10 -> 01 Impossible, continue + jmp("read") # 10 -> 10 No change, continue + jmp("incr") # 10 -> 11 Forward, increment count + + jmp("read") # 11 -> 00 Impossible, continue + jmp("incr") # 11 -> 01 Forward, increment count + jmp("decr") # 11 -> 10 Reverse, decrement count + jmp("read") # 11 -> 11 No change, continue + + label("read") + mov(osr, isr) # Store previous pin states in OSR + mov(isr, x) # Copy encoder count to ISR + push(noblock) # Push count to RX buffer, and reset ISR to 0 + out(isr, 2) # Shift previous pin states into ISR + in_(pins, 2) # Shift current pin states into ISR + mov(pc, isr) # Move PC to jump table to determine what to do next + + label("decr") # There is no explicite increment intruction, but X can be + jmp(x_dec, "decr_nop") # decremented in the jump instruction. So we use that and jump + label("decr_nop") # to the next instruction, which is equivalent to just decrementing + jmp("read") + + label("incr") # There is no explicite increment intruction, but X can be + mov(x, invert(x)) # decremented in the jump instruction. So we invert X, decrement, + jmp(x_dec, "incr_nop") # then invert again - this is equivalent to incrementing. + label("incr_nop") + mov(x, invert(x)) + jmp("read") + + # Fill remaining instruction memory with jumps to ensure nothing bad happens + # For some reason, weird behavior happens if the instruction memory isn't full + jmp("read") + jmp("read") + jmp("read") + jmp("read") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/gamepad.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/gamepad.py new file mode 100644 index 0000000..9a6e661 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/gamepad.py @@ -0,0 +1,97 @@ +from ble.blerepl import uart +import sys +from micropython import const + +class Gamepad: + + _DEFAULT_GAMEPAD_INSTANCE = None + + X1 = const(0) + Y1 = const(1) + X2 = const(2) + Y2 = const(3) + BUTTON_A = const(4) + BUTTON_B = const(5) + BUTTON_X = const(6) + BUTTON_Y = const(7) + BUMPER_L = const(8) + BUMPER_R = const(9) + TRIGGER_L = const(10) + TRIGGER_R = const(11) + BACK = const(12) + START = const(13) + DPAD_UP = const(14) + DPAD_DN = const(15) + DPAD_L = const(16) + DPAD_R = const(17) + + _joyData = [ + 0.0, + 0.0, + 0.0, + 0.0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0] + + @classmethod + def get_default_gamepad(cls): + """ + Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist. + """ + if cls._DEFAULT_GAMEPAD_INSTANCE is None: + cls._DEFAULT_GAMEPAD_INSTANCE = cls() + cls._DEFAULT_GAMEPAD_INSTANCE.start() + return cls._DEFAULT_GAMEPAD_INSTANCE + + def __init__(self): + """ + Manages communication with gamepad data coming from a remote computer via bluetooth + + """ + def start(self): + """ + Signals the remote computer to begin sending gamepad data packets. + """ + for i in range(len(self._joyData)): + self._joyData[i] = 0.0 + uart.set_data_callback(self._data_callback) + sys.stdout.write(chr(27)) + sys.stdout.write(chr(101)) + + + def stop(self): + """ + Signals the remote computer to stop sending gamepad data packets. + """ + sys.stdout.write(chr(27)) + sys.stdout.write(chr(102)) + + def get_value(self, index:int) -> float: + """ + Get the current value of a joystick axis + + :param index: The joystick axis index + Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2 + :type int + :returns: The value of the joystick between -1 and 1 + :rtype: float + """ + return -self._joyData[index] #returning the negative to make normal for user + + def is_button_pressed(self, index:int) -> bool: + """ + Checks if a specific button is currently pressed. + + :param index: The button index + Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc + :type int + :returns: The value of the button 1 or 0 + :rtype: bool + """ + return self._joyData[index] > 0 + + def _data_callback(self, data): + if(data[0] == 0x55 and len(data) == data[1] + 2): + for i in range(2, data[1] + 2, 2): + self._joyData[data[i]] = round(data[i + 1]/127.5 - 1, 2) + + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/imu.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/imu.py new file mode 100644 index 0000000..cd7acbf --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/imu.py @@ -0,0 +1,559 @@ +# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive +# ver: 1.0 +# License: MIT +# Author: shaoziyang (shaoziyang@micropython.org.cn) +# v1.0 2019.7 +try: + from .imu_defs import * + from uctypes import struct, addressof +except (TypeError, ModuleNotFoundError): + LSM_ADDR_PRIMARY = 0x6A + # Import wrapped in a try/except so that autodoc generation can process properly + pass +from machine import I2C, Pin, Timer, disable_irq, enable_irq +import time, math + +class IMU(): + + _DEFAULT_IMU_INSTANCE = None + + @classmethod + def get_default_imu(cls): + """ + Get the default XRP IMU instance. This is a singleton, so only one instance of the drivetrain will ever exist. + """ + + if cls._DEFAULT_IMU_INSTANCE is None: + cls._DEFAULT_IMU_INSTANCE = cls() + cls._DEFAULT_IMU_INSTANCE.calibrate() + return cls._DEFAULT_IMU_INSTANCE + + def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY): + # I2C values + self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000) + self.addr = addr + + # Initialize member variables + self._reset_member_variables() + + # Transmit and recieve buffers + self.tb = bytearray(1) + self.rb = bytearray(1) + + # Copies of registers. Bytes and structs share the same memory + # addresses, so changing one changes the other + self.reg_ctrl1_xl_byte = bytearray(1) + self.reg_ctrl2_g_byte = bytearray(1) + self.reg_ctrl3_c_byte = bytearray(1) + self.reg_ctrl1_xl_bits = struct(addressof(self.reg_ctrl1_xl_byte), LSM_REG_LAYOUT_CTRL1_XL) + self.reg_ctrl2_g_bits = struct(addressof(self.reg_ctrl2_g_byte), LSM_REG_LAYOUT_CTRL2_G) + self.reg_ctrl3_c_bits = struct(addressof(self.reg_ctrl3_c_byte), LSM_REG_LAYOUT_CTRL3_C) + + # Create timer + self.update_timer = Timer(-1) + + # Check if the IMU is connected + if not self.is_connected(): + # TODO - do somehting intelligent here + pass + + # Reset sensor to clear any previous configuration + # reset() also sets the board to the default config + self.reset() + + def _default_config(self): + # Enable block data update + self._set_bdu() + + # Set default scale for each sensor + self.acc_scale('16g') + self.gyro_scale('2000dps') + + # Set default rate for each sensor + self.acc_rate('208Hz') + self.gyro_rate('208Hz') + + """ + The following are private helper methods to read and write registers, as well as to convert the read values to the correct unit. + """ + + def _reset_member_variables(self): + # Vector of IMU measurements + self.irq_v = [[0, 0, 0], [0, 0, 0]] + + # Sensor offsets + self.gyro_offsets = [0,0,0] + self.acc_offsets = [0,0,0] + + # Scale factors when ranges are changed + self._acc_scale_factor = 1 + self._gyro_scale_factor = 1 + + # Angle integrators + self.running_pitch = 0 + self.running_yaw = 0 + self.running_roll = 0 + + def _int16(self, d): + return d if d < 0x8000 else d - 0x10000 + + def _setreg(self, reg, dat): + self.tb[0] = dat + self.i2c.writeto_mem(self.addr, reg, self.tb) + + def _getreg(self, reg): + self.i2c.readfrom_mem_into(self.addr, reg, self.rb) + return self.rb[0] + + def _getregs(self, reg, num_bytes): + rx_buf = bytearray(num_bytes) + self.i2c.readfrom_mem_into(self.addr, reg, rx_buf) + return rx_buf + + def _get2reg(self, reg): + return self._getreg(reg) + self._getreg(reg+1) * 256 + + def _r_w_reg(self, reg, dat, mask): + self._getreg(reg) + self.rb[0] = (self.rb[0] & mask) | dat + self._setreg(reg, self.rb[0]) + + def _set_bdu(self, bdu = True): + """ + Sets Block Data Update bit + """ + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.BDU = bdu + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + def _set_if_inc(self, if_inc = True): + """ + Sets InterFace INCrement bit + """ + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.IF_INC = if_inc + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + def _raw_to_mg(self, raw): + return self._int16((raw[1] << 8) | raw[0]) * LSM_MG_PER_LSB_2G * self._acc_scale_factor + + def _raw_to_mdps(self, raw): + return self._int16((raw[1] << 8) | raw[0]) * LSM_MDPS_PER_LSB_125DPS * self._gyro_scale_factor + + """ + Public facing API Methods + """ + + def is_connected(self): + """ + Checks whether the IMU is connected + + :return: True if WHO_AM_I value is correct, otherwise False + :rtype: bool + """ + who_am_i = self._getreg(LSM_REG_WHO_AM_I) + return who_am_i == LSM_WHO_AM_I_VALUE + + def reset(self, wait_for_reset = True, wait_timeout_ms = 100): + """ + Resets the IMU, and restores all registers to their default values + + :param wait_for_reset: Whether to wait for reset to complete + :type wait_for_reset: bool + :param wait_timeout_ms: Timeout in milliseconds when waiting for reset + :type wait_timeout_ms: int + :return: False if timeout occurred, otherwise True + :rtype: bool + """ + # Stop timer + self._stop_timer() + + # Reset member variables + self._reset_member_variables() + + # Set BOOT and SW_RESET bits + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.BOOT = 1 + self.reg_ctrl3_c_bits.SW_RESET = 1 + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + # Wait for reset to complete, if requested + if wait_for_reset: + # Loop with timeout + t0 = time.ticks_ms() + while time.ticks_ms() < (t0 + wait_timeout_ms): + # Check if register has returned to default value (0x04) + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + if self.reg_ctrl3_c_byte[0] == 0x04: + self._default_config() + self._start_timer() + return True + # Timeout occurred + # Attempt to set default config anyways + self._default_config() + self._start_timer() + return False + else: + self._default_config() + self._start_timer() + return True + + def get_acc_x(self): + """ + :return: The current reading for the accelerometer's X-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] + + def get_acc_y(self): + """ + :return: The current reading for the accelerometer's Y-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTY_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[1] + + def get_acc_z(self): + """ + :return: The current reading for the accelerometer's Z-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTZ_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[2] + + def get_acc_rates(self): + """ + :return: the list of readings from the Accelerometer, in mg. The order of the values is x, y, z. + :rtype: list + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 6) + + # Convert raw data to mg's + self.irq_v[0][0] = self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] + self.irq_v[0][1] = self._raw_to_mg(raw_bytes[2:4]) - self.acc_offsets[1] + self.irq_v[0][2] = self._raw_to_mg(raw_bytes[4:6]) - self.acc_offsets[2] + + return self.irq_v[0] + + def get_gyro_x_rate(self): + """ + Individual axis read for the Gyroscope's X-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + + def get_gyro_y_rate(self): + """ + Individual axis read for the Gyroscope's Y-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTY_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[1] + + def get_gyro_z_rate(self): + """ + Individual axis read for the Gyroscope's Z-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTZ_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[2] + + def get_gyro_rates(self): + """ + Retrieves the array of readings from the Gyroscope, in mdps + The order of the values is x, y, z. + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 6) + + # Convert raw data to mdps + self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] + self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] + + return self.irq_v[1] + + def get_acc_gyro_rates(self): + """ + Get the accelerometer and gyroscope values in mg and mdps in the form of a 2D array. + The first row is the acceleration values, the second row is the gyro values. + The order of the values is x, y, z. + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 12) + + # Convert raw data to mg's and mdps + self.irq_v[0][0] = self._raw_to_mg(raw_bytes[6:8]) - self.acc_offsets[0] + self.irq_v[0][1] = self._raw_to_mg(raw_bytes[8:10]) - self.acc_offsets[1] + self.irq_v[0][2] = self._raw_to_mg(raw_bytes[10:12]) - self.acc_offsets[2] + self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] + self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] + + return self.irq_v + + def get_pitch(self): + """ + Get the pitch of the IMU in degrees. Unbounded in range + + :return: The pitch of the IMU in degrees + :rtype: float + """ + return self.running_pitch + + def get_yaw(self): + """ + Get the yaw (heading) of the IMU in degrees. Unbounded in range + + :return: The yaw (heading) of the IMU in degrees + :rtype: float + """ + return self.running_yaw + + def get_heading(self): + """ + Get's the heading of the IMU, but bounded between [0, 360) + + :return: The heading of the IMU in degrees, bound between [0, 360) + :rtype: float + """ + return self.running_yaw % 360 + + def get_roll(self): + """ + Get the roll of the IMU in degrees. Unbounded in range + + :return: The roll of the IMU in degrees + :rtype: float + """ + return self.running_roll + + def reset_pitch(self): + """ + Reset the pitch to 0 + """ + self.running_pitch = 0 + + def reset_yaw(self): + """ + Reset the yaw (heading) to 0 + """ + self.running_yaw = 0 + + def reset_roll(self): + """ + Reset the roll to 0 + """ + self.running_roll = 0 + + def set_pitch(self, pitch): + """ + Set the pitch to a specific angle in degrees + + :param pitch: The pitch to set the IMU to + :type pitch: float + """ + self.running_pitch = pitch + + def set_yaw(self, yaw): + """ + Set the yaw (heading) to a specific angle in degrees + + :param yaw: The yaw (heading) to set the IMU to + :type yaw: float + """ + self.running_yaw = yaw + + def set_roll(self, roll): + """ + Set the roll to a specific angle in degrees + + :param roll: The roll to set the IMU to + :type roll: float + """ + self.running_roll = roll + + def temperature(self): + """ + Read the temperature of the LSM6DSO in degrees Celsius + + :return: The temperature of the LSM6DSO in degrees Celsius + :rtype: float + """ + # The LSM6DSO's temperature can be read from the OUT_TEMP_L register + # We use OUT_TEMP_L+1 if OUT_TEMP_L cannot be read + try: + return self._int16(self._get2reg(LSM_REG_OUT_TEMP_L))/256 + 25 + except MemoryError: + return self._temperature_irq() + + def _temperature_irq(self): + # Helper function for temperature() to read the alternate temperature register + self._getreg(LSM_REG_OUT_TEMP_L+1) + if self.rb[0] & 0x80: + self.rb[0] -= 256 + return self.rb[0] + 25 + + def acc_scale(self, value=None): + """ + Set the accelerometer scale in g. The scale can be: + '2g', '4g', '8g', or '16g' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) + # Check if the provided value is in the dictionary + if value not in LSM_ACCEL_FS: + # Return string representation of this value + index = list(LSM_ACCEL_FS.values()).index(self.reg_ctrl1_xl_bits.FS_XL) + return list(LSM_ACCEL_FS.keys())[index] + else: + # Set value as requested + self.reg_ctrl1_xl_bits.FS_XL = LSM_ACCEL_FS[value] + self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) + # Update scale factor for converting raw data + self._acc_scale_factor = int(value.rstrip('g')) // 2 + + def gyro_scale(self, value=None): + """ + Set the gyroscope scale in dps. The scale can be: + '125', '250', '500', '1000', or '2000' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) + # Check if the provided value is in the dictionary + if value not in LSM_GYRO_FS: + # Return string representation of this value + index = list(LSM_GYRO_FS.values()).index(self.reg_ctrl2_g_bits.FS_G) + return list(LSM_GYRO_FS.keys())[index] + else: + # Set value as requested + self.reg_ctrl2_g_bits.FS_G = LSM_GYRO_FS[value] + self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) + # Update scale factor for converting raw data + self._gyro_scale_factor = int(value.rstrip('dps')) // 125 + + def acc_rate(self, value=None): + """ + Set the accelerometer rate in Hz. The rate can be: + '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) + # Check if the provided value is in the dictionary + if value not in LSM_ODR: + # Return string representation of this value + index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_XL) + return list(LSM_ODR.keys())[index] + else: + # Set value as requested + self.reg_ctrl1_xl_bits.ODR_XL = LSM_ODR[value] + self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) + + def gyro_rate(self, value=None): + """ + Set the gyroscope rate in Hz. The rate can be: + '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) + # Check if the provided value is in the dictionary + if value not in LSM_ODR: + # Return string representation of this value + index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_G) + return list(LSM_ODR.keys())[index] + else: + # Set value as requested + self.reg_ctrl2_g_bits.ODR_G = LSM_ODR[value] + self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) + + # Update timer frequency + self.timer_frequency = int(value.rstrip('Hz')) + self._start_timer() + + def calibrate(self, calibration_time:float=1, vertical_axis:int= 2): + """ + Collect readings for [calibration_time] seconds and calibrate the IMU based on those readings + Do not move the robot during this time + Assumes the board to be parallel to the ground. Please use the vertical_axis parameter if that is not correct + + :param calibration_time: The time in seconds to collect readings for + :type calibration_time: float + :param vertical_axis: The axis that is vertical. 0 for X, 1 for Y, 2 for Z + :type vertical_axis: int + """ + self._stop_timer() + self.acc_offsets = [0,0,0] + self.gyro_offsets = [0,0,0] + avg_vals = [[0,0,0],[0,0,0]] + num_vals = 0 + # Wait a bit for sensor to start measuring (data registers may default to something nonsensical) + time.sleep(.1) + start_time = time.ticks_ms() + while time.ticks_ms() < start_time + calibration_time*1000: + cur_vals = self.get_acc_gyro_rates() + # Accelerometer averages + avg_vals[0][0] += cur_vals[0][0] + avg_vals[0][1] += cur_vals[0][1] + avg_vals[0][2] += cur_vals[0][2] + # Gyroscope averages + avg_vals[1][0] += cur_vals[1][0] + avg_vals[1][1] += cur_vals[1][1] + avg_vals[1][2] += cur_vals[1][2] + # Increment counter and wait for next loop + num_vals += 1 + time.sleep(1 / self.timer_frequency) + + # Compute averages + avg_vals[0][0] /= num_vals + avg_vals[0][1] /= num_vals + avg_vals[0][2] /= num_vals + avg_vals[1][0] /= num_vals + avg_vals[1][1] /= num_vals + avg_vals[1][2] /= num_vals + + avg_vals[0][vertical_axis] -= 1000 #in mg + + self.acc_offsets = avg_vals[0] + self.gyro_offsets = avg_vals[1] + self._start_timer() + + def _start_timer(self): + self.update_timer.init(freq=self.timer_frequency, callback=lambda t:self._update_imu_readings()) + + def _stop_timer(self): + self.update_timer.deinit() + + def _update_imu_readings(self): + # Called every tick through a callback timer + self.get_gyro_rates() + delta_pitch = self.irq_v[1][0] / 1000 / self.timer_frequency + delta_roll = self.irq_v[1][1] / 1000 / self.timer_frequency + delta_yaw = self.irq_v[1][2] / 1000 / self.timer_frequency + + state = disable_irq() + self.running_pitch += delta_pitch + self.running_roll += delta_roll + self.running_yaw += delta_yaw + enable_irq(state) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/imu_defs.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/imu_defs.py new file mode 100644 index 0000000..c8732de --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/imu_defs.py @@ -0,0 +1,83 @@ +from uctypes import BFUINT8, BF_POS, BF_LEN +from micropython import const + +""" + Possible I2C addresses +""" +LSM_ADDR_PRIMARY = const(0x6B) +LSM_ADDR_SECONDARY = const(0x6A) + +""" + Register addresses +""" +LSM_REG_WHO_AM_I = const(0x0F) +LSM_REG_CTRL1_XL = const(0x10) +LSM_REG_CTRL2_G = const(0x11) +LSM_REG_CTRL3_C = const(0x12) +LSM_REG_OUT_TEMP_L = const(0x20) +LSM_REG_OUT_TEMP_H = const(0x21) +LSM_REG_OUTX_L_G = const(0x22) +LSM_REG_OUTY_L_G = const(0x24) +LSM_REG_OUTZ_L_G = const(0x26) +LSM_REG_OUTX_L_A = const(0x28) +LSM_REG_OUTY_L_A = const(0x2A) +LSM_REG_OUTZ_L_A = const(0x2C) + +""" + Bit field struct definitions of registers +""" +LSM_REG_LAYOUT_CTRL1_XL = { + "ODR_XL" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, + "FS_XL" : BFUINT8 | 2 << BF_POS | 2 << BF_LEN, + "LPF2_XL_EN" : BFUINT8 | 1 << BF_POS | 1 << BF_LEN, +} +LSM_REG_LAYOUT_CTRL2_G = { + "ODR_G" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, + "FS_G" : BFUINT8 | 1 << BF_POS | 3 << BF_LEN, +} +LSM_REG_LAYOUT_CTRL3_C = { + "BOOT" : BFUINT8 | 7 << BF_POS | 1 << BF_LEN, + "BDU" : BFUINT8 | 6 << BF_POS | 1 << BF_LEN, + "H_LACTIVE" : BFUINT8 | 5 << BF_POS | 1 << BF_LEN, + "PP_OD" : BFUINT8 | 4 << BF_POS | 1 << BF_LEN, + "SIM" : BFUINT8 | 3 << BF_POS | 1 << BF_LEN, + "IF_INC" : BFUINT8 | 2 << BF_POS | 1 << BF_LEN, + "SW_RESET" : BFUINT8 | 0 << BF_POS | 1 << BF_LEN, +} + +""" + Dictionaries for possible register settings +""" +LSM_ODR = { + "0Hz" : 0x0, + "12.5Hz" : 0x1, + "26Hz" : 0x2, + "52Hz" : 0x3, + "104Hz" : 0x4, + "208Hz" : 0x5, + "416Hz" : 0x6, + "833Hz" : 0x7, + "1660Hz" : 0x8, + "3330Hz" : 0x9, + "6660Hz" : 0xA, +} +LSM_ACCEL_FS = { + "2g" : 0x0, + "4g" : 0x2, + "8g" : 0x3, + "16g" : 0x1, +} +LSM_GYRO_FS = { + "125dps" : 0x1, + "250dps" : 0x0, + "500dps" : 0x2, + "1000dps" : 0x4, + "2000dps" : 0x6, +} + +""" + Other contants +""" +LSM_WHO_AM_I_VALUE = 0x6C +LSM_MG_PER_LSB_2G = 0.061 +LSM_MDPS_PER_LSB_125DPS = 4.375 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/motor.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/motor.py new file mode 100644 index 0000000..2c5d479 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/motor.py @@ -0,0 +1,96 @@ +from machine import Pin, PWM + +class SinglePWMMotor: + + """ + A simple class handling direction and power sets for DC motors on the XRP robots + + This version is used for the XRP Beta, which uses the rp2040 processor + """ + + def __init__(self, in1_direction_pin: int|str, in2_speed_pin: int|str, flip_dir:bool=False): + self.flip_dir = flip_dir + self._MAX_PWM = 65534 # Motor holds when actually at full power + + self._in1DirPin = Pin(in1_direction_pin, Pin.OUT) + self._in2SpeedPin = PWM(Pin(in2_speed_pin, Pin.OUT)) + self._in2SpeedPin.freq(50) + + def set_effort(self, effort: float): + """ + Sets the effort value of the motor (corresponds to power) + + :param effort: The effort to set the motor to, between -1 and 1 + :type effort: float + """ + + if effort < 0: + # Change direction if negative power + effort *= -1 + self._set_direction(1) + else: + self._set_direction(0) + # Cap power to [0,1] + effort = max(0,min(effort,1)) + self._in2SpeedPin.duty_u16(int(effort*self._MAX_PWM)) + + def _set_direction(self, direction: int): + if self.flip_dir: + self._in1DirPin.value(not direction) + else: + self._in1DirPin.value(direction) + + def brake(self): + # Motor holds with the real max duty cycle (65535) + self._in2SpeedPin.duty_u16(self._MAX_PWM+1) + + def coast(self): + self.set_effort(0) + +class DualPWMMotor: + """ + A simple class handling effort setting for DC motors on the XRP robots + + This version of the Motor class is used for the official release of the XRP + """ + + def __init__(self, in1_pwm_forward: int|str, in2_pwm_backward: int|str, flip_dir:bool=False): + self.flip_dir = flip_dir + self._MAX_PWM = 65535 # Motor holds when actually at full power + + self._in1ForwardPin = PWM(Pin(in1_pwm_forward, Pin.OUT)) + self._in2BackwardPin = PWM(Pin(in2_pwm_backward, Pin.OUT)) + self._in1ForwardPin.freq(50) + self._in2BackwardPin.freq(50) + + def set_effort(self, effort: float): + """ + Sets the effort value of the motor (corresponds to power) + + :param effort: The effort to set the motor to, between -1 and 1 + :type effort: float + """ + + in1Pwm = (effort < 0) ^ (self.flip_dir) + if in1Pwm: + self._in1ForwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) + self._in2BackwardPin.duty_u16(int(0)) + else: + self._in1ForwardPin.duty_u16(int(0)) + self._in2BackwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) + + def brake(self): + """ + Powers the motor in both directions at the same time, enabling it to hold position + """ + self._in1ForwardPin.duty_u16(int(self._MAX_PWM)) + self._in2BackwardPin.duty_u16(int(self._MAX_PWM)) + + def coast(self): + """ + Disables the motor in both directions at the same time, enabling it to spin freely + """ + self._in1ForwardPin.duty_u16(int(0)) + self._in2BackwardPin.duty_u16(int(0)) + + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/motor_group.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/motor_group.py new file mode 100644 index 0000000..ecfe4f0 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/motor_group.py @@ -0,0 +1,94 @@ +from .encoded_motor import EncodedMotor +class MotorGroup(EncodedMotor): + def __init__(self, *motors: EncodedMotor): + """ + A wrapper class for multiple motors, allowing them to be treated as one motor. + + :param motors: The motors to add to this group + :type motors: tuple + """ + self.motors = [] + for motor in motors: + self.add_motor(motor) + + def add_motor(self, motor:EncodedMotor): + """ + :param motor: The motor to add to this group + :type motor: EncodedMotor + """ + self.motors.append(motor) + + def remove_motor(self, motor:EncodedMotor): + """ + :param motor: The motor to remove from this group + :type motor: EncodedMotor + """ + try: + self.motors.remove(motor) + except: + print("Failed to remove motor from Motor Group") + + def set_effort(self, effort: float): + """ + :param effort: The effort to set all motors in this group to, from -1 to 1 + :type effort: float + """ + for motor in self.motors: + motor.set_effort(effort) + + def get_position(self) -> float: + """ + :return: The average position of all motors in this group, in revolutions, relative to the last time reset was called. + :rtype: float + """ + avg = 0 + for motor in self.motors: + avg += motor.get_position() + return avg / len(self.motors) + + def get_position_counts(self) -> int: + """ + :return: The average position of all motors in this group, in encoder counts, relative to the last time reset was called. + :rtype: int + """ + avg = 0 + for motor in self.motors: + avg += motor.get_position_counts() + return round(avg / len(self.motors)) + + def reset_encoder_position(self): + """ + Resets the encoder position of all motors in this group back to zero. + """ + for motor in self.motors: + motor.reset_encoder_position() + + def get_speed(self) -> float: + """ + :return: The average speed of the motors, in rpm + :rtype: float + """ + avg = 0 + for motor in self.motors: + avg += motor.get_speed() + return avg / len(self.motors) + + + def set_speed(self, target_speed_rpm: float = None): + """ + Sets target speed (in rpm) to be maintained passively by all motors in this group + Call with no parameters to turn off speed control + + :param target_speed_rpm: The target speed for these motors in rpm, or None + :type target_speed_rpm: float, or None + """ + for motor in self.motors: + motor.set_speed(target_speed_rpm) + + def set_speed_controller(self, new_controller): + """ + :param new_controller: The new Controller for speed control + :type new_controller: Controller + """ + for motor in self.motors: + motor.set_speed_controller(new_controller) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/pid.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/pid.py new file mode 100644 index 0000000..e9c0491 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/pid.py @@ -0,0 +1,129 @@ +import time +from .controller import Controller + +""" +PID controller with exit condition +""" + +class PID(Controller): + + def __init__(self, + kp = 1.0, + ki = 0.0, + kd = 0.0, + min_output = 0.0, + max_output = 1.0, + max_derivative = None, + max_integral = None, + tolerance = 0.1, + tolerance_count = 1 + ): + """ + :param kp: proportional gain + :param ki: integral gain + :param kd: derivative gain + :param min_output: minimum output + :param max_output: maximum output + :param max_derivative: maximum derivative (change per second) + :param max_integral: maximum integral windup allowed (will cap integral at this value) + :param tolerance: tolerance for exit condition + :param tolerance_count: number of times the error needs to be within tolerance for is_done to return True + """ + self.kp = kp + self.ki = ki + self.kd = kd + self.min_output = min_output + self.max_output = max_output + self.max_derivative = max_derivative + self.max_integral = max_integral + self.tolerance = tolerance + self.tolerance_count = tolerance_count + + self.prev_error = 0 + self.prev_integral = 0 + self.prev_output = 0 + + self.start_time = None + self.prev_time = None + + # number of actual times in tolerance + self.times = 0 + + def _handle_exit_condition(self, error: float): + if abs(error) < self.tolerance: + # if error is within tolerance, increment times in tolerance + self.times += 1 + else: + # otherwise, reset times in tolerance, because we need to be in tolerance for numTimesInTolerance consecutive times + self.times = 0 + + def update(self, error: float, debug: bool = False) -> float: + """ + Handle a new update of this PID loop given an error. + + :param error: The error of the system being controlled by this PID controller + :type error: float + + :return: The system output from the controller, to be used as an effort value or for any other purpose + :rtype: float + """ + current_time = time.ticks_ms() + if self.prev_time is None: + # First update after instantiation + self.start_time = current_time + timestep = 0.01 + else: + # get time delta in seconds + timestep = time.ticks_diff(current_time, self.prev_time) / 1000 + self.prev_time = current_time # cache time for next update + + self._handle_exit_condition(error) + + integral = self.prev_integral + error * timestep + + if self.max_integral is not None: + integral = max(-self.max_integral, min(self.max_integral, integral)) + + derivative = (error - self.prev_error) / timestep + + # derive output + output = self.kp * error + self.ki * integral + self.kd * derivative + self.prev_error = error + self.prev_integral = integral + + # Bound output by minimum + if output > 0: + output = max(self.min_output, output) + else: + output = min(-self.min_output, output) + + # Bound output by maximum + output = max(-self.max_output, min(self.max_output, output)) + + # Bound output by maximum acceleration + if self.max_derivative is not None: + lower_bound = self.prev_output - self.max_derivative * timestep + upper_bound = self.prev_output + self.max_derivative * timestep + output = max(lower_bound, min(upper_bound, output)) + + # cache output for next update + self.prev_output = output + + if debug: + print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})") + + return output + + def is_done(self) -> bool: + """ + :return: if error is within tolerance for numTimesInTolerance consecutive times, or timed out + :rtype: bool + """ + return self.times >= self.tolerance_count + + def clear_history(self): + self.prev_error = 0 + self.prev_integral = 0 + self.prev_output = 0 + self.prev_time = None + self.times = 0 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/rangefinder.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/rangefinder.py new file mode 100644 index 0000000..79c4404 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/rangefinder.py @@ -0,0 +1,93 @@ +import machine, time +from machine import Pin + +class Rangefinder: + + _DEFAULT_RANGEFINDER_INSTANCE = None + + @classmethod + def get_default_rangefinder(cls): + """ + Get the default XRP rangefinder instance. This is a singleton, so only one instance of the rangefinder will ever exist. + """ + if cls._DEFAULT_RANGEFINDER_INSTANCE is None: + cls._DEFAULT_RANGEFINDER_INSTANCE = cls() + return cls._DEFAULT_RANGEFINDER_INSTANCE + + def __init__(self, trigger_pin: int|str = "RANGE_TRIGGER", echo_pin: int|str = "RANGE_ECHO", timeout_us:int=500*2*30): + """ + A basic class for using the HC-SR04 Ultrasonic Rangefinder. + The sensor range is between 2cm and 4m. + Timeouts will return a MAX_VALUE (65535) instead of raising an exception. + + :param trigger_pin: The number of the pin on the microcontroller that's connected to the ``Trig`` pin on the HC-SR04. + :type trigger_pin: int + :param echo_pin: The number of the pin on the microcontroller that's connected to the ``Echo`` pin on the HC-SR04. + :type echo_pin: int + :param timeout_us: Max microseconds seconds to wait for a response from the sensor before assuming it isn't going to answer. By default set to 30,000 us (0.03 s) + :type timeout_us: int + """ + self.timeout_us = timeout_us + # Init trigger pin (out) + self._trigger = Pin(trigger_pin, mode=Pin.OUT, pull=None) + self._trigger.value(0) + self.MAX_VALUE = 65535 + + # Init echo pin (in) + self.echo = Pin(echo_pin, mode=Pin.IN, pull=None) + + self.cms = 0 + self.last_echo_time = 0 + self.cache_time_us = 3000 + + def _send_pulse_and_wait(self): + """ + Send the pulse to trigger and listen on echo pin. + We use the method `machine.time_pulse_us()` to get the microseconds until the echo is received. + """ + self._trigger.value(0) # Stabilize the sensor + self._delay_us(5) + self._trigger.value(1) + # Send a 10us pulse. + self._delay_us(10) + self._trigger.value(0) + try: + pulse_time = machine.time_pulse_us(self.echo, 1, self.timeout_us) + return pulse_time + except OSError as exception: + raise exception + + def distance(self) -> float: + """ + Get the distance in centimeters by measuring the echo pulse time + """ + if time.ticks_diff(time.ticks_us(), self.last_echo_time) < self.cache_time_us and not (self.cms == 65535 or self.cms == 0): + return self.cms + + try: + pulse_time = self._send_pulse_and_wait() + if pulse_time <= 0: + return self.MAX_VALUE + except OSError as exception: + # We don't want programs to crash if the HC-SR04 doesn't see anything in range + # So we catch those errors and return 65535 instead + if exception.args[0] == 110: # 110 = ETIMEDOUT + return self.MAX_VALUE + raise exception + + # To calculate the distance we get the pulse_time and divide it by 2 + # (the pulse walk the distance twice) and by 29.1 becasue + # the sound speed on air (343.2 m/s), that It's equivalent to + # 0.034320 cm/us that is 1cm each 29.1us + self.cms = (pulse_time / 2) / 29.1 + self.last_echo_time = time.ticks_us() + return self.cms + + def _delay_us(self, delay:int): + """ + Custom implementation of time.sleep_us(), used to get around the bug in MicroPython where time.sleep_us() + doesn't work properly and causes the IDE to hang when uploading the code + """ + start = time.ticks_us() + while time.ticks_diff(time.ticks_us(), start) < delay: + pass diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/reflectance.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/reflectance.py new file mode 100644 index 0000000..c986952 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/reflectance.py @@ -0,0 +1,49 @@ +from machine import Pin, ADC + +class Reflectance: + + _DEFAULT_REFLECTANCE_INSTANCE = None + + @classmethod + def get_default_reflectance(cls): + """ + Get the default XRP reflectance sensor instance. This is a singleton, so only one instance of the reflectance sensor will ever exist. + """ + if cls._DEFAULT_REFLECTANCE_INSTANCE is None: + cls._DEFAULT_REFLECTANCE_INSTANCE = cls() + return cls._DEFAULT_REFLECTANCE_INSTANCE + + def __init__(self, leftPin: int|str = "LINE_L", rightPin: int|str = "LINE_R"): + """ + Implements for a reflectance sensor using the built in 12-bit ADC. + Reads from analog in and converts to a float from 0 (white) to 1 (black) + + :param leftPin: The pin the left reflectance sensor is connected to + :type leftPin: int + :param rightPin: The pin the right reflectance sensor is connected to + :type rightPin: int + """ + self._leftReflectance = ADC(Pin(leftPin)) + self._rightReflectance = ADC(Pin(rightPin)) + + self.MAX_ADC_VALUE: int = 65536 + + def _get_value(self, sensor: ADC) -> float: + + return sensor.read_u16() / self.MAX_ADC_VALUE + + def get_left(self) -> float: + """ + Gets the the reflectance of the left reflectance sensor + : return: The reflectance ranging from 0 (white) to 1 (black) + : rtype: float + """ + return self._get_value(self._leftReflectance) + + def get_right(self) -> float: + """ + Gets the the reflectance of the right reflectance sensor + : return: The reflectance ranging from 0 (white) to 1 (black) + : rtype: float + """ + return self._get_value(self._rightReflectance) diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/resetbot.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/resetbot.py new file mode 100644 index 0000000..7c9d321 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/resetbot.py @@ -0,0 +1,62 @@ +import sys +""" +A simple file for shutting off all of the motors after a program gets interrupted from the REPL. +Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL. +""" + +def reset_motors(): + from XRPLib.encoded_motor import EncodedMotor + # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init + for i in range(4): + motor = EncodedMotor.get_default_encoded_motor(i+1) + motor.set_speed(0) + motor.reset_encoder_position() + +def reset_led(): + from XRPLib.board import Board + # Turn off the on-board LED + Board.get_default_board().led_off() + try: + # Turn off the RGB LED for boards that have it + Board.get_default_board().set_rgb_led(0, 0, 0) + except: + pass + +def reset_servos(): + from XRPLib.servo import Servo + # Turn off both Servos + Servo.get_default_servo(1).free() + Servo.get_default_servo(2).free() + +def reset_webserver(): + from XRPLib.webserver import Webserver + # Shut off the webserver and close network connections + Webserver.get_default_webserver().stop_server() + +def reset_gamepad(): + from XRPLib.gamepad import Gamepad + # Stop the browser from sending more gamepad data + Gamepad.get_default_gamepad().stop() + +def reset_hard(): + reset_gamepad() + reset_motors() + reset_led() + reset_servos() + reset_webserver() + +if "XRPLib.gamepad" in sys.modules: + reset_gamepad() + +if "XRPLib.encoded_motor" in sys.modules: + reset_motors() + +if "XRPLib.board" in sys.modules: + reset_led() + +if "XRPLib.servo" in sys.modules: + reset_servos() + +if "XRPLib.webserver" in sys.modules: + reset_webserver() + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/servo.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/servo.py new file mode 100644 index 0000000..e606dac --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/servo.py @@ -0,0 +1,66 @@ +from machine import Pin, PWM +import sys + +class Servo: + + _DEFAULT_SERVO_ONE_INSTANCE = None + _DEFAULT_SERVO_TWO_INSTANCE = None + _DEFAULT_SERVO_THREE_INSTANCE = None + _DEFAULT_SERVO_FOUR_INSTANCE = None + + @classmethod + def get_default_servo(cls, index:int): + """ + Gets one of the default XRP servo instances. These are singletons, so only one instance of each servo will ever exist. + Raises an exception if an invalid index is requested. + + :param index: The index of the servo to get (1-4; Beta only has 1 and 2) + :type index: int + """ + if index == 1: + if cls._DEFAULT_SERVO_ONE_INSTANCE is None: + cls._DEFAULT_SERVO_ONE_INSTANCE = cls("SERVO_1") + servo = cls._DEFAULT_SERVO_ONE_INSTANCE + elif index == 2: + if cls._DEFAULT_SERVO_TWO_INSTANCE is None: + cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2") + servo = cls._DEFAULT_SERVO_TWO_INSTANCE + elif index == 3 and hasattr(Pin.board, "SERVO_3"): + if cls._DEFAULT_SERVO_THREE_INSTANCE is None: + cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3") + servo = cls._DEFAULT_SERVO_THREE_INSTANCE + elif index == 4 and hasattr(Pin.board, "SERVO_4"): + if cls._DEFAULT_SERVO_FOUR_INSTANCE is None: + cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4") + servo = cls._DEFAULT_SERVO_FOUR_INSTANCE + else: + return Exception("Invalid servo index") + return servo + + def __init__(self, signal_pin: int|str): + """ + A simple class for interacting with a servo through PWM + + :param signal_pin: The pin the servo is connected to + :type signal_pin: int | str + """ + + self._servo = PWM(Pin(signal_pin, Pin.OUT)) + # Initialize base frequency for the PWM + self._servo.freq(50) + self.MICROSEC_PER_DEGREE: int = 10000 + self.LOW_ANGLE_OFFSET: int = 500000 + + def set_angle(self, degrees: float): + """ + Sets the angle of the servo + :param degrees: The angle to set the servo to [0,200] + :ptype degrees: float + """ + self._servo.duty_ns(int(degrees * self.MICROSEC_PER_DEGREE + self.LOW_ANGLE_OFFSET)) + + def free(self): + """ + Allows the servo to spin freely without holding position + """ + self._servo.duty_ns(0) diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/timeout.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/timeout.py new file mode 100644 index 0000000..7d7a669 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/timeout.py @@ -0,0 +1,23 @@ +import time + +class Timeout: + def __init__(self, timeout: float): + """ + Starts a timer that will expire after the given timeout. + + :param timeout: The timeout, in seconds + :type timeout: float + """ + self.timeout = timeout + if self.timeout != None: + self.timeout = timeout*1000 + + self.start_time = time.ticks_ms() + + def is_done(self): + """ + :return: True if the timeout has expired, False otherwise + """ + if self.timeout is None: + return False + return time.ticks_ms() - self.start_time > self.timeout \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/version.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/version.py new file mode 100644 index 0000000..2d31b1c --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/version.py @@ -0,0 +1 @@ +__version__ = '2.1.3' diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/webserver.py b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/webserver.py new file mode 100644 index 0000000..bedbba6 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/XRPLib/webserver.py @@ -0,0 +1,326 @@ +from phew import server, template, logging, access_point, dns +from phew.template import render_template +from phew.server import redirect, stop, close +import gc +import network +import time +import json + +logging.log_file = "webserverLog.txt" + +class Webserver: + + @classmethod + def get_default_webserver(cls): + """ + Get the default webserver instance. This is a singleton, so only one instance of the webserver will ever exist. + """ + return webserver + + def __init__(self): + """ + Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below. + """ + + gc.threshold(50000) # garbage collection + self.logged_data = {} + self.buttons = {"forwardButton": lambda: logging.debug("Button not initialized"), + "backButton": lambda: logging.debug("Button not initialized"), + "leftButton": lambda: logging.debug("Button not initialized"), + "rightButton": lambda: logging.debug("Button not initialized"), + "stopButton": lambda: logging.debug("Button not initialized")} + self.FUNCTION_PREFIX = "startfunction" + self.FUNCTION_SUFFIX = "endfunction" + self.display_arrows = False + # Instantiate self.wlan now so that running stop before start doesn't cause an error + self.wlan = network.WLAN(network.STA_IF) + + def start_network(self, ssid:str=None, robot_id:int= None, password:str=None): + """ + Open an access point from the XRP board to be used as a captive host. The default network information can be set in secrets.json + + :param ssid: The ssid of the access point, defaults to value from secrets.json + :type ssid: str, optional + :param robot_id: Replaces "{robot_id}" in ssid, defaults to value from secrets.json + :type robot_id: int, optional + :param password: The password of the access point, defaults to value from secrets.json + :type password: str, optional + """ + if ssid is None: + try: + with open("../../secrets.json") as secrets_file: + secrets = json.load(secrets_file) + ssid = str(secrets["ap_ssid"]) + password = str(secrets["ap_password"]) + if robot_id is None: + robot_id = str(secrets["robot_id"]) + ssid = ssid.replace("{robot_id}", robot_id) + except (OSError, KeyError, ValueError): + if robot_id is None: + robot_id = 1 + ssid = f"XRP_{robot_id}" + password = "remote.xrp" + if password is not None and len(password) < 8: + logging.warn("Password is less than 8 characters, this may cause issues with some devices") + self.wlan = access_point(ssid, password) + logging.info(f"Starting Access Point \"{ssid}\"") + self.ip = self.wlan.ifconfig()[0] + + def connect_to_network(self, ssid:str=None, password:str=None, timeout = 10): + """ + Connect to a wifi network with the given ssid and password. + If the connection fails, the board will disconnect from the network and return. + + :param ssid: The ssid of the network, defaults to value from secrets.json + :type ssid: str, optional + :param password: The password of the network, defaults to value from secrets.json + :type password: str, optional + :param timeout: The amount of time to wait for the connection to succeed, defaults to 10 + :type timeout: int, optional + """ + self.wlan = network.WLAN(network.STA_IF) + self.wlan.active(True) # configure board to connect to wifi + if ssid is None: + try: + with open("../../secrets.json") as secrets_file: + secrets = json.load(secrets_file) + ssid = str(secrets["wifi_ssid"]) + password = str(secrets["wifi_password"]) + except (OSError, KeyError, ValueError): + print("secrets.json not found or improperly formatted") + return False + self.wlan.connect(ssid,password) + start_time = time.time() + while not self.wlan.isconnected(): + print("Connecting to network, may take a second") + if time.time() > start_time+timeout: + print("Failed to connect to network, please try again") + self.wlan.disconnect() + return False + time.sleep(0.25) + self.ip = self.wlan.ifconfig()[0] + + def start_server(self): + """ + Begin the webserver in either access point or bridge mode. The IP is printed to the console. + + Preconditions: Either start_network or connect_to_network must be called before this method. + """ + self.wlan.active(True) + logging.info(f"Starting DNS Server at {self.ip}") + dns.run_catchall(self.ip) + self.DOMAIN = self.ip + logging.disable_logging_types(logging.LOG_INFO) + server.run() + + def stop_server(self): + """ + Shuts off the webserver and network and stops handling requests + """ + if self.wlan.active(): + logging.enable_logging_types(logging.LOG_INFO) + logging.info("Stopping Webserver and Network Connections") + + stop() + self.wlan.active(False) + + def _index_page(self, request): + # Render index page and respond to form requests + if request.method == 'GET': + return self._generateHTML() + if request.method == 'POST': + if str(list(request.form.values())[0]).count(" ") == 0: + text = str(list(request.form.keys())[0]) + else: + text = str(list(request.form.values())[0]) + self._handleUserFunctionRequest(text) + return self._generateHTML() + + def _hotspot(self, request): + # Redirect to Index Page + return self._generateHTML() + + def _catch_all(self, request): + # Catch all requests and redirect if necessary + if request.headers.get("host") != self.DOMAIN: + return redirect("http://"+self.DOMAIN+"/") + return self._index_page(request=request) + + def log_data(self, label:str, data): + """ + Register a custom label to be displayed on the webserver + + :param label: The label as it will be displayed, must be unique + :type label: str + :param data: The data to be displayed + :type data: Any (converted to string) + """ + self.logged_data[label] = data + + def add_button(self, button_name:str, function): + """ + Register a custom button to be displayed on the webserver + + :param button_name: The label for the button as it will be displayed, must be unique + :type button_name: str + :param function: The function to be called when the button is pressed + :type function: function + """ + self.buttons[button_name] = function + + def registerForwardButton(self, function): + """ + Assign a function to the forward button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["forwardButton"] = function + + def registerBackwardButton(self, function): + """ + Assign a function to the backward button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["backButton"] = function + + def registerLeftButton(self, function): + """ + Assign a function to the left button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["leftButton"] = function + + def registerRightButton(self, function): + """ + Assign a function to the right button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["rightButton"] = function + + def registerStopButton(self, function): + """ + Assign a function to the stop + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["stopButton"] = function + + def _handleUserFunctionRequest(self, text) -> bool: + print(f"Running {text}") + try: + user_function = self.buttons[text] + if user_function is None: + logging.warning("User function "+text+" not found") + return False + user_function() + return True + except RuntimeError as xcpt: + logging.error("User function "+text+" caused an exception: "+str(xcpt)) + return False + + def _generateHTML(self): + + string = _HTML1 + + if self.display_arrows: + string += _HTML_ARROWS + + string += f'

Custom Function Bindings:

' + # add each button's href to html + for button in self.buttons.keys(): + if(["forwardButton","backButton","leftButton","rightButton","stopButton"].count(button) > 0): + # Slightly cursed solution to not display the arrow buttons as text buttons + continue + string += f'

' + string += "\n" + + string += f'

Logged Data:

' + # add logged data to the html + for data_label in self.logged_data.keys(): + string += f'

{data_label}: {str(self.logged_data[data_label])}

' + string += "\n" + + string += _HTML2 + + return string + +""" Use decorators to bind the wifi methods to the requests """ +webserver = Webserver() + +@server.route("/", methods=['GET','POST']) +def index(request): + return webserver._index_page(request) + +@server.route("/hotspot-detect.html", methods=["GET"]) +def hotspot(request): + return webserver._hotspot(request) + +@server.catchall() +def catch_all(request): + return webserver._catch_all(request) + +_HTML1 = """ + + + + + + + + + + +

XRP control page

+ +

+""" + +_HTML_ARROWS = """ +

+
+
+    +
+    +
+
+
+""" + +_HTML2 = """ +

+ + + + +""" \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/ble/__init__.py b/public/firmware-loader/boards/xrp-2350/agxrp/ble/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/ble/ble_uart_peripheral.py b/public/firmware-loader/boards/xrp-2350/agxrp/ble/ble_uart_peripheral.py new file mode 100644 index 0000000..d9da813 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/ble/ble_uart_peripheral.py @@ -0,0 +1,158 @@ +# This implements the Nordic UART Service (NUS). + +import bluetooth +#from .ble_advertising import advertising_payload +import struct +from micropython import const +from machine import Timer + +#Advertise info +# org.bluetooth.characteristic.gap.appearance.xml +_ADV_APPEARANCE_GENERIC_COMPUTER = const(128) +_ADV_TYPE_FLAGS = const(0x01) +_ADV_TYPE_APPEARANCE = const(0x19) +_ADV_TYPE_NAME = const(0x09) + +_IRQ_CENTRAL_CONNECT = const(1) +_IRQ_CENTRAL_DISCONNECT = const(2) +_IRQ_GATTS_WRITE = const(3) +_IRQ_GATTS_INDICATE_DONE = const(20) + +_FLAG_READ = const(0x0002) +_FLAG_WRITE = const(0x0008) +_FLAG_NOTIFY = const(0x0010) + +_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") +_UART_TX = ( + bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"), + _FLAG_NOTIFY, +) +_UART_RX = ( + bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E"), + _FLAG_WRITE, +) + +# Define a new UUID for the binary data characteristic. +_UART_DATA_RX = ( + bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36ff"), + _FLAG_WRITE, +) +# Define a new UUID for the binary data characteristic. +_UART_DATA_TX = ( + bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36fe"), + _FLAG_NOTIFY, +) + +_UART_SERVICE = ( + _UART_UUID, + (_UART_TX, _UART_RX, _UART_DATA_RX, _UART_DATA_TX,), +) + +_timer = Timer(-1) + +def delayedRestart(_arg): + import machine + machine.reset() + +class BLEUART: + def __init__(self, ble, name="mpy-uart", rxbuf=100): + self._ble = ble + self._ble.active(True) + self._ble.irq(self._irq) + ((self._tx_handle, self._rx_handle, self._data_rx_handle, self._data_tx_handle),) = self._ble.gatts_register_services((_UART_SERVICE,)) + # Increase the size of the rx buffer and enable append mode. + self._ble.gatts_set_buffer(self._rx_handle, rxbuf, True) + self._connections = set() + self._rx_buffer = bytearray() + self._handler = None + self._payload = self._advertising_payload(name, _ADV_APPEARANCE_GENERIC_COMPUTER) + self._data_callback = None + self._advertise() + + def irq(self, handler): + self._handler = handler + + def _irq(self, event, data): + # Track connections so we can send notifications. + if event == _IRQ_CENTRAL_CONNECT: + conn_handle, _, _ = data + self._connections.add(conn_handle) + elif event == _IRQ_CENTRAL_DISCONNECT: + conn_handle, _, _ = data + if conn_handle in self._connections: + self._connections.remove(conn_handle) + # Start advertising again to allow a new connection. + self._advertise() + elif event == _IRQ_GATTS_WRITE: + conn_handle, value_handle = data + if conn_handle in self._connections and value_handle == self._rx_handle: + self._rx_buffer += self._ble.gatts_read(self._rx_handle) + if(self._rx_buffer.find(b'##XRPSTOP#' + b'#') != -1): #WARNING: This is broken up so it won't restart during an update or this file. + self._rx_buffer = bytearray() + # set the bit in isrunning to tell main not to re-run the program so the IDE can connect + FILE_PATH = '/lib/ble/isrunning' + with open(FILE_PATH, 'r+b') as file: + file.write(b'\x01') + # slight delay to avoid errors on the browser side. + _timer.init(mode=Timer.PERIODIC, period=50, callback=delayedRestart) + elif conn_handle in self._connections and value_handle == self._data_rx_handle: + new_data = self._ble.gatts_read(self._data_rx_handle) + if self._data_callback: + self._data_callback(new_data) + #schedule(self._data_callback, new_data) + elif event == _IRQ_GATTS_INDICATE_DONE: + if self._handler: + self._handler() + #else: + #print("IRQ Event Code: " + str(event)) + + def any(self): + return len(self._rx_buffer) + + def read(self, sz=None): + if not sz: + sz = len(self._rx_buffer) + result = self._rx_buffer[0:sz] + self._rx_buffer = self._rx_buffer[sz:] + return result + + def write(self, data): + #print("write:" + data) + for conn_handle in self._connections: + self._ble.gatts_indicate(conn_handle, self._tx_handle, data) + + def write_data(self, data): + #print("write_data:" + data) + for conn_handle in self._connections: + self._ble.gatts_notify(conn_handle, self._data_tx_handle, data) + + def set_data_callback(self, callback): + self._data_callback = callback + + def clear_data_callback(self): + self._data_callback = None + + def close(self): + for conn_handle in self._connections: + self._ble.gap_disconnect(conn_handle) + self._connections.clear() + + def _advertise(self, interval_us=500000): + self._ble.gap_advertise(interval_us, adv_data=self._payload) + + # Generate a payload to be passed to gap_advertise(adv_data=...). + def _advertising_payload(self, name, appearance): + payload = bytearray() + + def _append(adv_type, value): + nonlocal payload + payload += struct.pack("BB", len(value) + 1, adv_type) + value + + _append( + _ADV_TYPE_FLAGS, + struct.pack("B", 0x02 + 0x04), + ) + _append(_ADV_TYPE_NAME, name) + _append(_ADV_TYPE_APPEARANCE, struct.pack("= len(self._tx_buf): + self._tx_buf = bytearray() + self._tx_buf_index = 0 + self._uart.write(data) + + def write(self, buf): + state = disable_irq() + empty = not self._tx_buf + self._tx_buf += buf + enable_irq(state) + + if empty: + waitingForTimer = True + schedule_in(self._timer_handler, 50) + +def background_task(): + global uart + ble = bluetooth.BLE() + x = (''.join(['{:02x}'.format(b) for b in unique_id()])) + uart = BLEUART(ble, name="XRP-" + x[11:], rxbuf = 250) + stream = BLEUARTStream(uart) + os.dupterm(stream,0) + +# Start the background task +background_task() + \ No newline at end of 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z;$NupFHGUT8}v(b5bVLm{Wo;R(_p*Tz&Y8!PYxnG39{MXpQT7(T`3V;fqE!@eA_?f zRpQ_jIh7KhN|BRYC*&ackatie{mJVSIg=tMWlP2Z3*)#ScBb6+r^t0Fa$SlX9xb}> zj|uDlnJWL8Dg23k$veHsLHuLSYpDJd`PlY^vy(jm%*t(gV6EpMiXK0d zt@I0uETAXM^f)6^d9-ikRm75K3CZDw=K$bs5#YOwDi#qx>mjv6_1ipI<9^PQ4gSv- zz_S8a-Ks_W3vd}oRr!3(DSo*1gKYl{&je40(@xa+tnyD*Fe+iCNFYqs2ogQn8xjBg zdraUzTjf9d4*tm=nCKyeHA?ohM4s$ji9gw+62DBo5N@v!@WR)4 pump 1 + # Threshold in pF; water when below threshold (dry soil) + controller.register_plant_system( + sensor_index=1, + pump_index=1, + interval_minutes=5.0, + threshold=300.0, # Water when soil moisture below 300 pF (adjust for your sensor) + duration_seconds=3.0, + enabled=True + ) + + # Plant system 2: capacitive sensor 2 -> pump 2 + controller.register_plant_system( + sensor_index=2, + pump_index=2, + interval_minutes=5.0, + threshold=300.0, # Water when soil moisture below 300 pF (adjust for your sensor) + duration_seconds=3.0, + enabled=True + ) + + # Start the automatic control loop + controller.start_control_loop() + print("Controller started with automatic watering enabled") + + # Create webserver + webserver = AgXRPWebServer() + + # Register controller with webserver (if we have one) + if controller: + webserver.register_controller(controller) + + # Register sensors that will be displayed on the web page + # webserver.register_temperature() + # webserver.register_humidity() + # webserver.register_co2() + # webserver.register_light_intensity() + webserver.register_soil_moisture_sensor_1() + webserver.register_soil_moisture_sensor_2() + + # Start access point + if not webserver.start_access_point(ssid="AgXRP_SensorKit_2", password="sensor123", use_random_data=USE_RANDOM_DATA): + print("ERROR: Failed to start access point") + return + + print(f"Access point started. Connect to 'AgXRP_SensorKit_2' and visit http://{webserver.get_ip_address()}") + + # Start web server + # Note: server.run() is blocking, so for real sensors you would need + # to use uasyncio to run sensor updates concurrently + print("Starting web server...") + print("Press Ctrl+C to stop") + + try: + if USE_RANDOM_DATA: + # For random data mode, the update endpoint will generate new data + # when the Update button is clicked + webserver.run() + else: + # For real sensors, use uasyncio to run sensor updates concurrently + async def update_sensors(): + while True: + agxrp.update() + data = {} + if agxrp.co2_sensor and agxrp.co2_sensor.is_connected(): + data["temperature"] = agxrp.co2_sensor.get_temperature() + data["humidity"] = agxrp.co2_sensor.get_humidity() + data["co2"] = agxrp.co2_sensor.get_co2() + if agxrp.light_sensor and agxrp.light_sensor.is_connected(): + data["light_intensity"] = agxrp.light_sensor.get_ambient_light() + for idx in [1, 2]: + if idx in agxrp.soil_sensors: + sensor = agxrp.soil_sensors[idx] + if sensor and sensor.is_connected(): + data[f"soil_moisture_{idx}"] = sensor.get_moisture() + webserver.update_sensor_data(data) + await uasyncio.sleep(2) + + loop = uasyncio.get_event_loop() + loop.create_task(update_sensors()) + webserver.run() + + except KeyboardInterrupt: + print("\nShutting down...") + if controller: + controller.stop_control_loop() + print("Controller stopped") + if agxrp: + print("Sensor kit stopped") + print("Web server stopped") + +if __name__ == "__main__": + main() + diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/__init__.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/__init__.py new file mode 100644 index 0000000..4131b0f --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/phew/__init__.py @@ -0,0 +1,77 @@ +__version__ = "0.0.2" + +# highly recommended to set a lowish garbage collection threshold +# to minimise memory fragmentation as we sometimes want to +# allocate relatively large blocks of ram. +import gc, os, machine +gc.threshold(50000) + +# phew! the Pico (or Python) HTTP Endpoint Wrangler +from . import logging + +# determine if remotely mounted or not, changes some behaviours like +# logging truncation +remote_mount = False +try: + os.statvfs(".") # causes exception if remotely mounted (mpremote/pyboard.py) +except: + remote_mount = True + +def get_ip_address(): + import network + try: + return network.WLAN(network.STA_IF).ifconfig()[0] + except: + return None + +def is_connected_to_wifi(): + import network, time + wlan = network.WLAN(network.STA_IF) + return wlan.isconnected() + +# helper method to quickly get connected to wifi +def connect_to_wifi(ssid, password, timeout_seconds=30): + import network, time + + statuses = { + network.STAT_IDLE: "idle", + network.STAT_CONNECTING: "connecting", + network.STAT_WRONG_PASSWORD: "wrong password", + network.STAT_NO_AP_FOUND: "access point not found", + network.STAT_CONNECT_FAIL: "connection failed", + network.STAT_GOT_IP: "got ip address" + } + + wlan = network.WLAN(network.STA_IF) + wlan.active(True) + wlan.connect(ssid, password) + start = time.ticks_ms() + status = wlan.status() + + logging.debug(f" - {statuses[status]}") + while not wlan.isconnected() and (time.ticks_ms() - start) < (timeout_seconds * 1000): + new_status = wlan.status() + if status != new_status: + logging.debug(f" - {statuses[status]}") + status = new_status + time.sleep(0.25) + + if wlan.status() == network.STAT_GOT_IP: + return wlan.ifconfig()[0] + return None + + +# helper method to put the pico into access point mode +def access_point(ssid, password = None): + import network + + # start up network in access point mode + wlan = network.WLAN(network.AP_IF) + wlan.config(essid=ssid) + if password: + wlan.config(password=password) + else: + wlan.config(security=0) # disable password + wlan.active(True) + + return wlan diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/dns.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/dns.py new file mode 100644 index 0000000..2a1a4b3 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/phew/dns.py @@ -0,0 +1,32 @@ +import uasyncio, usocket +from . import logging + +async def _handler(socket, ip_address): + while True: + try: + yield uasyncio.core._io_queue.queue_read(socket) + request, client = socket.recvfrom(256) + response = request[:2] # request id + response += b"\x81\x80" # response flags + response += request[4:6] + request[4:6] # qd/an count + response += b"\x00\x00\x00\x00" # ns/ar count + response += request[12:] # origional request body + response += b"\xC0\x0C" # pointer to domain name at byte 12 + response += b"\x00\x01\x00\x01" # type and class (A record / IN class) + response += b"\x00\x00\x00\x3C" # time to live 60 seconds + response += b"\x00\x04" # response length (4 bytes = 1 ipv4 address) + response += bytes(map(int, ip_address.split("."))) # ip address parts + socket.sendto(response, client) + except Exception as e: + logging.error(e) + +def run_catchall(ip_address, port=53): + logging.info("> starting catch all dns server on port {}".format(port)) + + _socket = usocket.socket(usocket.AF_INET, usocket.SOCK_DGRAM) + _socket.setblocking(False) + _socket.setsockopt(usocket.SOL_SOCKET, usocket.SO_REUSEADDR, 1) + _socket.bind(usocket.getaddrinfo(ip_address, port, 0, usocket.SOCK_DGRAM)[0][-1]) + + loop = uasyncio.get_event_loop() + loop.create_task(_handler(_socket, ip_address)) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/logging.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/logging.py new file mode 100644 index 0000000..dd70394 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/phew/logging.py @@ -0,0 +1,111 @@ +import machine, os, gc + +log_file = "log.txt" + +LOG_INFO = 0b00001 +LOG_WARNING = 0b00010 +LOG_ERROR = 0b00100 +LOG_DEBUG = 0b01000 +LOG_EXCEPTION = 0b10000 +LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION + +_logging_types = LOG_ALL + +# the log file will be truncated if it exceeds _log_truncate_at bytes in +# size. the defaults values are designed to limit the log to at most +# three blocks on the Pico +_log_truncate_at = 11 * 1024 +_log_truncate_to = 8 * 1024 + +def datetime_string(): + dt = machine.RTC().datetime() + return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) + +def file_size(file): + try: + return os.stat(file)[6] + except OSError: + return None + +def set_truncate_thresholds(truncate_at, truncate_to): + global _log_truncate_at + global _log_truncate_to + _log_truncate_at = truncate_at + _log_truncate_to = truncate_to + +def enable_logging_types(types): + global _logging_types + _logging_types = _logging_types | types + +def disable_logging_types(types): + global _logging_types + _logging_types = _logging_types & ~types + +# truncates the log file down to a target size while maintaining +# clean line breaks +def truncate(file, target_size): + # get the current size of the log file + size = file_size(file) + + # calculate how many bytes we're aiming to discard + discard = size - target_size + if discard <= 0: + return + + with open(file, "rb") as infile: + with open(file + ".tmp", "wb") as outfile: + # skip a bunch of the input file until we've discarded + # at least enough + while discard > 0: + chunk = infile.read(1024) + discard -= len(chunk) + + # try to find a line break nearby to split first chunk on + break_position = max( + chunk.find (b"\n", -discard), # search forward + chunk.rfind(b"\n", -discard) # search backwards + ) + if break_position != -1: # if we found a line break.. + outfile.write(chunk[break_position + 1:]) + + # now copy the rest of the file + while True: + chunk = infile.read(1024) + if not chunk: + break + outfile.write(chunk) + + # delete the old file and replace with the new + os.remove(file) + os.rename(file + ".tmp", file) + + +def log(level, text): + datetime = datetime_string() + log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) + print(log_entry) + with open(log_file, "a") as logfile: + logfile.write(log_entry + '\n') + + if _log_truncate_at and file_size(log_file) > _log_truncate_at: + truncate(log_file, _log_truncate_to) + +def info(*items): + if _logging_types & LOG_INFO: + log("info", " ".join(map(str, items))) + +def warn(*items): + if _logging_types & LOG_WARNING: + log("warning", " ".join(map(str, items))) + +def error(*items): + if _logging_types & LOG_ERROR: + log("error", " ".join(map(str, items))) + +def debug(*items): + if _logging_types & LOG_DEBUG: + log("debug", " ".join(map(str, items))) + +def exception(*items): + if _logging_types & LOG_EXCEPTION: + log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/server.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/server.py new file mode 100644 index 0000000..60a3113 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/phew/server.py @@ -0,0 +1,358 @@ +import uasyncio, os, time +from . import logging + +_routes = [] +catchall_handler = None +loop = uasyncio.get_event_loop() + + +def file_exists(filename): + try: + return (os.stat(filename)[0] & 0x4000) == 0 + except OSError: + return False + + +def urldecode(text): + text = text.replace("+", " ") + result = "" + token_caret = 0 + # decode any % encoded characters + while True: + start = text.find("%", token_caret) + if start == -1: + result += text[token_caret:] + break + result += text[token_caret:start] + code = int(text[start + 1:start + 3], 16) + result += chr(code) + token_caret = start + 3 + return result + +def _parse_query_string(query_string): + result = {} + for parameter in query_string.split("&"): + key, value = parameter.split("=", 1) + key = urldecode(key) + value = urldecode(value) + result[key] = value + return result + + +class Request: + def __init__(self, method, uri, protocol): + self.method = method + self.uri = uri + self.protocol = protocol + self.form = {} + self.data = {} + self.query = {} + query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) + self.path = uri[:query_string_start] + self.query_string = uri[query_string_start + 1:] + if self.query_string: + self.query = _parse_query_string(self.query_string) + + def __str__(self): + return f"""\ +request: {self.method} {self.path} {self.protocol} +headers: {self.headers} +form: {self.form} +data: {self.data}""" + + +class Response: + def __init__(self, body, status=200, headers={}): + self.status = status + self.headers = headers + self.body = body + + def add_header(self, name, value): + self.headers[name] = value + + def __str__(self): + return f"""\ +status: {self.status} +headers: {self.headers} +body: {self.body}""" + + +content_type_map = { + "html": "text/html", + "jpg": "image/jpeg", + "jpeg": "image/jpeg", + "svg": "image/svg+xml", + "json": "application/json", + "png": "image/png", + "css": "text/css", + "js": "text/javascript", + "csv": "text/csv", +} + + +class FileResponse(Response): + def __init__(self, file, status=200, headers={}): + self.status = 404 + self.headers = headers + self.file = file + + try: + if (os.stat(self.file)[0] & 0x4000) == 0: + self.status = 200 + + # auto set content type + extension = self.file.split(".")[-1].lower() + if extension in content_type_map: + headers["Content-Type"] = content_type_map[extension] + + headers["Content-Length"] = os.stat(self.file)[6] + except OSError: + return False + + +class Route: + def __init__(self, path, handler, methods=["GET"]): + self.path = path + self.methods = methods + self.handler = handler + self.path_parts = path.split("/") + + # returns True if the supplied request matches this route + def matches(self, request): + if request.method not in self.methods: + return False + compare_parts = request.path.split("/") + if len(compare_parts) != len(self.path_parts): + return False + for part, compare in zip(self.path_parts, compare_parts): + if not part.startswith("<") and part != compare: + return False + return True + + # call the route handler passing any named parameters in the path + def call_handler(self, request): + parameters = {} + for part, compare in zip(self.path_parts, request.path.split("/")): + if part.startswith("<"): + name = part[1:-1] + parameters[name] = compare + + return self.handler(request, **parameters) + + def __str__(self): + return f"""\ +path: {self.path} +methods: {self.methods} +""" + + def __repr__(self): + return f"" + + +# parses the headers for a http request (or the headers attached to +# each field in a multipart/form-data) +async def _parse_headers(reader): + headers = {} + while True: + header_line = await reader.readline() + if header_line == b"\r\n": # crlf denotes body start + break + name, value = header_line.decode().strip().split(": ", 1) + headers[name.lower()] = value + return headers + + +# returns the route matching the supplied path or None +def _match_route(request): + for route in _routes: + if route.matches(request): + return route + return None + + +# if the content type is multipart/form-data then parse the fields +async def _parse_form_data(reader, headers): + boundary = headers["content-type"].split("boundary=")[1] + # discard first boundary line + dummy = await reader.readline() + + form = {} + while True: + # get the field name + field_headers = await _parse_headers(reader) + if len(field_headers) == 0: + break + name = field_headers["content-disposition"].split("name=\"")[1][:-1] + # get the field value + value = "" + while True: + line = await reader.readline() + line = line.decode().strip() + # if we hit a boundary then save the value and move to next field + if line == "--" + boundary: + form[name] = value + break + # if we hit end of form data boundary then save value and return + if line == "--" + boundary + "--": + form[name] = value + return form + value += line + return None + + +# if the content type is application/json then parse the body +async def _parse_json_body(reader, headers): + import json + content_length_bytes = int(headers["content-length"]) + body = await reader.readexactly(content_length_bytes) + return json.loads(body.decode()) + + +status_message_map = { + 200: "OK", 201: "Created", 202: "Accepted", + 203: "Non-Authoritative Information", 204: "No Content", + 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", + 301: "Moved Permanently", 302: "Found", 303: "See Other", + 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", + 307: "Temporary Redirect", 308: "Permanent Redirect", + 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", + 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", + 408: "Request Timeout", 409: "Conflict", 410: "Gone", + 414: "URI Too Long", 415: "Unsupported Media Type", + 416: "Range Not Satisfiable", 418: "I'm a teapot", + 500: "Internal Server Error", 501: "Not Implemented" +} + + +# handle an incoming request to the web server +async def _handle_request(reader, writer): + response = None + + request_start_time = time.ticks_ms() + + request_line = await reader.readline() + try: + method, uri, protocol = request_line.decode().split() + except Exception as e: + logging.error(e) + return + + request = Request(method, uri, protocol) + request.headers = await _parse_headers(reader) + if "content-length" in request.headers and "content-type" in request.headers: + if request.headers["content-type"].startswith("multipart/form-data"): + request.form = await _parse_form_data(reader, request.headers) + if request.headers["content-type"].startswith("application/json"): + request.data = await _parse_json_body(reader, request.headers) + if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): + form_data = await reader.read(int(request.headers["content-length"])) + request.form = _parse_query_string(form_data.decode()) + + route = _match_route(request) + if route: + response = route.call_handler(request) + elif catchall_handler: + response = catchall_handler(request) + + # if shorthand body generator only notation used then convert to tuple + if type(response).__name__ == "generator": + response = (response,) + + # if shorthand body text only notation used then convert to tuple + if isinstance(response, str): + response = (response,) + + # if shorthand tuple notation used then build full response object + if isinstance(response, tuple): + body = response[0] + status = response[1] if len(response) >= 2 else 200 + content_type = response[2] if len(response) >= 3 else "text/html" + response = Response(body, status=status) + response.add_header("Content-Type", content_type) + if hasattr(body, '__len__'): + response.add_header("Content-Length", len(body)) + + # write status line + status_message = status_message_map.get(response.status, "Unknown") + writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) + + # write headers + for key, value in response.headers.items(): + writer.write(f"{key}: {value}\r\n".encode("ascii")) + + # blank line to denote end of headers + writer.write("\r\n".encode("ascii")) + + if isinstance(response, FileResponse): + # file + with open(response.file, "rb") as f: + while True: + chunk = f.read(1024) + if not chunk: + break + writer.write(chunk) + await writer.drain() + elif type(response.body).__name__ == "generator": + # generator + for chunk in response.body: + writer.write(chunk) + await writer.drain() + else: + # string/bytes + writer.write(response.body) + await writer.drain() + + writer.close() + await writer.wait_closed() + + processing_time = time.ticks_ms() - request_start_time + logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") + + +# adds a new route to the routing table +def add_route(path, handler, methods=["GET"]): + global _routes + _routes.append(Route(path, handler, methods)) + # descending complexity order so most complex routes matched first + _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) + + +def set_callback(handler): + global catchall_handler + catchall_handler = handler + + +# decorator shorthand for adding a route +def route(path, methods=["GET"]): + def _route(f): + add_route(path, f, methods=methods) + return f + return _route + + +# decorator for adding catchall route +def catchall(): + def _catchall(f): + set_callback(f) + return f + return _catchall + + +def redirect(url, status = 301): + return Response("", status, {"Location": url}) + + +def serve_file(file): + return FileResponse(file) + + +def run(host = "0.0.0.0", port = 80): + logging.info("> starting web server on port {}".format(port)) + loop.create_task(uasyncio.start_server(_handle_request, host, port)) + loop.run_forever() + +def stop(): + loop.stop() + +def close(): + loop.close() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/template.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/template.py new file mode 100644 index 0000000..d1d1df4 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/phew/template.py @@ -0,0 +1,65 @@ +from . import logging + +async def render_template(template, **kwargs): + import time + start_time = time.ticks_ms() + + with open(template, "rb") as f: + # read the whole template file, we could work on single lines but + # the performance is much worse - so long as our templates are + # just a handful of kB it's ok to do this + data = f.read() + token_caret = 0 + + while True: + # find the next tag that needs evaluating + start = data.find(b"{{", token_caret) + end = data.find(b"}}", start) + + match = start != -1 and end != -1 + + # no more magic to handle, just return what's left + if not match: + yield data[token_caret:] + break + + expression = data[start + 2:end].strip() + + # output the bit before the tag + yield data[token_caret:start] + + # merge locals with the supplied named arguments and + # the response object + params = {} + params.update(locals()) + params.update(kwargs) + #params["response"] = response + + # parse the expression + try: + if expression.decode("utf-8") in params: + result = params[expression.decode("utf-8")] + result = result.replace("&", "&") + result = result.replace('"', """) + result = result.replace("'", "'") + result = result.replace(">", ">") + result = result.replace("<", "<") + else: + result = eval(expression, globals(), params) + + if type(result).__name__ == "generator": + # if expression returned a generator then iterate it fully + # and yield each result + for chunk in result: + yield chunk + else: + # yield the result of the expression + if result is not None: + yield str(result) + except: + pass + + # discard the parsed bit + token_caret = end + 2 + + logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/project.json b/public/firmware-loader/boards/xrp-2350/agxrp/project.json new file mode 100644 index 0000000..62de1c1 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/agxrp/project.json @@ -0,0 +1,77 @@ +{ + "title": "AgXRP", + "description": "Flash MicroPython firmware, then copy the files needed for an AgXRP.", + "uf2Path": "firmware.uf2", + "version": "1.0.1", + "urls": [ + ["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], + ["/lib/XRPLib/board.py", "XRPLib/board.py"], + ["/lib/XRPLib/controller.py", "XRPLib/controller.py"], + ["/lib/XRPLib/defaults.py", "XRPLib/defaults.py"], + ["/lib/XRPLib/differential_drive.py", "XRPLib/differential_drive.py"], + ["/lib/XRPLib/encoded_motor.py", "XRPLib/encoded_motor.py"], + ["/lib/XRPLib/encoder.py", "XRPLib/encoder.py"], + ["/lib/XRPLib/gamepad.py", "XRPLib/gamepad.py"], + ["/lib/XRPLib/imu.py", "XRPLib/imu.py"], + ["/lib/XRPLib/imu_defs.py", "XRPLib/imu_defs.py"], + ["/lib/XRPLib/motor.py", "XRPLib/motor.py"], + ["/lib/XRPLib/motor_group.py", "XRPLib/motor_group.py"], + ["/lib/XRPLib/pid.py", "XRPLib/pid.py"], + ["/lib/XRPLib/rangefinder.py", "XRPLib/rangefinder.py"], + ["/lib/XRPLib/reflectance.py", "XRPLib/reflectance.py"], + ["/lib/XRPLib/resetbot.py", "XRPLib/resetbot.py"], + ["/lib/XRPLib/servo.py", "XRPLib/servo.py"], + ["/lib/XRPLib/timeout.py", "XRPLib/timeout.py"], + ["/lib/XRPLib/webserver.py", "XRPLib/webserver.py"], + + ["/lib/AgXRPLib/agxrp_controller.py", "AgXRPLib/agxrp_controller.py"], + ["/lib/AgXRPLib/agxrp_csv_logger.py", "AgXRPLib/agxrp_csv_logger.py"], + ["/lib/AgXRPLib/agxrp_sensor_as7343.py", "AgXRPLib/agxrp_sensor_as7343.py"], + ["/lib/AgXRPLib/agxrp_sensor_kit copy.py", "AgXRPLib/agxrp_sensor_kit copy.py"], + ["/lib/AgXRPLib/agxrp_sensor_kit_demo.py", "AgXRPLib/agxrp_sensor_kit_demo.py"], + ["/lib/AgXRPLib/agxrp_sensor_kit.py", "AgXRPLib/agxrp_sensor_kit.py"], + ["/lib/AgXRPLib/agxrp_sensor_resistive_soil.py", "AgXRPLib/agxrp_sensor_resistive_soil.py"], + ["/lib/AgXRPLib/agxrp_sensor_scd4x.py", "AgXRPLib/agxrp_sensor_scd4x.py"], + ["/lib/AgXRPLib/agxrp_sensor_soil.py", "AgXRPLib/agxrp_sensor_soil.py"], + ["/lib/AgXRPLib/agxrp_sensor_veml.py", "AgXRPLib/agxrp_sensor_veml.py"], + ["/lib/AgXRPLib/agxrp_sensor.py", "AgXRPLib/agxrp_sensor.py"], + ["/lib/AgXRPLib/agxrp_water_pump.py", "AgXRPLib/agxrp_water_pump.py"], + ["/lib/AgXRPLib/agxrp_webserver.py", "AgXRPLib/agxrp_webserver.py"], + ["/lib/AgXRPLib/qwiic_as7343.py", "AgXRPLib/qwiic_as7343.py"], + ["/lib/AgXRPLib/qwiic_cy8cmbr3.py", "AgXRPLib/qwiic_cy8cmbr3.py"], + ["/lib/AgXRPLib/qwiic_scd4x.py", "AgXRPLib/qwiic_scd4x.py"], + ["/lib/AgXRPLib/qwiic_soil_moisture_sensor.py", "AgXRPLib/qwiic_soil_moisture_sensor.py"], + ["/lib/AgXRPLib/qwiic_veml.py", "AgXRPLib/qwiic_veml.py"], + + ["/lib/AgXRPLib/qwiic_i2c/__init__.py", "AgXRPLib/qwiic_i2c/__init__.py"], + ["/lib/AgXRPLib/qwiic_i2c/circuitpython_i2c.py", "AgXRPLib/qwiic_i2c/circuitpython_i2c.py"], + ["/lib/AgXRPLib/qwiic_i2c/i2c_driver.py", "AgXRPLib/qwiic_i2c/i2c_driver.py"], + ["/lib/AgXRPLib/qwiic_i2c/linux_i2c.py", "AgXRPLib/qwiic_i2c/linux_i2c.py"], + ["/lib/AgXRPLib/qwiic_i2c/micropython_i2c.py", "AgXRPLib/qwiic_i2c/micropython_i2c.py"], + + ["/lib/AgXRPLib/qwiic_oled/__init__.py", "AgXRPLib/qwiic_oled/__init__.py"], + ["/lib/AgXRPLib/qwiic_oled/oled_fonts.py", "AgXRPLib/qwiic_oled/oled_fonts.py"], + ["/lib/AgXRPLib/qwiic_oled/oled_logos.py", "AgXRPLib/qwiic_oled/oled_logos.py"], + ["/lib/AgXRPLib/qwiic_oled/qwiic_large_oled.py", "AgXRPLib/qwiic_oled/qwiic_large_oled.py"], + ["/lib/AgXRPLib/qwiic_oled/qwiic_micro_oled.py", "AgXRPLib/qwiic_oled/qwiic_micro_oled.py"], + ["/lib/AgXRPLib/qwiic_oled/qwiic_oled_base.py", "AgXRPLib/qwiic_oled/qwiic_oled_base.py"], + ["/lib/AgXRPLib/qwiic_oled/qwiic_oled_display.py", "AgXRPLib/qwiic_oled/qwiic_oled_display.py"], + ["/lib/AgXRPLib/qwiic_oled/fonts/0_font5x7.bin", "AgXRPLib/qwiic_oled/fonts/0_font5x7.bin"], + ["/lib/AgXRPLib/qwiic_oled/fonts/1_font8x16.bin", "AgXRPLib/qwiic_oled/fonts/1_font8x16.bin"], + ["/lib/AgXRPLib/qwiic_oled/fonts/2_7segment.bin", "AgXRPLib/qwiic_oled/fonts/2_7segment.bin"], + ["/lib/AgXRPLib/qwiic_oled/fonts/3_fontlargenumber.bin", "AgXRPLib/qwiic_oled/fonts/3_fontlargenumber.bin"], + ["/lib/AgXRPLib/qwiic_oled/fonts/4_fontlargeletter31x48.bin", "AgXRPLib/qwiic_oled/fonts/4_fontlargeletter31x48.bin"], + + ["/lib/ble/__init__.py", "ble/__init__.py"], + ["/lib/ble/ble_uart_peripheral.py", "ble/ble_uart_peripheral.py"], + ["/lib/ble/blerepl.py", "ble/blerepl.py"], + ["/lib/ble/isrunning", "ble/isrunning"], + ["/lib/phew/__init__.py", "phew/__init__.py"], + ["/lib/phew/dns.py", "phew/dns.py"], + ["/lib/phew/logging.py", "phew/logging.py"], + ["/lib/phew/server.py", "phew/server.py"], + ["/lib/phew/template.py", "phew/template.py"], + + ["/main.py", "main.py"] + ] +} diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/__init__.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/dashboard sample.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/dashboard sample.py new file mode 100644 index 0000000..87ab311 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/dashboard sample.py @@ -0,0 +1,65 @@ +from XRPLib.defaults import * +from ble.blerepl import uart +from time import sleep +from micropython import const +import time +import struct + +YAW = const(0) +ROLL = const(1) +PTICH = const(2) +ACCX = const(3) +ACCY = const(4) +ACCZ = const(5) +ENCL = const(6) +ENCR = const(7) +ENC3 = const(8) +ENC4 = const(9) +CURRL = const(10) +CURRR = const(11) +CURR3 = const(12) +CURR4 = const(13) +DIST = const(14) +REFLECTANCEL = const(15) +REFLECTANCER = const(16) +VOLTAGE = const(17) + +def startDashboard(): + data = bytearray([0x46, 0]) + uart.write_data(data) + +def sendIntValue(index, value): + data = bytearray([0x45, 3, 0, 0, 0]) + data[3] = index + data[4] = value + uart.write_data(data) + +def sendFloatValue(index, value): + data = bytearray([0x45, 6, 1, 0, 0, 0, 0 ,0]) + data[3] = index + data[4:] = struct.pack(' timeout: + break + +print("done") + +print("done") + + diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/drive_examples.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/drive_examples.py new file mode 100644 index 0000000..c9719fa --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/drive_examples.py @@ -0,0 +1,72 @@ +from XRPLib.defaults import * +import time + +""" + By the end of this file students will learn how to control the drivetrain, + both by setting effort values directly to the motors and by using go_straight and go_turn +""" + +# drive straight for a set time period (defualt 1 second) +def drive_straight(drive_time: float = 1): + drivetrain.set_effort(0.8, 0.8) + time.sleep(drive_time) + drivetrain.stop() + +# drive at a slight counter clockwise arc for a set time period (default 1 second) +def arc_turn(turn_time: float = 1): + drivetrain.set_effort(0.5, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# turn CCW at a point for a set time period (default 1 second) +def point_turn(turn_time: float = 1): + drivetrain.set_effort(-0.8, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# pivot turn around the left wheel for a set time period (default 1 second) +def swing_turn(turn_time: float = 1): + drivetrain.set_effort(0, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# Driving in a circle by setting a difference in motor efforts +def circle(): + while True: + drivetrain.set_effort(0.8, 1) + +# Follow the perimeter of a square with variable sidelength +def square(sidelength): + for sides in range(4): + drivetrain.straight(sidelength, 0.8) + drivetrain.turn(90) + # Alternatively: + # polygon(sidelength, 4) + +# Follow the perimeter of an arbitrary polygon with variable side length and number of sides +# Side length in centimeters +def polygon(side_length, number_of_sides): + for s in range(number_of_sides): + drivetrain.straight(side_length) + drivetrain.turn(360/number_of_sides) + +# A slightly longer example program showing how a robot may follow a simple path +def test_drive(): + print("Driving forward 25cm") + drivetrain.straight(25, 0.8) + + time.sleep(1) + + print("turn 90 degrees right") + drivetrain.turn(90,0.8) + + time.sleep(1) + + print("turn 90 degrees left by setting speed negative") + drivetrain.turn(90, -0.8) + + time.sleep(1) + + print("drive backwards 25 cm by setting distance negative") + # There is no difference between setting speed or distance negative, both work + drivetrain.straight(-25,0.8) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/gamepad_example.blocks b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/gamepad_example.blocks new file mode 100644 index 0000000..d5e3795 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/gamepad_example.blocks @@ -0,0 +1,15 @@ +from XRPLib.gamepad import * +from XRPLib.differential_drive import DifferentialDrive + +gp = Gamepad.get_default_gamepad() + +differentialDrive = DifferentialDrive.get_default_differential_drive() + + +while not (gp.is_button_pressed(gp.BACK)): + differentialDrive.arcade((gp.get_value(gp.Y1)), (gp.get_value(gp.X1))) + + + +## [2025-07-13 01:36:24] +##XRPBLOCKS {"blocks":{"languageVersion":0,"blocks":[{"type":"controls_whileUntil","id":"#/DDnbE2JxVsLQo`C`e^","x":-363,"y":16,"fields":{"MODE":"UNTIL"},"inputs":{"BOOL":{"block":{"type":"xrp_gp_button_pressed","id":"DtLypJc;SU2xT4A~S3nV","fields":{"GPBUTTON":"BACK"}}},"DO":{"block":{"type":"xrp_arcade","id":"(|]Iln#JYa9hzgEz+(4g","inputs":{"STRAIGHT":{"shadow":{"type":"math_number","id":"FOj1uvC$:~x/+cX}d(:|","fields":{"NUM":0.8}},"block":{"type":"xrp_gp_get_value","id":"s#GS_Dt)B8Cb9+4ctpwk","fields":{"GPVALUE":"Y1"}}},"TURN":{"shadow":{"type":"math_number","id":"n1jAKrjST!+3#bfChh$d","fields":{"NUM":0.2}},"block":{"type":"xrp_gp_get_value","id":"*]`U9XHyYnA?Gp%U;$NF","fields":{"GPVALUE":"X1"}}}}}}}}]}} \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/installation_verification.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/installation_verification.py new file mode 100644 index 0000000..8f33c4e --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/installation_verification.py @@ -0,0 +1,84 @@ +from XRPLib.defaults import * +import time + +# Installation Verification Program +def ivp(): + # Print welcome message + print("------------------------------------------") + print("Running Installation Verification Program!") + print("------------------------------------------") + print() + print("Welcome to the XRP! This example code will help") + print("you verify that everything is working on your robot.") + print("After each test, press the user button to continue.") + print() + + # Flash LED at 5Hz + print("Flashing LED") + board.led_blink(5) + + # Wait for user to press button + print("Press user button to test reflectance sensor") + board.wait_for_button() + + # Stop blinking LED + board.led_off() + + # Print reflectance values until button is pressed + while not board.is_button_pressed(): + print(f"Reflectance Left: {reflectance.get_left():.3f} Right: {reflectance.get_right():.3f} Press user button to test range sensor") + time.sleep(0.1) + + # Wait until button is released + while board.is_button_pressed(): + time.sleep(0.1) + + # Print range values until button is pressed + while not board.is_button_pressed(): + print(f"Range Distance: {rangefinder.distance():.1f} Press user button to test servo") + time.sleep(0.1) + + # Wait until button is released + while board.is_button_pressed(): + time.sleep(0.1) + + # Print warning and wait for button press + print() + print("The next test will move the servo, so keep your hands clear!") + print("Also please make sure the power switch is turned on!") + print("Press user button to test servo") + board.wait_for_button() + + # Test servo + print("Testing servo") + time.sleep(1) + servo_one.set_angle(90) + time.sleep(1) + servo_one.set_angle(0) + time.sleep(1) + servo_one.set_angle(180) + + # Print warning and wait for button press + print() + print("The next test will drive the motors, so place the robot on a flat surface!") + print("Also please make sure the power switch is turned on!") + print("Press user button to test drivetrain") + board.wait_for_button() + + # Test drivetrain + print("Testing drivetrain") + time.sleep(1) + drivetrain.straight(25, 0.8) + time.sleep(1) + drivetrain.turn(90,0.8) + time.sleep(1) + drivetrain.turn(90, -0.8) + time.sleep(1) + drivetrain.straight(-25,0.8) + + print() + print("-----------------------------------") + print("All tests complete! Happy roboting!") + print("-----------------------------------") + +ivp() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/led_example.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/led_example.py new file mode 100644 index 0000000..bb1286e --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/led_example.py @@ -0,0 +1,79 @@ +from XRPLib.board import Board +from machine import Timer, Pin +import time + +# Get a reference to the board +board = Board.get_default_board() + +# Create a timer for the RGB LED, assuming it's present on this board +rgb_led_timer = Timer(-1) + +# Conversion from hue to RGB +def hue_to_rgb(hue): + # Initialize RGB values + r = 0 + g = 0 + b = 0 + + # Ensure hue is in range of [0,360) + hue %= 360 + + if(hue < 120): + # Red to green region + r = (120 - hue) / 120 * 255 + g = (hue - 0) / 120 * 255 + b = 0 + elif(hue < 240): + # Green to blue region + hue -= 120 + r = 0 + g = (120 - hue) / 120 * 255 + b = (hue - 0) / 120 * 255 + else: + # Blue to red region + hue -= 240 + r = (hue - 0) / 120 * 255 + g = 0 + b = (120 - hue) / 120 * 255 + + # Return RGB as tuple of integers in range of [0,255] + return (int(r), int(g), int(b)) + +def update_rgb_led_rainbow(timer): + # Set hue based on current time. Hue is an angle up to 360 degrees, + # so using the milliseconds divided by 10 creates a rainbow that + # repeats every 3.6 seconds + hue = time.ticks_ms() / 10 + + # Compute RGB values + rgb = hue_to_rgb(hue) + + # Max brightness is blinding, so recompute RGB values with 10% brightness + brightness = 0.1 + r = int(rgb[0] * brightness) + g = int(rgb[1] * brightness) + b = int(rgb[2] * brightness) + + # Set the RGB LED color + board.set_rgb_led(r, g, b) + +def start_led_demo(): + # Make the monochrome LED start blinking + board.led_blink(1) + + # If this board has an RGB LED, make it start changing colors + if hasattr(Pin.board, "BOARD_NEOPIXEL"): + # Set up timer to update the RGB LED at 100Hz for smooth color changes + rgb_led_timer.init(freq = 100, callback = update_rgb_led_rainbow) + +def stop_led_demo(): + # Make the monochrome LED stop blinking and turn off the LED + board.led_blink(0) + board.led_off() + + # If this board has an RGB LED, stop the timer and turn off the LED + if hasattr(Pin.board, "BOARD_NEOPIXEL"): + rgb_led_timer.deinit() + board.set_rgb_led(0, 0, 0) + +start_led_demo() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/sensor_examples.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/sensor_examples.py new file mode 100644 index 0000000..69b280a --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/sensor_examples.py @@ -0,0 +1,75 @@ +from XRPLib.defaults import * +import time + +""" + By the end of this file students will learn how to read and use data from + both the ultrasonic sensors and the line followers. + They will also have a chance to learn the basics of proportional control. +""" + +# Polling data from the ultrasonic sensor +def ultrasonic_test(): + while True: + print(rangefinder.distance()) + time.sleep(0.1) + +# Approaches a wall at a set speed and then stops +def drive_till_close(target_distance: float = 10.0): + speed = 0.6 + while rangefinder.distance() > target_distance: + drivetrain.set_effort(speed, speed) + time.sleep(0.01) + drivetrain.set_effort(0, 0) + +# Maintains a certain distance from the wall using proportional control +def standoff(target_distance: float = 10.0): + KP = 0.2 + while True: + distance = rangefinder.distance() + error = distance - target_distance + drivetrain.set_effort(error * KP, error*KP) + time.sleep(0.01) + +# Maintains a certain distance from the wall while driving +# using proportional control (sensor on right side of robot this time) +def wall_follow(target_distance: float = 10.0): + KP = 0.1 + base_speed = 0.5 + while True: + distance = rangefinder.distance() + error = distance - target_distance + print(error) + drivetrain.set_effort(base_speed + error * KP, base_speed - error*KP) + time.sleep(0.01) + +# Follows a line using the line followers +def line_track(): + base_effort = 0.6 + KP = 0.6 + while True: + # You always want to take the difference of the sensors because the raw value isn't always consistent. + error = reflectance.get_left() - reflectance.get_right() + print(error) + drivetrain.set_effort(base_effort - error * KP, base_effort + error * KP) + time.sleep(0.01) + +# Polling data from the IMU +def imu_test(): + while True: + print(f"Pitch: {imu.get_pitch()}, Heading: {imu.get_heading()}, Roll: {imu.get_yaw()}, Accelerometer output: {imu.get_acc_rates()}") + time.sleep(0.1) + +def climb_ramp(ramp_angle, angle_tolerance=3.5): + speed = 0.6 + # Find ramp by driving forward + while imu.get_pitch() < ramp_angle-angle_tolerance: + drivetrain.set_effort(speed, speed) + time.sleep(0.05) + # Drive up ramp until angle levels out again + while imu.get_pitch() >= ramp_angle-angle_tolerance: + drivetrain.set_effort(speed, speed) + time.sleep(0.05) + # Then stop + drivetrain.set_effort(0, 0) + +ultrasonic_test() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/webserver_example.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/webserver_example.py new file mode 100644 index 0000000..695697d --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/webserver_example.py @@ -0,0 +1,48 @@ +from XRPLib.defaults import * +import time +from machine import Timer + +# Binding functions to the arrow buttons +webserver.registerForwardButton(lambda: drivetrain.set_effort(0.5, 0.5)) +webserver.registerLeftButton(lambda: drivetrain.set_effort(-0.5, 0.5)) +webserver.registerRightButton(lambda: drivetrain.set_effort(0.5, -0.5)) +webserver.registerBackwardButton(lambda: drivetrain.set_effort(-0.5, -0.5)) +webserver.registerStopButton(lambda: drivetrain.set_effort(0, 0)) + +# Binding functions to custom buttons +webserver.add_button("Close Server", lambda: webserver.stop_server()) +webserver.add_button("Blink", lambda: board.led_blink(2)) +webserver.add_button("LED Off", lambda: board.led_off()) +webserver.add_button("Servo Up", lambda: servo_one.set_angle(90)) +webserver.add_button("Servo Down", lambda: servo_one.set_angle(0)) + +# Logging static data to the webserver +# webserver.log_data("test", "test") +# webserver.log_data("List", [1,2,3]) +# webserver.log_data("Dict", {"a":1,"b":2,"c":3}) +# webserver.log_data("Tuple", (1,2,3)) + +def log_time_and_range(): + # This function is called every second to update the data on the webserver + webserver.log_data("Time", time.time()) + webserver.log_data("Range", rangefinder.distance()) + webserver.log_data("Left Motor", left_motor.get_position()) + webserver.log_data("Right Motor", right_motor.get_position()) + webserver.log_data("Button State", board.is_button_pressed()) + +timer = Timer(-1) +timer.init(freq=4, mode=Timer.PERIODIC, callback=lambda t: log_time_and_range()) + +def connect_and_start_webserver(): + # Connect to the network and start the webserver in bridge mode + # Network ssid and password are stored in root/secrets.json + webserver.connect_to_network() + webserver.start_server() + +def start_network_and_webserver(): + # Start the webserver in access point mode + # Network ssid and password are stored in root/secrets.json + webserver.start_network() + webserver.start_server() + +start_network_and_webserver() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/xrp_test.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/xrp_test.py new file mode 100644 index 0000000..4455401 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/xrp_test.py @@ -0,0 +1,76 @@ +from XRPLib.defaults import * +from machine import Pin +import time + +imu.reset_pitch() +imu.reset_yaw() +imu.reset_roll() + +def log_imu_heading(): + # Set to true to log the IMU heading forever + while True: + print(imu.get_yaw()) + time.sleep(0.1) + +def log_encoder_position(): + while True: + print(left_motor.get_position(), right_motor.get_position()) + time.sleep(0.1) + +def benchmark_encoder_isr(): + print("start benchmark") + N = 100000 + a = time.time() + for i in range(N): + drivetrain.left_motor._encoder.isr() + b = time.time() + + # Print benchmark + print(f"Time for {N} calls: {b-a}s") + print(f"Time per call: {(b-a)/N}s") # ~0.06 ms per call + +def test_turns(): + drivetrain.turn(45, 0.5) + time.sleep(1) + drivetrain.turn(-45, 0.75) + time.sleep(1) + + drivetrain.turn(90, 0.5) + time.sleep(1) + drivetrain.turn(-90, 0.75) + time.sleep(1) + + + # Turns 360 slow and fast, then turns 180 slow and fast + drivetrain.turn(360, 0.5) + time.sleep(1) + drivetrain.turn(-360, 0.75) + time.sleep(1) + +def test_straight(): + drivetrain.straight(30, 0.2) + +def test_set_effort(): + drivetrain.set_effort(0.3, 0.3) + time.sleep(2) + drivetrain.stop() + +def test_led(): + board.led_blink(5) + time.sleep(3) + board.led_off() + +def test_button(): + board.set_button_callback(trigger=Pin.IRQ_RISING, callback=lambda p: board.led.toggle()) + +def test_rangefinder(): + while not board.is_button_pressed(): + print(f"{rangefinder.distance()}, {rangefinder.distance()}") + time.sleep(0.5) + +def encoder_test(): + while not board.is_button_pressed(): + print(f"Left: {left_motor.get_position()}\tRight:{right_motor.get_position()}") + time.sleep(0.1) + +test_rangefinder() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/__init__.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/__init__.py new file mode 100644 index 0000000..6759c04 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/__init__.py @@ -0,0 +1,10 @@ +""" + THIS LIBRARY WAS MADE FOR THE SPARKFUN XRP CONTROL BOARD. + PLEASE USE THE ASSOCIATED MICROPYTHON UF2 FILE. +""" + +import sys +if not "XRP" in sys.implementation._machine: + raise NotImplementedError("This library does not support your version of MicroPython. " + + "Please update your UF2 File for the Beta XRP Controller here: " + + "https://github.com/Open-STEM/XRP_MicroPython/releases/tag/v2.0.0") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/board.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/board.py new file mode 100644 index 0000000..8039f77 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/board.py @@ -0,0 +1,127 @@ +from machine import Pin, ADC, Timer +from neopixel import NeoPixel +import time +import sys + +class Board: + + _DEFAULT_BOARD_INSTANCE = None + + @classmethod + def get_default_board(cls): + """ + Get the default board instance. This is a singleton, so only one instance of the board will ever exist. + """ + if cls._DEFAULT_BOARD_INSTANCE is None: + cls._DEFAULT_BOARD_INSTANCE = cls() + return cls._DEFAULT_BOARD_INSTANCE + + def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON", + rgb_led_pin = "BOARD_NEOPIXEL", led_pin = "LED"): + """ + Implements for extra features on the XRP board. Handles the on/off switch, button, and LED. + + :param vin_pin: The pin the on/off switch is connected to + :type vin_pin: int + :param button_pin: The pin the button is connected to + :type button_pin: int + """ + + self.on_switch = ADC(Pin(vin_pin)) + + self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP) + + self.led = Pin(led_pin, Pin.OUT) + + if hasattr(Pin.board, rgb_led_pin): + self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1) + # A timer ID of -1 is a virtual timer. + # Leaves the hardware timers for more important uses + self._virt_timer = Timer(-1) + self.is_led_blinking = False + + + def are_motors_powered(self) -> bool: + """ + :return: Returns true if the batteries are connected and powering the motors, false otherwise + :rytpe: bool + """ + return self.on_switch.read_u16() > 20000 + + def is_button_pressed(self) -> bool: + """ + Returns the state of the button + + :return: True if the button is pressed, False otherwise + :rtype: bool + """ + return not self.button.value() + + def wait_for_button(self): + """ + Halts the program until the button is pressed + """ + + # Wait until user command before running + while not self.is_button_pressed(): + time.sleep(.01) + + # Wait until user to release button before running + while self.is_button_pressed(): + time.sleep(.01) + + + def led_on(self): + """ + Turns the LED on + Stops the blinking timer if it is running + """ + self.is_led_blinking = False + self.led.on() + self._virt_timer.deinit() + + def led_off(self): + """ + Turns the LED off + Stops the blinking timer if it is running + """ + self.is_led_blinking = False + self.led.off() + self._virt_timer.deinit() + + def led_blink(self, frequency: int=0): + """ + Blinks the LED at a given frequency. If the frequency is 0, the LED will stop blinking. + + :param frequency: The frequency to blink the LED at (in Hz) + :type frequency: int + """ + if self.is_led_blinking: + # disable the old timer so we can reinitialize it + self._virt_timer.deinit() + # We set it to twice in input frequency so that + # the led flashes on and off frequency times per second + if frequency != 0: + self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC, + callback=lambda t:self.led.toggle()) + self.is_led_blinking = True + else: + self._virt_timer.deinit() + self.is_led_blinking = False + + def set_rgb_led(self, r:int, g:int, b:int): + """ + Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta + + :param r: The amount of red in the desired color + :type r: int + :param g: The amount of green in the desired color + :type g: int + :param b: The amount of blue in the desired color + :type b: int + """ + if "rgb_led" in self.__dict__: + self.rgb_led[0] = (r, g, b) + self.rgb_led.write() + else: + raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta") diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/controller.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/controller.py new file mode 100644 index 0000000..8d14a60 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/controller.py @@ -0,0 +1,30 @@ +class Controller: + """ + An abstract class to be entended to demonstrate different types of control. A PID subclass has also been provided + """ + + def update(self, input) -> float: + """ + Handle a new update of this control loop given an effected input. + + :param error: The input to this controller for a given update. Usually an error or some other correctable value + :type error: float + + :return: The system output from the controller, to be used as an effort value or for any other purpose + :rtype: float + """ + pass + + def is_done(self) -> bool: + + """ + :return: If the controller has reached or settled at its desired value + :rtype: bool + """ + pass + + def clear_history(self): + """ + Clears all past data, such as integral sums or any other previous data + """ + pass \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/dashboard.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/dashboard.py new file mode 100644 index 0000000..385e14e --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/dashboard.py @@ -0,0 +1,257 @@ +from .encoded_motor import EncodedMotor +from .rangefinder import Rangefinder +from .imu import IMU +from .reflectance import Reflectance +from .puppet import Puppet, VAR_TYPE_INT, VAR_TYPE_FLOAT, PERM_READ_ONLY + +from machine import Timer, ADC, Pin +from micropython import const +import time + + +class Dashboard: + + _DEFAULT_DASHBOARD_INSTANCE = None + + # Variable type constants + VAR_TYPE_FLOAT = const(2) + + # Permission constants + PERM_READ_ONLY = const(1) + PERM_WRITE_ONLY = const(2) + + # Backward compatibility constants + YAW = const(0) + ROLL = const(1) + PTICH = const(2) + ACCX = const(3) + ACCY = const(4) + ACCZ = const(5) + ENCL = const(6) + ENCR = const(7) + ENC3 = const(8) + ENC4 = const(9) + CURRR = const(10) + CURRL = const(11) + CURR3 = const(12) + CURR4 = const(13) + DIST = const(14) + REFL = const(15) + REFR = const(16) + VOLTAGE = const(17) + + # Mapping from old index to XPP variable names + _VAR_NAMES = { + YAW: '$imu.yaw', + ROLL: '$imu.roll', + PTICH: '$imu.pitch', + ACCX: '$imu.acc_x', + ACCY: '$imu.acc_y', + ACCZ: '$imu.acc_z', + ENCL: '$encoder.left', + ENCR: '$encoder.right', + ENC3: '$encoder.3', + ENC4: '$encoder.4', + CURRL: '$current.left', + CURRR: '$current.right', + CURR3: '$current.3', + CURR4: '$current.4', + DIST: '$rangefinder.distance', + REFL: '$reflectance.left', + REFR: '$reflectance.right', + VOLTAGE: '$voltage', + } + + @classmethod + def get_default_dashboard(cls): + """ + Get the default XRP dashboard instance. This is a singleton, so only one instance of the dashboard sensor will ever exist. + """ + if cls._DEFAULT_DASHBOARD_INSTANCE is None: + cls._DEFAULT_DASHBOARD_INSTANCE = cls() + return cls._DEFAULT_DASHBOARD_INSTANCE + + def __init__(self): + """ + Manages communication with dashboard data going to a remote computer via XPP protocol. + """ + self.left_motor = EncodedMotor.get_default_encoded_motor(index=1) + self.right_motor = EncodedMotor.get_default_encoded_motor(index=2) + self.motor_three = EncodedMotor.get_default_encoded_motor(index=3) + self.motor_four = EncodedMotor.get_default_encoded_motor(index=4) + self.imu = IMU.get_default_imu() + self.rangefinder = Rangefinder.get_default_rangefinder() + self.reflectance = Reflectance.get_default_reflectance() + self.VoltageADC = ADC(Pin('BOARD_VIN_MEASURE')) + #self.CurrLADC = ADC(Pin('ML_CUR')) + #self.CurrRADC = ADC(Pin('MR_CUR')) + #self.Curr3ADC = ADC(Pin('M3_CUR')) + #self.Curr4ADC = ADC(Pin('M4_CUR')) + + # Get XPP instance + self._puppet = Puppet.get_default_puppet() + + # Register all sensor variables + self._register_variables() + + # Create timer for periodic updates + self.update_timer = Timer(-1) + self._update_rate = 3 # Default 3 Hz + + def _register_variables(self): + """ + Register all sensor variables with XPP. + """ + # IMU variables (float) + for var_name in ['$imu.yaw', '$imu.roll', '$imu.pitch', + '$imu.acc_x', '$imu.acc_y', '$imu.acc_z']: + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + + # Encoder variables (int) + for var_name in ['$encoder.left', '$encoder.right', '$encoder.3', '$encoder.4']: + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) + + # Current sensor variables (int) + for var_name in ['$current.left', '$current.right', '$current.3', '$current.4']: + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) + + # Other sensor variables (float) + for var_name in ['$rangefinder.distance', '$reflectance.left', + '$reflectance.right', '$voltage']: + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + + def sendIntValue(self, index, value): + """ + Send an integer value (backward compatibility method). + Now uses XPP protocol. + + :param index: Variable index constant + :type index: int + :param value: Integer value to send + :type value: int + """ + if index not in self._VAR_NAMES: + return + + var_name = self._VAR_NAMES[index] + try: + self._puppet.set_variable(var_name, value) + except: + pass # Variable might not be registered yet + + def sendFloatValue(self, index, value): + """ + Send a float value (backward compatibility method). + Now uses XPP protocol. + + :param index: Variable index constant + :type index: int + :param value: Float value to send + :type value: float + """ + if index not in self._VAR_NAMES: + return + + var_name = self._VAR_NAMES[index] + try: + self._puppet.set_variable(var_name, value) + except: + pass # Variable might not be registered yet + + def _dashboard_update(self): + """ + Update all sensor variables with current readings. + """ + # IMU data + self._puppet.set_variable('$imu.yaw', self.imu.get_yaw()) + self._puppet.set_variable('$imu.roll', self.imu.get_roll()) + self._puppet.set_variable('$imu.pitch', self.imu.get_pitch()) + self._puppet.set_variable('$imu.acc_x', self.imu.get_acc_x()) + self._puppet.set_variable('$imu.acc_y', self.imu.get_acc_y()) + self._puppet.set_variable('$imu.acc_z', self.imu.get_acc_z()) + + # Encoder data + self._puppet.set_variable('$encoder.left', self.left_motor.get_position_counts()) + self._puppet.set_variable('$encoder.right', self.right_motor.get_position_counts()) + self._puppet.set_variable('$encoder.3', self.motor_three.get_position_counts()) + self._puppet.set_variable('$encoder.4', self.motor_four.get_position_counts()) + + # Current sensor data + #self._puppet.set_variable('$current.left', self.CurrLADC.read_u16()) + #self._puppet.set_variable('$current.right', self.CurrRADC.read_u16()) + #self._puppet.set_variable('$current.3', self.Curr3ADC.read_u16()) + #self._puppet.set_variable('$current.4', self.Curr4ADC.read_u16()) + + # Other sensors + self._puppet.set_variable('$rangefinder.distance', self.rangefinder.distance()) + self._puppet.set_variable('$reflectance.left', self.reflectance.get_left()) + self._puppet.set_variable('$reflectance.right', self.reflectance.get_right()) + + # Voltage + voltage = self.VoltageADC.read_u16() / (1024*64/14) + self._puppet.set_variable('$voltage', voltage) + + def start(self, rate_hz=3): + """ + Start sending dashboard packets to the remote computer at the specified rate. + + :param rate_hz: Update rate in Hz (default: 3) + :type rate_hz: int + """ + self._update_rate = rate_hz + + # Subscribe all variables at the specified rate + for var_name in self._VAR_NAMES.values(): + try: + self._puppet.subscribe_variable(var_name, rate_hz) + except: + pass # Variable might not be registered yet + + # Also use timer for backward compatibility + period_ms = int(1000 / rate_hz) + self.update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._dashboard_update()) + self._puppet.start() + + def stop(self): + """ + Stop sending dashboard data packets. + """ + # Unsubscribe from all variables + for var_name in self._VAR_NAMES.values(): + try: + self._puppet.subscribe_variable(var_name, 0) + except: + pass + + # Stop timer + self.update_timer.deinit() + self._puppet.stop() + + def set_value(self, name, value, rate_hz=3): + """ + Define a variable and subscribe to it at the specified rate. + + :param name: The variable name + :type name: str + :param value: The value to set + :type value: float + :param rate_hz: The update rate in Hz (default: 3) + :type rate_hz: int + """ + self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + try: + self._puppet.subscribe_variable(name, rate_hz) + except: + pass + self._puppet.set_variable(name, value) + + def get_value(self, name): + """ + Get the value of a variable. + + :param name: The variable name + :type name: str + """ + self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) + return self._puppet.get_variable(name) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/defaults.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/defaults.py new file mode 100644 index 0000000..38216c8 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/defaults.py @@ -0,0 +1,34 @@ +from .board import Board +from .differential_drive import DifferentialDrive +from .motor import SinglePWMMotor, DualPWMMotor +from .encoder import Encoder +from .encoded_motor import EncodedMotor +from .rangefinder import Rangefinder +from .imu import IMU +from .reflectance import Reflectance +from .servo import Servo +from .webserver import Webserver +from machine import Pin + +""" +A simple file that constructs all of the default objects for the XRP robot +Run "from XRPLib.defaults import *" to use +""" + +left_motor = EncodedMotor.get_default_encoded_motor(index=1) +right_motor = EncodedMotor.get_default_encoded_motor(index=2) +motor_three = EncodedMotor.get_default_encoded_motor(index=3) +motor_four = EncodedMotor.get_default_encoded_motor(index=4) +imu = IMU.get_default_imu() +drivetrain = DifferentialDrive.get_default_differential_drive() +rangefinder = Rangefinder.get_default_rangefinder() +reflectance = Reflectance.get_default_reflectance() +servo_one = Servo.get_default_servo(index=1) +servo_two = Servo.get_default_servo(index=2) +webserver = Webserver.get_default_webserver() +board = Board.get_default_board() + +if hasattr(Pin.board, "SERVO_3"): + servo_three = Servo.get_default_servo(index=3) +if hasattr(Pin.board, "SERVO_4"): + servo_four = Servo.get_default_servo(index=4) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/differential_drive.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/differential_drive.py new file mode 100644 index 0000000..e3fbd5f --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/differential_drive.py @@ -0,0 +1,340 @@ +from .encoded_motor import EncodedMotor +from .imu import IMU +from .controller import Controller +from .pid import PID +from .timeout import Timeout +import time +import math + +class DifferentialDrive: + + _DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE =None + + @classmethod + def get_default_differential_drive(cls): + + """ + Get the default XRP differential drive instance. This is a singleton, so only one instance of the drivetrain will ever exist. + """ + + if cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE is None: + cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE = cls( + EncodedMotor.get_default_encoded_motor(index=1), + EncodedMotor.get_default_encoded_motor(index=2), + IMU.get_default_imu() + ) + + return cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE + + def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU = None, wheel_diam:float = 6.0, wheel_track:float = 15.5): + """ + A Differential Drive class designed for the XRP two-wheeled drive robot. + + :param leftMotor: The left motor of the drivetrain + :type leftMotor: EncodedMotor + :param rightMotor: The right motor of the drivetrain + :type rightMotor: EncodedMotor + :param imu: The IMU of the robot. If None, the robot will not use the IMU for turning or maintaining heading. + :type imu: IMU + :param wheelDiam: The diameter of the wheels in inches. Defaults to 6 cm. + :type wheelDiam: float + :param wheelTrack: The distance between the wheels in inches. Defaults to 15.5 cm. + :type wheelTrack: float + """ + + self.left_motor = left_motor + self.right_motor = right_motor + self.imu = imu + + self.brake_at_zero_power = False + self.wheel_diam = wheel_diam + self.track_width = wheel_track + + self.heading_pid = None + self.current_heading = None + self.reset_heading = True + self.turning = False + + if self.imu: + # if the IMU is initialized, then create a PID controller that can be used + # to maintain a constant heading when driving + self.heading_pid = PID( kp = 0.075, kd=0.001, ) + + def set_effort(self, left_effort: float, right_effort: float) -> None: + """ + Set the raw effort of both motors individually + + :param leftEffort: The power (Bounded from -1 to 1) to set the left motor to. + :type leftEffort: float + :param rightEffort: The power (Bounded from -1 to 1) to set the right motor to. + :type rightEffort: float + """ + + self.left_motor.set_effort(left_effort) + self.right_motor.set_effort(right_effort) + + def set_speed(self, left_speed: float, right_speed: float) -> None: + """ + Set the speed of both motors individually + + :param leftSpeed: The speed (In Centimeters per Second) to set the left motor to. + :type leftSpeed: float + :param rightSpeed: The speed (In Centimeters per Second) to set the right motor to. + :type rightSpeed: float + """ + # Convert from cm/s to RPM + cmpsToRPM = 60 / (math.pi * self.wheel_diam) + self.left_motor.set_speed(left_speed*cmpsToRPM) + self.right_motor.set_speed(right_speed*cmpsToRPM) + + def set_zero_effort_behavior(self, brake_at_zero_effort): + + """ + Sets the behavior of both motor at 0 effort to either brake (hold position) or coast (free spin) + :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. + :type brake_at_zero_effort: bool + """ + self.left_motor.set_zero_effort_behavior(brake_at_zero_effort) + self.right_motor.set_zero_effort_behavior(brake_at_zero_effort) + + def stop(self) -> None: + """ + Stops both drivetrain motors by setting power to zero. + """ + self.left_motor.set_speed() + self.right_motor.set_speed() + self.set_effort(0,0) + + def arcade(self, straight:float, turn:float): + """ + Sets the raw effort of both motors based on the arcade drive scheme + + :param straight: The base effort (Bounded from -1 to 1) used to drive forwards or backwards. + :type straight: float + :param turn: The modifier effort (Bounded from -1 to 1) used to skew robot left (positive) or right (negative). + :type turn: float + """ + if straight == 0 and turn == 0: + self.set_effort(0, 0) + else: + scale = max(abs(straight), abs(turn))/(abs(straight) + abs(turn)) + left_speed = (straight - turn)*scale + right_speed = (straight + turn)*scale + + if not self.heading_pid: + # if not using IMU assist to maintain heading, just pass down the left and right motor + # speeds to control movement + self.set_effort(left_speed, right_speed) + else: + # else if IMU assist is enabled, then use the IMU with PID to + # maintain a constant heading while driving. + if turn == 0: + # straight drive requested, then maintain the current heading + if self.turning: + # if previously turning, then clear the turn indicator and reset the course heading + self.reset_heading = True + self.turning = False + + if self.reset_heading: + self.reset_heading = False + self.current_heading = self.imu.get_yaw() + + # use the PID to set the heading correction based on the current heading + heading_correction = self.heading_pid.update(self.current_heading - self.imu.get_yaw()) + + self.set_effort(left_speed - heading_correction, right_speed + heading_correction) + else: + # set the turning indicator and apply the left and right speeds + self.turning = True + self.set_effort(left_speed, right_speed) + + def reset_encoder_position(self) -> None: + """ + Resets the position of both motors' encoders to 0 + """ + + self.left_motor.reset_encoder_position() + self.right_motor.reset_encoder_position() + + def get_left_encoder_position(self) -> float: + """ + :return: the current position of the left motor's encoder in cm. + :rtype: float + """ + return self.left_motor.get_position()*math.pi*self.wheel_diam + + def get_right_encoder_position(self) -> float: + """ + :return: the current position of the right motor's encoder in cm. + :rtype: float + """ + return self.right_motor.get_position()*math.pi*self.wheel_diam + + + def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: + """ + Go forward the specified distance in centimeters, and exit function when distance has been reached. + Max_effort is bounded from -1 (reverse at full speed) to 1 (forward at full speed) + + :param distance: The distance for the robot to travel (In Centimeters) + :type distance: float + :param max_effort: The max effort for which the robot to travel (Bounded from -1 to 1). Default is half effort forward + :type max_effort: float + :param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds) + :type timeout: float + :param main_controller: The main controller, for handling the distance driven forwards + :type main_controller: Controller + :param secondary_controller: The secondary controller, for correcting heading error that may result during the drive. + :type secondary_controller: Controller + :return: if the distance was reached before the timeout + :rtype: bool + """ + # ensure effort is always positive while distance could be either positive or negative + if max_effort < 0: + max_effort *= -1 + distance *= -1 + + time_out = Timeout(timeout) + starting_left = self.get_left_encoder_position() + starting_right = self.get_right_encoder_position() + + + if main_controller is None: + main_controller = PID( + kp = 0.1, + ki = 0.04, + kd = 0.04, + min_output = 0.3, + max_output = max_effort, + max_integral = 10, + tolerance = 0.25, + tolerance_count = 3, + ) + + # Secondary controller to keep encoder values in sync + if secondary_controller is None: + secondary_controller = PID( + kp = 0.075, kd=0.001, + ) + + if self.imu is not None: + # record current heading to maintain it + initial_heading = self.imu.get_yaw() + else: + initial_heading = 0 + + while True: + + # calculate the distance traveled + left_delta = self.get_left_encoder_position() - starting_left + right_delta = self.get_right_encoder_position() - starting_right + dist_traveled = (left_delta + right_delta) / 2 + + # PID for distance + distance_error = distance - dist_traveled + effort = main_controller.update(distance_error) + + if main_controller.is_done() or time_out.is_done(): + break + + # calculate heading correction + if self.imu is not None: + # record current heading to maintain it + current_heading = self.imu.get_yaw() + else: + current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) + + headingCorrection = secondary_controller.update(initial_heading - current_heading) + + self.set_effort(effort - headingCorrection, effort + headingCorrection) + + time.sleep(0.01) + + self.stop() + + return not time_out.is_done() + + + def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool: + """ + Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading. + effort is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed) + Uses the IMU to determine the heading of the robot and P control for the motor controller. + + :param turnDegrees: The number of angle for the robot to turn (In Degrees) + :type turnDegrees: float + :param max_effort: The max speed for which the robot to travel (Bounded from -1 to 1) + :type max_effort: float + :param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds) + :type timeout: float + :param main_controller: The main controller, for handling the angle turned + :type main_controller: Controller + :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference + :type secondary_controller: Controller + :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False) + :type use_imu: bool + :return: if the distance was reached before the timeout + :rtype: bool + """ + + if max_effort < 0: + max_effort = -max_effort + turn_degrees = -turn_degrees + + time_out = Timeout(timeout) + starting_left = self.get_left_encoder_position() + starting_right = self.get_right_encoder_position() + + if main_controller is None: + main_controller = PID( + # kp = 0.2, + # ki = 0.004, + # kd = 0.0036, + kd = 0.0036 + 0.0034 * (max(max_effort, 0.5) - 0.5) * 2, + kp = 0.2, + ki = 0.004, + #kd = 0.007, + min_output = 0.1, + max_output = max_effort, + max_integral = 30, + tolerance = 1, + tolerance_count = 3 + ) + + # Secondary controller to keep encoder values in sync + if secondary_controller is None: + secondary_controller = PID( + kp = 0.25, + ) + + if use_imu and (self.imu is not None): + turn_degrees += self.imu.get_yaw() + + while True: + + # calculate encoder correction to minimize drift + left_delta = self.get_left_encoder_position() - starting_left + right_delta = self.get_right_encoder_position() - starting_right + encoder_correction = secondary_controller.update(left_delta + right_delta) + + if use_imu and (self.imu is not None): + # calculate turn error (in degrees) from the imu + turn_error = turn_degrees - self.imu.get_yaw() + else: + # calculate turn error (in degrees) from the encoder counts + turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) + + # Pass the turn error to the main controller to get a turn speed + turn_speed = main_controller.update(turn_error) + + # exit if timeout or tolerance reached + if main_controller.is_done() or time_out.is_done(): + break + + self.set_effort(-turn_speed - encoder_correction, turn_speed - encoder_correction) + + time.sleep(0.01) + + self.stop() + + return not time_out.is_done() diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoded_motor.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoded_motor.py new file mode 100644 index 0000000..de2fa6f --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoded_motor.py @@ -0,0 +1,191 @@ +from .motor import SinglePWMMotor, DualPWMMotor +from .encoder import Encoder +from machine import Timer +from .controller import Controller +from .pid import PID +import sys + +class EncodedMotor: + + ZERO_EFFORT_BREAK = True + ZERO_EFFORT_COAST = False + + _DEFAULT_LEFT_MOTOR_INSTANCE = None + _DEFAULT_RIGHT_MOTOR_INSTANCE = None + _DEFAULT_MOTOR_THREE_INSTANCE = None + _DEFAULT_MOTOR_FOUR_INSTANCE = None + + @classmethod + def get_default_encoded_motor(cls, index:int = 1): + """ + Get one of the default XRP motor instances. These are singletons, so only one instance of each of these will ever exist. + Raises an exception if an invalid index is requested. + + :param index: The index of the motor to get; 1 for left, 2 for right, 3 for motor 3, 4 for motor 4 + :type index: int + """ + + if "RP2350" in sys.implementation._machine: + MotorImplementation = DualPWMMotor + else: + MotorImplementation = SinglePWMMotor + + if index == 1: + if cls._DEFAULT_LEFT_MOTOR_INSTANCE is None: + cls._DEFAULT_LEFT_MOTOR_INSTANCE = cls( + MotorImplementation("MOTOR_L_IN_1", "MOTOR_L_IN_2", flip_dir=True), + Encoder(0, "MOTOR_L_ENCODER_A", "MOTOR_L_ENCODER_B") + ) + motor = cls._DEFAULT_LEFT_MOTOR_INSTANCE + elif index == 2: + if cls._DEFAULT_RIGHT_MOTOR_INSTANCE is None: + cls._DEFAULT_RIGHT_MOTOR_INSTANCE = cls( + MotorImplementation("MOTOR_R_IN_1", "MOTOR_R_IN_2"), + Encoder(1, "MOTOR_R_ENCODER_A", "MOTOR_R_ENCODER_B") + ) + motor = cls._DEFAULT_RIGHT_MOTOR_INSTANCE + elif index == 3: + if cls._DEFAULT_MOTOR_THREE_INSTANCE is None: + cls._DEFAULT_MOTOR_THREE_INSTANCE = cls( + MotorImplementation("MOTOR_3_IN_1", "MOTOR_3_IN_2", flip_dir=True), + Encoder(2, "MOTOR_3_ENCODER_A", "MOTOR_3_ENCODER_B") + ) + motor = cls._DEFAULT_MOTOR_THREE_INSTANCE + elif index == 4: + if cls._DEFAULT_MOTOR_FOUR_INSTANCE is None: + cls._DEFAULT_MOTOR_FOUR_INSTANCE = cls( + MotorImplementation("MOTOR_4_IN_1", "MOTOR_4_IN_2"), + Encoder(3, "MOTOR_4_ENCODER_A", "MOTOR_4_ENCODER_B") + ) + motor = cls._DEFAULT_MOTOR_FOUR_INSTANCE + else: + return Exception("Invalid motor index") + return motor + + def __init__(self, motor, encoder: Encoder): + + self._motor = motor + self._encoder = encoder + + self.brake_at_zero = False + + self.target_speed = None + self.DEFAULT_SPEED_CONTROLLER = PID( + kp=0.035, + ki=0.03, + kd=0, + max_integral=50 + ) + self.speedController = self.DEFAULT_SPEED_CONTROLLER + self.prev_position = 0 + self.speed = 0 + # Use a virtual timer so we can leave the hardware timers up for the user + self.updateTimer = Timer(-1) + # If the update timer is not running, start it at 50 Hz (20ms updates) + self.updateTimer.init(period=20, callback=lambda t:self._update()) + + + def set_effort(self, effort: float): + """ + :param effort: The effort to set this motor to, from -1 to 1 + :type effort: float + """ + if self.brake_at_zero and effort == 0: + self.brake() + else: + self._motor.set_effort(effort) + + # EncodedMotor.set_zero_effort_behavior(EncodedMotor.ZERO_POWER_BRAKE) + def set_zero_effort_behavior(self, brake_at_zero_effort): + """ + Sets the behavior of the motor at 0 effort to either brake (hold position) or coast (free spin) + :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. + :type brake_at_zero_effort: bool + """ + self.brake_at_zero = brake_at_zero_effort + + def brake(self): + """ + Causes the motor to resist rotation. + """ + # Exact impl of brake depends on which board is being used. + self._motor.brake() + + def coast(self): + """ + Allows the motor to spin freely. + """ + self._motor.coast() + + def get_position(self) -> float: + """ + :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. + :rtype: float + """ + if self._motor.flip_dir: + invert = -1 + else: + invert = 1 + return self._encoder.get_position()*invert + + def get_position_counts(self) -> int: + """ + :return: The position of the encoded motor, in encoder counts, relative to the last time reset was called. + :rtype: int + """ + if self._motor.flip_dir: + invert = -1 + else: + invert = 1 + return self._encoder.get_position_counts()*invert + + def reset_encoder_position(self): + """ + Resets the encoder position back to zero. + """ + self._encoder.reset_encoder_position() + + def get_speed(self) -> float: + """ + :return: The speed of the motor, in rpm + :rtype: float + """ + # Convert from counts per 20ms to rpm (60 sec/min, 50 Hz) + return self.speed*(60*50)/self._encoder.resolution + + def set_speed(self, speed_rpm: float = None): + """ + Sets target speed (in rpm) to be maintained passively + Call with no parameters or 0 to turn off speed control + + :param target_speed_rpm: The target speed for the motor in rpm, or None + :type target_speed_rpm: float, or None + """ + if speed_rpm is None or speed_rpm == 0: + self.target_speed = None + self.set_effort(0) + return + # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) + self.target_speed = speed_rpm*self._encoder.resolution/(60*50) + + def set_speed_controller(self, new_controller: Controller): + """ + Sets a new controller for speed control + + :param new_controller: The new Controller for speed control + :type new_controller: Controller + """ + self.speedController = new_controller + self.speedController.clear_history() + + def _update(self): + """ + Non-api method; used for updating motor efforts for speed control + """ + current_position = self.get_position_counts() + self.speed = current_position - self.prev_position + if self.target_speed is not None: + error = self.target_speed - self.speed + effort = self.speedController.update(error) + self._motor.set_effort(effort) + self.prev_position = current_position \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoder.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoder.py new file mode 100644 index 0000000..414b973 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoder.py @@ -0,0 +1,119 @@ +# Modified from https://forum.micropython.org/viewtopic.php?t=12277&p=66659 + +import machine +import rp2 +import time + +class Encoder: + _gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75 + _counts_per_motor_shaft_revolution = 12 + resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585 + + def __init__(self, index, encAPin: int|str, encBPin: int|str): + """ + Uses the on board PIO State Machine to keep track of encoder positions. + Only 4 encoders can be instantiated this way. + + :param index: The index of the state machine to be used, indexed 0-3. + :type index: int + :param encAPin: The pin the left reflectance sensor is connected to + :type encAPin: int + :param encBPin: The pin the right reflectance sensor is connected to + :type encBPin: int + """ + # if(abs(encAPin - encBPin) != 1): + # raise Exception("Encoder pins must be successive!") + basePin = machine.Pin(min(encAPin, encBPin), machine.Pin.IN) + nextPin = machine.Pin(max(encAPin, encBPin), machine.Pin.IN) + self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin) + self.reset_encoder_position() + self.sm.active(1) + + def reset_encoder_position(self): + """ + Resets the encoder position to 0 + """ + # It's possible for this to cause issues if in the middle of inrementing + # or decrementing, but the result should only be off by 1. If that's a + # problem, an alternative solution is to stop the state machine, then + # reset both x and the program counter. But that's excessive. + self.sm.exec("set(x, 0)") + + def get_position_counts(self): + """ + :return: The position of the encoded motor, in counts, relative to the last time reset was called. + :rtype: int + """ + # Read 5 times for it to get past the buffer + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + if(counts > 2**31): + counts -= 2**32 + return counts + + def get_position(self): + """ + :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. + :rtype: float + """ + return self.get_position_counts() / self.resolution + + @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT) + def _encoder(): + # Register descriptions: + # X - Encoder count, as a 32-bit number + # OSR - Previous pin values, only last 2 bits are used + # ISR - Push encoder count, and combine pin states together + + # Jump table + # The program counter is moved to memory address 0000 - 1111, based + # on the previous (left 2 bits) and current (right bits) pin states + jmp("read") # 00 -> 00 No change, continue + jmp("decr") # 00 -> 01 Reverse, decrement count + jmp("incr") # 00 -> 10 Forward, increment count + jmp("read") # 00 -> 11 Impossible, continue + + jmp("incr") # 01 -> 00 Forward, increment count + jmp("read") # 01 -> 01 No change, continue + jmp("read") # 01 -> 10 Impossible, continue + jmp("decr") # 01 -> 11 Reverse, decrement count + + jmp("decr") # 10 -> 00 Reverse, decrement count + jmp("read") # 10 -> 01 Impossible, continue + jmp("read") # 10 -> 10 No change, continue + jmp("incr") # 10 -> 11 Forward, increment count + + jmp("read") # 11 -> 00 Impossible, continue + jmp("incr") # 11 -> 01 Forward, increment count + jmp("decr") # 11 -> 10 Reverse, decrement count + jmp("read") # 11 -> 11 No change, continue + + label("read") + mov(osr, isr) # Store previous pin states in OSR + mov(isr, x) # Copy encoder count to ISR + push(noblock) # Push count to RX buffer, and reset ISR to 0 + out(isr, 2) # Shift previous pin states into ISR + in_(pins, 2) # Shift current pin states into ISR + mov(pc, isr) # Move PC to jump table to determine what to do next + + label("decr") # There is no explicite increment intruction, but X can be + jmp(x_dec, "decr_nop") # decremented in the jump instruction. So we use that and jump + label("decr_nop") # to the next instruction, which is equivalent to just decrementing + jmp("read") + + label("incr") # There is no explicite increment intruction, but X can be + mov(x, invert(x)) # decremented in the jump instruction. So we invert X, decrement, + jmp(x_dec, "incr_nop") # then invert again - this is equivalent to incrementing. + label("incr_nop") + mov(x, invert(x)) + jmp("read") + + # Fill remaining instruction memory with jumps to ensure nothing bad happens + # For some reason, weird behavior happens if the instruction memory isn't full + jmp("read") + jmp("read") + jmp("read") + jmp("read") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/gamepad.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/gamepad.py new file mode 100644 index 0000000..f3f08de --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/gamepad.py @@ -0,0 +1,169 @@ +from .puppet import Puppet, VAR_TYPE_FLOAT, VAR_TYPE_INT, VAR_TYPE_BOOL, PERM_WRITE_ONLY, PERM_READ_ONLY +from micropython import const + +class Gamepad: + + _DEFAULT_GAMEPAD_INSTANCE = None + + X1 = const(0) + Y1 = const(1) + X2 = const(2) + Y2 = const(3) + BUTTON_A = const(4) + BUTTON_B = const(5) + BUTTON_X = const(6) + BUTTON_Y = const(7) + BUMPER_L = const(8) + BUMPER_R = const(9) + TRIGGER_L = const(10) + TRIGGER_R = const(11) + BACK = const(12) + START = const(13) + DPAD_UP = const(14) + DPAD_DN = const(15) + DPAD_L = const(16) + DPAD_R = const(17) + + # Mapping from index to variable name + _VAR_NAMES = { + 0: '$gamepad.x1', + 1: '$gamepad.y1', + 2: '$gamepad.x2', + 3: '$gamepad.y2', + 4: '$gamepad.button_a', + 5: '$gamepad.button_b', + 6: '$gamepad.button_x', + 7: '$gamepad.button_y', + 8: '$gamepad.bumper_l', + 9: '$gamepad.bumper_r', + 10: '$gamepad.trigger_l', + 11: '$gamepad.trigger_r', + 12: '$gamepad.back', + 13: '$gamepad.start', + 14: '$gamepad.dpad_up', + 15: '$gamepad.dpad_dn', + 16: '$gamepad.dpad_l', + 17: '$gamepad.dpad_r', + } + + @classmethod + def get_default_gamepad(cls): + """ + Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist. + """ + if cls._DEFAULT_GAMEPAD_INSTANCE is None: + cls._DEFAULT_GAMEPAD_INSTANCE = cls() + cls._DEFAULT_GAMEPAD_INSTANCE.start() + return cls._DEFAULT_GAMEPAD_INSTANCE + + def __init__(self): + """ + Manages communication with gamepad data coming from a remote computer via XPP protocol. + """ + self._puppet = Puppet.get_default_puppet() + self._started = False + + # Register all gamepad variables + self._register_variables() + + def _register_variables(self): + """ + Register all gamepad variables with the XPP protocol. + """ + # Joystick axes are floats + for idx in [self.X1, self.Y1, self.X2, self.Y2]: + var_name = self._VAR_NAMES[idx] + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) + + # Buttons are integers (1 or 0) + for idx in range(4, 18): + var_name = self._VAR_NAMES[idx] + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_WRITE_ONLY) + + # Register gamepad enabled variable (read-only from XRP side) + self._puppet.define_variable('$gamepad.enabled', VAR_TYPE_BOOL, PERM_READ_ONLY) + + def start(self): + """ + Signals the remote computer to begin sending gamepad data packets. + Subscribes to all gamepad variables at a high rate (50 Hz). + """ + self._puppet.start() + self._puppet.send_program_start() + + # Enable gamepad - signal to client to start sending + self._puppet.set_variable('$gamepad.enabled', True) + + if self._started: + return + + # Subscribe to all gamepad variables at 50 Hz + for var_name in self._VAR_NAMES.values(): + self._puppet.subscribe_variable(var_name, 50) + + self._started = True + + def stop(self): + """ + Signals the remote computer to stop sending gamepad data packets. + Unsubscribes from all gamepad variables. + """ + + self._puppet.send_program_end() + + if not self._started: + return + + # Disable gamepad - signal to client to stop sending + self._puppet.set_variable('$gamepad.enabled', False) + + # Unsubscribe from all gamepad variables + for var_name in self._VAR_NAMES.values(): + self._puppet.subscribe_variable(var_name, 0) + + self._puppet.stop() + self._started = False + + def get_value(self, index: int) -> float: + """ + Get the current value of a joystick axis + + :param index: The joystick axis index + Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2 + :type int + :returns: The value of the joystick between -1 and 1 + :rtype: float + """ + if index not in self._VAR_NAMES: + return 0.0 + + var_name = self._VAR_NAMES[index] + try: + value = self._puppet.get_variable(var_name) + # Return negative to make normal for user (backward compatibility) + return -value + except: + # Return default if variable not available + return 0.0 + + def is_button_pressed(self, index: int) -> bool: + """ + Checks if a specific button is currently pressed. + + :param index: The button index + Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc + :type int + :returns: The value of the button 1 or 0 + :rtype: bool + """ + if index not in self._VAR_NAMES: + return False + + var_name = self._VAR_NAMES[index] + try: + value = self._puppet.get_variable(var_name) + # Works for both int and float + return value > 0 + except: + # Return default if variable not available + return False diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu.py new file mode 100644 index 0000000..cd7acbf --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu.py @@ -0,0 +1,559 @@ +# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive +# ver: 1.0 +# License: MIT +# Author: shaoziyang (shaoziyang@micropython.org.cn) +# v1.0 2019.7 +try: + from .imu_defs import * + from uctypes import struct, addressof +except (TypeError, ModuleNotFoundError): + LSM_ADDR_PRIMARY = 0x6A + # Import wrapped in a try/except so that autodoc generation can process properly + pass +from machine import I2C, Pin, Timer, disable_irq, enable_irq +import time, math + +class IMU(): + + _DEFAULT_IMU_INSTANCE = None + + @classmethod + def get_default_imu(cls): + """ + Get the default XRP IMU instance. This is a singleton, so only one instance of the drivetrain will ever exist. + """ + + if cls._DEFAULT_IMU_INSTANCE is None: + cls._DEFAULT_IMU_INSTANCE = cls() + cls._DEFAULT_IMU_INSTANCE.calibrate() + return cls._DEFAULT_IMU_INSTANCE + + def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY): + # I2C values + self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000) + self.addr = addr + + # Initialize member variables + self._reset_member_variables() + + # Transmit and recieve buffers + self.tb = bytearray(1) + self.rb = bytearray(1) + + # Copies of registers. Bytes and structs share the same memory + # addresses, so changing one changes the other + self.reg_ctrl1_xl_byte = bytearray(1) + self.reg_ctrl2_g_byte = bytearray(1) + self.reg_ctrl3_c_byte = bytearray(1) + self.reg_ctrl1_xl_bits = struct(addressof(self.reg_ctrl1_xl_byte), LSM_REG_LAYOUT_CTRL1_XL) + self.reg_ctrl2_g_bits = struct(addressof(self.reg_ctrl2_g_byte), LSM_REG_LAYOUT_CTRL2_G) + self.reg_ctrl3_c_bits = struct(addressof(self.reg_ctrl3_c_byte), LSM_REG_LAYOUT_CTRL3_C) + + # Create timer + self.update_timer = Timer(-1) + + # Check if the IMU is connected + if not self.is_connected(): + # TODO - do somehting intelligent here + pass + + # Reset sensor to clear any previous configuration + # reset() also sets the board to the default config + self.reset() + + def _default_config(self): + # Enable block data update + self._set_bdu() + + # Set default scale for each sensor + self.acc_scale('16g') + self.gyro_scale('2000dps') + + # Set default rate for each sensor + self.acc_rate('208Hz') + self.gyro_rate('208Hz') + + """ + The following are private helper methods to read and write registers, as well as to convert the read values to the correct unit. + """ + + def _reset_member_variables(self): + # Vector of IMU measurements + self.irq_v = [[0, 0, 0], [0, 0, 0]] + + # Sensor offsets + self.gyro_offsets = [0,0,0] + self.acc_offsets = [0,0,0] + + # Scale factors when ranges are changed + self._acc_scale_factor = 1 + self._gyro_scale_factor = 1 + + # Angle integrators + self.running_pitch = 0 + self.running_yaw = 0 + self.running_roll = 0 + + def _int16(self, d): + return d if d < 0x8000 else d - 0x10000 + + def _setreg(self, reg, dat): + self.tb[0] = dat + self.i2c.writeto_mem(self.addr, reg, self.tb) + + def _getreg(self, reg): + self.i2c.readfrom_mem_into(self.addr, reg, self.rb) + return self.rb[0] + + def _getregs(self, reg, num_bytes): + rx_buf = bytearray(num_bytes) + self.i2c.readfrom_mem_into(self.addr, reg, rx_buf) + return rx_buf + + def _get2reg(self, reg): + return self._getreg(reg) + self._getreg(reg+1) * 256 + + def _r_w_reg(self, reg, dat, mask): + self._getreg(reg) + self.rb[0] = (self.rb[0] & mask) | dat + self._setreg(reg, self.rb[0]) + + def _set_bdu(self, bdu = True): + """ + Sets Block Data Update bit + """ + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.BDU = bdu + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + def _set_if_inc(self, if_inc = True): + """ + Sets InterFace INCrement bit + """ + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.IF_INC = if_inc + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + def _raw_to_mg(self, raw): + return self._int16((raw[1] << 8) | raw[0]) * LSM_MG_PER_LSB_2G * self._acc_scale_factor + + def _raw_to_mdps(self, raw): + return self._int16((raw[1] << 8) | raw[0]) * LSM_MDPS_PER_LSB_125DPS * self._gyro_scale_factor + + """ + Public facing API Methods + """ + + def is_connected(self): + """ + Checks whether the IMU is connected + + :return: True if WHO_AM_I value is correct, otherwise False + :rtype: bool + """ + who_am_i = self._getreg(LSM_REG_WHO_AM_I) + return who_am_i == LSM_WHO_AM_I_VALUE + + def reset(self, wait_for_reset = True, wait_timeout_ms = 100): + """ + Resets the IMU, and restores all registers to their default values + + :param wait_for_reset: Whether to wait for reset to complete + :type wait_for_reset: bool + :param wait_timeout_ms: Timeout in milliseconds when waiting for reset + :type wait_timeout_ms: int + :return: False if timeout occurred, otherwise True + :rtype: bool + """ + # Stop timer + self._stop_timer() + + # Reset member variables + self._reset_member_variables() + + # Set BOOT and SW_RESET bits + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.BOOT = 1 + self.reg_ctrl3_c_bits.SW_RESET = 1 + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + # Wait for reset to complete, if requested + if wait_for_reset: + # Loop with timeout + t0 = time.ticks_ms() + while time.ticks_ms() < (t0 + wait_timeout_ms): + # Check if register has returned to default value (0x04) + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + if self.reg_ctrl3_c_byte[0] == 0x04: + self._default_config() + self._start_timer() + return True + # Timeout occurred + # Attempt to set default config anyways + self._default_config() + self._start_timer() + return False + else: + self._default_config() + self._start_timer() + return True + + def get_acc_x(self): + """ + :return: The current reading for the accelerometer's X-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] + + def get_acc_y(self): + """ + :return: The current reading for the accelerometer's Y-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTY_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[1] + + def get_acc_z(self): + """ + :return: The current reading for the accelerometer's Z-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTZ_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[2] + + def get_acc_rates(self): + """ + :return: the list of readings from the Accelerometer, in mg. The order of the values is x, y, z. + :rtype: list + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 6) + + # Convert raw data to mg's + self.irq_v[0][0] = self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] + self.irq_v[0][1] = self._raw_to_mg(raw_bytes[2:4]) - self.acc_offsets[1] + self.irq_v[0][2] = self._raw_to_mg(raw_bytes[4:6]) - self.acc_offsets[2] + + return self.irq_v[0] + + def get_gyro_x_rate(self): + """ + Individual axis read for the Gyroscope's X-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + + def get_gyro_y_rate(self): + """ + Individual axis read for the Gyroscope's Y-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTY_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[1] + + def get_gyro_z_rate(self): + """ + Individual axis read for the Gyroscope's Z-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTZ_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[2] + + def get_gyro_rates(self): + """ + Retrieves the array of readings from the Gyroscope, in mdps + The order of the values is x, y, z. + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 6) + + # Convert raw data to mdps + self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] + self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] + + return self.irq_v[1] + + def get_acc_gyro_rates(self): + """ + Get the accelerometer and gyroscope values in mg and mdps in the form of a 2D array. + The first row is the acceleration values, the second row is the gyro values. + The order of the values is x, y, z. + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 12) + + # Convert raw data to mg's and mdps + self.irq_v[0][0] = self._raw_to_mg(raw_bytes[6:8]) - self.acc_offsets[0] + self.irq_v[0][1] = self._raw_to_mg(raw_bytes[8:10]) - self.acc_offsets[1] + self.irq_v[0][2] = self._raw_to_mg(raw_bytes[10:12]) - self.acc_offsets[2] + self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] + self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] + + return self.irq_v + + def get_pitch(self): + """ + Get the pitch of the IMU in degrees. Unbounded in range + + :return: The pitch of the IMU in degrees + :rtype: float + """ + return self.running_pitch + + def get_yaw(self): + """ + Get the yaw (heading) of the IMU in degrees. Unbounded in range + + :return: The yaw (heading) of the IMU in degrees + :rtype: float + """ + return self.running_yaw + + def get_heading(self): + """ + Get's the heading of the IMU, but bounded between [0, 360) + + :return: The heading of the IMU in degrees, bound between [0, 360) + :rtype: float + """ + return self.running_yaw % 360 + + def get_roll(self): + """ + Get the roll of the IMU in degrees. Unbounded in range + + :return: The roll of the IMU in degrees + :rtype: float + """ + return self.running_roll + + def reset_pitch(self): + """ + Reset the pitch to 0 + """ + self.running_pitch = 0 + + def reset_yaw(self): + """ + Reset the yaw (heading) to 0 + """ + self.running_yaw = 0 + + def reset_roll(self): + """ + Reset the roll to 0 + """ + self.running_roll = 0 + + def set_pitch(self, pitch): + """ + Set the pitch to a specific angle in degrees + + :param pitch: The pitch to set the IMU to + :type pitch: float + """ + self.running_pitch = pitch + + def set_yaw(self, yaw): + """ + Set the yaw (heading) to a specific angle in degrees + + :param yaw: The yaw (heading) to set the IMU to + :type yaw: float + """ + self.running_yaw = yaw + + def set_roll(self, roll): + """ + Set the roll to a specific angle in degrees + + :param roll: The roll to set the IMU to + :type roll: float + """ + self.running_roll = roll + + def temperature(self): + """ + Read the temperature of the LSM6DSO in degrees Celsius + + :return: The temperature of the LSM6DSO in degrees Celsius + :rtype: float + """ + # The LSM6DSO's temperature can be read from the OUT_TEMP_L register + # We use OUT_TEMP_L+1 if OUT_TEMP_L cannot be read + try: + return self._int16(self._get2reg(LSM_REG_OUT_TEMP_L))/256 + 25 + except MemoryError: + return self._temperature_irq() + + def _temperature_irq(self): + # Helper function for temperature() to read the alternate temperature register + self._getreg(LSM_REG_OUT_TEMP_L+1) + if self.rb[0] & 0x80: + self.rb[0] -= 256 + return self.rb[0] + 25 + + def acc_scale(self, value=None): + """ + Set the accelerometer scale in g. The scale can be: + '2g', '4g', '8g', or '16g' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) + # Check if the provided value is in the dictionary + if value not in LSM_ACCEL_FS: + # Return string representation of this value + index = list(LSM_ACCEL_FS.values()).index(self.reg_ctrl1_xl_bits.FS_XL) + return list(LSM_ACCEL_FS.keys())[index] + else: + # Set value as requested + self.reg_ctrl1_xl_bits.FS_XL = LSM_ACCEL_FS[value] + self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) + # Update scale factor for converting raw data + self._acc_scale_factor = int(value.rstrip('g')) // 2 + + def gyro_scale(self, value=None): + """ + Set the gyroscope scale in dps. The scale can be: + '125', '250', '500', '1000', or '2000' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) + # Check if the provided value is in the dictionary + if value not in LSM_GYRO_FS: + # Return string representation of this value + index = list(LSM_GYRO_FS.values()).index(self.reg_ctrl2_g_bits.FS_G) + return list(LSM_GYRO_FS.keys())[index] + else: + # Set value as requested + self.reg_ctrl2_g_bits.FS_G = LSM_GYRO_FS[value] + self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) + # Update scale factor for converting raw data + self._gyro_scale_factor = int(value.rstrip('dps')) // 125 + + def acc_rate(self, value=None): + """ + Set the accelerometer rate in Hz. The rate can be: + '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) + # Check if the provided value is in the dictionary + if value not in LSM_ODR: + # Return string representation of this value + index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_XL) + return list(LSM_ODR.keys())[index] + else: + # Set value as requested + self.reg_ctrl1_xl_bits.ODR_XL = LSM_ODR[value] + self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) + + def gyro_rate(self, value=None): + """ + Set the gyroscope rate in Hz. The rate can be: + '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) + # Check if the provided value is in the dictionary + if value not in LSM_ODR: + # Return string representation of this value + index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_G) + return list(LSM_ODR.keys())[index] + else: + # Set value as requested + self.reg_ctrl2_g_bits.ODR_G = LSM_ODR[value] + self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) + + # Update timer frequency + self.timer_frequency = int(value.rstrip('Hz')) + self._start_timer() + + def calibrate(self, calibration_time:float=1, vertical_axis:int= 2): + """ + Collect readings for [calibration_time] seconds and calibrate the IMU based on those readings + Do not move the robot during this time + Assumes the board to be parallel to the ground. Please use the vertical_axis parameter if that is not correct + + :param calibration_time: The time in seconds to collect readings for + :type calibration_time: float + :param vertical_axis: The axis that is vertical. 0 for X, 1 for Y, 2 for Z + :type vertical_axis: int + """ + self._stop_timer() + self.acc_offsets = [0,0,0] + self.gyro_offsets = [0,0,0] + avg_vals = [[0,0,0],[0,0,0]] + num_vals = 0 + # Wait a bit for sensor to start measuring (data registers may default to something nonsensical) + time.sleep(.1) + start_time = time.ticks_ms() + while time.ticks_ms() < start_time + calibration_time*1000: + cur_vals = self.get_acc_gyro_rates() + # Accelerometer averages + avg_vals[0][0] += cur_vals[0][0] + avg_vals[0][1] += cur_vals[0][1] + avg_vals[0][2] += cur_vals[0][2] + # Gyroscope averages + avg_vals[1][0] += cur_vals[1][0] + avg_vals[1][1] += cur_vals[1][1] + avg_vals[1][2] += cur_vals[1][2] + # Increment counter and wait for next loop + num_vals += 1 + time.sleep(1 / self.timer_frequency) + + # Compute averages + avg_vals[0][0] /= num_vals + avg_vals[0][1] /= num_vals + avg_vals[0][2] /= num_vals + avg_vals[1][0] /= num_vals + avg_vals[1][1] /= num_vals + avg_vals[1][2] /= num_vals + + avg_vals[0][vertical_axis] -= 1000 #in mg + + self.acc_offsets = avg_vals[0] + self.gyro_offsets = avg_vals[1] + self._start_timer() + + def _start_timer(self): + self.update_timer.init(freq=self.timer_frequency, callback=lambda t:self._update_imu_readings()) + + def _stop_timer(self): + self.update_timer.deinit() + + def _update_imu_readings(self): + # Called every tick through a callback timer + self.get_gyro_rates() + delta_pitch = self.irq_v[1][0] / 1000 / self.timer_frequency + delta_roll = self.irq_v[1][1] / 1000 / self.timer_frequency + delta_yaw = self.irq_v[1][2] / 1000 / self.timer_frequency + + state = disable_irq() + self.running_pitch += delta_pitch + self.running_roll += delta_roll + self.running_yaw += delta_yaw + enable_irq(state) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu_defs.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu_defs.py new file mode 100644 index 0000000..c8732de --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu_defs.py @@ -0,0 +1,83 @@ +from uctypes import BFUINT8, BF_POS, BF_LEN +from micropython import const + +""" + Possible I2C addresses +""" +LSM_ADDR_PRIMARY = const(0x6B) +LSM_ADDR_SECONDARY = const(0x6A) + +""" + Register addresses +""" +LSM_REG_WHO_AM_I = const(0x0F) +LSM_REG_CTRL1_XL = const(0x10) +LSM_REG_CTRL2_G = const(0x11) +LSM_REG_CTRL3_C = const(0x12) +LSM_REG_OUT_TEMP_L = const(0x20) +LSM_REG_OUT_TEMP_H = const(0x21) +LSM_REG_OUTX_L_G = const(0x22) +LSM_REG_OUTY_L_G = const(0x24) +LSM_REG_OUTZ_L_G = const(0x26) +LSM_REG_OUTX_L_A = const(0x28) +LSM_REG_OUTY_L_A = const(0x2A) +LSM_REG_OUTZ_L_A = const(0x2C) + +""" + Bit field struct definitions of registers +""" +LSM_REG_LAYOUT_CTRL1_XL = { + "ODR_XL" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, + "FS_XL" : BFUINT8 | 2 << BF_POS | 2 << BF_LEN, + "LPF2_XL_EN" : BFUINT8 | 1 << BF_POS | 1 << BF_LEN, +} +LSM_REG_LAYOUT_CTRL2_G = { + "ODR_G" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, + "FS_G" : BFUINT8 | 1 << BF_POS | 3 << BF_LEN, +} +LSM_REG_LAYOUT_CTRL3_C = { + "BOOT" : BFUINT8 | 7 << BF_POS | 1 << BF_LEN, + "BDU" : BFUINT8 | 6 << BF_POS | 1 << BF_LEN, + "H_LACTIVE" : BFUINT8 | 5 << BF_POS | 1 << BF_LEN, + "PP_OD" : BFUINT8 | 4 << BF_POS | 1 << BF_LEN, + "SIM" : BFUINT8 | 3 << BF_POS | 1 << BF_LEN, + "IF_INC" : BFUINT8 | 2 << BF_POS | 1 << BF_LEN, + "SW_RESET" : BFUINT8 | 0 << BF_POS | 1 << BF_LEN, +} + +""" + Dictionaries for possible register settings +""" +LSM_ODR = { + "0Hz" : 0x0, + "12.5Hz" : 0x1, + "26Hz" : 0x2, + "52Hz" : 0x3, + "104Hz" : 0x4, + "208Hz" : 0x5, + "416Hz" : 0x6, + "833Hz" : 0x7, + "1660Hz" : 0x8, + "3330Hz" : 0x9, + "6660Hz" : 0xA, +} +LSM_ACCEL_FS = { + "2g" : 0x0, + "4g" : 0x2, + "8g" : 0x3, + "16g" : 0x1, +} +LSM_GYRO_FS = { + "125dps" : 0x1, + "250dps" : 0x0, + "500dps" : 0x2, + "1000dps" : 0x4, + "2000dps" : 0x6, +} + +""" + Other contants +""" +LSM_WHO_AM_I_VALUE = 0x6C +LSM_MG_PER_LSB_2G = 0.061 +LSM_MDPS_PER_LSB_125DPS = 4.375 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor.py new file mode 100644 index 0000000..2c5d479 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor.py @@ -0,0 +1,96 @@ +from machine import Pin, PWM + +class SinglePWMMotor: + + """ + A simple class handling direction and power sets for DC motors on the XRP robots + + This version is used for the XRP Beta, which uses the rp2040 processor + """ + + def __init__(self, in1_direction_pin: int|str, in2_speed_pin: int|str, flip_dir:bool=False): + self.flip_dir = flip_dir + self._MAX_PWM = 65534 # Motor holds when actually at full power + + self._in1DirPin = Pin(in1_direction_pin, Pin.OUT) + self._in2SpeedPin = PWM(Pin(in2_speed_pin, Pin.OUT)) + self._in2SpeedPin.freq(50) + + def set_effort(self, effort: float): + """ + Sets the effort value of the motor (corresponds to power) + + :param effort: The effort to set the motor to, between -1 and 1 + :type effort: float + """ + + if effort < 0: + # Change direction if negative power + effort *= -1 + self._set_direction(1) + else: + self._set_direction(0) + # Cap power to [0,1] + effort = max(0,min(effort,1)) + self._in2SpeedPin.duty_u16(int(effort*self._MAX_PWM)) + + def _set_direction(self, direction: int): + if self.flip_dir: + self._in1DirPin.value(not direction) + else: + self._in1DirPin.value(direction) + + def brake(self): + # Motor holds with the real max duty cycle (65535) + self._in2SpeedPin.duty_u16(self._MAX_PWM+1) + + def coast(self): + self.set_effort(0) + +class DualPWMMotor: + """ + A simple class handling effort setting for DC motors on the XRP robots + + This version of the Motor class is used for the official release of the XRP + """ + + def __init__(self, in1_pwm_forward: int|str, in2_pwm_backward: int|str, flip_dir:bool=False): + self.flip_dir = flip_dir + self._MAX_PWM = 65535 # Motor holds when actually at full power + + self._in1ForwardPin = PWM(Pin(in1_pwm_forward, Pin.OUT)) + self._in2BackwardPin = PWM(Pin(in2_pwm_backward, Pin.OUT)) + self._in1ForwardPin.freq(50) + self._in2BackwardPin.freq(50) + + def set_effort(self, effort: float): + """ + Sets the effort value of the motor (corresponds to power) + + :param effort: The effort to set the motor to, between -1 and 1 + :type effort: float + """ + + in1Pwm = (effort < 0) ^ (self.flip_dir) + if in1Pwm: + self._in1ForwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) + self._in2BackwardPin.duty_u16(int(0)) + else: + self._in1ForwardPin.duty_u16(int(0)) + self._in2BackwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) + + def brake(self): + """ + Powers the motor in both directions at the same time, enabling it to hold position + """ + self._in1ForwardPin.duty_u16(int(self._MAX_PWM)) + self._in2BackwardPin.duty_u16(int(self._MAX_PWM)) + + def coast(self): + """ + Disables the motor in both directions at the same time, enabling it to spin freely + """ + self._in1ForwardPin.duty_u16(int(0)) + self._in2BackwardPin.duty_u16(int(0)) + + diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor_group.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor_group.py new file mode 100644 index 0000000..ecfe4f0 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor_group.py @@ -0,0 +1,94 @@ +from .encoded_motor import EncodedMotor +class MotorGroup(EncodedMotor): + def __init__(self, *motors: EncodedMotor): + """ + A wrapper class for multiple motors, allowing them to be treated as one motor. + + :param motors: The motors to add to this group + :type motors: tuple + """ + self.motors = [] + for motor in motors: + self.add_motor(motor) + + def add_motor(self, motor:EncodedMotor): + """ + :param motor: The motor to add to this group + :type motor: EncodedMotor + """ + self.motors.append(motor) + + def remove_motor(self, motor:EncodedMotor): + """ + :param motor: The motor to remove from this group + :type motor: EncodedMotor + """ + try: + self.motors.remove(motor) + except: + print("Failed to remove motor from Motor Group") + + def set_effort(self, effort: float): + """ + :param effort: The effort to set all motors in this group to, from -1 to 1 + :type effort: float + """ + for motor in self.motors: + motor.set_effort(effort) + + def get_position(self) -> float: + """ + :return: The average position of all motors in this group, in revolutions, relative to the last time reset was called. + :rtype: float + """ + avg = 0 + for motor in self.motors: + avg += motor.get_position() + return avg / len(self.motors) + + def get_position_counts(self) -> int: + """ + :return: The average position of all motors in this group, in encoder counts, relative to the last time reset was called. + :rtype: int + """ + avg = 0 + for motor in self.motors: + avg += motor.get_position_counts() + return round(avg / len(self.motors)) + + def reset_encoder_position(self): + """ + Resets the encoder position of all motors in this group back to zero. + """ + for motor in self.motors: + motor.reset_encoder_position() + + def get_speed(self) -> float: + """ + :return: The average speed of the motors, in rpm + :rtype: float + """ + avg = 0 + for motor in self.motors: + avg += motor.get_speed() + return avg / len(self.motors) + + + def set_speed(self, target_speed_rpm: float = None): + """ + Sets target speed (in rpm) to be maintained passively by all motors in this group + Call with no parameters to turn off speed control + + :param target_speed_rpm: The target speed for these motors in rpm, or None + :type target_speed_rpm: float, or None + """ + for motor in self.motors: + motor.set_speed(target_speed_rpm) + + def set_speed_controller(self, new_controller): + """ + :param new_controller: The new Controller for speed control + :type new_controller: Controller + """ + for motor in self.motors: + motor.set_speed_controller(new_controller) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/pid.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/pid.py new file mode 100644 index 0000000..e9c0491 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/pid.py @@ -0,0 +1,129 @@ +import time +from .controller import Controller + +""" +PID controller with exit condition +""" + +class PID(Controller): + + def __init__(self, + kp = 1.0, + ki = 0.0, + kd = 0.0, + min_output = 0.0, + max_output = 1.0, + max_derivative = None, + max_integral = None, + tolerance = 0.1, + tolerance_count = 1 + ): + """ + :param kp: proportional gain + :param ki: integral gain + :param kd: derivative gain + :param min_output: minimum output + :param max_output: maximum output + :param max_derivative: maximum derivative (change per second) + :param max_integral: maximum integral windup allowed (will cap integral at this value) + :param tolerance: tolerance for exit condition + :param tolerance_count: number of times the error needs to be within tolerance for is_done to return True + """ + self.kp = kp + self.ki = ki + self.kd = kd + self.min_output = min_output + self.max_output = max_output + self.max_derivative = max_derivative + self.max_integral = max_integral + self.tolerance = tolerance + self.tolerance_count = tolerance_count + + self.prev_error = 0 + self.prev_integral = 0 + self.prev_output = 0 + + self.start_time = None + self.prev_time = None + + # number of actual times in tolerance + self.times = 0 + + def _handle_exit_condition(self, error: float): + if abs(error) < self.tolerance: + # if error is within tolerance, increment times in tolerance + self.times += 1 + else: + # otherwise, reset times in tolerance, because we need to be in tolerance for numTimesInTolerance consecutive times + self.times = 0 + + def update(self, error: float, debug: bool = False) -> float: + """ + Handle a new update of this PID loop given an error. + + :param error: The error of the system being controlled by this PID controller + :type error: float + + :return: The system output from the controller, to be used as an effort value or for any other purpose + :rtype: float + """ + current_time = time.ticks_ms() + if self.prev_time is None: + # First update after instantiation + self.start_time = current_time + timestep = 0.01 + else: + # get time delta in seconds + timestep = time.ticks_diff(current_time, self.prev_time) / 1000 + self.prev_time = current_time # cache time for next update + + self._handle_exit_condition(error) + + integral = self.prev_integral + error * timestep + + if self.max_integral is not None: + integral = max(-self.max_integral, min(self.max_integral, integral)) + + derivative = (error - self.prev_error) / timestep + + # derive output + output = self.kp * error + self.ki * integral + self.kd * derivative + self.prev_error = error + self.prev_integral = integral + + # Bound output by minimum + if output > 0: + output = max(self.min_output, output) + else: + output = min(-self.min_output, output) + + # Bound output by maximum + output = max(-self.max_output, min(self.max_output, output)) + + # Bound output by maximum acceleration + if self.max_derivative is not None: + lower_bound = self.prev_output - self.max_derivative * timestep + upper_bound = self.prev_output + self.max_derivative * timestep + output = max(lower_bound, min(upper_bound, output)) + + # cache output for next update + self.prev_output = output + + if debug: + print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})") + + return output + + def is_done(self) -> bool: + """ + :return: if error is within tolerance for numTimesInTolerance consecutive times, or timed out + :rtype: bool + """ + return self.times >= self.tolerance_count + + def clear_history(self): + self.prev_error = 0 + self.prev_integral = 0 + self.prev_output = 0 + self.prev_time = None + self.times = 0 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/puppet.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/puppet.py new file mode 100644 index 0000000..a74f1db --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/puppet.py @@ -0,0 +1,869 @@ +""" +XRP Puppet Protocol (XPP) - Core Protocol Implementation + +A bidirectional protocol for communicating with the XRP robot remotely. +Uses a Network Tables-like architecture with variable ID mapping. +""" + +import select +import struct +import sys +import time +from machine import Timer +from micropython import const,kbd_intr + +# Message framing constants +MSG_START_1 = const(0xAA) +MSG_START_2 = const(0x55) +MSG_END_1 = const(0x55) +MSG_END_2 = const(0xAA) +MAX_PAYLOAD_SIZE = const(251) + +# Message type constants +MSG_TYPE_VAR_DEF = const(1) +MSG_TYPE_VAR_UPDATE = const(2) +MSG_TYPE_VAR_SUBSCRIBE = const(3) +MSG_TYPE_VAR_UNSUBSCRIBE = const(4) +MSG_TYPE_PROGRAM_START = const(5) +MSG_TYPE_PROGRAM_END = const(6) +MSG_TYPE_HEARTBEAT = const(7) + +# Variable type constants +VAR_TYPE_INT = const(1) +VAR_TYPE_FLOAT = const(2) +VAR_TYPE_BOOL = const(3) + +# Permission constants +PERM_READ_ONLY = const(1) +PERM_WRITE_ONLY = const(2) +PERM_READ_WRITE = const(3) + +# First custom variable ID +FIRST_CUSTOM_VAR_ID = const(38) + +# Mapping of standard variable names to IDs (1-37) +_STANDARD_VAR_IDS = { + # Gamepad variables (1-19) + '$gamepad.x1': 1, + '$gamepad.y1': 2, + '$gamepad.x2': 3, + '$gamepad.y2': 4, + '$gamepad.button_a': 5, + '$gamepad.button_b': 6, + '$gamepad.button_x': 7, + '$gamepad.button_y': 8, + '$gamepad.bumper_l': 9, + '$gamepad.bumper_r': 10, + '$gamepad.trigger_l': 11, + '$gamepad.trigger_r': 12, + '$gamepad.back': 13, + '$gamepad.start': 14, + '$gamepad.dpad_up': 15, + '$gamepad.dpad_dn': 16, + '$gamepad.dpad_l': 17, + '$gamepad.dpad_r': 18, + '$gamepad.enabled': 19, + # IMU variables (20-25) + '$imu.yaw': 20, + '$imu.roll': 21, + '$imu.pitch': 22, + '$imu.acc_x': 23, + '$imu.acc_y': 24, + '$imu.acc_z': 25, + # Encoder variables (26-29) + '$encoder.left': 26, + '$encoder.right': 27, + '$encoder.3': 28, + '$encoder.4': 29, + # Current sensor variables (30-33) + '$current.left': 30, + '$current.right': 31, + '$current.3': 32, + '$current.4': 33, + # Other sensor variables (34-37) + '$rangefinder.distance': 34, + '$reflectance.left': 35, + '$reflectance.right': 36, + '$voltage': 37, +} + + +class Puppet: + """ + Core XRP Puppet Protocol implementation. + Manages bidirectional communication, variable registry, and message handling. + """ + + _DEFAULT_PUPPET_INSTANCE = None + + @classmethod + def get_default_puppet(cls): + """ + Get the default XPP instance. This is a singleton. + """ + if cls._DEFAULT_PUPPET_INSTANCE is None: + cls._DEFAULT_PUPPET_INSTANCE = cls() + return cls._DEFAULT_PUPPET_INSTANCE + + def __init__(self): + """ + Initialize the XPP protocol handler. + """ + # Variable registry: name -> (id, type, permissions, value, update_rate, last_sent_time) + self._variables = {} + self._variable_ids = {} # id -> name (reverse mapping) + self._next_var_id = FIRST_CUSTOM_VAR_ID # Start at 38 for custom variables + + # Transport layer + self._transport = None + self._transport_type = None + self._rx_buffer = bytearray() + self._rx_state = 0 # 0=waiting for start, 1=reading length, 2=reading payload, 3=waiting for end + + # Packet tracking + self.packets_sent = 0 + self.packets_received = 0 + self.packets_dropped = 0 + self._sequence_number = 0 + + # Update rate management + self._update_timer = Timer(-1) + self._update_timer_running = False + + # STDIO polling (for USB_STDIO transport) + self._poll_timer = Timer(-1) + self._poll_timer_running = False + self._poll_stdin_poll = None + + # Program state + self._program_running = False + + # Initialize transport + self._init_transport() + + def _init_transport(self): + """ + Auto-detect and initialize transport (BLE or USB serial). + """ + # Try BLE first + try: + from ble.blerepl import uart + if len(uart._connections) > 0: + self._transport = uart + self._transport_type = 'BLE' + self._transport.set_data_callback(self._data_callback) + return + else: + self._transport_type = 'USB_STDIO' + self._start_poll_timer() + return + except ImportError: + self._transport_type = 'USB_STDIO' + self._start_poll_timer() + return + + + def _poll_stdio(self): + """ + Poll STDIO for incoming data using select.poll. + Reads raw bytes from the stdin buffer. + """ + data_read = False + while True: + events = self._stdin_poll.poll(0) + if not events: + if data_read: + self._process_rx_buffer() + break + data = sys.stdin.buffer.read(1) + self._rx_buffer.extend(data) + data_read = True + + #if data: + #print(f"Received data: {data}") + #self._data_callback(data) + + def _start_poll_timer(self): + """ + Start STDIO polling for USB_STDIO transport. + Uses select.poll on the raw stdin buffer and a timer to check it. + """ + if self._transport_type != 'USB_STDIO' or self._poll_timer_running: + return + self._stdin_poll = select.poll() + self._stdin_poll.register(sys.stdin.buffer, select.POLLIN) + + kbd_intr(-1) #the data will have 03 in it, don't do a ctrl-c for that data. + + self._poll_timer.init(period=20, mode=Timer.PERIODIC, + callback=lambda t: self._poll_stdio()) + self._poll_timer_running = True + + def _stop_poll_timer(self): + """ + Stop the STDIO polling timer and unregister from poll. + """ + if self._poll_timer_running: + self._poll_timer.deinit() + kbd_intr(3) #start watching for ctrl-c again + self._poll_timer_running = False + if self._stdin_poll is not None: + try: + self._stdin_poll.unregister(sys.stdin.buffer) + except (OSError, AttributeError): + pass + self._stdin_poll = None + def start(self): + """ + Start the STDIO polling. + """ + if self._transport_type == 'USB_STDIO': + self._start_poll_timer() + + def stop(self): + """ + Stop the STDIO polling. + """ + if self._transport_type == 'USB_STDIO': + self._stop_poll_timer() + + + def _data_callback(self, data): + """ + Handle incoming data from transport layer. + """ + if isinstance(data, (bytes, bytearray)): + self._rx_buffer.extend(data) + else: + self._rx_buffer.append(data) + + self._process_rx_buffer() + + def _process_rx_buffer(self): + """ + Process received data buffer, extracting complete messages. + """ + while len(self._rx_buffer) >= 2: + if self._rx_state == 0: # Waiting for start sequence + # Look for start sequence + idx = -1 + for i in range(len(self._rx_buffer) - 1): + if self._rx_buffer[i] == MSG_START_1 and self._rx_buffer[i+1] == MSG_START_2: + idx = i + break + + if idx == -1: + # No start sequence found, clear buffer except last byte + if len(self._rx_buffer) > 1: + #see if anything in the buffer is a ctrl-c + for i in range(len(self._rx_buffer) - 1): + if self._rx_buffer[i] == 0x03: + self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler + self._rx_buffer = self._rx_buffer[-1:] + return + + # Remove everything before start sequence + if idx > 0: + #check for a ctrl-c in the non packet parts + for i in range(idx - 1): + if self._rx_buffer[i] == 0x03: + self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler + self._rx_buffer = self._rx_buffer[idx:] + + # Found start, move to length + self._rx_state = 1 + continue + + elif self._rx_state == 1: # Reading type + if len(self._rx_buffer) < 3: # Need start(2) + type(1) + return + msg_type = self._rx_buffer[2] + self._rx_state = 2 + continue + + elif self._rx_state == 2: # Reading length + if len(self._rx_buffer) < 4: # Need start(2) + type(1) + length(1) + return + payload_len = self._rx_buffer[3] + if payload_len > MAX_PAYLOAD_SIZE: + # Invalid length, reset + self._rx_buffer = self._rx_buffer[4:] + self._rx_state = 0 + self.packets_dropped += 1 + continue + + self._rx_state = 3 + continue + + elif self._rx_state == 3: # Reading payload + payload_len = self._rx_buffer[3] + total_needed = 4 + payload_len + 2 # start(2) + type(1) + len(1) + payload + end(2) + + if len(self._rx_buffer) < total_needed: + return # Wait for more data + + # Check end sequence + end_idx = 4 + payload_len + if (self._rx_buffer[end_idx] != MSG_END_1 or + self._rx_buffer[end_idx + 1] != MSG_END_2): + # Invalid end sequence, reset + self._rx_buffer = self._rx_buffer[4:] + self._rx_state = 0 + self.packets_dropped += 1 + continue + + # Extract message type and payload data + msg_type = self._rx_buffer[2] + payload_data = bytes(self._rx_buffer[4:end_idx]) + self._rx_buffer = self._rx_buffer[total_needed:] + self._rx_state = 0 + + # Process message + self.packets_received += 1 + self._handle_message(msg_type, payload_data) + continue + + def _write_data(self, data): + """ + Write data to transport layer. + """ + if self._transport_type == 'BLE': + self._transport.write_data(data) + + elif self._transport_type == 'USB_STDIO': + sys.stdout.buffer.write(data) + + def _pack_message(self, msg_type, payload_data): + """ + Pack a message with framing. + Returns bytearray with complete message. + Format: [START] [TYPE] [LENGTH] [PAYLOAD] [END] + LENGTH includes payload_data length (not including TYPE byte) + """ + payload_len = len(payload_data) + if payload_len > MAX_PAYLOAD_SIZE: + raise ValueError(f"Payload too large: {payload_len} > {MAX_PAYLOAD_SIZE}") + + msg = bytearray() + msg.append(MSG_START_1) + msg.append(MSG_START_2) + msg.append(msg_type) + msg.append(payload_len) # Length of payload_data only + msg.extend(payload_data) + msg.append(MSG_END_1) + msg.append(MSG_END_2) + + return msg + + def _send_message(self, msg_type, payload_data): + """ + Send a message over the transport. + """ + msg = self._pack_message(msg_type, payload_data) + self._write_data(msg) + self.packets_sent += 1 + self._sequence_number = (self._sequence_number + 1) % 256 + + def _handle_message(self, msg_type, payload_data): + """ + Handle incoming message based on type. + + :param msg_type: Message type byte + :param payload_data: Message payload data (without type byte) + """ + if msg_type == MSG_TYPE_VAR_DEF: + self._handle_var_def(payload_data) + elif msg_type == MSG_TYPE_VAR_UPDATE: + self._handle_var_update(payload_data) + elif msg_type == MSG_TYPE_VAR_SUBSCRIBE: + self._handle_var_subscribe(payload_data) + elif msg_type == MSG_TYPE_VAR_UNSUBSCRIBE: + self._handle_var_unsubscribe(payload_data) + elif msg_type == MSG_TYPE_PROGRAM_START: + self._handle_program_start() + elif msg_type == MSG_TYPE_PROGRAM_END: + self._handle_program_end() + elif msg_type == MSG_TYPE_HEARTBEAT: + self._handle_heartbeat(payload_data) + + def _handle_var_def(self, payload): + """ + Handle variable definition message. + Format: name_len(1) name(name_len) type(1) permissions(1) var_id(1) + """ + if len(payload) < 3: + return + + name_len = payload[0] + if len(payload) < 1 + name_len + 3: # name_len + name + type + permissions + var_id + return + + name = payload[1:1+name_len].decode('utf-8') + var_type = payload[1+name_len] + permissions = payload[1+name_len+1] + var_id = payload[1+name_len+2] + + # If this is a standard variable, use the predefined ID instead + if name in _STANDARD_VAR_IDS: + var_id = _STANDARD_VAR_IDS[name] + + # Register the variable with the (corrected) ID + if name not in self._variables: + # Default value based on type + if var_type == VAR_TYPE_INT: + default_value = 0 + elif var_type == VAR_TYPE_FLOAT: + default_value = 0.0 + elif var_type == VAR_TYPE_BOOL: + default_value = False + else: + return + + self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) + self._variable_ids[var_id] = name + # Update next_var_id if needed (for custom variables only) + if var_id >= self._next_var_id and name not in _STANDARD_VAR_IDS: + self._next_var_id = var_id + 1 + if self._next_var_id > 255: + self._next_var_id = FIRST_CUSTOM_VAR_ID # Wrap to start of custom range + + def _handle_var_update(self, payload): + """ + Handle variable update message (batched format). + Format: count(1) [var_id(1) type(1) value(type-dependent)] * count + A count of 1 is equivalent to a single update. + """ + if len(payload) < 1: + return + + count = payload[0] + offset = 1 + + if count == 0 or count > 50: # Sanity check + return + + # Batched update format: count(1) [var_id(1) type(1) value] * count + for i in range(count): + if len(payload) < offset + 2: # Need at least var_id(1) + type(1) + break + + var_id = payload[offset] + offset += 1 + var_type = payload[offset] + offset += 1 + + if var_id not in self._variable_ids: + # Skip this update, but need to advance offset + if var_type == VAR_TYPE_INT: + offset += 4 + elif var_type == VAR_TYPE_FLOAT: + offset += 4 + elif var_type == VAR_TYPE_BOOL: + offset += 1 + continue + + name = self._variable_ids[var_id] + var_info = self._variables[name] + + # Unpack value based on type from message + if var_type == VAR_TYPE_INT: + if len(payload) < offset + 4: + break + value = struct.unpack(' 255: + raise RuntimeError("Maximum number of custom variables exceeded") + send_def = True # Send VAR_DEF for custom variables + + # Default value based on type + if var_type == VAR_TYPE_INT: + default_value = 0 + elif var_type == VAR_TYPE_FLOAT: + default_value = 0.0 + elif var_type == VAR_TYPE_BOOL: + default_value = False + else: + raise ValueError(f"Invalid variable type: {var_type}") + + self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) + self._variable_ids[var_id] = name + + # Only send variable definition for custom variables + if send_def: + self._send_var_def(name, var_type, permissions, var_id) + + return var_id + + def _send_var_def(self, name, var_type, permissions, var_id): + """ + Send variable definition message. + """ + name_bytes = name.encode('utf-8') + payload = bytearray() + payload.append(len(name_bytes)) + payload.extend(name_bytes) + payload.append(var_type) + payload.append(permissions) + payload.append(var_id) # 1 byte + + self._send_message(MSG_TYPE_VAR_DEF, payload) + + def set_variable(self, name, value): + """ + Set a variable value and send update if subscribed. + + :param name: Variable name + :param value: Variable value + """ + if name not in self._variables: + raise ValueError(f"Variable not defined: {name}") + + var_info = self._variables[name] + var_type = var_info[1] + + # Type check + if var_type == VAR_TYPE_INT and not isinstance(value, int): + raise TypeError(f"Variable {name} expects int, got {type(value)}") + elif var_type == VAR_TYPE_FLOAT and not isinstance(value, (int, float)): + raise TypeError(f"Variable {name} expects float, got {type(value)}") + elif var_type == VAR_TYPE_BOOL and not isinstance(value, bool): + raise TypeError(f"Variable {name} expects bool, got {type(value)}") + + # Update value + self._variables[name] = (var_info[0], var_info[1], var_info[2], + value, var_info[4], var_info[5]) + + # Send update if rate > 0 or if this is an on-demand update + # (on-demand updates are sent immediately when set) + if var_info[4] > 0 or var_info[4] == 0: + self._send_var_update(name) + + def get_variable(self, name): + """ + Get a variable value. + + :param name: Variable name + :return: Variable value + """ + if name not in self._variables: + raise ValueError(f"Variable not defined: {name}") + + return self._variables[name][3] + + def _send_var_update(self, name): + """ + Send single variable update message (uses batched format with count=1). + For multiple updates, use _send_batched_var_updates(). + """ + if name not in self._variables: + return + + var_info = self._variables[name] + var_id = var_info[0] + var_type = var_info[1] + value = var_info[3] + + # Pack as batched update with count=1 + payload = bytearray() + payload.append(1) # count = 1 + payload.append(var_id) # 1 byte + payload.append(var_type) # Include type byte + + if var_type == VAR_TYPE_INT: + payload.extend(struct.pack(' 0 and enough time has passed + if rate > 0: + period_ms = int(1000 / rate) + if time.ticks_diff(current_time, last_sent) < period_ms: + continue # Not ready yet + + updates.append((name, var_info)) + + if not updates: + return + + # Pack batched update: count(1) [var_id(1) type(1) value] * count + payload = bytearray() + payload.append(len(updates)) # count + + for name, var_info in updates: + var_id = var_info[0] + var_type = var_info[1] + value = var_info[3] + + payload.append(var_id) # 1 byte + payload.append(var_type) + + if var_type == VAR_TYPE_INT: + payload.extend(struct.pack(' max_rate: + max_rate = var_info[4] + + if max_rate > 0 and not self._update_timer_running: + # Start timer at max_rate Hz + period_ms = int(1000 / max_rate) + self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._update_timer_callback()) + self._update_timer_running = True + elif max_rate == 0 and self._update_timer_running: + # Stop timer + self._update_timer.deinit() + self._update_timer_running = False + elif max_rate > 0 and self._update_timer_running: + # Update timer period if rate changed + period_ms = int(1000 / max_rate) + self._update_timer.deinit() + self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._update_timer_callback()) + + def _update_timer_callback(self): + """ + Timer callback to send variable updates at their specified rates. + Batches all ready updates into a single message for efficiency. + """ + current_time = time.ticks_ms() + + # Collect all variables that are ready to send + ready_vars = [] + for name, var_info in self._variables.items(): + var_id, var_type, permissions, value, rate, last_sent = var_info + + # Only send if rate > 0 and enough time has passed + if rate > 0: + period_ms = int(1000 / rate) + if time.ticks_diff(current_time, last_sent) >= period_ms: + # Check if we have read permission + if permissions in (PERM_READ_ONLY, PERM_READ_WRITE): + ready_vars.append(name) + + # Send all ready updates in a single batched message + if ready_vars: + self._send_batched_var_updates(ready_vars) + + def send_program_start(self): + """ + Send program start message. + """ + self._send_message(MSG_TYPE_PROGRAM_START, b'') + self._program_running = True + + def send_program_end(self): + """ + Send program end message. + """ + self._send_message(MSG_TYPE_PROGRAM_END, b'') + self._program_running = False + + def send_heartbeat(self): + """ + Send heartbeat message. + """ + # Include stats + payload = struct.pack(' float: + """ + Get the distance in centimeters by measuring the echo pulse time + """ + if time.ticks_diff(time.ticks_us(), self.last_echo_time) < self.cache_time_us and not (self.cms == 65535 or self.cms == 0): + return self.cms + + try: + pulse_time = self._send_pulse_and_wait() + if pulse_time <= 0: + return self.MAX_VALUE + except OSError as exception: + # We don't want programs to crash if the HC-SR04 doesn't see anything in range + # So we catch those errors and return 65535 instead + if exception.args[0] == 110: # 110 = ETIMEDOUT + return self.MAX_VALUE + raise exception + + # To calculate the distance we get the pulse_time and divide it by 2 + # (the pulse walk the distance twice) and by 29.1 becasue + # the sound speed on air (343.2 m/s), that It's equivalent to + # 0.034320 cm/us that is 1cm each 29.1us + self.cms = (pulse_time / 2) / 29.1 + self.last_echo_time = time.ticks_us() + return self.cms + + def _delay_us(self, delay:int): + """ + Custom implementation of time.sleep_us(), used to get around the bug in MicroPython where time.sleep_us() + doesn't work properly and causes the IDE to hang when uploading the code + """ + start = time.ticks_us() + while time.ticks_diff(time.ticks_us(), start) < delay: + pass diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/reflectance.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/reflectance.py new file mode 100644 index 0000000..c986952 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/reflectance.py @@ -0,0 +1,49 @@ +from machine import Pin, ADC + +class Reflectance: + + _DEFAULT_REFLECTANCE_INSTANCE = None + + @classmethod + def get_default_reflectance(cls): + """ + Get the default XRP reflectance sensor instance. This is a singleton, so only one instance of the reflectance sensor will ever exist. + """ + if cls._DEFAULT_REFLECTANCE_INSTANCE is None: + cls._DEFAULT_REFLECTANCE_INSTANCE = cls() + return cls._DEFAULT_REFLECTANCE_INSTANCE + + def __init__(self, leftPin: int|str = "LINE_L", rightPin: int|str = "LINE_R"): + """ + Implements for a reflectance sensor using the built in 12-bit ADC. + Reads from analog in and converts to a float from 0 (white) to 1 (black) + + :param leftPin: The pin the left reflectance sensor is connected to + :type leftPin: int + :param rightPin: The pin the right reflectance sensor is connected to + :type rightPin: int + """ + self._leftReflectance = ADC(Pin(leftPin)) + self._rightReflectance = ADC(Pin(rightPin)) + + self.MAX_ADC_VALUE: int = 65536 + + def _get_value(self, sensor: ADC) -> float: + + return sensor.read_u16() / self.MAX_ADC_VALUE + + def get_left(self) -> float: + """ + Gets the the reflectance of the left reflectance sensor + : return: The reflectance ranging from 0 (white) to 1 (black) + : rtype: float + """ + return self._get_value(self._leftReflectance) + + def get_right(self) -> float: + """ + Gets the the reflectance of the right reflectance sensor + : return: The reflectance ranging from 0 (white) to 1 (black) + : rtype: float + """ + return self._get_value(self._rightReflectance) diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/resetbot.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/resetbot.py new file mode 100644 index 0000000..5397560 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/resetbot.py @@ -0,0 +1,76 @@ +import sys +""" +A simple file for shutting off all of the motors after a program gets interrupted from the REPL. +Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL. +""" + +def reset_motors(): + from XRPLib.encoded_motor import EncodedMotor + # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init + for i in range(4): + motor = EncodedMotor.get_default_encoded_motor(i+1) + motor.set_speed(0) + motor.reset_encoder_position() + +def reset_led(): + from XRPLib.board import Board + # Turn off the on-board LED + Board.get_default_board().led_off() + try: + # Turn off the RGB LED for boards that have it + Board.get_default_board().set_rgb_led(0, 0, 0) + except: + pass + +def reset_servos(): + from XRPLib.servo import Servo + # Turn off both Servos + Servo.get_default_servo(1).free() + Servo.get_default_servo(2).free() + try: #if 2350 then there are 4 servos + Servo.get_default_servo(3).free() + Servo.get_default_servo(4).free() + except: + pass + +def reset_webserver(): + from XRPLib.webserver import Webserver + # Shut off the webserver and close network connections + Webserver.get_default_webserver().stop_server() + +def reset_gamepad(): + from XRPLib.gamepad import Gamepad + # Stop the browser from sending more gamepad data + Gamepad.get_default_gamepad().stop() + +def reset_dashboard(): + from XRPLib.dashboard import Dashboard + # Stop the dashboard from sending more data + Dashboard.get_default_dashboard().stop() + +def reset_hard(): + reset_gamepad() + reset_dashboard() + reset_motors() + reset_led() + reset_servos() + reset_webserver() + +if "XRPLib.gamepad" in sys.modules: + reset_gamepad() + +if "XRPLib.dashboard" in sys.modules: + reset_dashboard() + +if "XRPLib.encoded_motor" in sys.modules: + reset_motors() + +if "XRPLib.board" in sys.modules: + reset_led() + +if "XRPLib.servo" in sys.modules: + reset_servos() + +if "XRPLib.webserver" in sys.modules: + reset_webserver() + diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/servo.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/servo.py new file mode 100644 index 0000000..e606dac --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/servo.py @@ -0,0 +1,66 @@ +from machine import Pin, PWM +import sys + +class Servo: + + _DEFAULT_SERVO_ONE_INSTANCE = None + _DEFAULT_SERVO_TWO_INSTANCE = None + _DEFAULT_SERVO_THREE_INSTANCE = None + _DEFAULT_SERVO_FOUR_INSTANCE = None + + @classmethod + def get_default_servo(cls, index:int): + """ + Gets one of the default XRP servo instances. These are singletons, so only one instance of each servo will ever exist. + Raises an exception if an invalid index is requested. + + :param index: The index of the servo to get (1-4; Beta only has 1 and 2) + :type index: int + """ + if index == 1: + if cls._DEFAULT_SERVO_ONE_INSTANCE is None: + cls._DEFAULT_SERVO_ONE_INSTANCE = cls("SERVO_1") + servo = cls._DEFAULT_SERVO_ONE_INSTANCE + elif index == 2: + if cls._DEFAULT_SERVO_TWO_INSTANCE is None: + cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2") + servo = cls._DEFAULT_SERVO_TWO_INSTANCE + elif index == 3 and hasattr(Pin.board, "SERVO_3"): + if cls._DEFAULT_SERVO_THREE_INSTANCE is None: + cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3") + servo = cls._DEFAULT_SERVO_THREE_INSTANCE + elif index == 4 and hasattr(Pin.board, "SERVO_4"): + if cls._DEFAULT_SERVO_FOUR_INSTANCE is None: + cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4") + servo = cls._DEFAULT_SERVO_FOUR_INSTANCE + else: + return Exception("Invalid servo index") + return servo + + def __init__(self, signal_pin: int|str): + """ + A simple class for interacting with a servo through PWM + + :param signal_pin: The pin the servo is connected to + :type signal_pin: int | str + """ + + self._servo = PWM(Pin(signal_pin, Pin.OUT)) + # Initialize base frequency for the PWM + self._servo.freq(50) + self.MICROSEC_PER_DEGREE: int = 10000 + self.LOW_ANGLE_OFFSET: int = 500000 + + def set_angle(self, degrees: float): + """ + Sets the angle of the servo + :param degrees: The angle to set the servo to [0,200] + :ptype degrees: float + """ + self._servo.duty_ns(int(degrees * self.MICROSEC_PER_DEGREE + self.LOW_ANGLE_OFFSET)) + + def free(self): + """ + Allows the servo to spin freely without holding position + """ + self._servo.duty_ns(0) diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/timeout.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/timeout.py new file mode 100644 index 0000000..7d7a669 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/timeout.py @@ -0,0 +1,23 @@ +import time + +class Timeout: + def __init__(self, timeout: float): + """ + Starts a timer that will expire after the given timeout. + + :param timeout: The timeout, in seconds + :type timeout: float + """ + self.timeout = timeout + if self.timeout != None: + self.timeout = timeout*1000 + + self.start_time = time.ticks_ms() + + def is_done(self): + """ + :return: True if the timeout has expired, False otherwise + """ + if self.timeout is None: + return False + return time.ticks_ms() - self.start_time > self.timeout \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/webserver.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/webserver.py new file mode 100644 index 0000000..bedbba6 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/webserver.py @@ -0,0 +1,326 @@ +from phew import server, template, logging, access_point, dns +from phew.template import render_template +from phew.server import redirect, stop, close +import gc +import network +import time +import json + +logging.log_file = "webserverLog.txt" + +class Webserver: + + @classmethod + def get_default_webserver(cls): + """ + Get the default webserver instance. This is a singleton, so only one instance of the webserver will ever exist. + """ + return webserver + + def __init__(self): + """ + Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below. + """ + + gc.threshold(50000) # garbage collection + self.logged_data = {} + self.buttons = {"forwardButton": lambda: logging.debug("Button not initialized"), + "backButton": lambda: logging.debug("Button not initialized"), + "leftButton": lambda: logging.debug("Button not initialized"), + "rightButton": lambda: logging.debug("Button not initialized"), + "stopButton": lambda: logging.debug("Button not initialized")} + self.FUNCTION_PREFIX = "startfunction" + self.FUNCTION_SUFFIX = "endfunction" + self.display_arrows = False + # Instantiate self.wlan now so that running stop before start doesn't cause an error + self.wlan = network.WLAN(network.STA_IF) + + def start_network(self, ssid:str=None, robot_id:int= None, password:str=None): + """ + Open an access point from the XRP board to be used as a captive host. The default network information can be set in secrets.json + + :param ssid: The ssid of the access point, defaults to value from secrets.json + :type ssid: str, optional + :param robot_id: Replaces "{robot_id}" in ssid, defaults to value from secrets.json + :type robot_id: int, optional + :param password: The password of the access point, defaults to value from secrets.json + :type password: str, optional + """ + if ssid is None: + try: + with open("../../secrets.json") as secrets_file: + secrets = json.load(secrets_file) + ssid = str(secrets["ap_ssid"]) + password = str(secrets["ap_password"]) + if robot_id is None: + robot_id = str(secrets["robot_id"]) + ssid = ssid.replace("{robot_id}", robot_id) + except (OSError, KeyError, ValueError): + if robot_id is None: + robot_id = 1 + ssid = f"XRP_{robot_id}" + password = "remote.xrp" + if password is not None and len(password) < 8: + logging.warn("Password is less than 8 characters, this may cause issues with some devices") + self.wlan = access_point(ssid, password) + logging.info(f"Starting Access Point \"{ssid}\"") + self.ip = self.wlan.ifconfig()[0] + + def connect_to_network(self, ssid:str=None, password:str=None, timeout = 10): + """ + Connect to a wifi network with the given ssid and password. + If the connection fails, the board will disconnect from the network and return. + + :param ssid: The ssid of the network, defaults to value from secrets.json + :type ssid: str, optional + :param password: The password of the network, defaults to value from secrets.json + :type password: str, optional + :param timeout: The amount of time to wait for the connection to succeed, defaults to 10 + :type timeout: int, optional + """ + self.wlan = network.WLAN(network.STA_IF) + self.wlan.active(True) # configure board to connect to wifi + if ssid is None: + try: + with open("../../secrets.json") as secrets_file: + secrets = json.load(secrets_file) + ssid = str(secrets["wifi_ssid"]) + password = str(secrets["wifi_password"]) + except (OSError, KeyError, ValueError): + print("secrets.json not found or improperly formatted") + return False + self.wlan.connect(ssid,password) + start_time = time.time() + while not self.wlan.isconnected(): + print("Connecting to network, may take a second") + if time.time() > start_time+timeout: + print("Failed to connect to network, please try again") + self.wlan.disconnect() + return False + time.sleep(0.25) + self.ip = self.wlan.ifconfig()[0] + + def start_server(self): + """ + Begin the webserver in either access point or bridge mode. The IP is printed to the console. + + Preconditions: Either start_network or connect_to_network must be called before this method. + """ + self.wlan.active(True) + logging.info(f"Starting DNS Server at {self.ip}") + dns.run_catchall(self.ip) + self.DOMAIN = self.ip + logging.disable_logging_types(logging.LOG_INFO) + server.run() + + def stop_server(self): + """ + Shuts off the webserver and network and stops handling requests + """ + if self.wlan.active(): + logging.enable_logging_types(logging.LOG_INFO) + logging.info("Stopping Webserver and Network Connections") + + stop() + self.wlan.active(False) + + def _index_page(self, request): + # Render index page and respond to form requests + if request.method == 'GET': + return self._generateHTML() + if request.method == 'POST': + if str(list(request.form.values())[0]).count(" ") == 0: + text = str(list(request.form.keys())[0]) + else: + text = str(list(request.form.values())[0]) + self._handleUserFunctionRequest(text) + return self._generateHTML() + + def _hotspot(self, request): + # Redirect to Index Page + return self._generateHTML() + + def _catch_all(self, request): + # Catch all requests and redirect if necessary + if request.headers.get("host") != self.DOMAIN: + return redirect("http://"+self.DOMAIN+"/") + return self._index_page(request=request) + + def log_data(self, label:str, data): + """ + Register a custom label to be displayed on the webserver + + :param label: The label as it will be displayed, must be unique + :type label: str + :param data: The data to be displayed + :type data: Any (converted to string) + """ + self.logged_data[label] = data + + def add_button(self, button_name:str, function): + """ + Register a custom button to be displayed on the webserver + + :param button_name: The label for the button as it will be displayed, must be unique + :type button_name: str + :param function: The function to be called when the button is pressed + :type function: function + """ + self.buttons[button_name] = function + + def registerForwardButton(self, function): + """ + Assign a function to the forward button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["forwardButton"] = function + + def registerBackwardButton(self, function): + """ + Assign a function to the backward button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["backButton"] = function + + def registerLeftButton(self, function): + """ + Assign a function to the left button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["leftButton"] = function + + def registerRightButton(self, function): + """ + Assign a function to the right button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["rightButton"] = function + + def registerStopButton(self, function): + """ + Assign a function to the stop + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["stopButton"] = function + + def _handleUserFunctionRequest(self, text) -> bool: + print(f"Running {text}") + try: + user_function = self.buttons[text] + if user_function is None: + logging.warning("User function "+text+" not found") + return False + user_function() + return True + except RuntimeError as xcpt: + logging.error("User function "+text+" caused an exception: "+str(xcpt)) + return False + + def _generateHTML(self): + + string = _HTML1 + + if self.display_arrows: + string += _HTML_ARROWS + + string += f'

Custom Function Bindings:

' + # add each button's href to html + for button in self.buttons.keys(): + if(["forwardButton","backButton","leftButton","rightButton","stopButton"].count(button) > 0): + # Slightly cursed solution to not display the arrow buttons as text buttons + continue + string += f'

' + string += "\n" + + string += f'

Logged Data:

' + # add logged data to the html + for data_label in self.logged_data.keys(): + string += f'

{data_label}: {str(self.logged_data[data_label])}

' + string += "\n" + + string += _HTML2 + + return string + +""" Use decorators to bind the wifi methods to the requests """ +webserver = Webserver() + +@server.route("/", methods=['GET','POST']) +def index(request): + return webserver._index_page(request) + +@server.route("/hotspot-detect.html", methods=["GET"]) +def hotspot(request): + return webserver._hotspot(request) + +@server.catchall() +def catch_all(request): + return webserver._catch_all(request) + +_HTML1 = """ + + + + + + + + + + +

XRP control page

+ +

+""" + +_HTML_ARROWS = """ +

+
+
+    +
+    +
+
+
+""" + +_HTML2 = """ +

+ + + + +""" \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/ble/__init__.py b/public/firmware-loader/boards/xrp-2350/micropython/ble/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/public/firmware-loader/boards/xrp-2350/micropython/ble/ble_uart_peripheral.py b/public/firmware-loader/boards/xrp-2350/micropython/ble/ble_uart_peripheral.py new file mode 100644 index 0000000..d9da813 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/ble/ble_uart_peripheral.py @@ -0,0 +1,158 @@ +# This implements the Nordic UART Service (NUS). + +import bluetooth +#from .ble_advertising import advertising_payload +import struct +from micropython import const +from machine import Timer + +#Advertise info +# org.bluetooth.characteristic.gap.appearance.xml +_ADV_APPEARANCE_GENERIC_COMPUTER = const(128) +_ADV_TYPE_FLAGS = const(0x01) +_ADV_TYPE_APPEARANCE = const(0x19) +_ADV_TYPE_NAME = const(0x09) + +_IRQ_CENTRAL_CONNECT = const(1) +_IRQ_CENTRAL_DISCONNECT = const(2) +_IRQ_GATTS_WRITE = const(3) +_IRQ_GATTS_INDICATE_DONE = const(20) + +_FLAG_READ = const(0x0002) +_FLAG_WRITE = const(0x0008) +_FLAG_NOTIFY = const(0x0010) + +_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") +_UART_TX = ( + bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"), + _FLAG_NOTIFY, +) +_UART_RX = ( + bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E"), + _FLAG_WRITE, +) + +# Define a new UUID for the binary data characteristic. +_UART_DATA_RX = ( + bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36ff"), + _FLAG_WRITE, +) +# Define a new UUID for the binary data characteristic. +_UART_DATA_TX = ( + bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36fe"), + _FLAG_NOTIFY, +) + +_UART_SERVICE = ( + _UART_UUID, + (_UART_TX, _UART_RX, _UART_DATA_RX, _UART_DATA_TX,), +) + +_timer = Timer(-1) + +def delayedRestart(_arg): + import machine + machine.reset() + +class BLEUART: + def __init__(self, ble, name="mpy-uart", rxbuf=100): + self._ble = ble + self._ble.active(True) + self._ble.irq(self._irq) + ((self._tx_handle, self._rx_handle, self._data_rx_handle, self._data_tx_handle),) = self._ble.gatts_register_services((_UART_SERVICE,)) + # Increase the size of the rx buffer and enable append mode. + self._ble.gatts_set_buffer(self._rx_handle, rxbuf, True) + self._connections = set() + self._rx_buffer = bytearray() + self._handler = None + self._payload = self._advertising_payload(name, _ADV_APPEARANCE_GENERIC_COMPUTER) + self._data_callback = None + self._advertise() + + def irq(self, handler): + self._handler = handler + + def _irq(self, event, data): + # Track connections so we can send notifications. + if event == _IRQ_CENTRAL_CONNECT: + conn_handle, _, _ = data + self._connections.add(conn_handle) + elif event == _IRQ_CENTRAL_DISCONNECT: + conn_handle, _, _ = data + if conn_handle in self._connections: + self._connections.remove(conn_handle) + # Start advertising again to allow a new connection. + self._advertise() + elif event == _IRQ_GATTS_WRITE: + conn_handle, value_handle = data + if conn_handle in self._connections and value_handle == self._rx_handle: + self._rx_buffer += self._ble.gatts_read(self._rx_handle) + if(self._rx_buffer.find(b'##XRPSTOP#' + b'#') != -1): #WARNING: This is broken up so it won't restart during an update or this file. + self._rx_buffer = bytearray() + # set the bit in isrunning to tell main not to re-run the program so the IDE can connect + FILE_PATH = '/lib/ble/isrunning' + with open(FILE_PATH, 'r+b') as file: + file.write(b'\x01') + # slight delay to avoid errors on the browser side. + _timer.init(mode=Timer.PERIODIC, period=50, callback=delayedRestart) + elif conn_handle in self._connections and value_handle == self._data_rx_handle: + new_data = self._ble.gatts_read(self._data_rx_handle) + if self._data_callback: + self._data_callback(new_data) + #schedule(self._data_callback, new_data) + elif event == _IRQ_GATTS_INDICATE_DONE: + if self._handler: + self._handler() + #else: + #print("IRQ Event Code: " + str(event)) + + def any(self): + return len(self._rx_buffer) + + def read(self, sz=None): + if not sz: + sz = len(self._rx_buffer) + result = self._rx_buffer[0:sz] + self._rx_buffer = self._rx_buffer[sz:] + return result + + def write(self, data): + #print("write:" + data) + for conn_handle in self._connections: + self._ble.gatts_indicate(conn_handle, self._tx_handle, data) + + def write_data(self, data): + #print("write_data:" + data) + for conn_handle in self._connections: + self._ble.gatts_notify(conn_handle, self._data_tx_handle, data) + + def set_data_callback(self, callback): + self._data_callback = callback + + def clear_data_callback(self): + self._data_callback = None + + def close(self): + for conn_handle in self._connections: + self._ble.gap_disconnect(conn_handle) + self._connections.clear() + + def _advertise(self, interval_us=500000): + self._ble.gap_advertise(interval_us, adv_data=self._payload) + + # Generate a payload to be passed to gap_advertise(adv_data=...). + def _advertising_payload(self, name, appearance): + payload = bytearray() + + def _append(adv_type, value): + nonlocal payload + payload += struct.pack("BB", len(value) + 1, adv_type) + value + + _append( + _ADV_TYPE_FLAGS, + struct.pack("B", 0x02 + 0x04), + ) + _append(_ADV_TYPE_NAME, name) + _append(_ADV_TYPE_APPEARANCE, struct.pack("= len(self._tx_buf): + self._tx_buf = bytearray() + self._tx_buf_index = 0 + self._uart.write(data) + + def write(self, buf): + state = disable_irq() + empty = not self._tx_buf + self._tx_buf += buf + enable_irq(state) + + if empty: + waitingForTimer = True + schedule_in(self._timer_handler, 50) + +def background_task(): + global uart + ble = bluetooth.BLE() + x = (''.join(['{:02x}'.format(b) for b in unique_id()])) + uart = BLEUART(ble, name="XRP-" + x[11:], rxbuf = 250) + stream = BLEUARTStream(uart) + os.dupterm(stream,0) + +# Start the background task +background_task() + \ No newline at end of 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z;$NupFHGUT8}v(b5bVLm{Wo;R(_p*Tz&Y8!PYxnG39{MXpQT7(T`3V;fqE!@eA_?f zRpQ_jIh7KhN|BRYC*&ackatie{mJVSIg=tMWlP2Z3*)#ScBb6+r^t0Fa$SlX9xb}> zj|uDlnJWL8Dg23k$veHsLHuLSYpDJd`PlY^vy(jm%*t(gV6EpMiXK0d zt@I0uETAXM^f)6^d9-ikRm75K3CZDw=K$bs5#YOwDi#qx>mjv6_1ipI<9^PQ4gSv- zz_S8a-Ks_W3vd}oRr!3(DSo*1gKYl{&je40(@xa+tnyD*Fe+iCNFYqs2ogQn8xjBg zdraUzTjf9d4*tm=nCKyeHA?ohM4s$ji9gw+62DBo5N@v!@WR)4 starting catch all dns server on port {}".format(port)) + + _socket = usocket.socket(usocket.AF_INET, usocket.SOCK_DGRAM) + _socket.setblocking(False) + _socket.setsockopt(usocket.SOL_SOCKET, usocket.SO_REUSEADDR, 1) + _socket.bind(usocket.getaddrinfo(ip_address, port, 0, usocket.SOCK_DGRAM)[0][-1]) + + loop = uasyncio.get_event_loop() + loop.create_task(_handler(_socket, ip_address)) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/phew/logging.py b/public/firmware-loader/boards/xrp-2350/micropython/phew/logging.py new file mode 100644 index 0000000..dd70394 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/phew/logging.py @@ -0,0 +1,111 @@ +import machine, os, gc + +log_file = "log.txt" + +LOG_INFO = 0b00001 +LOG_WARNING = 0b00010 +LOG_ERROR = 0b00100 +LOG_DEBUG = 0b01000 +LOG_EXCEPTION = 0b10000 +LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION + +_logging_types = LOG_ALL + +# the log file will be truncated if it exceeds _log_truncate_at bytes in +# size. the defaults values are designed to limit the log to at most +# three blocks on the Pico +_log_truncate_at = 11 * 1024 +_log_truncate_to = 8 * 1024 + +def datetime_string(): + dt = machine.RTC().datetime() + return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) + +def file_size(file): + try: + return os.stat(file)[6] + except OSError: + return None + +def set_truncate_thresholds(truncate_at, truncate_to): + global _log_truncate_at + global _log_truncate_to + _log_truncate_at = truncate_at + _log_truncate_to = truncate_to + +def enable_logging_types(types): + global _logging_types + _logging_types = _logging_types | types + +def disable_logging_types(types): + global _logging_types + _logging_types = _logging_types & ~types + +# truncates the log file down to a target size while maintaining +# clean line breaks +def truncate(file, target_size): + # get the current size of the log file + size = file_size(file) + + # calculate how many bytes we're aiming to discard + discard = size - target_size + if discard <= 0: + return + + with open(file, "rb") as infile: + with open(file + ".tmp", "wb") as outfile: + # skip a bunch of the input file until we've discarded + # at least enough + while discard > 0: + chunk = infile.read(1024) + discard -= len(chunk) + + # try to find a line break nearby to split first chunk on + break_position = max( + chunk.find (b"\n", -discard), # search forward + chunk.rfind(b"\n", -discard) # search backwards + ) + if break_position != -1: # if we found a line break.. + outfile.write(chunk[break_position + 1:]) + + # now copy the rest of the file + while True: + chunk = infile.read(1024) + if not chunk: + break + outfile.write(chunk) + + # delete the old file and replace with the new + os.remove(file) + os.rename(file + ".tmp", file) + + +def log(level, text): + datetime = datetime_string() + log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) + print(log_entry) + with open(log_file, "a") as logfile: + logfile.write(log_entry + '\n') + + if _log_truncate_at and file_size(log_file) > _log_truncate_at: + truncate(log_file, _log_truncate_to) + +def info(*items): + if _logging_types & LOG_INFO: + log("info", " ".join(map(str, items))) + +def warn(*items): + if _logging_types & LOG_WARNING: + log("warning", " ".join(map(str, items))) + +def error(*items): + if _logging_types & LOG_ERROR: + log("error", " ".join(map(str, items))) + +def debug(*items): + if _logging_types & LOG_DEBUG: + log("debug", " ".join(map(str, items))) + +def exception(*items): + if _logging_types & LOG_EXCEPTION: + log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/phew/server.py b/public/firmware-loader/boards/xrp-2350/micropython/phew/server.py new file mode 100644 index 0000000..60a3113 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/phew/server.py @@ -0,0 +1,358 @@ +import uasyncio, os, time +from . import logging + +_routes = [] +catchall_handler = None +loop = uasyncio.get_event_loop() + + +def file_exists(filename): + try: + return (os.stat(filename)[0] & 0x4000) == 0 + except OSError: + return False + + +def urldecode(text): + text = text.replace("+", " ") + result = "" + token_caret = 0 + # decode any % encoded characters + while True: + start = text.find("%", token_caret) + if start == -1: + result += text[token_caret:] + break + result += text[token_caret:start] + code = int(text[start + 1:start + 3], 16) + result += chr(code) + token_caret = start + 3 + return result + +def _parse_query_string(query_string): + result = {} + for parameter in query_string.split("&"): + key, value = parameter.split("=", 1) + key = urldecode(key) + value = urldecode(value) + result[key] = value + return result + + +class Request: + def __init__(self, method, uri, protocol): + self.method = method + self.uri = uri + self.protocol = protocol + self.form = {} + self.data = {} + self.query = {} + query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) + self.path = uri[:query_string_start] + self.query_string = uri[query_string_start + 1:] + if self.query_string: + self.query = _parse_query_string(self.query_string) + + def __str__(self): + return f"""\ +request: {self.method} {self.path} {self.protocol} +headers: {self.headers} +form: {self.form} +data: {self.data}""" + + +class Response: + def __init__(self, body, status=200, headers={}): + self.status = status + self.headers = headers + self.body = body + + def add_header(self, name, value): + self.headers[name] = value + + def __str__(self): + return f"""\ +status: {self.status} +headers: {self.headers} +body: {self.body}""" + + +content_type_map = { + "html": "text/html", + "jpg": "image/jpeg", + "jpeg": "image/jpeg", + "svg": "image/svg+xml", + "json": "application/json", + "png": "image/png", + "css": "text/css", + "js": "text/javascript", + "csv": "text/csv", +} + + +class FileResponse(Response): + def __init__(self, file, status=200, headers={}): + self.status = 404 + self.headers = headers + self.file = file + + try: + if (os.stat(self.file)[0] & 0x4000) == 0: + self.status = 200 + + # auto set content type + extension = self.file.split(".")[-1].lower() + if extension in content_type_map: + headers["Content-Type"] = content_type_map[extension] + + headers["Content-Length"] = os.stat(self.file)[6] + except OSError: + return False + + +class Route: + def __init__(self, path, handler, methods=["GET"]): + self.path = path + self.methods = methods + self.handler = handler + self.path_parts = path.split("/") + + # returns True if the supplied request matches this route + def matches(self, request): + if request.method not in self.methods: + return False + compare_parts = request.path.split("/") + if len(compare_parts) != len(self.path_parts): + return False + for part, compare in zip(self.path_parts, compare_parts): + if not part.startswith("<") and part != compare: + return False + return True + + # call the route handler passing any named parameters in the path + def call_handler(self, request): + parameters = {} + for part, compare in zip(self.path_parts, request.path.split("/")): + if part.startswith("<"): + name = part[1:-1] + parameters[name] = compare + + return self.handler(request, **parameters) + + def __str__(self): + return f"""\ +path: {self.path} +methods: {self.methods} +""" + + def __repr__(self): + return f"" + + +# parses the headers for a http request (or the headers attached to +# each field in a multipart/form-data) +async def _parse_headers(reader): + headers = {} + while True: + header_line = await reader.readline() + if header_line == b"\r\n": # crlf denotes body start + break + name, value = header_line.decode().strip().split(": ", 1) + headers[name.lower()] = value + return headers + + +# returns the route matching the supplied path or None +def _match_route(request): + for route in _routes: + if route.matches(request): + return route + return None + + +# if the content type is multipart/form-data then parse the fields +async def _parse_form_data(reader, headers): + boundary = headers["content-type"].split("boundary=")[1] + # discard first boundary line + dummy = await reader.readline() + + form = {} + while True: + # get the field name + field_headers = await _parse_headers(reader) + if len(field_headers) == 0: + break + name = field_headers["content-disposition"].split("name=\"")[1][:-1] + # get the field value + value = "" + while True: + line = await reader.readline() + line = line.decode().strip() + # if we hit a boundary then save the value and move to next field + if line == "--" + boundary: + form[name] = value + break + # if we hit end of form data boundary then save value and return + if line == "--" + boundary + "--": + form[name] = value + return form + value += line + return None + + +# if the content type is application/json then parse the body +async def _parse_json_body(reader, headers): + import json + content_length_bytes = int(headers["content-length"]) + body = await reader.readexactly(content_length_bytes) + return json.loads(body.decode()) + + +status_message_map = { + 200: "OK", 201: "Created", 202: "Accepted", + 203: "Non-Authoritative Information", 204: "No Content", + 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", + 301: "Moved Permanently", 302: "Found", 303: "See Other", + 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", + 307: "Temporary Redirect", 308: "Permanent Redirect", + 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", + 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", + 408: "Request Timeout", 409: "Conflict", 410: "Gone", + 414: "URI Too Long", 415: "Unsupported Media Type", + 416: "Range Not Satisfiable", 418: "I'm a teapot", + 500: "Internal Server Error", 501: "Not Implemented" +} + + +# handle an incoming request to the web server +async def _handle_request(reader, writer): + response = None + + request_start_time = time.ticks_ms() + + request_line = await reader.readline() + try: + method, uri, protocol = request_line.decode().split() + except Exception as e: + logging.error(e) + return + + request = Request(method, uri, protocol) + request.headers = await _parse_headers(reader) + if "content-length" in request.headers and "content-type" in request.headers: + if request.headers["content-type"].startswith("multipart/form-data"): + request.form = await _parse_form_data(reader, request.headers) + if request.headers["content-type"].startswith("application/json"): + request.data = await _parse_json_body(reader, request.headers) + if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): + form_data = await reader.read(int(request.headers["content-length"])) + request.form = _parse_query_string(form_data.decode()) + + route = _match_route(request) + if route: + response = route.call_handler(request) + elif catchall_handler: + response = catchall_handler(request) + + # if shorthand body generator only notation used then convert to tuple + if type(response).__name__ == "generator": + response = (response,) + + # if shorthand body text only notation used then convert to tuple + if isinstance(response, str): + response = (response,) + + # if shorthand tuple notation used then build full response object + if isinstance(response, tuple): + body = response[0] + status = response[1] if len(response) >= 2 else 200 + content_type = response[2] if len(response) >= 3 else "text/html" + response = Response(body, status=status) + response.add_header("Content-Type", content_type) + if hasattr(body, '__len__'): + response.add_header("Content-Length", len(body)) + + # write status line + status_message = status_message_map.get(response.status, "Unknown") + writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) + + # write headers + for key, value in response.headers.items(): + writer.write(f"{key}: {value}\r\n".encode("ascii")) + + # blank line to denote end of headers + writer.write("\r\n".encode("ascii")) + + if isinstance(response, FileResponse): + # file + with open(response.file, "rb") as f: + while True: + chunk = f.read(1024) + if not chunk: + break + writer.write(chunk) + await writer.drain() + elif type(response.body).__name__ == "generator": + # generator + for chunk in response.body: + writer.write(chunk) + await writer.drain() + else: + # string/bytes + writer.write(response.body) + await writer.drain() + + writer.close() + await writer.wait_closed() + + processing_time = time.ticks_ms() - request_start_time + logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") + + +# adds a new route to the routing table +def add_route(path, handler, methods=["GET"]): + global _routes + _routes.append(Route(path, handler, methods)) + # descending complexity order so most complex routes matched first + _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) + + +def set_callback(handler): + global catchall_handler + catchall_handler = handler + + +# decorator shorthand for adding a route +def route(path, methods=["GET"]): + def _route(f): + add_route(path, f, methods=methods) + return f + return _route + + +# decorator for adding catchall route +def catchall(): + def _catchall(f): + set_callback(f) + return f + return _catchall + + +def redirect(url, status = 301): + return Response("", status, {"Location": url}) + + +def serve_file(file): + return FileResponse(file) + + +def run(host = "0.0.0.0", port = 80): + logging.info("> starting web server on port {}".format(port)) + loop.create_task(uasyncio.start_server(_handle_request, host, port)) + loop.run_forever() + +def stop(): + loop.stop() + +def close(): + loop.close() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/phew/template.py b/public/firmware-loader/boards/xrp-2350/micropython/phew/template.py new file mode 100644 index 0000000..d1d1df4 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/phew/template.py @@ -0,0 +1,65 @@ +from . import logging + +async def render_template(template, **kwargs): + import time + start_time = time.ticks_ms() + + with open(template, "rb") as f: + # read the whole template file, we could work on single lines but + # the performance is much worse - so long as our templates are + # just a handful of kB it's ok to do this + data = f.read() + token_caret = 0 + + while True: + # find the next tag that needs evaluating + start = data.find(b"{{", token_caret) + end = data.find(b"}}", start) + + match = start != -1 and end != -1 + + # no more magic to handle, just return what's left + if not match: + yield data[token_caret:] + break + + expression = data[start + 2:end].strip() + + # output the bit before the tag + yield data[token_caret:start] + + # merge locals with the supplied named arguments and + # the response object + params = {} + params.update(locals()) + params.update(kwargs) + #params["response"] = response + + # parse the expression + try: + if expression.decode("utf-8") in params: + result = params[expression.decode("utf-8")] + result = result.replace("&", "&") + result = result.replace('"', """) + result = result.replace("'", "'") + result = result.replace(">", ">") + result = result.replace("<", "<") + else: + result = eval(expression, globals(), params) + + if type(result).__name__ == "generator": + # if expression returned a generator then iterate it fully + # and yield each result + for chunk in result: + yield chunk + else: + # yield the result of the expression + if result is not None: + yield str(result) + except: + pass + + # discard the parsed bit + token_caret = end + 2 + + logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/project.json b/public/firmware-loader/boards/xrp-2350/micropython/project.json new file mode 100644 index 0000000..d33b376 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/micropython/project.json @@ -0,0 +1,45 @@ +{ + "title": "MicroPython", + "description": "Flash MicroPython firmware, then copy the listed XRPLib, XRPExamples, ble and phew files to your robot.", + "uf2Path": "firmware.uf2", + "version": "2.2.1", + "urls": [ + ["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], + ["/lib/XRPLib/board.py", "XRPLib/board.py"], + ["/lib/XRPLib/controller.py", "XRPLib/controller.py"], + ["/lib/XRPLib/dashboard.py", "XRPLib/dashboard.py"], + ["/lib/XRPLib/defaults.py", "XRPLib/defaults.py"], + ["/lib/XRPLib/differential_drive.py", "XRPLib/differential_drive.py"], + ["/lib/XRPLib/encoded_motor.py", "XRPLib/encoded_motor.py"], + ["/lib/XRPLib/encoder.py", "XRPLib/encoder.py"], + ["/lib/XRPLib/gamepad.py", "XRPLib/gamepad.py"], + ["/lib/XRPLib/imu.py", "XRPLib/imu.py"], + ["/lib/XRPLib/imu_defs.py", "XRPLib/imu_defs.py"], + ["/lib/XRPLib/motor.py", "XRPLib/motor.py"], + ["/lib/XRPLib/motor_group.py", "XRPLib/motor_group.py"], + ["/lib/XRPLib/pid.py", "XRPLib/pid.py"], + ["/lib/XRPLib/puppet.py", "XRPLib/puppet.py"], + ["/lib/XRPLib/rangefinder.py", "XRPLib/rangefinder.py"], + ["/lib/XRPLib/reflectance.py", "XRPLib/reflectance.py"], + ["/lib/XRPLib/resetbot.py", "XRPLib/resetbot.py"], + ["/lib/XRPLib/servo.py", "XRPLib/servo.py"], + ["/lib/XRPLib/timeout.py", "XRPLib/timeout.py"], + ["/lib/XRPLib/webserver.py", "XRPLib/webserver.py"], + ["/XRPExamples/__init__.py", "XRPExamples/__init__.py"], + ["/XRPExamples/drive_examples.py", "XRPExamples/drive_examples.py"], + ["/XRPExamples/gamepad_example.blocks", "XRPExamples/gamepad_example.blocks"], + ["/XRPExamples/installation_verification.py", "XRPExamples/installation_verification.py"], + ["/XRPExamples/led_example.py", "XRPExamples/led_example.py"], + ["/XRPExamples/sensor_examples.py", "XRPExamples/sensor_examples.py"], + ["/XRPExamples/webserver_example.py", "XRPExamples/webserver_example.py"], + ["/lib/ble/__init__.py", "ble/__init__.py"], + ["/lib/ble/ble_uart_peripheral.py", "ble/ble_uart_peripheral.py"], + ["/lib/ble/blerepl.py", "ble/blerepl.py"], + ["/lib/ble/isrunning", "ble/isrunning"], + ["/lib/phew/__init__.py", "phew/__init__.py"], + ["/lib/phew/dns.py", "phew/dns.py"], + ["/lib/phew/logging.py", "phew/logging.py"], + ["/lib/phew/server.py", "phew/server.py"], + ["/lib/phew/template.py", "phew/template.py"] + ] +} diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/__init__.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/dashboard sample.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/dashboard sample.py new file mode 100644 index 0000000..87ab311 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/dashboard sample.py @@ -0,0 +1,65 @@ +from XRPLib.defaults import * +from ble.blerepl import uart +from time import sleep +from micropython import const +import time +import struct + +YAW = const(0) +ROLL = const(1) +PTICH = const(2) +ACCX = const(3) +ACCY = const(4) +ACCZ = const(5) +ENCL = const(6) +ENCR = const(7) +ENC3 = const(8) +ENC4 = const(9) +CURRL = const(10) +CURRR = const(11) +CURR3 = const(12) +CURR4 = const(13) +DIST = const(14) +REFLECTANCEL = const(15) +REFLECTANCER = const(16) +VOLTAGE = const(17) + +def startDashboard(): + data = bytearray([0x46, 0]) + uart.write_data(data) + +def sendIntValue(index, value): + data = bytearray([0x45, 3, 0, 0, 0]) + data[3] = index + data[4] = value + uart.write_data(data) + +def sendFloatValue(index, value): + data = bytearray([0x45, 6, 1, 0, 0, 0, 0 ,0]) + data[3] = index + data[4:] = struct.pack(' timeout: + break + +print("done") + +print("done") + + diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/drive_examples.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/drive_examples.py new file mode 100644 index 0000000..c9719fa --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/drive_examples.py @@ -0,0 +1,72 @@ +from XRPLib.defaults import * +import time + +""" + By the end of this file students will learn how to control the drivetrain, + both by setting effort values directly to the motors and by using go_straight and go_turn +""" + +# drive straight for a set time period (defualt 1 second) +def drive_straight(drive_time: float = 1): + drivetrain.set_effort(0.8, 0.8) + time.sleep(drive_time) + drivetrain.stop() + +# drive at a slight counter clockwise arc for a set time period (default 1 second) +def arc_turn(turn_time: float = 1): + drivetrain.set_effort(0.5, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# turn CCW at a point for a set time period (default 1 second) +def point_turn(turn_time: float = 1): + drivetrain.set_effort(-0.8, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# pivot turn around the left wheel for a set time period (default 1 second) +def swing_turn(turn_time: float = 1): + drivetrain.set_effort(0, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# Driving in a circle by setting a difference in motor efforts +def circle(): + while True: + drivetrain.set_effort(0.8, 1) + +# Follow the perimeter of a square with variable sidelength +def square(sidelength): + for sides in range(4): + drivetrain.straight(sidelength, 0.8) + drivetrain.turn(90) + # Alternatively: + # polygon(sidelength, 4) + +# Follow the perimeter of an arbitrary polygon with variable side length and number of sides +# Side length in centimeters +def polygon(side_length, number_of_sides): + for s in range(number_of_sides): + drivetrain.straight(side_length) + drivetrain.turn(360/number_of_sides) + +# A slightly longer example program showing how a robot may follow a simple path +def test_drive(): + print("Driving forward 25cm") + drivetrain.straight(25, 0.8) + + time.sleep(1) + + print("turn 90 degrees right") + drivetrain.turn(90,0.8) + + time.sleep(1) + + print("turn 90 degrees left by setting speed negative") + drivetrain.turn(90, -0.8) + + time.sleep(1) + + print("drive backwards 25 cm by setting distance negative") + # There is no difference between setting speed or distance negative, both work + drivetrain.straight(-25,0.8) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/gamepad_example.blocks b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/gamepad_example.blocks new file mode 100644 index 0000000..d5e3795 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/gamepad_example.blocks @@ -0,0 +1,15 @@ +from XRPLib.gamepad import * +from XRPLib.differential_drive import DifferentialDrive + +gp = Gamepad.get_default_gamepad() + +differentialDrive = DifferentialDrive.get_default_differential_drive() + + +while not (gp.is_button_pressed(gp.BACK)): + differentialDrive.arcade((gp.get_value(gp.Y1)), (gp.get_value(gp.X1))) + + + +## [2025-07-13 01:36:24] +##XRPBLOCKS {"blocks":{"languageVersion":0,"blocks":[{"type":"controls_whileUntil","id":"#/DDnbE2JxVsLQo`C`e^","x":-363,"y":16,"fields":{"MODE":"UNTIL"},"inputs":{"BOOL":{"block":{"type":"xrp_gp_button_pressed","id":"DtLypJc;SU2xT4A~S3nV","fields":{"GPBUTTON":"BACK"}}},"DO":{"block":{"type":"xrp_arcade","id":"(|]Iln#JYa9hzgEz+(4g","inputs":{"STRAIGHT":{"shadow":{"type":"math_number","id":"FOj1uvC$:~x/+cX}d(:|","fields":{"NUM":0.8}},"block":{"type":"xrp_gp_get_value","id":"s#GS_Dt)B8Cb9+4ctpwk","fields":{"GPVALUE":"Y1"}}},"TURN":{"shadow":{"type":"math_number","id":"n1jAKrjST!+3#bfChh$d","fields":{"NUM":0.2}},"block":{"type":"xrp_gp_get_value","id":"*]`U9XHyYnA?Gp%U;$NF","fields":{"GPVALUE":"X1"}}}}}}}}]}} \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/installation_verification.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/installation_verification.py new file mode 100644 index 0000000..8f33c4e --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/installation_verification.py @@ -0,0 +1,84 @@ +from XRPLib.defaults import * +import time + +# Installation Verification Program +def ivp(): + # Print welcome message + print("------------------------------------------") + print("Running Installation Verification Program!") + print("------------------------------------------") + print() + print("Welcome to the XRP! This example code will help") + print("you verify that everything is working on your robot.") + print("After each test, press the user button to continue.") + print() + + # Flash LED at 5Hz + print("Flashing LED") + board.led_blink(5) + + # Wait for user to press button + print("Press user button to test reflectance sensor") + board.wait_for_button() + + # Stop blinking LED + board.led_off() + + # Print reflectance values until button is pressed + while not board.is_button_pressed(): + print(f"Reflectance Left: {reflectance.get_left():.3f} Right: {reflectance.get_right():.3f} Press user button to test range sensor") + time.sleep(0.1) + + # Wait until button is released + while board.is_button_pressed(): + time.sleep(0.1) + + # Print range values until button is pressed + while not board.is_button_pressed(): + print(f"Range Distance: {rangefinder.distance():.1f} Press user button to test servo") + time.sleep(0.1) + + # Wait until button is released + while board.is_button_pressed(): + time.sleep(0.1) + + # Print warning and wait for button press + print() + print("The next test will move the servo, so keep your hands clear!") + print("Also please make sure the power switch is turned on!") + print("Press user button to test servo") + board.wait_for_button() + + # Test servo + print("Testing servo") + time.sleep(1) + servo_one.set_angle(90) + time.sleep(1) + servo_one.set_angle(0) + time.sleep(1) + servo_one.set_angle(180) + + # Print warning and wait for button press + print() + print("The next test will drive the motors, so place the robot on a flat surface!") + print("Also please make sure the power switch is turned on!") + print("Press user button to test drivetrain") + board.wait_for_button() + + # Test drivetrain + print("Testing drivetrain") + time.sleep(1) + drivetrain.straight(25, 0.8) + time.sleep(1) + drivetrain.turn(90,0.8) + time.sleep(1) + drivetrain.turn(90, -0.8) + time.sleep(1) + drivetrain.straight(-25,0.8) + + print() + print("-----------------------------------") + print("All tests complete! Happy roboting!") + print("-----------------------------------") + +ivp() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/led_example.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/led_example.py new file mode 100644 index 0000000..bb1286e --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/led_example.py @@ -0,0 +1,79 @@ +from XRPLib.board import Board +from machine import Timer, Pin +import time + +# Get a reference to the board +board = Board.get_default_board() + +# Create a timer for the RGB LED, assuming it's present on this board +rgb_led_timer = Timer(-1) + +# Conversion from hue to RGB +def hue_to_rgb(hue): + # Initialize RGB values + r = 0 + g = 0 + b = 0 + + # Ensure hue is in range of [0,360) + hue %= 360 + + if(hue < 120): + # Red to green region + r = (120 - hue) / 120 * 255 + g = (hue - 0) / 120 * 255 + b = 0 + elif(hue < 240): + # Green to blue region + hue -= 120 + r = 0 + g = (120 - hue) / 120 * 255 + b = (hue - 0) / 120 * 255 + else: + # Blue to red region + hue -= 240 + r = (hue - 0) / 120 * 255 + g = 0 + b = (120 - hue) / 120 * 255 + + # Return RGB as tuple of integers in range of [0,255] + return (int(r), int(g), int(b)) + +def update_rgb_led_rainbow(timer): + # Set hue based on current time. Hue is an angle up to 360 degrees, + # so using the milliseconds divided by 10 creates a rainbow that + # repeats every 3.6 seconds + hue = time.ticks_ms() / 10 + + # Compute RGB values + rgb = hue_to_rgb(hue) + + # Max brightness is blinding, so recompute RGB values with 10% brightness + brightness = 0.1 + r = int(rgb[0] * brightness) + g = int(rgb[1] * brightness) + b = int(rgb[2] * brightness) + + # Set the RGB LED color + board.set_rgb_led(r, g, b) + +def start_led_demo(): + # Make the monochrome LED start blinking + board.led_blink(1) + + # If this board has an RGB LED, make it start changing colors + if hasattr(Pin.board, "BOARD_NEOPIXEL"): + # Set up timer to update the RGB LED at 100Hz for smooth color changes + rgb_led_timer.init(freq = 100, callback = update_rgb_led_rainbow) + +def stop_led_demo(): + # Make the monochrome LED stop blinking and turn off the LED + board.led_blink(0) + board.led_off() + + # If this board has an RGB LED, stop the timer and turn off the LED + if hasattr(Pin.board, "BOARD_NEOPIXEL"): + rgb_led_timer.deinit() + board.set_rgb_led(0, 0, 0) + +start_led_demo() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/sensor_examples.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/sensor_examples.py new file mode 100644 index 0000000..69b280a --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/sensor_examples.py @@ -0,0 +1,75 @@ +from XRPLib.defaults import * +import time + +""" + By the end of this file students will learn how to read and use data from + both the ultrasonic sensors and the line followers. + They will also have a chance to learn the basics of proportional control. +""" + +# Polling data from the ultrasonic sensor +def ultrasonic_test(): + while True: + print(rangefinder.distance()) + time.sleep(0.1) + +# Approaches a wall at a set speed and then stops +def drive_till_close(target_distance: float = 10.0): + speed = 0.6 + while rangefinder.distance() > target_distance: + drivetrain.set_effort(speed, speed) + time.sleep(0.01) + drivetrain.set_effort(0, 0) + +# Maintains a certain distance from the wall using proportional control +def standoff(target_distance: float = 10.0): + KP = 0.2 + while True: + distance = rangefinder.distance() + error = distance - target_distance + drivetrain.set_effort(error * KP, error*KP) + time.sleep(0.01) + +# Maintains a certain distance from the wall while driving +# using proportional control (sensor on right side of robot this time) +def wall_follow(target_distance: float = 10.0): + KP = 0.1 + base_speed = 0.5 + while True: + distance = rangefinder.distance() + error = distance - target_distance + print(error) + drivetrain.set_effort(base_speed + error * KP, base_speed - error*KP) + time.sleep(0.01) + +# Follows a line using the line followers +def line_track(): + base_effort = 0.6 + KP = 0.6 + while True: + # You always want to take the difference of the sensors because the raw value isn't always consistent. + error = reflectance.get_left() - reflectance.get_right() + print(error) + drivetrain.set_effort(base_effort - error * KP, base_effort + error * KP) + time.sleep(0.01) + +# Polling data from the IMU +def imu_test(): + while True: + print(f"Pitch: {imu.get_pitch()}, Heading: {imu.get_heading()}, Roll: {imu.get_yaw()}, Accelerometer output: {imu.get_acc_rates()}") + time.sleep(0.1) + +def climb_ramp(ramp_angle, angle_tolerance=3.5): + speed = 0.6 + # Find ramp by driving forward + while imu.get_pitch() < ramp_angle-angle_tolerance: + drivetrain.set_effort(speed, speed) + time.sleep(0.05) + # Drive up ramp until angle levels out again + while imu.get_pitch() >= ramp_angle-angle_tolerance: + drivetrain.set_effort(speed, speed) + time.sleep(0.05) + # Then stop + drivetrain.set_effort(0, 0) + +ultrasonic_test() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/webserver_example.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/webserver_example.py new file mode 100644 index 0000000..695697d --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/webserver_example.py @@ -0,0 +1,48 @@ +from XRPLib.defaults import * +import time +from machine import Timer + +# Binding functions to the arrow buttons +webserver.registerForwardButton(lambda: drivetrain.set_effort(0.5, 0.5)) +webserver.registerLeftButton(lambda: drivetrain.set_effort(-0.5, 0.5)) +webserver.registerRightButton(lambda: drivetrain.set_effort(0.5, -0.5)) +webserver.registerBackwardButton(lambda: drivetrain.set_effort(-0.5, -0.5)) +webserver.registerStopButton(lambda: drivetrain.set_effort(0, 0)) + +# Binding functions to custom buttons +webserver.add_button("Close Server", lambda: webserver.stop_server()) +webserver.add_button("Blink", lambda: board.led_blink(2)) +webserver.add_button("LED Off", lambda: board.led_off()) +webserver.add_button("Servo Up", lambda: servo_one.set_angle(90)) +webserver.add_button("Servo Down", lambda: servo_one.set_angle(0)) + +# Logging static data to the webserver +# webserver.log_data("test", "test") +# webserver.log_data("List", [1,2,3]) +# webserver.log_data("Dict", {"a":1,"b":2,"c":3}) +# webserver.log_data("Tuple", (1,2,3)) + +def log_time_and_range(): + # This function is called every second to update the data on the webserver + webserver.log_data("Time", time.time()) + webserver.log_data("Range", rangefinder.distance()) + webserver.log_data("Left Motor", left_motor.get_position()) + webserver.log_data("Right Motor", right_motor.get_position()) + webserver.log_data("Button State", board.is_button_pressed()) + +timer = Timer(-1) +timer.init(freq=4, mode=Timer.PERIODIC, callback=lambda t: log_time_and_range()) + +def connect_and_start_webserver(): + # Connect to the network and start the webserver in bridge mode + # Network ssid and password are stored in root/secrets.json + webserver.connect_to_network() + webserver.start_server() + +def start_network_and_webserver(): + # Start the webserver in access point mode + # Network ssid and password are stored in root/secrets.json + webserver.start_network() + webserver.start_server() + +start_network_and_webserver() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/xrp_test.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/xrp_test.py new file mode 100644 index 0000000..4455401 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/xrp_test.py @@ -0,0 +1,76 @@ +from XRPLib.defaults import * +from machine import Pin +import time + +imu.reset_pitch() +imu.reset_yaw() +imu.reset_roll() + +def log_imu_heading(): + # Set to true to log the IMU heading forever + while True: + print(imu.get_yaw()) + time.sleep(0.1) + +def log_encoder_position(): + while True: + print(left_motor.get_position(), right_motor.get_position()) + time.sleep(0.1) + +def benchmark_encoder_isr(): + print("start benchmark") + N = 100000 + a = time.time() + for i in range(N): + drivetrain.left_motor._encoder.isr() + b = time.time() + + # Print benchmark + print(f"Time for {N} calls: {b-a}s") + print(f"Time per call: {(b-a)/N}s") # ~0.06 ms per call + +def test_turns(): + drivetrain.turn(45, 0.5) + time.sleep(1) + drivetrain.turn(-45, 0.75) + time.sleep(1) + + drivetrain.turn(90, 0.5) + time.sleep(1) + drivetrain.turn(-90, 0.75) + time.sleep(1) + + + # Turns 360 slow and fast, then turns 180 slow and fast + drivetrain.turn(360, 0.5) + time.sleep(1) + drivetrain.turn(-360, 0.75) + time.sleep(1) + +def test_straight(): + drivetrain.straight(30, 0.2) + +def test_set_effort(): + drivetrain.set_effort(0.3, 0.3) + time.sleep(2) + drivetrain.stop() + +def test_led(): + board.led_blink(5) + time.sleep(3) + board.led_off() + +def test_button(): + board.set_button_callback(trigger=Pin.IRQ_RISING, callback=lambda p: board.led.toggle()) + +def test_rangefinder(): + while not board.is_button_pressed(): + print(f"{rangefinder.distance()}, {rangefinder.distance()}") + time.sleep(0.5) + +def encoder_test(): + while not board.is_button_pressed(): + print(f"Left: {left_motor.get_position()}\tRight:{right_motor.get_position()}") + time.sleep(0.1) + +test_rangefinder() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/__init__.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/__init__.py new file mode 100644 index 0000000..6759c04 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/__init__.py @@ -0,0 +1,10 @@ +""" + THIS LIBRARY WAS MADE FOR THE SPARKFUN XRP CONTROL BOARD. + PLEASE USE THE ASSOCIATED MICROPYTHON UF2 FILE. +""" + +import sys +if not "XRP" in sys.implementation._machine: + raise NotImplementedError("This library does not support your version of MicroPython. " + + "Please update your UF2 File for the Beta XRP Controller here: " + + "https://github.com/Open-STEM/XRP_MicroPython/releases/tag/v2.0.0") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/board.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/board.py new file mode 100644 index 0000000..8039f77 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/board.py @@ -0,0 +1,127 @@ +from machine import Pin, ADC, Timer +from neopixel import NeoPixel +import time +import sys + +class Board: + + _DEFAULT_BOARD_INSTANCE = None + + @classmethod + def get_default_board(cls): + """ + Get the default board instance. This is a singleton, so only one instance of the board will ever exist. + """ + if cls._DEFAULT_BOARD_INSTANCE is None: + cls._DEFAULT_BOARD_INSTANCE = cls() + return cls._DEFAULT_BOARD_INSTANCE + + def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON", + rgb_led_pin = "BOARD_NEOPIXEL", led_pin = "LED"): + """ + Implements for extra features on the XRP board. Handles the on/off switch, button, and LED. + + :param vin_pin: The pin the on/off switch is connected to + :type vin_pin: int + :param button_pin: The pin the button is connected to + :type button_pin: int + """ + + self.on_switch = ADC(Pin(vin_pin)) + + self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP) + + self.led = Pin(led_pin, Pin.OUT) + + if hasattr(Pin.board, rgb_led_pin): + self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1) + # A timer ID of -1 is a virtual timer. + # Leaves the hardware timers for more important uses + self._virt_timer = Timer(-1) + self.is_led_blinking = False + + + def are_motors_powered(self) -> bool: + """ + :return: Returns true if the batteries are connected and powering the motors, false otherwise + :rytpe: bool + """ + return self.on_switch.read_u16() > 20000 + + def is_button_pressed(self) -> bool: + """ + Returns the state of the button + + :return: True if the button is pressed, False otherwise + :rtype: bool + """ + return not self.button.value() + + def wait_for_button(self): + """ + Halts the program until the button is pressed + """ + + # Wait until user command before running + while not self.is_button_pressed(): + time.sleep(.01) + + # Wait until user to release button before running + while self.is_button_pressed(): + time.sleep(.01) + + + def led_on(self): + """ + Turns the LED on + Stops the blinking timer if it is running + """ + self.is_led_blinking = False + self.led.on() + self._virt_timer.deinit() + + def led_off(self): + """ + Turns the LED off + Stops the blinking timer if it is running + """ + self.is_led_blinking = False + self.led.off() + self._virt_timer.deinit() + + def led_blink(self, frequency: int=0): + """ + Blinks the LED at a given frequency. If the frequency is 0, the LED will stop blinking. + + :param frequency: The frequency to blink the LED at (in Hz) + :type frequency: int + """ + if self.is_led_blinking: + # disable the old timer so we can reinitialize it + self._virt_timer.deinit() + # We set it to twice in input frequency so that + # the led flashes on and off frequency times per second + if frequency != 0: + self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC, + callback=lambda t:self.led.toggle()) + self.is_led_blinking = True + else: + self._virt_timer.deinit() + self.is_led_blinking = False + + def set_rgb_led(self, r:int, g:int, b:int): + """ + Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta + + :param r: The amount of red in the desired color + :type r: int + :param g: The amount of green in the desired color + :type g: int + :param b: The amount of blue in the desired color + :type b: int + """ + if "rgb_led" in self.__dict__: + self.rgb_led[0] = (r, g, b) + self.rgb_led.write() + else: + raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta") diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/controller.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/controller.py new file mode 100644 index 0000000..8d14a60 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/controller.py @@ -0,0 +1,30 @@ +class Controller: + """ + An abstract class to be entended to demonstrate different types of control. A PID subclass has also been provided + """ + + def update(self, input) -> float: + """ + Handle a new update of this control loop given an effected input. + + :param error: The input to this controller for a given update. Usually an error or some other correctable value + :type error: float + + :return: The system output from the controller, to be used as an effort value or for any other purpose + :rtype: float + """ + pass + + def is_done(self) -> bool: + + """ + :return: If the controller has reached or settled at its desired value + :rtype: bool + """ + pass + + def clear_history(self): + """ + Clears all past data, such as integral sums or any other previous data + """ + pass \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/dashboard.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/dashboard.py new file mode 100644 index 0000000..385e14e --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/dashboard.py @@ -0,0 +1,257 @@ +from .encoded_motor import EncodedMotor +from .rangefinder import Rangefinder +from .imu import IMU +from .reflectance import Reflectance +from .puppet import Puppet, VAR_TYPE_INT, VAR_TYPE_FLOAT, PERM_READ_ONLY + +from machine import Timer, ADC, Pin +from micropython import const +import time + + +class Dashboard: + + _DEFAULT_DASHBOARD_INSTANCE = None + + # Variable type constants + VAR_TYPE_FLOAT = const(2) + + # Permission constants + PERM_READ_ONLY = const(1) + PERM_WRITE_ONLY = const(2) + + # Backward compatibility constants + YAW = const(0) + ROLL = const(1) + PTICH = const(2) + ACCX = const(3) + ACCY = const(4) + ACCZ = const(5) + ENCL = const(6) + ENCR = const(7) + ENC3 = const(8) + ENC4 = const(9) + CURRR = const(10) + CURRL = const(11) + CURR3 = const(12) + CURR4 = const(13) + DIST = const(14) + REFL = const(15) + REFR = const(16) + VOLTAGE = const(17) + + # Mapping from old index to XPP variable names + _VAR_NAMES = { + YAW: '$imu.yaw', + ROLL: '$imu.roll', + PTICH: '$imu.pitch', + ACCX: '$imu.acc_x', + ACCY: '$imu.acc_y', + ACCZ: '$imu.acc_z', + ENCL: '$encoder.left', + ENCR: '$encoder.right', + ENC3: '$encoder.3', + ENC4: '$encoder.4', + CURRL: '$current.left', + CURRR: '$current.right', + CURR3: '$current.3', + CURR4: '$current.4', + DIST: '$rangefinder.distance', + REFL: '$reflectance.left', + REFR: '$reflectance.right', + VOLTAGE: '$voltage', + } + + @classmethod + def get_default_dashboard(cls): + """ + Get the default XRP dashboard instance. This is a singleton, so only one instance of the dashboard sensor will ever exist. + """ + if cls._DEFAULT_DASHBOARD_INSTANCE is None: + cls._DEFAULT_DASHBOARD_INSTANCE = cls() + return cls._DEFAULT_DASHBOARD_INSTANCE + + def __init__(self): + """ + Manages communication with dashboard data going to a remote computer via XPP protocol. + """ + self.left_motor = EncodedMotor.get_default_encoded_motor(index=1) + self.right_motor = EncodedMotor.get_default_encoded_motor(index=2) + self.motor_three = EncodedMotor.get_default_encoded_motor(index=3) + self.motor_four = EncodedMotor.get_default_encoded_motor(index=4) + self.imu = IMU.get_default_imu() + self.rangefinder = Rangefinder.get_default_rangefinder() + self.reflectance = Reflectance.get_default_reflectance() + self.VoltageADC = ADC(Pin('BOARD_VIN_MEASURE')) + #self.CurrLADC = ADC(Pin('ML_CUR')) + #self.CurrRADC = ADC(Pin('MR_CUR')) + #self.Curr3ADC = ADC(Pin('M3_CUR')) + #self.Curr4ADC = ADC(Pin('M4_CUR')) + + # Get XPP instance + self._puppet = Puppet.get_default_puppet() + + # Register all sensor variables + self._register_variables() + + # Create timer for periodic updates + self.update_timer = Timer(-1) + self._update_rate = 3 # Default 3 Hz + + def _register_variables(self): + """ + Register all sensor variables with XPP. + """ + # IMU variables (float) + for var_name in ['$imu.yaw', '$imu.roll', '$imu.pitch', + '$imu.acc_x', '$imu.acc_y', '$imu.acc_z']: + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + + # Encoder variables (int) + for var_name in ['$encoder.left', '$encoder.right', '$encoder.3', '$encoder.4']: + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) + + # Current sensor variables (int) + for var_name in ['$current.left', '$current.right', '$current.3', '$current.4']: + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) + + # Other sensor variables (float) + for var_name in ['$rangefinder.distance', '$reflectance.left', + '$reflectance.right', '$voltage']: + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + + def sendIntValue(self, index, value): + """ + Send an integer value (backward compatibility method). + Now uses XPP protocol. + + :param index: Variable index constant + :type index: int + :param value: Integer value to send + :type value: int + """ + if index not in self._VAR_NAMES: + return + + var_name = self._VAR_NAMES[index] + try: + self._puppet.set_variable(var_name, value) + except: + pass # Variable might not be registered yet + + def sendFloatValue(self, index, value): + """ + Send a float value (backward compatibility method). + Now uses XPP protocol. + + :param index: Variable index constant + :type index: int + :param value: Float value to send + :type value: float + """ + if index not in self._VAR_NAMES: + return + + var_name = self._VAR_NAMES[index] + try: + self._puppet.set_variable(var_name, value) + except: + pass # Variable might not be registered yet + + def _dashboard_update(self): + """ + Update all sensor variables with current readings. + """ + # IMU data + self._puppet.set_variable('$imu.yaw', self.imu.get_yaw()) + self._puppet.set_variable('$imu.roll', self.imu.get_roll()) + self._puppet.set_variable('$imu.pitch', self.imu.get_pitch()) + self._puppet.set_variable('$imu.acc_x', self.imu.get_acc_x()) + self._puppet.set_variable('$imu.acc_y', self.imu.get_acc_y()) + self._puppet.set_variable('$imu.acc_z', self.imu.get_acc_z()) + + # Encoder data + self._puppet.set_variable('$encoder.left', self.left_motor.get_position_counts()) + self._puppet.set_variable('$encoder.right', self.right_motor.get_position_counts()) + self._puppet.set_variable('$encoder.3', self.motor_three.get_position_counts()) + self._puppet.set_variable('$encoder.4', self.motor_four.get_position_counts()) + + # Current sensor data + #self._puppet.set_variable('$current.left', self.CurrLADC.read_u16()) + #self._puppet.set_variable('$current.right', self.CurrRADC.read_u16()) + #self._puppet.set_variable('$current.3', self.Curr3ADC.read_u16()) + #self._puppet.set_variable('$current.4', self.Curr4ADC.read_u16()) + + # Other sensors + self._puppet.set_variable('$rangefinder.distance', self.rangefinder.distance()) + self._puppet.set_variable('$reflectance.left', self.reflectance.get_left()) + self._puppet.set_variable('$reflectance.right', self.reflectance.get_right()) + + # Voltage + voltage = self.VoltageADC.read_u16() / (1024*64/14) + self._puppet.set_variable('$voltage', voltage) + + def start(self, rate_hz=3): + """ + Start sending dashboard packets to the remote computer at the specified rate. + + :param rate_hz: Update rate in Hz (default: 3) + :type rate_hz: int + """ + self._update_rate = rate_hz + + # Subscribe all variables at the specified rate + for var_name in self._VAR_NAMES.values(): + try: + self._puppet.subscribe_variable(var_name, rate_hz) + except: + pass # Variable might not be registered yet + + # Also use timer for backward compatibility + period_ms = int(1000 / rate_hz) + self.update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._dashboard_update()) + self._puppet.start() + + def stop(self): + """ + Stop sending dashboard data packets. + """ + # Unsubscribe from all variables + for var_name in self._VAR_NAMES.values(): + try: + self._puppet.subscribe_variable(var_name, 0) + except: + pass + + # Stop timer + self.update_timer.deinit() + self._puppet.stop() + + def set_value(self, name, value, rate_hz=3): + """ + Define a variable and subscribe to it at the specified rate. + + :param name: The variable name + :type name: str + :param value: The value to set + :type value: float + :param rate_hz: The update rate in Hz (default: 3) + :type rate_hz: int + """ + self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + try: + self._puppet.subscribe_variable(name, rate_hz) + except: + pass + self._puppet.set_variable(name, value) + + def get_value(self, name): + """ + Get the value of a variable. + + :param name: The variable name + :type name: str + """ + self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) + return self._puppet.get_variable(name) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/defaults.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/defaults.py new file mode 100644 index 0000000..38216c8 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/defaults.py @@ -0,0 +1,34 @@ +from .board import Board +from .differential_drive import DifferentialDrive +from .motor import SinglePWMMotor, DualPWMMotor +from .encoder import Encoder +from .encoded_motor import EncodedMotor +from .rangefinder import Rangefinder +from .imu import IMU +from .reflectance import Reflectance +from .servo import Servo +from .webserver import Webserver +from machine import Pin + +""" +A simple file that constructs all of the default objects for the XRP robot +Run "from XRPLib.defaults import *" to use +""" + +left_motor = EncodedMotor.get_default_encoded_motor(index=1) +right_motor = EncodedMotor.get_default_encoded_motor(index=2) +motor_three = EncodedMotor.get_default_encoded_motor(index=3) +motor_four = EncodedMotor.get_default_encoded_motor(index=4) +imu = IMU.get_default_imu() +drivetrain = DifferentialDrive.get_default_differential_drive() +rangefinder = Rangefinder.get_default_rangefinder() +reflectance = Reflectance.get_default_reflectance() +servo_one = Servo.get_default_servo(index=1) +servo_two = Servo.get_default_servo(index=2) +webserver = Webserver.get_default_webserver() +board = Board.get_default_board() + +if hasattr(Pin.board, "SERVO_3"): + servo_three = Servo.get_default_servo(index=3) +if hasattr(Pin.board, "SERVO_4"): + servo_four = Servo.get_default_servo(index=4) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/differential_drive.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/differential_drive.py new file mode 100644 index 0000000..e3fbd5f --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/differential_drive.py @@ -0,0 +1,340 @@ +from .encoded_motor import EncodedMotor +from .imu import IMU +from .controller import Controller +from .pid import PID +from .timeout import Timeout +import time +import math + +class DifferentialDrive: + + _DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE =None + + @classmethod + def get_default_differential_drive(cls): + + """ + Get the default XRP differential drive instance. This is a singleton, so only one instance of the drivetrain will ever exist. + """ + + if cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE is None: + cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE = cls( + EncodedMotor.get_default_encoded_motor(index=1), + EncodedMotor.get_default_encoded_motor(index=2), + IMU.get_default_imu() + ) + + return cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE + + def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU = None, wheel_diam:float = 6.0, wheel_track:float = 15.5): + """ + A Differential Drive class designed for the XRP two-wheeled drive robot. + + :param leftMotor: The left motor of the drivetrain + :type leftMotor: EncodedMotor + :param rightMotor: The right motor of the drivetrain + :type rightMotor: EncodedMotor + :param imu: The IMU of the robot. If None, the robot will not use the IMU for turning or maintaining heading. + :type imu: IMU + :param wheelDiam: The diameter of the wheels in inches. Defaults to 6 cm. + :type wheelDiam: float + :param wheelTrack: The distance between the wheels in inches. Defaults to 15.5 cm. + :type wheelTrack: float + """ + + self.left_motor = left_motor + self.right_motor = right_motor + self.imu = imu + + self.brake_at_zero_power = False + self.wheel_diam = wheel_diam + self.track_width = wheel_track + + self.heading_pid = None + self.current_heading = None + self.reset_heading = True + self.turning = False + + if self.imu: + # if the IMU is initialized, then create a PID controller that can be used + # to maintain a constant heading when driving + self.heading_pid = PID( kp = 0.075, kd=0.001, ) + + def set_effort(self, left_effort: float, right_effort: float) -> None: + """ + Set the raw effort of both motors individually + + :param leftEffort: The power (Bounded from -1 to 1) to set the left motor to. + :type leftEffort: float + :param rightEffort: The power (Bounded from -1 to 1) to set the right motor to. + :type rightEffort: float + """ + + self.left_motor.set_effort(left_effort) + self.right_motor.set_effort(right_effort) + + def set_speed(self, left_speed: float, right_speed: float) -> None: + """ + Set the speed of both motors individually + + :param leftSpeed: The speed (In Centimeters per Second) to set the left motor to. + :type leftSpeed: float + :param rightSpeed: The speed (In Centimeters per Second) to set the right motor to. + :type rightSpeed: float + """ + # Convert from cm/s to RPM + cmpsToRPM = 60 / (math.pi * self.wheel_diam) + self.left_motor.set_speed(left_speed*cmpsToRPM) + self.right_motor.set_speed(right_speed*cmpsToRPM) + + def set_zero_effort_behavior(self, brake_at_zero_effort): + + """ + Sets the behavior of both motor at 0 effort to either brake (hold position) or coast (free spin) + :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. + :type brake_at_zero_effort: bool + """ + self.left_motor.set_zero_effort_behavior(brake_at_zero_effort) + self.right_motor.set_zero_effort_behavior(brake_at_zero_effort) + + def stop(self) -> None: + """ + Stops both drivetrain motors by setting power to zero. + """ + self.left_motor.set_speed() + self.right_motor.set_speed() + self.set_effort(0,0) + + def arcade(self, straight:float, turn:float): + """ + Sets the raw effort of both motors based on the arcade drive scheme + + :param straight: The base effort (Bounded from -1 to 1) used to drive forwards or backwards. + :type straight: float + :param turn: The modifier effort (Bounded from -1 to 1) used to skew robot left (positive) or right (negative). + :type turn: float + """ + if straight == 0 and turn == 0: + self.set_effort(0, 0) + else: + scale = max(abs(straight), abs(turn))/(abs(straight) + abs(turn)) + left_speed = (straight - turn)*scale + right_speed = (straight + turn)*scale + + if not self.heading_pid: + # if not using IMU assist to maintain heading, just pass down the left and right motor + # speeds to control movement + self.set_effort(left_speed, right_speed) + else: + # else if IMU assist is enabled, then use the IMU with PID to + # maintain a constant heading while driving. + if turn == 0: + # straight drive requested, then maintain the current heading + if self.turning: + # if previously turning, then clear the turn indicator and reset the course heading + self.reset_heading = True + self.turning = False + + if self.reset_heading: + self.reset_heading = False + self.current_heading = self.imu.get_yaw() + + # use the PID to set the heading correction based on the current heading + heading_correction = self.heading_pid.update(self.current_heading - self.imu.get_yaw()) + + self.set_effort(left_speed - heading_correction, right_speed + heading_correction) + else: + # set the turning indicator and apply the left and right speeds + self.turning = True + self.set_effort(left_speed, right_speed) + + def reset_encoder_position(self) -> None: + """ + Resets the position of both motors' encoders to 0 + """ + + self.left_motor.reset_encoder_position() + self.right_motor.reset_encoder_position() + + def get_left_encoder_position(self) -> float: + """ + :return: the current position of the left motor's encoder in cm. + :rtype: float + """ + return self.left_motor.get_position()*math.pi*self.wheel_diam + + def get_right_encoder_position(self) -> float: + """ + :return: the current position of the right motor's encoder in cm. + :rtype: float + """ + return self.right_motor.get_position()*math.pi*self.wheel_diam + + + def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: + """ + Go forward the specified distance in centimeters, and exit function when distance has been reached. + Max_effort is bounded from -1 (reverse at full speed) to 1 (forward at full speed) + + :param distance: The distance for the robot to travel (In Centimeters) + :type distance: float + :param max_effort: The max effort for which the robot to travel (Bounded from -1 to 1). Default is half effort forward + :type max_effort: float + :param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds) + :type timeout: float + :param main_controller: The main controller, for handling the distance driven forwards + :type main_controller: Controller + :param secondary_controller: The secondary controller, for correcting heading error that may result during the drive. + :type secondary_controller: Controller + :return: if the distance was reached before the timeout + :rtype: bool + """ + # ensure effort is always positive while distance could be either positive or negative + if max_effort < 0: + max_effort *= -1 + distance *= -1 + + time_out = Timeout(timeout) + starting_left = self.get_left_encoder_position() + starting_right = self.get_right_encoder_position() + + + if main_controller is None: + main_controller = PID( + kp = 0.1, + ki = 0.04, + kd = 0.04, + min_output = 0.3, + max_output = max_effort, + max_integral = 10, + tolerance = 0.25, + tolerance_count = 3, + ) + + # Secondary controller to keep encoder values in sync + if secondary_controller is None: + secondary_controller = PID( + kp = 0.075, kd=0.001, + ) + + if self.imu is not None: + # record current heading to maintain it + initial_heading = self.imu.get_yaw() + else: + initial_heading = 0 + + while True: + + # calculate the distance traveled + left_delta = self.get_left_encoder_position() - starting_left + right_delta = self.get_right_encoder_position() - starting_right + dist_traveled = (left_delta + right_delta) / 2 + + # PID for distance + distance_error = distance - dist_traveled + effort = main_controller.update(distance_error) + + if main_controller.is_done() or time_out.is_done(): + break + + # calculate heading correction + if self.imu is not None: + # record current heading to maintain it + current_heading = self.imu.get_yaw() + else: + current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) + + headingCorrection = secondary_controller.update(initial_heading - current_heading) + + self.set_effort(effort - headingCorrection, effort + headingCorrection) + + time.sleep(0.01) + + self.stop() + + return not time_out.is_done() + + + def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool: + """ + Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading. + effort is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed) + Uses the IMU to determine the heading of the robot and P control for the motor controller. + + :param turnDegrees: The number of angle for the robot to turn (In Degrees) + :type turnDegrees: float + :param max_effort: The max speed for which the robot to travel (Bounded from -1 to 1) + :type max_effort: float + :param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds) + :type timeout: float + :param main_controller: The main controller, for handling the angle turned + :type main_controller: Controller + :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference + :type secondary_controller: Controller + :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False) + :type use_imu: bool + :return: if the distance was reached before the timeout + :rtype: bool + """ + + if max_effort < 0: + max_effort = -max_effort + turn_degrees = -turn_degrees + + time_out = Timeout(timeout) + starting_left = self.get_left_encoder_position() + starting_right = self.get_right_encoder_position() + + if main_controller is None: + main_controller = PID( + # kp = 0.2, + # ki = 0.004, + # kd = 0.0036, + kd = 0.0036 + 0.0034 * (max(max_effort, 0.5) - 0.5) * 2, + kp = 0.2, + ki = 0.004, + #kd = 0.007, + min_output = 0.1, + max_output = max_effort, + max_integral = 30, + tolerance = 1, + tolerance_count = 3 + ) + + # Secondary controller to keep encoder values in sync + if secondary_controller is None: + secondary_controller = PID( + kp = 0.25, + ) + + if use_imu and (self.imu is not None): + turn_degrees += self.imu.get_yaw() + + while True: + + # calculate encoder correction to minimize drift + left_delta = self.get_left_encoder_position() - starting_left + right_delta = self.get_right_encoder_position() - starting_right + encoder_correction = secondary_controller.update(left_delta + right_delta) + + if use_imu and (self.imu is not None): + # calculate turn error (in degrees) from the imu + turn_error = turn_degrees - self.imu.get_yaw() + else: + # calculate turn error (in degrees) from the encoder counts + turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) + + # Pass the turn error to the main controller to get a turn speed + turn_speed = main_controller.update(turn_error) + + # exit if timeout or tolerance reached + if main_controller.is_done() or time_out.is_done(): + break + + self.set_effort(-turn_speed - encoder_correction, turn_speed - encoder_correction) + + time.sleep(0.01) + + self.stop() + + return not time_out.is_done() diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoded_motor.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoded_motor.py new file mode 100644 index 0000000..de2fa6f --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoded_motor.py @@ -0,0 +1,191 @@ +from .motor import SinglePWMMotor, DualPWMMotor +from .encoder import Encoder +from machine import Timer +from .controller import Controller +from .pid import PID +import sys + +class EncodedMotor: + + ZERO_EFFORT_BREAK = True + ZERO_EFFORT_COAST = False + + _DEFAULT_LEFT_MOTOR_INSTANCE = None + _DEFAULT_RIGHT_MOTOR_INSTANCE = None + _DEFAULT_MOTOR_THREE_INSTANCE = None + _DEFAULT_MOTOR_FOUR_INSTANCE = None + + @classmethod + def get_default_encoded_motor(cls, index:int = 1): + """ + Get one of the default XRP motor instances. These are singletons, so only one instance of each of these will ever exist. + Raises an exception if an invalid index is requested. + + :param index: The index of the motor to get; 1 for left, 2 for right, 3 for motor 3, 4 for motor 4 + :type index: int + """ + + if "RP2350" in sys.implementation._machine: + MotorImplementation = DualPWMMotor + else: + MotorImplementation = SinglePWMMotor + + if index == 1: + if cls._DEFAULT_LEFT_MOTOR_INSTANCE is None: + cls._DEFAULT_LEFT_MOTOR_INSTANCE = cls( + MotorImplementation("MOTOR_L_IN_1", "MOTOR_L_IN_2", flip_dir=True), + Encoder(0, "MOTOR_L_ENCODER_A", "MOTOR_L_ENCODER_B") + ) + motor = cls._DEFAULT_LEFT_MOTOR_INSTANCE + elif index == 2: + if cls._DEFAULT_RIGHT_MOTOR_INSTANCE is None: + cls._DEFAULT_RIGHT_MOTOR_INSTANCE = cls( + MotorImplementation("MOTOR_R_IN_1", "MOTOR_R_IN_2"), + Encoder(1, "MOTOR_R_ENCODER_A", "MOTOR_R_ENCODER_B") + ) + motor = cls._DEFAULT_RIGHT_MOTOR_INSTANCE + elif index == 3: + if cls._DEFAULT_MOTOR_THREE_INSTANCE is None: + cls._DEFAULT_MOTOR_THREE_INSTANCE = cls( + MotorImplementation("MOTOR_3_IN_1", "MOTOR_3_IN_2", flip_dir=True), + Encoder(2, "MOTOR_3_ENCODER_A", "MOTOR_3_ENCODER_B") + ) + motor = cls._DEFAULT_MOTOR_THREE_INSTANCE + elif index == 4: + if cls._DEFAULT_MOTOR_FOUR_INSTANCE is None: + cls._DEFAULT_MOTOR_FOUR_INSTANCE = cls( + MotorImplementation("MOTOR_4_IN_1", "MOTOR_4_IN_2"), + Encoder(3, "MOTOR_4_ENCODER_A", "MOTOR_4_ENCODER_B") + ) + motor = cls._DEFAULT_MOTOR_FOUR_INSTANCE + else: + return Exception("Invalid motor index") + return motor + + def __init__(self, motor, encoder: Encoder): + + self._motor = motor + self._encoder = encoder + + self.brake_at_zero = False + + self.target_speed = None + self.DEFAULT_SPEED_CONTROLLER = PID( + kp=0.035, + ki=0.03, + kd=0, + max_integral=50 + ) + self.speedController = self.DEFAULT_SPEED_CONTROLLER + self.prev_position = 0 + self.speed = 0 + # Use a virtual timer so we can leave the hardware timers up for the user + self.updateTimer = Timer(-1) + # If the update timer is not running, start it at 50 Hz (20ms updates) + self.updateTimer.init(period=20, callback=lambda t:self._update()) + + + def set_effort(self, effort: float): + """ + :param effort: The effort to set this motor to, from -1 to 1 + :type effort: float + """ + if self.brake_at_zero and effort == 0: + self.brake() + else: + self._motor.set_effort(effort) + + # EncodedMotor.set_zero_effort_behavior(EncodedMotor.ZERO_POWER_BRAKE) + def set_zero_effort_behavior(self, brake_at_zero_effort): + """ + Sets the behavior of the motor at 0 effort to either brake (hold position) or coast (free spin) + :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. + :type brake_at_zero_effort: bool + """ + self.brake_at_zero = brake_at_zero_effort + + def brake(self): + """ + Causes the motor to resist rotation. + """ + # Exact impl of brake depends on which board is being used. + self._motor.brake() + + def coast(self): + """ + Allows the motor to spin freely. + """ + self._motor.coast() + + def get_position(self) -> float: + """ + :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. + :rtype: float + """ + if self._motor.flip_dir: + invert = -1 + else: + invert = 1 + return self._encoder.get_position()*invert + + def get_position_counts(self) -> int: + """ + :return: The position of the encoded motor, in encoder counts, relative to the last time reset was called. + :rtype: int + """ + if self._motor.flip_dir: + invert = -1 + else: + invert = 1 + return self._encoder.get_position_counts()*invert + + def reset_encoder_position(self): + """ + Resets the encoder position back to zero. + """ + self._encoder.reset_encoder_position() + + def get_speed(self) -> float: + """ + :return: The speed of the motor, in rpm + :rtype: float + """ + # Convert from counts per 20ms to rpm (60 sec/min, 50 Hz) + return self.speed*(60*50)/self._encoder.resolution + + def set_speed(self, speed_rpm: float = None): + """ + Sets target speed (in rpm) to be maintained passively + Call with no parameters or 0 to turn off speed control + + :param target_speed_rpm: The target speed for the motor in rpm, or None + :type target_speed_rpm: float, or None + """ + if speed_rpm is None or speed_rpm == 0: + self.target_speed = None + self.set_effort(0) + return + # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) + self.target_speed = speed_rpm*self._encoder.resolution/(60*50) + + def set_speed_controller(self, new_controller: Controller): + """ + Sets a new controller for speed control + + :param new_controller: The new Controller for speed control + :type new_controller: Controller + """ + self.speedController = new_controller + self.speedController.clear_history() + + def _update(self): + """ + Non-api method; used for updating motor efforts for speed control + """ + current_position = self.get_position_counts() + self.speed = current_position - self.prev_position + if self.target_speed is not None: + error = self.target_speed - self.speed + effort = self.speedController.update(error) + self._motor.set_effort(effort) + self.prev_position = current_position \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoder.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoder.py new file mode 100644 index 0000000..414b973 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoder.py @@ -0,0 +1,119 @@ +# Modified from https://forum.micropython.org/viewtopic.php?t=12277&p=66659 + +import machine +import rp2 +import time + +class Encoder: + _gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75 + _counts_per_motor_shaft_revolution = 12 + resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585 + + def __init__(self, index, encAPin: int|str, encBPin: int|str): + """ + Uses the on board PIO State Machine to keep track of encoder positions. + Only 4 encoders can be instantiated this way. + + :param index: The index of the state machine to be used, indexed 0-3. + :type index: int + :param encAPin: The pin the left reflectance sensor is connected to + :type encAPin: int + :param encBPin: The pin the right reflectance sensor is connected to + :type encBPin: int + """ + # if(abs(encAPin - encBPin) != 1): + # raise Exception("Encoder pins must be successive!") + basePin = machine.Pin(min(encAPin, encBPin), machine.Pin.IN) + nextPin = machine.Pin(max(encAPin, encBPin), machine.Pin.IN) + self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin) + self.reset_encoder_position() + self.sm.active(1) + + def reset_encoder_position(self): + """ + Resets the encoder position to 0 + """ + # It's possible for this to cause issues if in the middle of inrementing + # or decrementing, but the result should only be off by 1. If that's a + # problem, an alternative solution is to stop the state machine, then + # reset both x and the program counter. But that's excessive. + self.sm.exec("set(x, 0)") + + def get_position_counts(self): + """ + :return: The position of the encoded motor, in counts, relative to the last time reset was called. + :rtype: int + """ + # Read 5 times for it to get past the buffer + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + if(counts > 2**31): + counts -= 2**32 + return counts + + def get_position(self): + """ + :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. + :rtype: float + """ + return self.get_position_counts() / self.resolution + + @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT) + def _encoder(): + # Register descriptions: + # X - Encoder count, as a 32-bit number + # OSR - Previous pin values, only last 2 bits are used + # ISR - Push encoder count, and combine pin states together + + # Jump table + # The program counter is moved to memory address 0000 - 1111, based + # on the previous (left 2 bits) and current (right bits) pin states + jmp("read") # 00 -> 00 No change, continue + jmp("decr") # 00 -> 01 Reverse, decrement count + jmp("incr") # 00 -> 10 Forward, increment count + jmp("read") # 00 -> 11 Impossible, continue + + jmp("incr") # 01 -> 00 Forward, increment count + jmp("read") # 01 -> 01 No change, continue + jmp("read") # 01 -> 10 Impossible, continue + jmp("decr") # 01 -> 11 Reverse, decrement count + + jmp("decr") # 10 -> 00 Reverse, decrement count + jmp("read") # 10 -> 01 Impossible, continue + jmp("read") # 10 -> 10 No change, continue + jmp("incr") # 10 -> 11 Forward, increment count + + jmp("read") # 11 -> 00 Impossible, continue + jmp("incr") # 11 -> 01 Forward, increment count + jmp("decr") # 11 -> 10 Reverse, decrement count + jmp("read") # 11 -> 11 No change, continue + + label("read") + mov(osr, isr) # Store previous pin states in OSR + mov(isr, x) # Copy encoder count to ISR + push(noblock) # Push count to RX buffer, and reset ISR to 0 + out(isr, 2) # Shift previous pin states into ISR + in_(pins, 2) # Shift current pin states into ISR + mov(pc, isr) # Move PC to jump table to determine what to do next + + label("decr") # There is no explicite increment intruction, but X can be + jmp(x_dec, "decr_nop") # decremented in the jump instruction. So we use that and jump + label("decr_nop") # to the next instruction, which is equivalent to just decrementing + jmp("read") + + label("incr") # There is no explicite increment intruction, but X can be + mov(x, invert(x)) # decremented in the jump instruction. So we invert X, decrement, + jmp(x_dec, "incr_nop") # then invert again - this is equivalent to incrementing. + label("incr_nop") + mov(x, invert(x)) + jmp("read") + + # Fill remaining instruction memory with jumps to ensure nothing bad happens + # For some reason, weird behavior happens if the instruction memory isn't full + jmp("read") + jmp("read") + jmp("read") + jmp("read") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/gamepad.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/gamepad.py new file mode 100644 index 0000000..f3f08de --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/gamepad.py @@ -0,0 +1,169 @@ +from .puppet import Puppet, VAR_TYPE_FLOAT, VAR_TYPE_INT, VAR_TYPE_BOOL, PERM_WRITE_ONLY, PERM_READ_ONLY +from micropython import const + +class Gamepad: + + _DEFAULT_GAMEPAD_INSTANCE = None + + X1 = const(0) + Y1 = const(1) + X2 = const(2) + Y2 = const(3) + BUTTON_A = const(4) + BUTTON_B = const(5) + BUTTON_X = const(6) + BUTTON_Y = const(7) + BUMPER_L = const(8) + BUMPER_R = const(9) + TRIGGER_L = const(10) + TRIGGER_R = const(11) + BACK = const(12) + START = const(13) + DPAD_UP = const(14) + DPAD_DN = const(15) + DPAD_L = const(16) + DPAD_R = const(17) + + # Mapping from index to variable name + _VAR_NAMES = { + 0: '$gamepad.x1', + 1: '$gamepad.y1', + 2: '$gamepad.x2', + 3: '$gamepad.y2', + 4: '$gamepad.button_a', + 5: '$gamepad.button_b', + 6: '$gamepad.button_x', + 7: '$gamepad.button_y', + 8: '$gamepad.bumper_l', + 9: '$gamepad.bumper_r', + 10: '$gamepad.trigger_l', + 11: '$gamepad.trigger_r', + 12: '$gamepad.back', + 13: '$gamepad.start', + 14: '$gamepad.dpad_up', + 15: '$gamepad.dpad_dn', + 16: '$gamepad.dpad_l', + 17: '$gamepad.dpad_r', + } + + @classmethod + def get_default_gamepad(cls): + """ + Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist. + """ + if cls._DEFAULT_GAMEPAD_INSTANCE is None: + cls._DEFAULT_GAMEPAD_INSTANCE = cls() + cls._DEFAULT_GAMEPAD_INSTANCE.start() + return cls._DEFAULT_GAMEPAD_INSTANCE + + def __init__(self): + """ + Manages communication with gamepad data coming from a remote computer via XPP protocol. + """ + self._puppet = Puppet.get_default_puppet() + self._started = False + + # Register all gamepad variables + self._register_variables() + + def _register_variables(self): + """ + Register all gamepad variables with the XPP protocol. + """ + # Joystick axes are floats + for idx in [self.X1, self.Y1, self.X2, self.Y2]: + var_name = self._VAR_NAMES[idx] + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) + + # Buttons are integers (1 or 0) + for idx in range(4, 18): + var_name = self._VAR_NAMES[idx] + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_WRITE_ONLY) + + # Register gamepad enabled variable (read-only from XRP side) + self._puppet.define_variable('$gamepad.enabled', VAR_TYPE_BOOL, PERM_READ_ONLY) + + def start(self): + """ + Signals the remote computer to begin sending gamepad data packets. + Subscribes to all gamepad variables at a high rate (50 Hz). + """ + self._puppet.start() + self._puppet.send_program_start() + + # Enable gamepad - signal to client to start sending + self._puppet.set_variable('$gamepad.enabled', True) + + if self._started: + return + + # Subscribe to all gamepad variables at 50 Hz + for var_name in self._VAR_NAMES.values(): + self._puppet.subscribe_variable(var_name, 50) + + self._started = True + + def stop(self): + """ + Signals the remote computer to stop sending gamepad data packets. + Unsubscribes from all gamepad variables. + """ + + self._puppet.send_program_end() + + if not self._started: + return + + # Disable gamepad - signal to client to stop sending + self._puppet.set_variable('$gamepad.enabled', False) + + # Unsubscribe from all gamepad variables + for var_name in self._VAR_NAMES.values(): + self._puppet.subscribe_variable(var_name, 0) + + self._puppet.stop() + self._started = False + + def get_value(self, index: int) -> float: + """ + Get the current value of a joystick axis + + :param index: The joystick axis index + Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2 + :type int + :returns: The value of the joystick between -1 and 1 + :rtype: float + """ + if index not in self._VAR_NAMES: + return 0.0 + + var_name = self._VAR_NAMES[index] + try: + value = self._puppet.get_variable(var_name) + # Return negative to make normal for user (backward compatibility) + return -value + except: + # Return default if variable not available + return 0.0 + + def is_button_pressed(self, index: int) -> bool: + """ + Checks if a specific button is currently pressed. + + :param index: The button index + Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc + :type int + :returns: The value of the button 1 or 0 + :rtype: bool + """ + if index not in self._VAR_NAMES: + return False + + var_name = self._VAR_NAMES[index] + try: + value = self._puppet.get_variable(var_name) + # Works for both int and float + return value > 0 + except: + # Return default if variable not available + return False diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu.py new file mode 100644 index 0000000..cd7acbf --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu.py @@ -0,0 +1,559 @@ +# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive +# ver: 1.0 +# License: MIT +# Author: shaoziyang (shaoziyang@micropython.org.cn) +# v1.0 2019.7 +try: + from .imu_defs import * + from uctypes import struct, addressof +except (TypeError, ModuleNotFoundError): + LSM_ADDR_PRIMARY = 0x6A + # Import wrapped in a try/except so that autodoc generation can process properly + pass +from machine import I2C, Pin, Timer, disable_irq, enable_irq +import time, math + +class IMU(): + + _DEFAULT_IMU_INSTANCE = None + + @classmethod + def get_default_imu(cls): + """ + Get the default XRP IMU instance. This is a singleton, so only one instance of the drivetrain will ever exist. + """ + + if cls._DEFAULT_IMU_INSTANCE is None: + cls._DEFAULT_IMU_INSTANCE = cls() + cls._DEFAULT_IMU_INSTANCE.calibrate() + return cls._DEFAULT_IMU_INSTANCE + + def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY): + # I2C values + self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000) + self.addr = addr + + # Initialize member variables + self._reset_member_variables() + + # Transmit and recieve buffers + self.tb = bytearray(1) + self.rb = bytearray(1) + + # Copies of registers. Bytes and structs share the same memory + # addresses, so changing one changes the other + self.reg_ctrl1_xl_byte = bytearray(1) + self.reg_ctrl2_g_byte = bytearray(1) + self.reg_ctrl3_c_byte = bytearray(1) + self.reg_ctrl1_xl_bits = struct(addressof(self.reg_ctrl1_xl_byte), LSM_REG_LAYOUT_CTRL1_XL) + self.reg_ctrl2_g_bits = struct(addressof(self.reg_ctrl2_g_byte), LSM_REG_LAYOUT_CTRL2_G) + self.reg_ctrl3_c_bits = struct(addressof(self.reg_ctrl3_c_byte), LSM_REG_LAYOUT_CTRL3_C) + + # Create timer + self.update_timer = Timer(-1) + + # Check if the IMU is connected + if not self.is_connected(): + # TODO - do somehting intelligent here + pass + + # Reset sensor to clear any previous configuration + # reset() also sets the board to the default config + self.reset() + + def _default_config(self): + # Enable block data update + self._set_bdu() + + # Set default scale for each sensor + self.acc_scale('16g') + self.gyro_scale('2000dps') + + # Set default rate for each sensor + self.acc_rate('208Hz') + self.gyro_rate('208Hz') + + """ + The following are private helper methods to read and write registers, as well as to convert the read values to the correct unit. + """ + + def _reset_member_variables(self): + # Vector of IMU measurements + self.irq_v = [[0, 0, 0], [0, 0, 0]] + + # Sensor offsets + self.gyro_offsets = [0,0,0] + self.acc_offsets = [0,0,0] + + # Scale factors when ranges are changed + self._acc_scale_factor = 1 + self._gyro_scale_factor = 1 + + # Angle integrators + self.running_pitch = 0 + self.running_yaw = 0 + self.running_roll = 0 + + def _int16(self, d): + return d if d < 0x8000 else d - 0x10000 + + def _setreg(self, reg, dat): + self.tb[0] = dat + self.i2c.writeto_mem(self.addr, reg, self.tb) + + def _getreg(self, reg): + self.i2c.readfrom_mem_into(self.addr, reg, self.rb) + return self.rb[0] + + def _getregs(self, reg, num_bytes): + rx_buf = bytearray(num_bytes) + self.i2c.readfrom_mem_into(self.addr, reg, rx_buf) + return rx_buf + + def _get2reg(self, reg): + return self._getreg(reg) + self._getreg(reg+1) * 256 + + def _r_w_reg(self, reg, dat, mask): + self._getreg(reg) + self.rb[0] = (self.rb[0] & mask) | dat + self._setreg(reg, self.rb[0]) + + def _set_bdu(self, bdu = True): + """ + Sets Block Data Update bit + """ + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.BDU = bdu + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + def _set_if_inc(self, if_inc = True): + """ + Sets InterFace INCrement bit + """ + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.IF_INC = if_inc + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + def _raw_to_mg(self, raw): + return self._int16((raw[1] << 8) | raw[0]) * LSM_MG_PER_LSB_2G * self._acc_scale_factor + + def _raw_to_mdps(self, raw): + return self._int16((raw[1] << 8) | raw[0]) * LSM_MDPS_PER_LSB_125DPS * self._gyro_scale_factor + + """ + Public facing API Methods + """ + + def is_connected(self): + """ + Checks whether the IMU is connected + + :return: True if WHO_AM_I value is correct, otherwise False + :rtype: bool + """ + who_am_i = self._getreg(LSM_REG_WHO_AM_I) + return who_am_i == LSM_WHO_AM_I_VALUE + + def reset(self, wait_for_reset = True, wait_timeout_ms = 100): + """ + Resets the IMU, and restores all registers to their default values + + :param wait_for_reset: Whether to wait for reset to complete + :type wait_for_reset: bool + :param wait_timeout_ms: Timeout in milliseconds when waiting for reset + :type wait_timeout_ms: int + :return: False if timeout occurred, otherwise True + :rtype: bool + """ + # Stop timer + self._stop_timer() + + # Reset member variables + self._reset_member_variables() + + # Set BOOT and SW_RESET bits + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.BOOT = 1 + self.reg_ctrl3_c_bits.SW_RESET = 1 + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + # Wait for reset to complete, if requested + if wait_for_reset: + # Loop with timeout + t0 = time.ticks_ms() + while time.ticks_ms() < (t0 + wait_timeout_ms): + # Check if register has returned to default value (0x04) + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + if self.reg_ctrl3_c_byte[0] == 0x04: + self._default_config() + self._start_timer() + return True + # Timeout occurred + # Attempt to set default config anyways + self._default_config() + self._start_timer() + return False + else: + self._default_config() + self._start_timer() + return True + + def get_acc_x(self): + """ + :return: The current reading for the accelerometer's X-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] + + def get_acc_y(self): + """ + :return: The current reading for the accelerometer's Y-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTY_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[1] + + def get_acc_z(self): + """ + :return: The current reading for the accelerometer's Z-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTZ_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[2] + + def get_acc_rates(self): + """ + :return: the list of readings from the Accelerometer, in mg. The order of the values is x, y, z. + :rtype: list + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 6) + + # Convert raw data to mg's + self.irq_v[0][0] = self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] + self.irq_v[0][1] = self._raw_to_mg(raw_bytes[2:4]) - self.acc_offsets[1] + self.irq_v[0][2] = self._raw_to_mg(raw_bytes[4:6]) - self.acc_offsets[2] + + return self.irq_v[0] + + def get_gyro_x_rate(self): + """ + Individual axis read for the Gyroscope's X-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + + def get_gyro_y_rate(self): + """ + Individual axis read for the Gyroscope's Y-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTY_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[1] + + def get_gyro_z_rate(self): + """ + Individual axis read for the Gyroscope's Z-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTZ_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[2] + + def get_gyro_rates(self): + """ + Retrieves the array of readings from the Gyroscope, in mdps + The order of the values is x, y, z. + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 6) + + # Convert raw data to mdps + self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] + self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] + + return self.irq_v[1] + + def get_acc_gyro_rates(self): + """ + Get the accelerometer and gyroscope values in mg and mdps in the form of a 2D array. + The first row is the acceleration values, the second row is the gyro values. + The order of the values is x, y, z. + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 12) + + # Convert raw data to mg's and mdps + self.irq_v[0][0] = self._raw_to_mg(raw_bytes[6:8]) - self.acc_offsets[0] + self.irq_v[0][1] = self._raw_to_mg(raw_bytes[8:10]) - self.acc_offsets[1] + self.irq_v[0][2] = self._raw_to_mg(raw_bytes[10:12]) - self.acc_offsets[2] + self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] + self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] + + return self.irq_v + + def get_pitch(self): + """ + Get the pitch of the IMU in degrees. Unbounded in range + + :return: The pitch of the IMU in degrees + :rtype: float + """ + return self.running_pitch + + def get_yaw(self): + """ + Get the yaw (heading) of the IMU in degrees. Unbounded in range + + :return: The yaw (heading) of the IMU in degrees + :rtype: float + """ + return self.running_yaw + + def get_heading(self): + """ + Get's the heading of the IMU, but bounded between [0, 360) + + :return: The heading of the IMU in degrees, bound between [0, 360) + :rtype: float + """ + return self.running_yaw % 360 + + def get_roll(self): + """ + Get the roll of the IMU in degrees. Unbounded in range + + :return: The roll of the IMU in degrees + :rtype: float + """ + return self.running_roll + + def reset_pitch(self): + """ + Reset the pitch to 0 + """ + self.running_pitch = 0 + + def reset_yaw(self): + """ + Reset the yaw (heading) to 0 + """ + self.running_yaw = 0 + + def reset_roll(self): + """ + Reset the roll to 0 + """ + self.running_roll = 0 + + def set_pitch(self, pitch): + """ + Set the pitch to a specific angle in degrees + + :param pitch: The pitch to set the IMU to + :type pitch: float + """ + self.running_pitch = pitch + + def set_yaw(self, yaw): + """ + Set the yaw (heading) to a specific angle in degrees + + :param yaw: The yaw (heading) to set the IMU to + :type yaw: float + """ + self.running_yaw = yaw + + def set_roll(self, roll): + """ + Set the roll to a specific angle in degrees + + :param roll: The roll to set the IMU to + :type roll: float + """ + self.running_roll = roll + + def temperature(self): + """ + Read the temperature of the LSM6DSO in degrees Celsius + + :return: The temperature of the LSM6DSO in degrees Celsius + :rtype: float + """ + # The LSM6DSO's temperature can be read from the OUT_TEMP_L register + # We use OUT_TEMP_L+1 if OUT_TEMP_L cannot be read + try: + return self._int16(self._get2reg(LSM_REG_OUT_TEMP_L))/256 + 25 + except MemoryError: + return self._temperature_irq() + + def _temperature_irq(self): + # Helper function for temperature() to read the alternate temperature register + self._getreg(LSM_REG_OUT_TEMP_L+1) + if self.rb[0] & 0x80: + self.rb[0] -= 256 + return self.rb[0] + 25 + + def acc_scale(self, value=None): + """ + Set the accelerometer scale in g. The scale can be: + '2g', '4g', '8g', or '16g' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) + # Check if the provided value is in the dictionary + if value not in LSM_ACCEL_FS: + # Return string representation of this value + index = list(LSM_ACCEL_FS.values()).index(self.reg_ctrl1_xl_bits.FS_XL) + return list(LSM_ACCEL_FS.keys())[index] + else: + # Set value as requested + self.reg_ctrl1_xl_bits.FS_XL = LSM_ACCEL_FS[value] + self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) + # Update scale factor for converting raw data + self._acc_scale_factor = int(value.rstrip('g')) // 2 + + def gyro_scale(self, value=None): + """ + Set the gyroscope scale in dps. The scale can be: + '125', '250', '500', '1000', or '2000' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) + # Check if the provided value is in the dictionary + if value not in LSM_GYRO_FS: + # Return string representation of this value + index = list(LSM_GYRO_FS.values()).index(self.reg_ctrl2_g_bits.FS_G) + return list(LSM_GYRO_FS.keys())[index] + else: + # Set value as requested + self.reg_ctrl2_g_bits.FS_G = LSM_GYRO_FS[value] + self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) + # Update scale factor for converting raw data + self._gyro_scale_factor = int(value.rstrip('dps')) // 125 + + def acc_rate(self, value=None): + """ + Set the accelerometer rate in Hz. The rate can be: + '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) + # Check if the provided value is in the dictionary + if value not in LSM_ODR: + # Return string representation of this value + index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_XL) + return list(LSM_ODR.keys())[index] + else: + # Set value as requested + self.reg_ctrl1_xl_bits.ODR_XL = LSM_ODR[value] + self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) + + def gyro_rate(self, value=None): + """ + Set the gyroscope rate in Hz. The rate can be: + '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) + # Check if the provided value is in the dictionary + if value not in LSM_ODR: + # Return string representation of this value + index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_G) + return list(LSM_ODR.keys())[index] + else: + # Set value as requested + self.reg_ctrl2_g_bits.ODR_G = LSM_ODR[value] + self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) + + # Update timer frequency + self.timer_frequency = int(value.rstrip('Hz')) + self._start_timer() + + def calibrate(self, calibration_time:float=1, vertical_axis:int= 2): + """ + Collect readings for [calibration_time] seconds and calibrate the IMU based on those readings + Do not move the robot during this time + Assumes the board to be parallel to the ground. Please use the vertical_axis parameter if that is not correct + + :param calibration_time: The time in seconds to collect readings for + :type calibration_time: float + :param vertical_axis: The axis that is vertical. 0 for X, 1 for Y, 2 for Z + :type vertical_axis: int + """ + self._stop_timer() + self.acc_offsets = [0,0,0] + self.gyro_offsets = [0,0,0] + avg_vals = [[0,0,0],[0,0,0]] + num_vals = 0 + # Wait a bit for sensor to start measuring (data registers may default to something nonsensical) + time.sleep(.1) + start_time = time.ticks_ms() + while time.ticks_ms() < start_time + calibration_time*1000: + cur_vals = self.get_acc_gyro_rates() + # Accelerometer averages + avg_vals[0][0] += cur_vals[0][0] + avg_vals[0][1] += cur_vals[0][1] + avg_vals[0][2] += cur_vals[0][2] + # Gyroscope averages + avg_vals[1][0] += cur_vals[1][0] + avg_vals[1][1] += cur_vals[1][1] + avg_vals[1][2] += cur_vals[1][2] + # Increment counter and wait for next loop + num_vals += 1 + time.sleep(1 / self.timer_frequency) + + # Compute averages + avg_vals[0][0] /= num_vals + avg_vals[0][1] /= num_vals + avg_vals[0][2] /= num_vals + avg_vals[1][0] /= num_vals + avg_vals[1][1] /= num_vals + avg_vals[1][2] /= num_vals + + avg_vals[0][vertical_axis] -= 1000 #in mg + + self.acc_offsets = avg_vals[0] + self.gyro_offsets = avg_vals[1] + self._start_timer() + + def _start_timer(self): + self.update_timer.init(freq=self.timer_frequency, callback=lambda t:self._update_imu_readings()) + + def _stop_timer(self): + self.update_timer.deinit() + + def _update_imu_readings(self): + # Called every tick through a callback timer + self.get_gyro_rates() + delta_pitch = self.irq_v[1][0] / 1000 / self.timer_frequency + delta_roll = self.irq_v[1][1] / 1000 / self.timer_frequency + delta_yaw = self.irq_v[1][2] / 1000 / self.timer_frequency + + state = disable_irq() + self.running_pitch += delta_pitch + self.running_roll += delta_roll + self.running_yaw += delta_yaw + enable_irq(state) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu_defs.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu_defs.py new file mode 100644 index 0000000..c8732de --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu_defs.py @@ -0,0 +1,83 @@ +from uctypes import BFUINT8, BF_POS, BF_LEN +from micropython import const + +""" + Possible I2C addresses +""" +LSM_ADDR_PRIMARY = const(0x6B) +LSM_ADDR_SECONDARY = const(0x6A) + +""" + Register addresses +""" +LSM_REG_WHO_AM_I = const(0x0F) +LSM_REG_CTRL1_XL = const(0x10) +LSM_REG_CTRL2_G = const(0x11) +LSM_REG_CTRL3_C = const(0x12) +LSM_REG_OUT_TEMP_L = const(0x20) +LSM_REG_OUT_TEMP_H = const(0x21) +LSM_REG_OUTX_L_G = const(0x22) +LSM_REG_OUTY_L_G = const(0x24) +LSM_REG_OUTZ_L_G = const(0x26) +LSM_REG_OUTX_L_A = const(0x28) +LSM_REG_OUTY_L_A = const(0x2A) +LSM_REG_OUTZ_L_A = const(0x2C) + +""" + Bit field struct definitions of registers +""" +LSM_REG_LAYOUT_CTRL1_XL = { + "ODR_XL" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, + "FS_XL" : BFUINT8 | 2 << BF_POS | 2 << BF_LEN, + "LPF2_XL_EN" : BFUINT8 | 1 << BF_POS | 1 << BF_LEN, +} +LSM_REG_LAYOUT_CTRL2_G = { + "ODR_G" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, + "FS_G" : BFUINT8 | 1 << BF_POS | 3 << BF_LEN, +} +LSM_REG_LAYOUT_CTRL3_C = { + "BOOT" : BFUINT8 | 7 << BF_POS | 1 << BF_LEN, + "BDU" : BFUINT8 | 6 << BF_POS | 1 << BF_LEN, + "H_LACTIVE" : BFUINT8 | 5 << BF_POS | 1 << BF_LEN, + "PP_OD" : BFUINT8 | 4 << BF_POS | 1 << BF_LEN, + "SIM" : BFUINT8 | 3 << BF_POS | 1 << BF_LEN, + "IF_INC" : BFUINT8 | 2 << BF_POS | 1 << BF_LEN, + "SW_RESET" : BFUINT8 | 0 << BF_POS | 1 << BF_LEN, +} + +""" + Dictionaries for possible register settings +""" +LSM_ODR = { + "0Hz" : 0x0, + "12.5Hz" : 0x1, + "26Hz" : 0x2, + "52Hz" : 0x3, + "104Hz" : 0x4, + "208Hz" : 0x5, + "416Hz" : 0x6, + "833Hz" : 0x7, + "1660Hz" : 0x8, + "3330Hz" : 0x9, + "6660Hz" : 0xA, +} +LSM_ACCEL_FS = { + "2g" : 0x0, + "4g" : 0x2, + "8g" : 0x3, + "16g" : 0x1, +} +LSM_GYRO_FS = { + "125dps" : 0x1, + "250dps" : 0x0, + "500dps" : 0x2, + "1000dps" : 0x4, + "2000dps" : 0x6, +} + +""" + Other contants +""" +LSM_WHO_AM_I_VALUE = 0x6C +LSM_MG_PER_LSB_2G = 0.061 +LSM_MDPS_PER_LSB_125DPS = 4.375 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor.py new file mode 100644 index 0000000..2c5d479 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor.py @@ -0,0 +1,96 @@ +from machine import Pin, PWM + +class SinglePWMMotor: + + """ + A simple class handling direction and power sets for DC motors on the XRP robots + + This version is used for the XRP Beta, which uses the rp2040 processor + """ + + def __init__(self, in1_direction_pin: int|str, in2_speed_pin: int|str, flip_dir:bool=False): + self.flip_dir = flip_dir + self._MAX_PWM = 65534 # Motor holds when actually at full power + + self._in1DirPin = Pin(in1_direction_pin, Pin.OUT) + self._in2SpeedPin = PWM(Pin(in2_speed_pin, Pin.OUT)) + self._in2SpeedPin.freq(50) + + def set_effort(self, effort: float): + """ + Sets the effort value of the motor (corresponds to power) + + :param effort: The effort to set the motor to, between -1 and 1 + :type effort: float + """ + + if effort < 0: + # Change direction if negative power + effort *= -1 + self._set_direction(1) + else: + self._set_direction(0) + # Cap power to [0,1] + effort = max(0,min(effort,1)) + self._in2SpeedPin.duty_u16(int(effort*self._MAX_PWM)) + + def _set_direction(self, direction: int): + if self.flip_dir: + self._in1DirPin.value(not direction) + else: + self._in1DirPin.value(direction) + + def brake(self): + # Motor holds with the real max duty cycle (65535) + self._in2SpeedPin.duty_u16(self._MAX_PWM+1) + + def coast(self): + self.set_effort(0) + +class DualPWMMotor: + """ + A simple class handling effort setting for DC motors on the XRP robots + + This version of the Motor class is used for the official release of the XRP + """ + + def __init__(self, in1_pwm_forward: int|str, in2_pwm_backward: int|str, flip_dir:bool=False): + self.flip_dir = flip_dir + self._MAX_PWM = 65535 # Motor holds when actually at full power + + self._in1ForwardPin = PWM(Pin(in1_pwm_forward, Pin.OUT)) + self._in2BackwardPin = PWM(Pin(in2_pwm_backward, Pin.OUT)) + self._in1ForwardPin.freq(50) + self._in2BackwardPin.freq(50) + + def set_effort(self, effort: float): + """ + Sets the effort value of the motor (corresponds to power) + + :param effort: The effort to set the motor to, between -1 and 1 + :type effort: float + """ + + in1Pwm = (effort < 0) ^ (self.flip_dir) + if in1Pwm: + self._in1ForwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) + self._in2BackwardPin.duty_u16(int(0)) + else: + self._in1ForwardPin.duty_u16(int(0)) + self._in2BackwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) + + def brake(self): + """ + Powers the motor in both directions at the same time, enabling it to hold position + """ + self._in1ForwardPin.duty_u16(int(self._MAX_PWM)) + self._in2BackwardPin.duty_u16(int(self._MAX_PWM)) + + def coast(self): + """ + Disables the motor in both directions at the same time, enabling it to spin freely + """ + self._in1ForwardPin.duty_u16(int(0)) + self._in2BackwardPin.duty_u16(int(0)) + + diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor_group.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor_group.py new file mode 100644 index 0000000..ecfe4f0 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor_group.py @@ -0,0 +1,94 @@ +from .encoded_motor import EncodedMotor +class MotorGroup(EncodedMotor): + def __init__(self, *motors: EncodedMotor): + """ + A wrapper class for multiple motors, allowing them to be treated as one motor. + + :param motors: The motors to add to this group + :type motors: tuple + """ + self.motors = [] + for motor in motors: + self.add_motor(motor) + + def add_motor(self, motor:EncodedMotor): + """ + :param motor: The motor to add to this group + :type motor: EncodedMotor + """ + self.motors.append(motor) + + def remove_motor(self, motor:EncodedMotor): + """ + :param motor: The motor to remove from this group + :type motor: EncodedMotor + """ + try: + self.motors.remove(motor) + except: + print("Failed to remove motor from Motor Group") + + def set_effort(self, effort: float): + """ + :param effort: The effort to set all motors in this group to, from -1 to 1 + :type effort: float + """ + for motor in self.motors: + motor.set_effort(effort) + + def get_position(self) -> float: + """ + :return: The average position of all motors in this group, in revolutions, relative to the last time reset was called. + :rtype: float + """ + avg = 0 + for motor in self.motors: + avg += motor.get_position() + return avg / len(self.motors) + + def get_position_counts(self) -> int: + """ + :return: The average position of all motors in this group, in encoder counts, relative to the last time reset was called. + :rtype: int + """ + avg = 0 + for motor in self.motors: + avg += motor.get_position_counts() + return round(avg / len(self.motors)) + + def reset_encoder_position(self): + """ + Resets the encoder position of all motors in this group back to zero. + """ + for motor in self.motors: + motor.reset_encoder_position() + + def get_speed(self) -> float: + """ + :return: The average speed of the motors, in rpm + :rtype: float + """ + avg = 0 + for motor in self.motors: + avg += motor.get_speed() + return avg / len(self.motors) + + + def set_speed(self, target_speed_rpm: float = None): + """ + Sets target speed (in rpm) to be maintained passively by all motors in this group + Call with no parameters to turn off speed control + + :param target_speed_rpm: The target speed for these motors in rpm, or None + :type target_speed_rpm: float, or None + """ + for motor in self.motors: + motor.set_speed(target_speed_rpm) + + def set_speed_controller(self, new_controller): + """ + :param new_controller: The new Controller for speed control + :type new_controller: Controller + """ + for motor in self.motors: + motor.set_speed_controller(new_controller) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/pid.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/pid.py new file mode 100644 index 0000000..e9c0491 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/pid.py @@ -0,0 +1,129 @@ +import time +from .controller import Controller + +""" +PID controller with exit condition +""" + +class PID(Controller): + + def __init__(self, + kp = 1.0, + ki = 0.0, + kd = 0.0, + min_output = 0.0, + max_output = 1.0, + max_derivative = None, + max_integral = None, + tolerance = 0.1, + tolerance_count = 1 + ): + """ + :param kp: proportional gain + :param ki: integral gain + :param kd: derivative gain + :param min_output: minimum output + :param max_output: maximum output + :param max_derivative: maximum derivative (change per second) + :param max_integral: maximum integral windup allowed (will cap integral at this value) + :param tolerance: tolerance for exit condition + :param tolerance_count: number of times the error needs to be within tolerance for is_done to return True + """ + self.kp = kp + self.ki = ki + self.kd = kd + self.min_output = min_output + self.max_output = max_output + self.max_derivative = max_derivative + self.max_integral = max_integral + self.tolerance = tolerance + self.tolerance_count = tolerance_count + + self.prev_error = 0 + self.prev_integral = 0 + self.prev_output = 0 + + self.start_time = None + self.prev_time = None + + # number of actual times in tolerance + self.times = 0 + + def _handle_exit_condition(self, error: float): + if abs(error) < self.tolerance: + # if error is within tolerance, increment times in tolerance + self.times += 1 + else: + # otherwise, reset times in tolerance, because we need to be in tolerance for numTimesInTolerance consecutive times + self.times = 0 + + def update(self, error: float, debug: bool = False) -> float: + """ + Handle a new update of this PID loop given an error. + + :param error: The error of the system being controlled by this PID controller + :type error: float + + :return: The system output from the controller, to be used as an effort value or for any other purpose + :rtype: float + """ + current_time = time.ticks_ms() + if self.prev_time is None: + # First update after instantiation + self.start_time = current_time + timestep = 0.01 + else: + # get time delta in seconds + timestep = time.ticks_diff(current_time, self.prev_time) / 1000 + self.prev_time = current_time # cache time for next update + + self._handle_exit_condition(error) + + integral = self.prev_integral + error * timestep + + if self.max_integral is not None: + integral = max(-self.max_integral, min(self.max_integral, integral)) + + derivative = (error - self.prev_error) / timestep + + # derive output + output = self.kp * error + self.ki * integral + self.kd * derivative + self.prev_error = error + self.prev_integral = integral + + # Bound output by minimum + if output > 0: + output = max(self.min_output, output) + else: + output = min(-self.min_output, output) + + # Bound output by maximum + output = max(-self.max_output, min(self.max_output, output)) + + # Bound output by maximum acceleration + if self.max_derivative is not None: + lower_bound = self.prev_output - self.max_derivative * timestep + upper_bound = self.prev_output + self.max_derivative * timestep + output = max(lower_bound, min(upper_bound, output)) + + # cache output for next update + self.prev_output = output + + if debug: + print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})") + + return output + + def is_done(self) -> bool: + """ + :return: if error is within tolerance for numTimesInTolerance consecutive times, or timed out + :rtype: bool + """ + return self.times >= self.tolerance_count + + def clear_history(self): + self.prev_error = 0 + self.prev_integral = 0 + self.prev_output = 0 + self.prev_time = None + self.times = 0 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/puppet.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/puppet.py new file mode 100644 index 0000000..a74f1db --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/puppet.py @@ -0,0 +1,869 @@ +""" +XRP Puppet Protocol (XPP) - Core Protocol Implementation + +A bidirectional protocol for communicating with the XRP robot remotely. +Uses a Network Tables-like architecture with variable ID mapping. +""" + +import select +import struct +import sys +import time +from machine import Timer +from micropython import const,kbd_intr + +# Message framing constants +MSG_START_1 = const(0xAA) +MSG_START_2 = const(0x55) +MSG_END_1 = const(0x55) +MSG_END_2 = const(0xAA) +MAX_PAYLOAD_SIZE = const(251) + +# Message type constants +MSG_TYPE_VAR_DEF = const(1) +MSG_TYPE_VAR_UPDATE = const(2) +MSG_TYPE_VAR_SUBSCRIBE = const(3) +MSG_TYPE_VAR_UNSUBSCRIBE = const(4) +MSG_TYPE_PROGRAM_START = const(5) +MSG_TYPE_PROGRAM_END = const(6) +MSG_TYPE_HEARTBEAT = const(7) + +# Variable type constants +VAR_TYPE_INT = const(1) +VAR_TYPE_FLOAT = const(2) +VAR_TYPE_BOOL = const(3) + +# Permission constants +PERM_READ_ONLY = const(1) +PERM_WRITE_ONLY = const(2) +PERM_READ_WRITE = const(3) + +# First custom variable ID +FIRST_CUSTOM_VAR_ID = const(38) + +# Mapping of standard variable names to IDs (1-37) +_STANDARD_VAR_IDS = { + # Gamepad variables (1-19) + '$gamepad.x1': 1, + '$gamepad.y1': 2, + '$gamepad.x2': 3, + '$gamepad.y2': 4, + '$gamepad.button_a': 5, + '$gamepad.button_b': 6, + '$gamepad.button_x': 7, + '$gamepad.button_y': 8, + '$gamepad.bumper_l': 9, + '$gamepad.bumper_r': 10, + '$gamepad.trigger_l': 11, + '$gamepad.trigger_r': 12, + '$gamepad.back': 13, + '$gamepad.start': 14, + '$gamepad.dpad_up': 15, + '$gamepad.dpad_dn': 16, + '$gamepad.dpad_l': 17, + '$gamepad.dpad_r': 18, + '$gamepad.enabled': 19, + # IMU variables (20-25) + '$imu.yaw': 20, + '$imu.roll': 21, + '$imu.pitch': 22, + '$imu.acc_x': 23, + '$imu.acc_y': 24, + '$imu.acc_z': 25, + # Encoder variables (26-29) + '$encoder.left': 26, + '$encoder.right': 27, + '$encoder.3': 28, + '$encoder.4': 29, + # Current sensor variables (30-33) + '$current.left': 30, + '$current.right': 31, + '$current.3': 32, + '$current.4': 33, + # Other sensor variables (34-37) + '$rangefinder.distance': 34, + '$reflectance.left': 35, + '$reflectance.right': 36, + '$voltage': 37, +} + + +class Puppet: + """ + Core XRP Puppet Protocol implementation. + Manages bidirectional communication, variable registry, and message handling. + """ + + _DEFAULT_PUPPET_INSTANCE = None + + @classmethod + def get_default_puppet(cls): + """ + Get the default XPP instance. This is a singleton. + """ + if cls._DEFAULT_PUPPET_INSTANCE is None: + cls._DEFAULT_PUPPET_INSTANCE = cls() + return cls._DEFAULT_PUPPET_INSTANCE + + def __init__(self): + """ + Initialize the XPP protocol handler. + """ + # Variable registry: name -> (id, type, permissions, value, update_rate, last_sent_time) + self._variables = {} + self._variable_ids = {} # id -> name (reverse mapping) + self._next_var_id = FIRST_CUSTOM_VAR_ID # Start at 38 for custom variables + + # Transport layer + self._transport = None + self._transport_type = None + self._rx_buffer = bytearray() + self._rx_state = 0 # 0=waiting for start, 1=reading length, 2=reading payload, 3=waiting for end + + # Packet tracking + self.packets_sent = 0 + self.packets_received = 0 + self.packets_dropped = 0 + self._sequence_number = 0 + + # Update rate management + self._update_timer = Timer(-1) + self._update_timer_running = False + + # STDIO polling (for USB_STDIO transport) + self._poll_timer = Timer(-1) + self._poll_timer_running = False + self._poll_stdin_poll = None + + # Program state + self._program_running = False + + # Initialize transport + self._init_transport() + + def _init_transport(self): + """ + Auto-detect and initialize transport (BLE or USB serial). + """ + # Try BLE first + try: + from ble.blerepl import uart + if len(uart._connections) > 0: + self._transport = uart + self._transport_type = 'BLE' + self._transport.set_data_callback(self._data_callback) + return + else: + self._transport_type = 'USB_STDIO' + self._start_poll_timer() + return + except ImportError: + self._transport_type = 'USB_STDIO' + self._start_poll_timer() + return + + + def _poll_stdio(self): + """ + Poll STDIO for incoming data using select.poll. + Reads raw bytes from the stdin buffer. + """ + data_read = False + while True: + events = self._stdin_poll.poll(0) + if not events: + if data_read: + self._process_rx_buffer() + break + data = sys.stdin.buffer.read(1) + self._rx_buffer.extend(data) + data_read = True + + #if data: + #print(f"Received data: {data}") + #self._data_callback(data) + + def _start_poll_timer(self): + """ + Start STDIO polling for USB_STDIO transport. + Uses select.poll on the raw stdin buffer and a timer to check it. + """ + if self._transport_type != 'USB_STDIO' or self._poll_timer_running: + return + self._stdin_poll = select.poll() + self._stdin_poll.register(sys.stdin.buffer, select.POLLIN) + + kbd_intr(-1) #the data will have 03 in it, don't do a ctrl-c for that data. + + self._poll_timer.init(period=20, mode=Timer.PERIODIC, + callback=lambda t: self._poll_stdio()) + self._poll_timer_running = True + + def _stop_poll_timer(self): + """ + Stop the STDIO polling timer and unregister from poll. + """ + if self._poll_timer_running: + self._poll_timer.deinit() + kbd_intr(3) #start watching for ctrl-c again + self._poll_timer_running = False + if self._stdin_poll is not None: + try: + self._stdin_poll.unregister(sys.stdin.buffer) + except (OSError, AttributeError): + pass + self._stdin_poll = None + def start(self): + """ + Start the STDIO polling. + """ + if self._transport_type == 'USB_STDIO': + self._start_poll_timer() + + def stop(self): + """ + Stop the STDIO polling. + """ + if self._transport_type == 'USB_STDIO': + self._stop_poll_timer() + + + def _data_callback(self, data): + """ + Handle incoming data from transport layer. + """ + if isinstance(data, (bytes, bytearray)): + self._rx_buffer.extend(data) + else: + self._rx_buffer.append(data) + + self._process_rx_buffer() + + def _process_rx_buffer(self): + """ + Process received data buffer, extracting complete messages. + """ + while len(self._rx_buffer) >= 2: + if self._rx_state == 0: # Waiting for start sequence + # Look for start sequence + idx = -1 + for i in range(len(self._rx_buffer) - 1): + if self._rx_buffer[i] == MSG_START_1 and self._rx_buffer[i+1] == MSG_START_2: + idx = i + break + + if idx == -1: + # No start sequence found, clear buffer except last byte + if len(self._rx_buffer) > 1: + #see if anything in the buffer is a ctrl-c + for i in range(len(self._rx_buffer) - 1): + if self._rx_buffer[i] == 0x03: + self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler + self._rx_buffer = self._rx_buffer[-1:] + return + + # Remove everything before start sequence + if idx > 0: + #check for a ctrl-c in the non packet parts + for i in range(idx - 1): + if self._rx_buffer[i] == 0x03: + self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler + self._rx_buffer = self._rx_buffer[idx:] + + # Found start, move to length + self._rx_state = 1 + continue + + elif self._rx_state == 1: # Reading type + if len(self._rx_buffer) < 3: # Need start(2) + type(1) + return + msg_type = self._rx_buffer[2] + self._rx_state = 2 + continue + + elif self._rx_state == 2: # Reading length + if len(self._rx_buffer) < 4: # Need start(2) + type(1) + length(1) + return + payload_len = self._rx_buffer[3] + if payload_len > MAX_PAYLOAD_SIZE: + # Invalid length, reset + self._rx_buffer = self._rx_buffer[4:] + self._rx_state = 0 + self.packets_dropped += 1 + continue + + self._rx_state = 3 + continue + + elif self._rx_state == 3: # Reading payload + payload_len = self._rx_buffer[3] + total_needed = 4 + payload_len + 2 # start(2) + type(1) + len(1) + payload + end(2) + + if len(self._rx_buffer) < total_needed: + return # Wait for more data + + # Check end sequence + end_idx = 4 + payload_len + if (self._rx_buffer[end_idx] != MSG_END_1 or + self._rx_buffer[end_idx + 1] != MSG_END_2): + # Invalid end sequence, reset + self._rx_buffer = self._rx_buffer[4:] + self._rx_state = 0 + self.packets_dropped += 1 + continue + + # Extract message type and payload data + msg_type = self._rx_buffer[2] + payload_data = bytes(self._rx_buffer[4:end_idx]) + self._rx_buffer = self._rx_buffer[total_needed:] + self._rx_state = 0 + + # Process message + self.packets_received += 1 + self._handle_message(msg_type, payload_data) + continue + + def _write_data(self, data): + """ + Write data to transport layer. + """ + if self._transport_type == 'BLE': + self._transport.write_data(data) + + elif self._transport_type == 'USB_STDIO': + sys.stdout.buffer.write(data) + + def _pack_message(self, msg_type, payload_data): + """ + Pack a message with framing. + Returns bytearray with complete message. + Format: [START] [TYPE] [LENGTH] [PAYLOAD] [END] + LENGTH includes payload_data length (not including TYPE byte) + """ + payload_len = len(payload_data) + if payload_len > MAX_PAYLOAD_SIZE: + raise ValueError(f"Payload too large: {payload_len} > {MAX_PAYLOAD_SIZE}") + + msg = bytearray() + msg.append(MSG_START_1) + msg.append(MSG_START_2) + msg.append(msg_type) + msg.append(payload_len) # Length of payload_data only + msg.extend(payload_data) + msg.append(MSG_END_1) + msg.append(MSG_END_2) + + return msg + + def _send_message(self, msg_type, payload_data): + """ + Send a message over the transport. + """ + msg = self._pack_message(msg_type, payload_data) + self._write_data(msg) + self.packets_sent += 1 + self._sequence_number = (self._sequence_number + 1) % 256 + + def _handle_message(self, msg_type, payload_data): + """ + Handle incoming message based on type. + + :param msg_type: Message type byte + :param payload_data: Message payload data (without type byte) + """ + if msg_type == MSG_TYPE_VAR_DEF: + self._handle_var_def(payload_data) + elif msg_type == MSG_TYPE_VAR_UPDATE: + self._handle_var_update(payload_data) + elif msg_type == MSG_TYPE_VAR_SUBSCRIBE: + self._handle_var_subscribe(payload_data) + elif msg_type == MSG_TYPE_VAR_UNSUBSCRIBE: + self._handle_var_unsubscribe(payload_data) + elif msg_type == MSG_TYPE_PROGRAM_START: + self._handle_program_start() + elif msg_type == MSG_TYPE_PROGRAM_END: + self._handle_program_end() + elif msg_type == MSG_TYPE_HEARTBEAT: + self._handle_heartbeat(payload_data) + + def _handle_var_def(self, payload): + """ + Handle variable definition message. + Format: name_len(1) name(name_len) type(1) permissions(1) var_id(1) + """ + if len(payload) < 3: + return + + name_len = payload[0] + if len(payload) < 1 + name_len + 3: # name_len + name + type + permissions + var_id + return + + name = payload[1:1+name_len].decode('utf-8') + var_type = payload[1+name_len] + permissions = payload[1+name_len+1] + var_id = payload[1+name_len+2] + + # If this is a standard variable, use the predefined ID instead + if name in _STANDARD_VAR_IDS: + var_id = _STANDARD_VAR_IDS[name] + + # Register the variable with the (corrected) ID + if name not in self._variables: + # Default value based on type + if var_type == VAR_TYPE_INT: + default_value = 0 + elif var_type == VAR_TYPE_FLOAT: + default_value = 0.0 + elif var_type == VAR_TYPE_BOOL: + default_value = False + else: + return + + self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) + self._variable_ids[var_id] = name + # Update next_var_id if needed (for custom variables only) + if var_id >= self._next_var_id and name not in _STANDARD_VAR_IDS: + self._next_var_id = var_id + 1 + if self._next_var_id > 255: + self._next_var_id = FIRST_CUSTOM_VAR_ID # Wrap to start of custom range + + def _handle_var_update(self, payload): + """ + Handle variable update message (batched format). + Format: count(1) [var_id(1) type(1) value(type-dependent)] * count + A count of 1 is equivalent to a single update. + """ + if len(payload) < 1: + return + + count = payload[0] + offset = 1 + + if count == 0 or count > 50: # Sanity check + return + + # Batched update format: count(1) [var_id(1) type(1) value] * count + for i in range(count): + if len(payload) < offset + 2: # Need at least var_id(1) + type(1) + break + + var_id = payload[offset] + offset += 1 + var_type = payload[offset] + offset += 1 + + if var_id not in self._variable_ids: + # Skip this update, but need to advance offset + if var_type == VAR_TYPE_INT: + offset += 4 + elif var_type == VAR_TYPE_FLOAT: + offset += 4 + elif var_type == VAR_TYPE_BOOL: + offset += 1 + continue + + name = self._variable_ids[var_id] + var_info = self._variables[name] + + # Unpack value based on type from message + if var_type == VAR_TYPE_INT: + if len(payload) < offset + 4: + break + value = struct.unpack(' 255: + raise RuntimeError("Maximum number of custom variables exceeded") + send_def = True # Send VAR_DEF for custom variables + + # Default value based on type + if var_type == VAR_TYPE_INT: + default_value = 0 + elif var_type == VAR_TYPE_FLOAT: + default_value = 0.0 + elif var_type == VAR_TYPE_BOOL: + default_value = False + else: + raise ValueError(f"Invalid variable type: {var_type}") + + self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) + self._variable_ids[var_id] = name + + # Only send variable definition for custom variables + if send_def: + self._send_var_def(name, var_type, permissions, var_id) + + return var_id + + def _send_var_def(self, name, var_type, permissions, var_id): + """ + Send variable definition message. + """ + name_bytes = name.encode('utf-8') + payload = bytearray() + payload.append(len(name_bytes)) + payload.extend(name_bytes) + payload.append(var_type) + payload.append(permissions) + payload.append(var_id) # 1 byte + + self._send_message(MSG_TYPE_VAR_DEF, payload) + + def set_variable(self, name, value): + """ + Set a variable value and send update if subscribed. + + :param name: Variable name + :param value: Variable value + """ + if name not in self._variables: + raise ValueError(f"Variable not defined: {name}") + + var_info = self._variables[name] + var_type = var_info[1] + + # Type check + if var_type == VAR_TYPE_INT and not isinstance(value, int): + raise TypeError(f"Variable {name} expects int, got {type(value)}") + elif var_type == VAR_TYPE_FLOAT and not isinstance(value, (int, float)): + raise TypeError(f"Variable {name} expects float, got {type(value)}") + elif var_type == VAR_TYPE_BOOL and not isinstance(value, bool): + raise TypeError(f"Variable {name} expects bool, got {type(value)}") + + # Update value + self._variables[name] = (var_info[0], var_info[1], var_info[2], + value, var_info[4], var_info[5]) + + # Send update if rate > 0 or if this is an on-demand update + # (on-demand updates are sent immediately when set) + if var_info[4] > 0 or var_info[4] == 0: + self._send_var_update(name) + + def get_variable(self, name): + """ + Get a variable value. + + :param name: Variable name + :return: Variable value + """ + if name not in self._variables: + raise ValueError(f"Variable not defined: {name}") + + return self._variables[name][3] + + def _send_var_update(self, name): + """ + Send single variable update message (uses batched format with count=1). + For multiple updates, use _send_batched_var_updates(). + """ + if name not in self._variables: + return + + var_info = self._variables[name] + var_id = var_info[0] + var_type = var_info[1] + value = var_info[3] + + # Pack as batched update with count=1 + payload = bytearray() + payload.append(1) # count = 1 + payload.append(var_id) # 1 byte + payload.append(var_type) # Include type byte + + if var_type == VAR_TYPE_INT: + payload.extend(struct.pack(' 0 and enough time has passed + if rate > 0: + period_ms = int(1000 / rate) + if time.ticks_diff(current_time, last_sent) < period_ms: + continue # Not ready yet + + updates.append((name, var_info)) + + if not updates: + return + + # Pack batched update: count(1) [var_id(1) type(1) value] * count + payload = bytearray() + payload.append(len(updates)) # count + + for name, var_info in updates: + var_id = var_info[0] + var_type = var_info[1] + value = var_info[3] + + payload.append(var_id) # 1 byte + payload.append(var_type) + + if var_type == VAR_TYPE_INT: + payload.extend(struct.pack(' max_rate: + max_rate = var_info[4] + + if max_rate > 0 and not self._update_timer_running: + # Start timer at max_rate Hz + period_ms = int(1000 / max_rate) + self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._update_timer_callback()) + self._update_timer_running = True + elif max_rate == 0 and self._update_timer_running: + # Stop timer + self._update_timer.deinit() + self._update_timer_running = False + elif max_rate > 0 and self._update_timer_running: + # Update timer period if rate changed + period_ms = int(1000 / max_rate) + self._update_timer.deinit() + self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._update_timer_callback()) + + def _update_timer_callback(self): + """ + Timer callback to send variable updates at their specified rates. + Batches all ready updates into a single message for efficiency. + """ + current_time = time.ticks_ms() + + # Collect all variables that are ready to send + ready_vars = [] + for name, var_info in self._variables.items(): + var_id, var_type, permissions, value, rate, last_sent = var_info + + # Only send if rate > 0 and enough time has passed + if rate > 0: + period_ms = int(1000 / rate) + if time.ticks_diff(current_time, last_sent) >= period_ms: + # Check if we have read permission + if permissions in (PERM_READ_ONLY, PERM_READ_WRITE): + ready_vars.append(name) + + # Send all ready updates in a single batched message + if ready_vars: + self._send_batched_var_updates(ready_vars) + + def send_program_start(self): + """ + Send program start message. + """ + self._send_message(MSG_TYPE_PROGRAM_START, b'') + self._program_running = True + + def send_program_end(self): + """ + Send program end message. + """ + self._send_message(MSG_TYPE_PROGRAM_END, b'') + self._program_running = False + + def send_heartbeat(self): + """ + Send heartbeat message. + """ + # Include stats + payload = struct.pack(' float: + """ + Get the distance in centimeters by measuring the echo pulse time + """ + if time.ticks_diff(time.ticks_us(), self.last_echo_time) < self.cache_time_us and not (self.cms == 65535 or self.cms == 0): + return self.cms + + try: + pulse_time = self._send_pulse_and_wait() + if pulse_time <= 0: + return self.MAX_VALUE + except OSError as exception: + # We don't want programs to crash if the HC-SR04 doesn't see anything in range + # So we catch those errors and return 65535 instead + if exception.args[0] == 110: # 110 = ETIMEDOUT + return self.MAX_VALUE + raise exception + + # To calculate the distance we get the pulse_time and divide it by 2 + # (the pulse walk the distance twice) and by 29.1 becasue + # the sound speed on air (343.2 m/s), that It's equivalent to + # 0.034320 cm/us that is 1cm each 29.1us + self.cms = (pulse_time / 2) / 29.1 + self.last_echo_time = time.ticks_us() + return self.cms + + def _delay_us(self, delay:int): + """ + Custom implementation of time.sleep_us(), used to get around the bug in MicroPython where time.sleep_us() + doesn't work properly and causes the IDE to hang when uploading the code + """ + start = time.ticks_us() + while time.ticks_diff(time.ticks_us(), start) < delay: + pass diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/reflectance.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/reflectance.py new file mode 100644 index 0000000..c986952 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/reflectance.py @@ -0,0 +1,49 @@ +from machine import Pin, ADC + +class Reflectance: + + _DEFAULT_REFLECTANCE_INSTANCE = None + + @classmethod + def get_default_reflectance(cls): + """ + Get the default XRP reflectance sensor instance. This is a singleton, so only one instance of the reflectance sensor will ever exist. + """ + if cls._DEFAULT_REFLECTANCE_INSTANCE is None: + cls._DEFAULT_REFLECTANCE_INSTANCE = cls() + return cls._DEFAULT_REFLECTANCE_INSTANCE + + def __init__(self, leftPin: int|str = "LINE_L", rightPin: int|str = "LINE_R"): + """ + Implements for a reflectance sensor using the built in 12-bit ADC. + Reads from analog in and converts to a float from 0 (white) to 1 (black) + + :param leftPin: The pin the left reflectance sensor is connected to + :type leftPin: int + :param rightPin: The pin the right reflectance sensor is connected to + :type rightPin: int + """ + self._leftReflectance = ADC(Pin(leftPin)) + self._rightReflectance = ADC(Pin(rightPin)) + + self.MAX_ADC_VALUE: int = 65536 + + def _get_value(self, sensor: ADC) -> float: + + return sensor.read_u16() / self.MAX_ADC_VALUE + + def get_left(self) -> float: + """ + Gets the the reflectance of the left reflectance sensor + : return: The reflectance ranging from 0 (white) to 1 (black) + : rtype: float + """ + return self._get_value(self._leftReflectance) + + def get_right(self) -> float: + """ + Gets the the reflectance of the right reflectance sensor + : return: The reflectance ranging from 0 (white) to 1 (black) + : rtype: float + """ + return self._get_value(self._rightReflectance) diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/resetbot.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/resetbot.py new file mode 100644 index 0000000..5397560 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/resetbot.py @@ -0,0 +1,76 @@ +import sys +""" +A simple file for shutting off all of the motors after a program gets interrupted from the REPL. +Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL. +""" + +def reset_motors(): + from XRPLib.encoded_motor import EncodedMotor + # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init + for i in range(4): + motor = EncodedMotor.get_default_encoded_motor(i+1) + motor.set_speed(0) + motor.reset_encoder_position() + +def reset_led(): + from XRPLib.board import Board + # Turn off the on-board LED + Board.get_default_board().led_off() + try: + # Turn off the RGB LED for boards that have it + Board.get_default_board().set_rgb_led(0, 0, 0) + except: + pass + +def reset_servos(): + from XRPLib.servo import Servo + # Turn off both Servos + Servo.get_default_servo(1).free() + Servo.get_default_servo(2).free() + try: #if 2350 then there are 4 servos + Servo.get_default_servo(3).free() + Servo.get_default_servo(4).free() + except: + pass + +def reset_webserver(): + from XRPLib.webserver import Webserver + # Shut off the webserver and close network connections + Webserver.get_default_webserver().stop_server() + +def reset_gamepad(): + from XRPLib.gamepad import Gamepad + # Stop the browser from sending more gamepad data + Gamepad.get_default_gamepad().stop() + +def reset_dashboard(): + from XRPLib.dashboard import Dashboard + # Stop the dashboard from sending more data + Dashboard.get_default_dashboard().stop() + +def reset_hard(): + reset_gamepad() + reset_dashboard() + reset_motors() + reset_led() + reset_servos() + reset_webserver() + +if "XRPLib.gamepad" in sys.modules: + reset_gamepad() + +if "XRPLib.dashboard" in sys.modules: + reset_dashboard() + +if "XRPLib.encoded_motor" in sys.modules: + reset_motors() + +if "XRPLib.board" in sys.modules: + reset_led() + +if "XRPLib.servo" in sys.modules: + reset_servos() + +if "XRPLib.webserver" in sys.modules: + reset_webserver() + diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/servo.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/servo.py new file mode 100644 index 0000000..e606dac --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/servo.py @@ -0,0 +1,66 @@ +from machine import Pin, PWM +import sys + +class Servo: + + _DEFAULT_SERVO_ONE_INSTANCE = None + _DEFAULT_SERVO_TWO_INSTANCE = None + _DEFAULT_SERVO_THREE_INSTANCE = None + _DEFAULT_SERVO_FOUR_INSTANCE = None + + @classmethod + def get_default_servo(cls, index:int): + """ + Gets one of the default XRP servo instances. These are singletons, so only one instance of each servo will ever exist. + Raises an exception if an invalid index is requested. + + :param index: The index of the servo to get (1-4; Beta only has 1 and 2) + :type index: int + """ + if index == 1: + if cls._DEFAULT_SERVO_ONE_INSTANCE is None: + cls._DEFAULT_SERVO_ONE_INSTANCE = cls("SERVO_1") + servo = cls._DEFAULT_SERVO_ONE_INSTANCE + elif index == 2: + if cls._DEFAULT_SERVO_TWO_INSTANCE is None: + cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2") + servo = cls._DEFAULT_SERVO_TWO_INSTANCE + elif index == 3 and hasattr(Pin.board, "SERVO_3"): + if cls._DEFAULT_SERVO_THREE_INSTANCE is None: + cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3") + servo = cls._DEFAULT_SERVO_THREE_INSTANCE + elif index == 4 and hasattr(Pin.board, "SERVO_4"): + if cls._DEFAULT_SERVO_FOUR_INSTANCE is None: + cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4") + servo = cls._DEFAULT_SERVO_FOUR_INSTANCE + else: + return Exception("Invalid servo index") + return servo + + def __init__(self, signal_pin: int|str): + """ + A simple class for interacting with a servo through PWM + + :param signal_pin: The pin the servo is connected to + :type signal_pin: int | str + """ + + self._servo = PWM(Pin(signal_pin, Pin.OUT)) + # Initialize base frequency for the PWM + self._servo.freq(50) + self.MICROSEC_PER_DEGREE: int = 10000 + self.LOW_ANGLE_OFFSET: int = 500000 + + def set_angle(self, degrees: float): + """ + Sets the angle of the servo + :param degrees: The angle to set the servo to [0,200] + :ptype degrees: float + """ + self._servo.duty_ns(int(degrees * self.MICROSEC_PER_DEGREE + self.LOW_ANGLE_OFFSET)) + + def free(self): + """ + Allows the servo to spin freely without holding position + """ + self._servo.duty_ns(0) diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/timeout.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/timeout.py new file mode 100644 index 0000000..7d7a669 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/timeout.py @@ -0,0 +1,23 @@ +import time + +class Timeout: + def __init__(self, timeout: float): + """ + Starts a timer that will expire after the given timeout. + + :param timeout: The timeout, in seconds + :type timeout: float + """ + self.timeout = timeout + if self.timeout != None: + self.timeout = timeout*1000 + + self.start_time = time.ticks_ms() + + def is_done(self): + """ + :return: True if the timeout has expired, False otherwise + """ + if self.timeout is None: + return False + return time.ticks_ms() - self.start_time > self.timeout \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/webserver.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/webserver.py new file mode 100644 index 0000000..bedbba6 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/webserver.py @@ -0,0 +1,326 @@ +from phew import server, template, logging, access_point, dns +from phew.template import render_template +from phew.server import redirect, stop, close +import gc +import network +import time +import json + +logging.log_file = "webserverLog.txt" + +class Webserver: + + @classmethod + def get_default_webserver(cls): + """ + Get the default webserver instance. This is a singleton, so only one instance of the webserver will ever exist. + """ + return webserver + + def __init__(self): + """ + Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below. + """ + + gc.threshold(50000) # garbage collection + self.logged_data = {} + self.buttons = {"forwardButton": lambda: logging.debug("Button not initialized"), + "backButton": lambda: logging.debug("Button not initialized"), + "leftButton": lambda: logging.debug("Button not initialized"), + "rightButton": lambda: logging.debug("Button not initialized"), + "stopButton": lambda: logging.debug("Button not initialized")} + self.FUNCTION_PREFIX = "startfunction" + self.FUNCTION_SUFFIX = "endfunction" + self.display_arrows = False + # Instantiate self.wlan now so that running stop before start doesn't cause an error + self.wlan = network.WLAN(network.STA_IF) + + def start_network(self, ssid:str=None, robot_id:int= None, password:str=None): + """ + Open an access point from the XRP board to be used as a captive host. The default network information can be set in secrets.json + + :param ssid: The ssid of the access point, defaults to value from secrets.json + :type ssid: str, optional + :param robot_id: Replaces "{robot_id}" in ssid, defaults to value from secrets.json + :type robot_id: int, optional + :param password: The password of the access point, defaults to value from secrets.json + :type password: str, optional + """ + if ssid is None: + try: + with open("../../secrets.json") as secrets_file: + secrets = json.load(secrets_file) + ssid = str(secrets["ap_ssid"]) + password = str(secrets["ap_password"]) + if robot_id is None: + robot_id = str(secrets["robot_id"]) + ssid = ssid.replace("{robot_id}", robot_id) + except (OSError, KeyError, ValueError): + if robot_id is None: + robot_id = 1 + ssid = f"XRP_{robot_id}" + password = "remote.xrp" + if password is not None and len(password) < 8: + logging.warn("Password is less than 8 characters, this may cause issues with some devices") + self.wlan = access_point(ssid, password) + logging.info(f"Starting Access Point \"{ssid}\"") + self.ip = self.wlan.ifconfig()[0] + + def connect_to_network(self, ssid:str=None, password:str=None, timeout = 10): + """ + Connect to a wifi network with the given ssid and password. + If the connection fails, the board will disconnect from the network and return. + + :param ssid: The ssid of the network, defaults to value from secrets.json + :type ssid: str, optional + :param password: The password of the network, defaults to value from secrets.json + :type password: str, optional + :param timeout: The amount of time to wait for the connection to succeed, defaults to 10 + :type timeout: int, optional + """ + self.wlan = network.WLAN(network.STA_IF) + self.wlan.active(True) # configure board to connect to wifi + if ssid is None: + try: + with open("../../secrets.json") as secrets_file: + secrets = json.load(secrets_file) + ssid = str(secrets["wifi_ssid"]) + password = str(secrets["wifi_password"]) + except (OSError, KeyError, ValueError): + print("secrets.json not found or improperly formatted") + return False + self.wlan.connect(ssid,password) + start_time = time.time() + while not self.wlan.isconnected(): + print("Connecting to network, may take a second") + if time.time() > start_time+timeout: + print("Failed to connect to network, please try again") + self.wlan.disconnect() + return False + time.sleep(0.25) + self.ip = self.wlan.ifconfig()[0] + + def start_server(self): + """ + Begin the webserver in either access point or bridge mode. The IP is printed to the console. + + Preconditions: Either start_network or connect_to_network must be called before this method. + """ + self.wlan.active(True) + logging.info(f"Starting DNS Server at {self.ip}") + dns.run_catchall(self.ip) + self.DOMAIN = self.ip + logging.disable_logging_types(logging.LOG_INFO) + server.run() + + def stop_server(self): + """ + Shuts off the webserver and network and stops handling requests + """ + if self.wlan.active(): + logging.enable_logging_types(logging.LOG_INFO) + logging.info("Stopping Webserver and Network Connections") + + stop() + self.wlan.active(False) + + def _index_page(self, request): + # Render index page and respond to form requests + if request.method == 'GET': + return self._generateHTML() + if request.method == 'POST': + if str(list(request.form.values())[0]).count(" ") == 0: + text = str(list(request.form.keys())[0]) + else: + text = str(list(request.form.values())[0]) + self._handleUserFunctionRequest(text) + return self._generateHTML() + + def _hotspot(self, request): + # Redirect to Index Page + return self._generateHTML() + + def _catch_all(self, request): + # Catch all requests and redirect if necessary + if request.headers.get("host") != self.DOMAIN: + return redirect("http://"+self.DOMAIN+"/") + return self._index_page(request=request) + + def log_data(self, label:str, data): + """ + Register a custom label to be displayed on the webserver + + :param label: The label as it will be displayed, must be unique + :type label: str + :param data: The data to be displayed + :type data: Any (converted to string) + """ + self.logged_data[label] = data + + def add_button(self, button_name:str, function): + """ + Register a custom button to be displayed on the webserver + + :param button_name: The label for the button as it will be displayed, must be unique + :type button_name: str + :param function: The function to be called when the button is pressed + :type function: function + """ + self.buttons[button_name] = function + + def registerForwardButton(self, function): + """ + Assign a function to the forward button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["forwardButton"] = function + + def registerBackwardButton(self, function): + """ + Assign a function to the backward button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["backButton"] = function + + def registerLeftButton(self, function): + """ + Assign a function to the left button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["leftButton"] = function + + def registerRightButton(self, function): + """ + Assign a function to the right button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["rightButton"] = function + + def registerStopButton(self, function): + """ + Assign a function to the stop + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["stopButton"] = function + + def _handleUserFunctionRequest(self, text) -> bool: + print(f"Running {text}") + try: + user_function = self.buttons[text] + if user_function is None: + logging.warning("User function "+text+" not found") + return False + user_function() + return True + except RuntimeError as xcpt: + logging.error("User function "+text+" caused an exception: "+str(xcpt)) + return False + + def _generateHTML(self): + + string = _HTML1 + + if self.display_arrows: + string += _HTML_ARROWS + + string += f'

Custom Function Bindings:

' + # add each button's href to html + for button in self.buttons.keys(): + if(["forwardButton","backButton","leftButton","rightButton","stopButton"].count(button) > 0): + # Slightly cursed solution to not display the arrow buttons as text buttons + continue + string += f'

' + string += "\n" + + string += f'

Logged Data:

' + # add logged data to the html + for data_label in self.logged_data.keys(): + string += f'

{data_label}: {str(self.logged_data[data_label])}

' + string += "\n" + + string += _HTML2 + + return string + +""" Use decorators to bind the wifi methods to the requests """ +webserver = Webserver() + +@server.route("/", methods=['GET','POST']) +def index(request): + return webserver._index_page(request) + +@server.route("/hotspot-detect.html", methods=["GET"]) +def hotspot(request): + return webserver._hotspot(request) + +@server.catchall() +def catch_all(request): + return webserver._catch_all(request) + +_HTML1 = """ + + + + + + + + + + +

XRP control page

+ +

+""" + +_HTML_ARROWS = """ +

+
+
+    +
+    +
+
+
+""" + +_HTML2 = """ +

+ + + + +""" \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/__init__.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/ble_uart_peripheral.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/ble_uart_peripheral.py new file mode 100644 index 0000000..d9da813 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/ble_uart_peripheral.py @@ -0,0 +1,158 @@ +# This implements the Nordic UART Service (NUS). + +import bluetooth +#from .ble_advertising import advertising_payload +import struct +from micropython import const +from machine import Timer + +#Advertise info +# org.bluetooth.characteristic.gap.appearance.xml +_ADV_APPEARANCE_GENERIC_COMPUTER = const(128) +_ADV_TYPE_FLAGS = const(0x01) +_ADV_TYPE_APPEARANCE = const(0x19) +_ADV_TYPE_NAME = const(0x09) + +_IRQ_CENTRAL_CONNECT = const(1) +_IRQ_CENTRAL_DISCONNECT = const(2) +_IRQ_GATTS_WRITE = const(3) +_IRQ_GATTS_INDICATE_DONE = const(20) + +_FLAG_READ = const(0x0002) +_FLAG_WRITE = const(0x0008) +_FLAG_NOTIFY = const(0x0010) + +_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") +_UART_TX = ( + bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"), + _FLAG_NOTIFY, +) +_UART_RX = ( + bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E"), + _FLAG_WRITE, +) + +# Define a new UUID for the binary data characteristic. +_UART_DATA_RX = ( + bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36ff"), + _FLAG_WRITE, +) +# Define a new UUID for the binary data characteristic. +_UART_DATA_TX = ( + bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36fe"), + _FLAG_NOTIFY, +) + +_UART_SERVICE = ( + _UART_UUID, + (_UART_TX, _UART_RX, _UART_DATA_RX, _UART_DATA_TX,), +) + +_timer = Timer(-1) + +def delayedRestart(_arg): + import machine + machine.reset() + +class BLEUART: + def __init__(self, ble, name="mpy-uart", rxbuf=100): + self._ble = ble + self._ble.active(True) + self._ble.irq(self._irq) + ((self._tx_handle, self._rx_handle, self._data_rx_handle, self._data_tx_handle),) = self._ble.gatts_register_services((_UART_SERVICE,)) + # Increase the size of the rx buffer and enable append mode. + self._ble.gatts_set_buffer(self._rx_handle, rxbuf, True) + self._connections = set() + self._rx_buffer = bytearray() + self._handler = None + self._payload = self._advertising_payload(name, _ADV_APPEARANCE_GENERIC_COMPUTER) + self._data_callback = None + self._advertise() + + def irq(self, handler): + self._handler = handler + + def _irq(self, event, data): + # Track connections so we can send notifications. + if event == _IRQ_CENTRAL_CONNECT: + conn_handle, _, _ = data + self._connections.add(conn_handle) + elif event == _IRQ_CENTRAL_DISCONNECT: + conn_handle, _, _ = data + if conn_handle in self._connections: + self._connections.remove(conn_handle) + # Start advertising again to allow a new connection. + self._advertise() + elif event == _IRQ_GATTS_WRITE: + conn_handle, value_handle = data + if conn_handle in self._connections and value_handle == self._rx_handle: + self._rx_buffer += self._ble.gatts_read(self._rx_handle) + if(self._rx_buffer.find(b'##XRPSTOP#' + b'#') != -1): #WARNING: This is broken up so it won't restart during an update or this file. + self._rx_buffer = bytearray() + # set the bit in isrunning to tell main not to re-run the program so the IDE can connect + FILE_PATH = '/lib/ble/isrunning' + with open(FILE_PATH, 'r+b') as file: + file.write(b'\x01') + # slight delay to avoid errors on the browser side. + _timer.init(mode=Timer.PERIODIC, period=50, callback=delayedRestart) + elif conn_handle in self._connections and value_handle == self._data_rx_handle: + new_data = self._ble.gatts_read(self._data_rx_handle) + if self._data_callback: + self._data_callback(new_data) + #schedule(self._data_callback, new_data) + elif event == _IRQ_GATTS_INDICATE_DONE: + if self._handler: + self._handler() + #else: + #print("IRQ Event Code: " + str(event)) + + def any(self): + return len(self._rx_buffer) + + def read(self, sz=None): + if not sz: + sz = len(self._rx_buffer) + result = self._rx_buffer[0:sz] + self._rx_buffer = self._rx_buffer[sz:] + return result + + def write(self, data): + #print("write:" + data) + for conn_handle in self._connections: + self._ble.gatts_indicate(conn_handle, self._tx_handle, data) + + def write_data(self, data): + #print("write_data:" + data) + for conn_handle in self._connections: + self._ble.gatts_notify(conn_handle, self._data_tx_handle, data) + + def set_data_callback(self, callback): + self._data_callback = callback + + def clear_data_callback(self): + self._data_callback = None + + def close(self): + for conn_handle in self._connections: + self._ble.gap_disconnect(conn_handle) + self._connections.clear() + + def _advertise(self, interval_us=500000): + self._ble.gap_advertise(interval_us, adv_data=self._payload) + + # Generate a payload to be passed to gap_advertise(adv_data=...). + def _advertising_payload(self, name, appearance): + payload = bytearray() + + def _append(adv_type, value): + nonlocal payload + payload += struct.pack("BB", len(value) + 1, adv_type) + value + + _append( + _ADV_TYPE_FLAGS, + struct.pack("B", 0x02 + 0x04), + ) + _append(_ADV_TYPE_NAME, name) + _append(_ADV_TYPE_APPEARANCE, struct.pack("= len(self._tx_buf): + self._tx_buf = bytearray() + self._tx_buf_index = 0 + self._uart.write(data) + + def write(self, buf): + state = disable_irq() + empty = not self._tx_buf + self._tx_buf += buf + enable_irq(state) + + if empty: + waitingForTimer = True + schedule_in(self._timer_handler, 50) + +def background_task(): + global uart + ble = bluetooth.BLE() + x = (''.join(['{:02x}'.format(b) for b in unique_id()])) + uart = BLEUART(ble, name="XRP-" + x[11:], rxbuf = 250) + stream = BLEUARTStream(uart) + os.dupterm(stream,0) + +# Start the background task +background_task() + \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/isrunning b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/isrunning new file mode 100644 index 0000000000000000000000000000000000000000..f76dd238ade08917e6712764a16a22005a50573d GIT binary patch literal 1 IcmZPo000310RR91 literal 0 HcmV?d00001 diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/firmware.uf2 b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/firmware.uf2 new file mode 100644 index 0000000000000000000000000000000000000000..7a61158eee0f279d4214198c3ad534a4a2fd98fa GIT binary patch literal 8610816 zcmd@7d3+Q_-Up6%b@$u}nH)e!IOgC;G8`e{24ymnR4&(WsT{fvpu3$xmneILb@$6a zM1gn&;<_PG7X^1Ybj?Ii0)#<8#cOvu5jO!`qo{2X!5$KvPC}-?pXyFD&%^Wj{r>)v z$*VKd-PP6I^{)Ed^{KmXhVh=o_q{~zp(sk0%@l%f_|UN3BbR^u!w~ZjrdiNpWUBIetyB=dZ)BU-$jliz#uO 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a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/__init__.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/__init__.py new file mode 100644 index 0000000..4131b0f --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/__init__.py @@ -0,0 +1,77 @@ +__version__ = "0.0.2" + +# highly recommended to set a lowish garbage collection threshold +# to minimise memory fragmentation as we sometimes want to +# allocate relatively large blocks of ram. +import gc, os, machine +gc.threshold(50000) + +# phew! the Pico (or Python) HTTP Endpoint Wrangler +from . import logging + +# determine if remotely mounted or not, changes some behaviours like +# logging truncation +remote_mount = False +try: + os.statvfs(".") # causes exception if remotely mounted (mpremote/pyboard.py) +except: + remote_mount = True + +def get_ip_address(): + import network + try: + return network.WLAN(network.STA_IF).ifconfig()[0] + except: + return None + +def is_connected_to_wifi(): + import network, time + wlan = network.WLAN(network.STA_IF) + return wlan.isconnected() + +# helper method to quickly get connected to wifi +def connect_to_wifi(ssid, password, timeout_seconds=30): + import network, time + + statuses = { + network.STAT_IDLE: "idle", + network.STAT_CONNECTING: "connecting", + network.STAT_WRONG_PASSWORD: "wrong password", + network.STAT_NO_AP_FOUND: "access point not found", + network.STAT_CONNECT_FAIL: "connection failed", + network.STAT_GOT_IP: "got ip address" + } + + wlan = network.WLAN(network.STA_IF) + wlan.active(True) + wlan.connect(ssid, password) + start = time.ticks_ms() + status = wlan.status() + + logging.debug(f" - {statuses[status]}") + while not wlan.isconnected() and (time.ticks_ms() - start) < (timeout_seconds * 1000): + new_status = wlan.status() + if status != new_status: + logging.debug(f" - {statuses[status]}") + status = new_status + time.sleep(0.25) + + if wlan.status() == network.STAT_GOT_IP: + return wlan.ifconfig()[0] + return None + + +# helper method to put the pico into access point mode +def access_point(ssid, password = None): + import network + + # start up network in access point mode + wlan = network.WLAN(network.AP_IF) + wlan.config(essid=ssid) + if password: + wlan.config(password=password) + else: + wlan.config(security=0) # disable password + wlan.active(True) + + return wlan diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/dns.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/dns.py new file mode 100644 index 0000000..2a1a4b3 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/dns.py @@ -0,0 +1,32 @@ +import uasyncio, usocket +from . import logging + +async def _handler(socket, ip_address): + while True: + try: + yield uasyncio.core._io_queue.queue_read(socket) + request, client = socket.recvfrom(256) + response = request[:2] # request id + response += b"\x81\x80" # response flags + response += request[4:6] + request[4:6] # qd/an count + response += b"\x00\x00\x00\x00" # ns/ar count + response += request[12:] # origional request body + response += b"\xC0\x0C" # pointer to domain name at byte 12 + response += b"\x00\x01\x00\x01" # type and class (A record / IN class) + response += b"\x00\x00\x00\x3C" # time to live 60 seconds + response += b"\x00\x04" # response length (4 bytes = 1 ipv4 address) + response += bytes(map(int, ip_address.split("."))) # ip address parts + socket.sendto(response, client) + except Exception as e: + logging.error(e) + +def run_catchall(ip_address, port=53): + logging.info("> starting catch all dns server on port {}".format(port)) + + _socket = usocket.socket(usocket.AF_INET, usocket.SOCK_DGRAM) + _socket.setblocking(False) + _socket.setsockopt(usocket.SOL_SOCKET, usocket.SO_REUSEADDR, 1) + _socket.bind(usocket.getaddrinfo(ip_address, port, 0, usocket.SOCK_DGRAM)[0][-1]) + + loop = uasyncio.get_event_loop() + loop.create_task(_handler(_socket, ip_address)) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/logging.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/logging.py new file mode 100644 index 0000000..dd70394 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/logging.py @@ -0,0 +1,111 @@ +import machine, os, gc + +log_file = "log.txt" + +LOG_INFO = 0b00001 +LOG_WARNING = 0b00010 +LOG_ERROR = 0b00100 +LOG_DEBUG = 0b01000 +LOG_EXCEPTION = 0b10000 +LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION + +_logging_types = LOG_ALL + +# the log file will be truncated if it exceeds _log_truncate_at bytes in +# size. the defaults values are designed to limit the log to at most +# three blocks on the Pico +_log_truncate_at = 11 * 1024 +_log_truncate_to = 8 * 1024 + +def datetime_string(): + dt = machine.RTC().datetime() + return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) + +def file_size(file): + try: + return os.stat(file)[6] + except OSError: + return None + +def set_truncate_thresholds(truncate_at, truncate_to): + global _log_truncate_at + global _log_truncate_to + _log_truncate_at = truncate_at + _log_truncate_to = truncate_to + +def enable_logging_types(types): + global _logging_types + _logging_types = _logging_types | types + +def disable_logging_types(types): + global _logging_types + _logging_types = _logging_types & ~types + +# truncates the log file down to a target size while maintaining +# clean line breaks +def truncate(file, target_size): + # get the current size of the log file + size = file_size(file) + + # calculate how many bytes we're aiming to discard + discard = size - target_size + if discard <= 0: + return + + with open(file, "rb") as infile: + with open(file + ".tmp", "wb") as outfile: + # skip a bunch of the input file until we've discarded + # at least enough + while discard > 0: + chunk = infile.read(1024) + discard -= len(chunk) + + # try to find a line break nearby to split first chunk on + break_position = max( + chunk.find (b"\n", -discard), # search forward + chunk.rfind(b"\n", -discard) # search backwards + ) + if break_position != -1: # if we found a line break.. + outfile.write(chunk[break_position + 1:]) + + # now copy the rest of the file + while True: + chunk = infile.read(1024) + if not chunk: + break + outfile.write(chunk) + + # delete the old file and replace with the new + os.remove(file) + os.rename(file + ".tmp", file) + + +def log(level, text): + datetime = datetime_string() + log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) + print(log_entry) + with open(log_file, "a") as logfile: + logfile.write(log_entry + '\n') + + if _log_truncate_at and file_size(log_file) > _log_truncate_at: + truncate(log_file, _log_truncate_to) + +def info(*items): + if _logging_types & LOG_INFO: + log("info", " ".join(map(str, items))) + +def warn(*items): + if _logging_types & LOG_WARNING: + log("warning", " ".join(map(str, items))) + +def error(*items): + if _logging_types & LOG_ERROR: + log("error", " ".join(map(str, items))) + +def debug(*items): + if _logging_types & LOG_DEBUG: + log("debug", " ".join(map(str, items))) + +def exception(*items): + if _logging_types & LOG_EXCEPTION: + log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/server.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/server.py new file mode 100644 index 0000000..60a3113 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/server.py @@ -0,0 +1,358 @@ +import uasyncio, os, time +from . import logging + +_routes = [] +catchall_handler = None +loop = uasyncio.get_event_loop() + + +def file_exists(filename): + try: + return (os.stat(filename)[0] & 0x4000) == 0 + except OSError: + return False + + +def urldecode(text): + text = text.replace("+", " ") + result = "" + token_caret = 0 + # decode any % encoded characters + while True: + start = text.find("%", token_caret) + if start == -1: + result += text[token_caret:] + break + result += text[token_caret:start] + code = int(text[start + 1:start + 3], 16) + result += chr(code) + token_caret = start + 3 + return result + +def _parse_query_string(query_string): + result = {} + for parameter in query_string.split("&"): + key, value = parameter.split("=", 1) + key = urldecode(key) + value = urldecode(value) + result[key] = value + return result + + +class Request: + def __init__(self, method, uri, protocol): + self.method = method + self.uri = uri + self.protocol = protocol + self.form = {} + self.data = {} + self.query = {} + query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) + self.path = uri[:query_string_start] + self.query_string = uri[query_string_start + 1:] + if self.query_string: + self.query = _parse_query_string(self.query_string) + + def __str__(self): + return f"""\ +request: {self.method} {self.path} {self.protocol} +headers: {self.headers} +form: {self.form} +data: {self.data}""" + + +class Response: + def __init__(self, body, status=200, headers={}): + self.status = status + self.headers = headers + self.body = body + + def add_header(self, name, value): + self.headers[name] = value + + def __str__(self): + return f"""\ +status: {self.status} +headers: {self.headers} +body: {self.body}""" + + +content_type_map = { + "html": "text/html", + "jpg": "image/jpeg", + "jpeg": "image/jpeg", + "svg": "image/svg+xml", + "json": "application/json", + "png": "image/png", + "css": "text/css", + "js": "text/javascript", + "csv": "text/csv", +} + + +class FileResponse(Response): + def __init__(self, file, status=200, headers={}): + self.status = 404 + self.headers = headers + self.file = file + + try: + if (os.stat(self.file)[0] & 0x4000) == 0: + self.status = 200 + + # auto set content type + extension = self.file.split(".")[-1].lower() + if extension in content_type_map: + headers["Content-Type"] = content_type_map[extension] + + headers["Content-Length"] = os.stat(self.file)[6] + except OSError: + return False + + +class Route: + def __init__(self, path, handler, methods=["GET"]): + self.path = path + self.methods = methods + self.handler = handler + self.path_parts = path.split("/") + + # returns True if the supplied request matches this route + def matches(self, request): + if request.method not in self.methods: + return False + compare_parts = request.path.split("/") + if len(compare_parts) != len(self.path_parts): + return False + for part, compare in zip(self.path_parts, compare_parts): + if not part.startswith("<") and part != compare: + return False + return True + + # call the route handler passing any named parameters in the path + def call_handler(self, request): + parameters = {} + for part, compare in zip(self.path_parts, request.path.split("/")): + if part.startswith("<"): + name = part[1:-1] + parameters[name] = compare + + return self.handler(request, **parameters) + + def __str__(self): + return f"""\ +path: {self.path} +methods: {self.methods} +""" + + def __repr__(self): + return f"" + + +# parses the headers for a http request (or the headers attached to +# each field in a multipart/form-data) +async def _parse_headers(reader): + headers = {} + while True: + header_line = await reader.readline() + if header_line == b"\r\n": # crlf denotes body start + break + name, value = header_line.decode().strip().split(": ", 1) + headers[name.lower()] = value + return headers + + +# returns the route matching the supplied path or None +def _match_route(request): + for route in _routes: + if route.matches(request): + return route + return None + + +# if the content type is multipart/form-data then parse the fields +async def _parse_form_data(reader, headers): + boundary = headers["content-type"].split("boundary=")[1] + # discard first boundary line + dummy = await reader.readline() + + form = {} + while True: + # get the field name + field_headers = await _parse_headers(reader) + if len(field_headers) == 0: + break + name = field_headers["content-disposition"].split("name=\"")[1][:-1] + # get the field value + value = "" + while True: + line = await reader.readline() + line = line.decode().strip() + # if we hit a boundary then save the value and move to next field + if line == "--" + boundary: + form[name] = value + break + # if we hit end of form data boundary then save value and return + if line == "--" + boundary + "--": + form[name] = value + return form + value += line + return None + + +# if the content type is application/json then parse the body +async def _parse_json_body(reader, headers): + import json + content_length_bytes = int(headers["content-length"]) + body = await reader.readexactly(content_length_bytes) + return json.loads(body.decode()) + + +status_message_map = { + 200: "OK", 201: "Created", 202: "Accepted", + 203: "Non-Authoritative Information", 204: "No Content", + 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", + 301: "Moved Permanently", 302: "Found", 303: "See Other", + 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", + 307: "Temporary Redirect", 308: "Permanent Redirect", + 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", + 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", + 408: "Request Timeout", 409: "Conflict", 410: "Gone", + 414: "URI Too Long", 415: "Unsupported Media Type", + 416: "Range Not Satisfiable", 418: "I'm a teapot", + 500: "Internal Server Error", 501: "Not Implemented" +} + + +# handle an incoming request to the web server +async def _handle_request(reader, writer): + response = None + + request_start_time = time.ticks_ms() + + request_line = await reader.readline() + try: + method, uri, protocol = request_line.decode().split() + except Exception as e: + logging.error(e) + return + + request = Request(method, uri, protocol) + request.headers = await _parse_headers(reader) + if "content-length" in request.headers and "content-type" in request.headers: + if request.headers["content-type"].startswith("multipart/form-data"): + request.form = await _parse_form_data(reader, request.headers) + if request.headers["content-type"].startswith("application/json"): + request.data = await _parse_json_body(reader, request.headers) + if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): + form_data = await reader.read(int(request.headers["content-length"])) + request.form = _parse_query_string(form_data.decode()) + + route = _match_route(request) + if route: + response = route.call_handler(request) + elif catchall_handler: + response = catchall_handler(request) + + # if shorthand body generator only notation used then convert to tuple + if type(response).__name__ == "generator": + response = (response,) + + # if shorthand body text only notation used then convert to tuple + if isinstance(response, str): + response = (response,) + + # if shorthand tuple notation used then build full response object + if isinstance(response, tuple): + body = response[0] + status = response[1] if len(response) >= 2 else 200 + content_type = response[2] if len(response) >= 3 else "text/html" + response = Response(body, status=status) + response.add_header("Content-Type", content_type) + if hasattr(body, '__len__'): + response.add_header("Content-Length", len(body)) + + # write status line + status_message = status_message_map.get(response.status, "Unknown") + writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) + + # write headers + for key, value in response.headers.items(): + writer.write(f"{key}: {value}\r\n".encode("ascii")) + + # blank line to denote end of headers + writer.write("\r\n".encode("ascii")) + + if isinstance(response, FileResponse): + # file + with open(response.file, "rb") as f: + while True: + chunk = f.read(1024) + if not chunk: + break + writer.write(chunk) + await writer.drain() + elif type(response.body).__name__ == "generator": + # generator + for chunk in response.body: + writer.write(chunk) + await writer.drain() + else: + # string/bytes + writer.write(response.body) + await writer.drain() + + writer.close() + await writer.wait_closed() + + processing_time = time.ticks_ms() - request_start_time + logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") + + +# adds a new route to the routing table +def add_route(path, handler, methods=["GET"]): + global _routes + _routes.append(Route(path, handler, methods)) + # descending complexity order so most complex routes matched first + _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) + + +def set_callback(handler): + global catchall_handler + catchall_handler = handler + + +# decorator shorthand for adding a route +def route(path, methods=["GET"]): + def _route(f): + add_route(path, f, methods=methods) + return f + return _route + + +# decorator for adding catchall route +def catchall(): + def _catchall(f): + set_callback(f) + return f + return _catchall + + +def redirect(url, status = 301): + return Response("", status, {"Location": url}) + + +def serve_file(file): + return FileResponse(file) + + +def run(host = "0.0.0.0", port = 80): + logging.info("> starting web server on port {}".format(port)) + loop.create_task(uasyncio.start_server(_handle_request, host, port)) + loop.run_forever() + +def stop(): + loop.stop() + +def close(): + loop.close() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/template.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/template.py new file mode 100644 index 0000000..d1d1df4 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/template.py @@ -0,0 +1,65 @@ +from . import logging + +async def render_template(template, **kwargs): + import time + start_time = time.ticks_ms() + + with open(template, "rb") as f: + # read the whole template file, we could work on single lines but + # the performance is much worse - so long as our templates are + # just a handful of kB it's ok to do this + data = f.read() + token_caret = 0 + + while True: + # find the next tag that needs evaluating + start = data.find(b"{{", token_caret) + end = data.find(b"}}", start) + + match = start != -1 and end != -1 + + # no more magic to handle, just return what's left + if not match: + yield data[token_caret:] + break + + expression = data[start + 2:end].strip() + + # output the bit before the tag + yield data[token_caret:start] + + # merge locals with the supplied named arguments and + # the response object + params = {} + params.update(locals()) + params.update(kwargs) + #params["response"] = response + + # parse the expression + try: + if expression.decode("utf-8") in params: + result = params[expression.decode("utf-8")] + result = result.replace("&", "&") + result = result.replace('"', """) + result = result.replace("'", "'") + result = result.replace(">", ">") + result = result.replace("<", "<") + else: + result = eval(expression, globals(), params) + + if type(result).__name__ == "generator": + # if expression returned a generator then iterate it fully + # and yield each result + for chunk in result: + yield chunk + else: + # yield the result of the expression + if result is not None: + yield str(result) + except: + pass + + # discard the parsed bit + token_caret = end + 2 + + logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/project.json b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/project.json new file mode 100644 index 0000000..d33b376 --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/project.json @@ -0,0 +1,45 @@ +{ + "title": "MicroPython", + "description": "Flash MicroPython firmware, then copy the listed XRPLib, XRPExamples, ble and phew files to your robot.", + "uf2Path": "firmware.uf2", + "version": "2.2.1", + "urls": [ + ["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], + ["/lib/XRPLib/board.py", "XRPLib/board.py"], + ["/lib/XRPLib/controller.py", "XRPLib/controller.py"], + ["/lib/XRPLib/dashboard.py", "XRPLib/dashboard.py"], + ["/lib/XRPLib/defaults.py", "XRPLib/defaults.py"], + ["/lib/XRPLib/differential_drive.py", "XRPLib/differential_drive.py"], + ["/lib/XRPLib/encoded_motor.py", "XRPLib/encoded_motor.py"], + ["/lib/XRPLib/encoder.py", "XRPLib/encoder.py"], + ["/lib/XRPLib/gamepad.py", "XRPLib/gamepad.py"], + ["/lib/XRPLib/imu.py", "XRPLib/imu.py"], + ["/lib/XRPLib/imu_defs.py", "XRPLib/imu_defs.py"], + ["/lib/XRPLib/motor.py", "XRPLib/motor.py"], + ["/lib/XRPLib/motor_group.py", "XRPLib/motor_group.py"], + ["/lib/XRPLib/pid.py", "XRPLib/pid.py"], + ["/lib/XRPLib/puppet.py", "XRPLib/puppet.py"], + ["/lib/XRPLib/rangefinder.py", "XRPLib/rangefinder.py"], + ["/lib/XRPLib/reflectance.py", "XRPLib/reflectance.py"], + ["/lib/XRPLib/resetbot.py", "XRPLib/resetbot.py"], + ["/lib/XRPLib/servo.py", "XRPLib/servo.py"], + ["/lib/XRPLib/timeout.py", "XRPLib/timeout.py"], + ["/lib/XRPLib/webserver.py", "XRPLib/webserver.py"], + ["/XRPExamples/__init__.py", "XRPExamples/__init__.py"], + ["/XRPExamples/drive_examples.py", "XRPExamples/drive_examples.py"], + ["/XRPExamples/gamepad_example.blocks", "XRPExamples/gamepad_example.blocks"], + ["/XRPExamples/installation_verification.py", "XRPExamples/installation_verification.py"], + ["/XRPExamples/led_example.py", "XRPExamples/led_example.py"], + ["/XRPExamples/sensor_examples.py", "XRPExamples/sensor_examples.py"], + ["/XRPExamples/webserver_example.py", "XRPExamples/webserver_example.py"], + ["/lib/ble/__init__.py", "ble/__init__.py"], + ["/lib/ble/ble_uart_peripheral.py", "ble/ble_uart_peripheral.py"], + ["/lib/ble/blerepl.py", "ble/blerepl.py"], + ["/lib/ble/isrunning", "ble/isrunning"], + ["/lib/phew/__init__.py", "phew/__init__.py"], + ["/lib/phew/dns.py", "phew/dns.py"], + ["/lib/phew/logging.py", "phew/logging.py"], + ["/lib/phew/server.py", "phew/server.py"], + ["/lib/phew/template.py", "phew/template.py"] + ] +} diff --git a/public/firmware-loader/boards/xrp-2350/wpilib/firmware.uf2 b/public/firmware-loader/boards/xrp-2350/wpilib/firmware.uf2 new file mode 100644 index 0000000000000000000000000000000000000000..0732fb256982d673c6b0909ed32c429df0b9b8ce GIT binary patch literal 956416 zcmeFad3;nwx<6cJ=`HCbodw87IO!9hvq3{Z1E_R5Ns*+%gl%L~ngr!Q5CZ7jpyQ<> zh>>MPf(nUfBhcpUO z=>L+&47nEt$1#w`{y(1l)EJrnjT`L&i-+P5SP}e56&S?-AMryU{qpx?r^2R7M;~4I 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zFw4wAi423AafNU(J}41j6ev-})Io`QMuig1Ogoh5V7j104-Uq1R6#QC}$Yq+xB ztH(}!ig|YLdgNE%vz5h`mFIt(>3`ci{!2fypseLAwN_)LzpI~on$2Fu#4H&7B9q;7 Qv;Ua2%+LDMOMv|U4`2K&`Tzg` literal 0 HcmV?d00001 diff --git a/public/firmware-loader/boards/xrp-2350/wpilib/project.json b/public/firmware-loader/boards/xrp-2350/wpilib/project.json new file mode 100644 index 0000000..655f71d --- /dev/null +++ b/public/firmware-loader/boards/xrp-2350/wpilib/project.json @@ -0,0 +1,6 @@ +{ + "title": "WPILib", + "description": "WPILib files for the XRP 2350", + "uf2Path": "firmware.uf2", + "version": "2.2.1" +} diff --git a/public/firmware-loader/boards/xrp-beta.json b/public/firmware-loader/boards/xrp-beta.json new file mode 100644 index 0000000..32b6c3d --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta.json @@ -0,0 +1,20 @@ +{ + "title": "XRP Beta — choose a project", + "description": "Each project bundles firmware and library files to load onto your robot. Pick one to continue.", + "projects": [ + { + "id": "micropython", + "name": "MicroPython", + "description": "MicroPython runtime and XRP libraries for the XRP Beta board.", + "image": "/firmware-loader/images/project-micropython.svg", + "nextLevel": "boards/xrp-beta/micropython/project.json" + }, + { + "id": "wpilib", + "name": "WPILib", + "description": "WPILib-based firmware and tools for the XRP Beta board.", + "image": "/firmware-loader/images/project-wpilib.svg", + "nextLevel": "boards/xrp-beta/wpilib/project.json" + } + ] +} diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/__init__.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/dashboard sample.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/dashboard sample.py new file mode 100644 index 0000000..87ab311 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/dashboard sample.py @@ -0,0 +1,65 @@ +from XRPLib.defaults import * +from ble.blerepl import uart +from time import sleep +from micropython import const +import time +import struct + +YAW = const(0) +ROLL = const(1) +PTICH = const(2) +ACCX = const(3) +ACCY = const(4) +ACCZ = const(5) +ENCL = const(6) +ENCR = const(7) +ENC3 = const(8) +ENC4 = const(9) +CURRL = const(10) +CURRR = const(11) +CURR3 = const(12) +CURR4 = const(13) +DIST = const(14) +REFLECTANCEL = const(15) +REFLECTANCER = const(16) +VOLTAGE = const(17) + +def startDashboard(): + data = bytearray([0x46, 0]) + uart.write_data(data) + +def sendIntValue(index, value): + data = bytearray([0x45, 3, 0, 0, 0]) + data[3] = index + data[4] = value + uart.write_data(data) + +def sendFloatValue(index, value): + data = bytearray([0x45, 6, 1, 0, 0, 0, 0 ,0]) + data[3] = index + data[4:] = struct.pack(' timeout: + break + +print("done") + +print("done") + + diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/drive_examples.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/drive_examples.py new file mode 100644 index 0000000..c9719fa --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/drive_examples.py @@ -0,0 +1,72 @@ +from XRPLib.defaults import * +import time + +""" + By the end of this file students will learn how to control the drivetrain, + both by setting effort values directly to the motors and by using go_straight and go_turn +""" + +# drive straight for a set time period (defualt 1 second) +def drive_straight(drive_time: float = 1): + drivetrain.set_effort(0.8, 0.8) + time.sleep(drive_time) + drivetrain.stop() + +# drive at a slight counter clockwise arc for a set time period (default 1 second) +def arc_turn(turn_time: float = 1): + drivetrain.set_effort(0.5, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# turn CCW at a point for a set time period (default 1 second) +def point_turn(turn_time: float = 1): + drivetrain.set_effort(-0.8, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# pivot turn around the left wheel for a set time period (default 1 second) +def swing_turn(turn_time: float = 1): + drivetrain.set_effort(0, 0.8) + time.sleep(turn_time) + drivetrain.stop() + +# Driving in a circle by setting a difference in motor efforts +def circle(): + while True: + drivetrain.set_effort(0.8, 1) + +# Follow the perimeter of a square with variable sidelength +def square(sidelength): + for sides in range(4): + drivetrain.straight(sidelength, 0.8) + drivetrain.turn(90) + # Alternatively: + # polygon(sidelength, 4) + +# Follow the perimeter of an arbitrary polygon with variable side length and number of sides +# Side length in centimeters +def polygon(side_length, number_of_sides): + for s in range(number_of_sides): + drivetrain.straight(side_length) + drivetrain.turn(360/number_of_sides) + +# A slightly longer example program showing how a robot may follow a simple path +def test_drive(): + print("Driving forward 25cm") + drivetrain.straight(25, 0.8) + + time.sleep(1) + + print("turn 90 degrees right") + drivetrain.turn(90,0.8) + + time.sleep(1) + + print("turn 90 degrees left by setting speed negative") + drivetrain.turn(90, -0.8) + + time.sleep(1) + + print("drive backwards 25 cm by setting distance negative") + # There is no difference between setting speed or distance negative, both work + drivetrain.straight(-25,0.8) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/gamepad_example.blocks b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/gamepad_example.blocks new file mode 100644 index 0000000..d5e3795 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/gamepad_example.blocks @@ -0,0 +1,15 @@ +from XRPLib.gamepad import * +from XRPLib.differential_drive import DifferentialDrive + +gp = Gamepad.get_default_gamepad() + +differentialDrive = DifferentialDrive.get_default_differential_drive() + + +while not (gp.is_button_pressed(gp.BACK)): + differentialDrive.arcade((gp.get_value(gp.Y1)), (gp.get_value(gp.X1))) + + + +## [2025-07-13 01:36:24] +##XRPBLOCKS {"blocks":{"languageVersion":0,"blocks":[{"type":"controls_whileUntil","id":"#/DDnbE2JxVsLQo`C`e^","x":-363,"y":16,"fields":{"MODE":"UNTIL"},"inputs":{"BOOL":{"block":{"type":"xrp_gp_button_pressed","id":"DtLypJc;SU2xT4A~S3nV","fields":{"GPBUTTON":"BACK"}}},"DO":{"block":{"type":"xrp_arcade","id":"(|]Iln#JYa9hzgEz+(4g","inputs":{"STRAIGHT":{"shadow":{"type":"math_number","id":"FOj1uvC$:~x/+cX}d(:|","fields":{"NUM":0.8}},"block":{"type":"xrp_gp_get_value","id":"s#GS_Dt)B8Cb9+4ctpwk","fields":{"GPVALUE":"Y1"}}},"TURN":{"shadow":{"type":"math_number","id":"n1jAKrjST!+3#bfChh$d","fields":{"NUM":0.2}},"block":{"type":"xrp_gp_get_value","id":"*]`U9XHyYnA?Gp%U;$NF","fields":{"GPVALUE":"X1"}}}}}}}}]}} \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/installation_verification.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/installation_verification.py new file mode 100644 index 0000000..8f33c4e --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/installation_verification.py @@ -0,0 +1,84 @@ +from XRPLib.defaults import * +import time + +# Installation Verification Program +def ivp(): + # Print welcome message + print("------------------------------------------") + print("Running Installation Verification Program!") + print("------------------------------------------") + print() + print("Welcome to the XRP! This example code will help") + print("you verify that everything is working on your robot.") + print("After each test, press the user button to continue.") + print() + + # Flash LED at 5Hz + print("Flashing LED") + board.led_blink(5) + + # Wait for user to press button + print("Press user button to test reflectance sensor") + board.wait_for_button() + + # Stop blinking LED + board.led_off() + + # Print reflectance values until button is pressed + while not board.is_button_pressed(): + print(f"Reflectance Left: {reflectance.get_left():.3f} Right: {reflectance.get_right():.3f} Press user button to test range sensor") + time.sleep(0.1) + + # Wait until button is released + while board.is_button_pressed(): + time.sleep(0.1) + + # Print range values until button is pressed + while not board.is_button_pressed(): + print(f"Range Distance: {rangefinder.distance():.1f} Press user button to test servo") + time.sleep(0.1) + + # Wait until button is released + while board.is_button_pressed(): + time.sleep(0.1) + + # Print warning and wait for button press + print() + print("The next test will move the servo, so keep your hands clear!") + print("Also please make sure the power switch is turned on!") + print("Press user button to test servo") + board.wait_for_button() + + # Test servo + print("Testing servo") + time.sleep(1) + servo_one.set_angle(90) + time.sleep(1) + servo_one.set_angle(0) + time.sleep(1) + servo_one.set_angle(180) + + # Print warning and wait for button press + print() + print("The next test will drive the motors, so place the robot on a flat surface!") + print("Also please make sure the power switch is turned on!") + print("Press user button to test drivetrain") + board.wait_for_button() + + # Test drivetrain + print("Testing drivetrain") + time.sleep(1) + drivetrain.straight(25, 0.8) + time.sleep(1) + drivetrain.turn(90,0.8) + time.sleep(1) + drivetrain.turn(90, -0.8) + time.sleep(1) + drivetrain.straight(-25,0.8) + + print() + print("-----------------------------------") + print("All tests complete! Happy roboting!") + print("-----------------------------------") + +ivp() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/led_example.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/led_example.py new file mode 100644 index 0000000..bb1286e --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/led_example.py @@ -0,0 +1,79 @@ +from XRPLib.board import Board +from machine import Timer, Pin +import time + +# Get a reference to the board +board = Board.get_default_board() + +# Create a timer for the RGB LED, assuming it's present on this board +rgb_led_timer = Timer(-1) + +# Conversion from hue to RGB +def hue_to_rgb(hue): + # Initialize RGB values + r = 0 + g = 0 + b = 0 + + # Ensure hue is in range of [0,360) + hue %= 360 + + if(hue < 120): + # Red to green region + r = (120 - hue) / 120 * 255 + g = (hue - 0) / 120 * 255 + b = 0 + elif(hue < 240): + # Green to blue region + hue -= 120 + r = 0 + g = (120 - hue) / 120 * 255 + b = (hue - 0) / 120 * 255 + else: + # Blue to red region + hue -= 240 + r = (hue - 0) / 120 * 255 + g = 0 + b = (120 - hue) / 120 * 255 + + # Return RGB as tuple of integers in range of [0,255] + return (int(r), int(g), int(b)) + +def update_rgb_led_rainbow(timer): + # Set hue based on current time. Hue is an angle up to 360 degrees, + # so using the milliseconds divided by 10 creates a rainbow that + # repeats every 3.6 seconds + hue = time.ticks_ms() / 10 + + # Compute RGB values + rgb = hue_to_rgb(hue) + + # Max brightness is blinding, so recompute RGB values with 10% brightness + brightness = 0.1 + r = int(rgb[0] * brightness) + g = int(rgb[1] * brightness) + b = int(rgb[2] * brightness) + + # Set the RGB LED color + board.set_rgb_led(r, g, b) + +def start_led_demo(): + # Make the monochrome LED start blinking + board.led_blink(1) + + # If this board has an RGB LED, make it start changing colors + if hasattr(Pin.board, "BOARD_NEOPIXEL"): + # Set up timer to update the RGB LED at 100Hz for smooth color changes + rgb_led_timer.init(freq = 100, callback = update_rgb_led_rainbow) + +def stop_led_demo(): + # Make the monochrome LED stop blinking and turn off the LED + board.led_blink(0) + board.led_off() + + # If this board has an RGB LED, stop the timer and turn off the LED + if hasattr(Pin.board, "BOARD_NEOPIXEL"): + rgb_led_timer.deinit() + board.set_rgb_led(0, 0, 0) + +start_led_demo() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/sensor_examples.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/sensor_examples.py new file mode 100644 index 0000000..69b280a --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/sensor_examples.py @@ -0,0 +1,75 @@ +from XRPLib.defaults import * +import time + +""" + By the end of this file students will learn how to read and use data from + both the ultrasonic sensors and the line followers. + They will also have a chance to learn the basics of proportional control. +""" + +# Polling data from the ultrasonic sensor +def ultrasonic_test(): + while True: + print(rangefinder.distance()) + time.sleep(0.1) + +# Approaches a wall at a set speed and then stops +def drive_till_close(target_distance: float = 10.0): + speed = 0.6 + while rangefinder.distance() > target_distance: + drivetrain.set_effort(speed, speed) + time.sleep(0.01) + drivetrain.set_effort(0, 0) + +# Maintains a certain distance from the wall using proportional control +def standoff(target_distance: float = 10.0): + KP = 0.2 + while True: + distance = rangefinder.distance() + error = distance - target_distance + drivetrain.set_effort(error * KP, error*KP) + time.sleep(0.01) + +# Maintains a certain distance from the wall while driving +# using proportional control (sensor on right side of robot this time) +def wall_follow(target_distance: float = 10.0): + KP = 0.1 + base_speed = 0.5 + while True: + distance = rangefinder.distance() + error = distance - target_distance + print(error) + drivetrain.set_effort(base_speed + error * KP, base_speed - error*KP) + time.sleep(0.01) + +# Follows a line using the line followers +def line_track(): + base_effort = 0.6 + KP = 0.6 + while True: + # You always want to take the difference of the sensors because the raw value isn't always consistent. + error = reflectance.get_left() - reflectance.get_right() + print(error) + drivetrain.set_effort(base_effort - error * KP, base_effort + error * KP) + time.sleep(0.01) + +# Polling data from the IMU +def imu_test(): + while True: + print(f"Pitch: {imu.get_pitch()}, Heading: {imu.get_heading()}, Roll: {imu.get_yaw()}, Accelerometer output: {imu.get_acc_rates()}") + time.sleep(0.1) + +def climb_ramp(ramp_angle, angle_tolerance=3.5): + speed = 0.6 + # Find ramp by driving forward + while imu.get_pitch() < ramp_angle-angle_tolerance: + drivetrain.set_effort(speed, speed) + time.sleep(0.05) + # Drive up ramp until angle levels out again + while imu.get_pitch() >= ramp_angle-angle_tolerance: + drivetrain.set_effort(speed, speed) + time.sleep(0.05) + # Then stop + drivetrain.set_effort(0, 0) + +ultrasonic_test() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/webserver_example.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/webserver_example.py new file mode 100644 index 0000000..695697d --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/webserver_example.py @@ -0,0 +1,48 @@ +from XRPLib.defaults import * +import time +from machine import Timer + +# Binding functions to the arrow buttons +webserver.registerForwardButton(lambda: drivetrain.set_effort(0.5, 0.5)) +webserver.registerLeftButton(lambda: drivetrain.set_effort(-0.5, 0.5)) +webserver.registerRightButton(lambda: drivetrain.set_effort(0.5, -0.5)) +webserver.registerBackwardButton(lambda: drivetrain.set_effort(-0.5, -0.5)) +webserver.registerStopButton(lambda: drivetrain.set_effort(0, 0)) + +# Binding functions to custom buttons +webserver.add_button("Close Server", lambda: webserver.stop_server()) +webserver.add_button("Blink", lambda: board.led_blink(2)) +webserver.add_button("LED Off", lambda: board.led_off()) +webserver.add_button("Servo Up", lambda: servo_one.set_angle(90)) +webserver.add_button("Servo Down", lambda: servo_one.set_angle(0)) + +# Logging static data to the webserver +# webserver.log_data("test", "test") +# webserver.log_data("List", [1,2,3]) +# webserver.log_data("Dict", {"a":1,"b":2,"c":3}) +# webserver.log_data("Tuple", (1,2,3)) + +def log_time_and_range(): + # This function is called every second to update the data on the webserver + webserver.log_data("Time", time.time()) + webserver.log_data("Range", rangefinder.distance()) + webserver.log_data("Left Motor", left_motor.get_position()) + webserver.log_data("Right Motor", right_motor.get_position()) + webserver.log_data("Button State", board.is_button_pressed()) + +timer = Timer(-1) +timer.init(freq=4, mode=Timer.PERIODIC, callback=lambda t: log_time_and_range()) + +def connect_and_start_webserver(): + # Connect to the network and start the webserver in bridge mode + # Network ssid and password are stored in root/secrets.json + webserver.connect_to_network() + webserver.start_server() + +def start_network_and_webserver(): + # Start the webserver in access point mode + # Network ssid and password are stored in root/secrets.json + webserver.start_network() + webserver.start_server() + +start_network_and_webserver() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/xrp_test.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/xrp_test.py new file mode 100644 index 0000000..4455401 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/xrp_test.py @@ -0,0 +1,76 @@ +from XRPLib.defaults import * +from machine import Pin +import time + +imu.reset_pitch() +imu.reset_yaw() +imu.reset_roll() + +def log_imu_heading(): + # Set to true to log the IMU heading forever + while True: + print(imu.get_yaw()) + time.sleep(0.1) + +def log_encoder_position(): + while True: + print(left_motor.get_position(), right_motor.get_position()) + time.sleep(0.1) + +def benchmark_encoder_isr(): + print("start benchmark") + N = 100000 + a = time.time() + for i in range(N): + drivetrain.left_motor._encoder.isr() + b = time.time() + + # Print benchmark + print(f"Time for {N} calls: {b-a}s") + print(f"Time per call: {(b-a)/N}s") # ~0.06 ms per call + +def test_turns(): + drivetrain.turn(45, 0.5) + time.sleep(1) + drivetrain.turn(-45, 0.75) + time.sleep(1) + + drivetrain.turn(90, 0.5) + time.sleep(1) + drivetrain.turn(-90, 0.75) + time.sleep(1) + + + # Turns 360 slow and fast, then turns 180 slow and fast + drivetrain.turn(360, 0.5) + time.sleep(1) + drivetrain.turn(-360, 0.75) + time.sleep(1) + +def test_straight(): + drivetrain.straight(30, 0.2) + +def test_set_effort(): + drivetrain.set_effort(0.3, 0.3) + time.sleep(2) + drivetrain.stop() + +def test_led(): + board.led_blink(5) + time.sleep(3) + board.led_off() + +def test_button(): + board.set_button_callback(trigger=Pin.IRQ_RISING, callback=lambda p: board.led.toggle()) + +def test_rangefinder(): + while not board.is_button_pressed(): + print(f"{rangefinder.distance()}, {rangefinder.distance()}") + time.sleep(0.5) + +def encoder_test(): + while not board.is_button_pressed(): + print(f"Left: {left_motor.get_position()}\tRight:{right_motor.get_position()}") + time.sleep(0.1) + +test_rangefinder() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/__init__.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/__init__.py new file mode 100644 index 0000000..6759c04 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/__init__.py @@ -0,0 +1,10 @@ +""" + THIS LIBRARY WAS MADE FOR THE SPARKFUN XRP CONTROL BOARD. + PLEASE USE THE ASSOCIATED MICROPYTHON UF2 FILE. +""" + +import sys +if not "XRP" in sys.implementation._machine: + raise NotImplementedError("This library does not support your version of MicroPython. " + + "Please update your UF2 File for the Beta XRP Controller here: " + + "https://github.com/Open-STEM/XRP_MicroPython/releases/tag/v2.0.0") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/board.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/board.py new file mode 100644 index 0000000..8039f77 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/board.py @@ -0,0 +1,127 @@ +from machine import Pin, ADC, Timer +from neopixel import NeoPixel +import time +import sys + +class Board: + + _DEFAULT_BOARD_INSTANCE = None + + @classmethod + def get_default_board(cls): + """ + Get the default board instance. This is a singleton, so only one instance of the board will ever exist. + """ + if cls._DEFAULT_BOARD_INSTANCE is None: + cls._DEFAULT_BOARD_INSTANCE = cls() + return cls._DEFAULT_BOARD_INSTANCE + + def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON", + rgb_led_pin = "BOARD_NEOPIXEL", led_pin = "LED"): + """ + Implements for extra features on the XRP board. Handles the on/off switch, button, and LED. + + :param vin_pin: The pin the on/off switch is connected to + :type vin_pin: int + :param button_pin: The pin the button is connected to + :type button_pin: int + """ + + self.on_switch = ADC(Pin(vin_pin)) + + self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP) + + self.led = Pin(led_pin, Pin.OUT) + + if hasattr(Pin.board, rgb_led_pin): + self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1) + # A timer ID of -1 is a virtual timer. + # Leaves the hardware timers for more important uses + self._virt_timer = Timer(-1) + self.is_led_blinking = False + + + def are_motors_powered(self) -> bool: + """ + :return: Returns true if the batteries are connected and powering the motors, false otherwise + :rytpe: bool + """ + return self.on_switch.read_u16() > 20000 + + def is_button_pressed(self) -> bool: + """ + Returns the state of the button + + :return: True if the button is pressed, False otherwise + :rtype: bool + """ + return not self.button.value() + + def wait_for_button(self): + """ + Halts the program until the button is pressed + """ + + # Wait until user command before running + while not self.is_button_pressed(): + time.sleep(.01) + + # Wait until user to release button before running + while self.is_button_pressed(): + time.sleep(.01) + + + def led_on(self): + """ + Turns the LED on + Stops the blinking timer if it is running + """ + self.is_led_blinking = False + self.led.on() + self._virt_timer.deinit() + + def led_off(self): + """ + Turns the LED off + Stops the blinking timer if it is running + """ + self.is_led_blinking = False + self.led.off() + self._virt_timer.deinit() + + def led_blink(self, frequency: int=0): + """ + Blinks the LED at a given frequency. If the frequency is 0, the LED will stop blinking. + + :param frequency: The frequency to blink the LED at (in Hz) + :type frequency: int + """ + if self.is_led_blinking: + # disable the old timer so we can reinitialize it + self._virt_timer.deinit() + # We set it to twice in input frequency so that + # the led flashes on and off frequency times per second + if frequency != 0: + self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC, + callback=lambda t:self.led.toggle()) + self.is_led_blinking = True + else: + self._virt_timer.deinit() + self.is_led_blinking = False + + def set_rgb_led(self, r:int, g:int, b:int): + """ + Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta + + :param r: The amount of red in the desired color + :type r: int + :param g: The amount of green in the desired color + :type g: int + :param b: The amount of blue in the desired color + :type b: int + """ + if "rgb_led" in self.__dict__: + self.rgb_led[0] = (r, g, b) + self.rgb_led.write() + else: + raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta") diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/controller.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/controller.py new file mode 100644 index 0000000..8d14a60 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/controller.py @@ -0,0 +1,30 @@ +class Controller: + """ + An abstract class to be entended to demonstrate different types of control. A PID subclass has also been provided + """ + + def update(self, input) -> float: + """ + Handle a new update of this control loop given an effected input. + + :param error: The input to this controller for a given update. Usually an error or some other correctable value + :type error: float + + :return: The system output from the controller, to be used as an effort value or for any other purpose + :rtype: float + """ + pass + + def is_done(self) -> bool: + + """ + :return: If the controller has reached or settled at its desired value + :rtype: bool + """ + pass + + def clear_history(self): + """ + Clears all past data, such as integral sums or any other previous data + """ + pass \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/dashboard.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/dashboard.py new file mode 100644 index 0000000..385e14e --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/dashboard.py @@ -0,0 +1,257 @@ +from .encoded_motor import EncodedMotor +from .rangefinder import Rangefinder +from .imu import IMU +from .reflectance import Reflectance +from .puppet import Puppet, VAR_TYPE_INT, VAR_TYPE_FLOAT, PERM_READ_ONLY + +from machine import Timer, ADC, Pin +from micropython import const +import time + + +class Dashboard: + + _DEFAULT_DASHBOARD_INSTANCE = None + + # Variable type constants + VAR_TYPE_FLOAT = const(2) + + # Permission constants + PERM_READ_ONLY = const(1) + PERM_WRITE_ONLY = const(2) + + # Backward compatibility constants + YAW = const(0) + ROLL = const(1) + PTICH = const(2) + ACCX = const(3) + ACCY = const(4) + ACCZ = const(5) + ENCL = const(6) + ENCR = const(7) + ENC3 = const(8) + ENC4 = const(9) + CURRR = const(10) + CURRL = const(11) + CURR3 = const(12) + CURR4 = const(13) + DIST = const(14) + REFL = const(15) + REFR = const(16) + VOLTAGE = const(17) + + # Mapping from old index to XPP variable names + _VAR_NAMES = { + YAW: '$imu.yaw', + ROLL: '$imu.roll', + PTICH: '$imu.pitch', + ACCX: '$imu.acc_x', + ACCY: '$imu.acc_y', + ACCZ: '$imu.acc_z', + ENCL: '$encoder.left', + ENCR: '$encoder.right', + ENC3: '$encoder.3', + ENC4: '$encoder.4', + CURRL: '$current.left', + CURRR: '$current.right', + CURR3: '$current.3', + CURR4: '$current.4', + DIST: '$rangefinder.distance', + REFL: '$reflectance.left', + REFR: '$reflectance.right', + VOLTAGE: '$voltage', + } + + @classmethod + def get_default_dashboard(cls): + """ + Get the default XRP dashboard instance. This is a singleton, so only one instance of the dashboard sensor will ever exist. + """ + if cls._DEFAULT_DASHBOARD_INSTANCE is None: + cls._DEFAULT_DASHBOARD_INSTANCE = cls() + return cls._DEFAULT_DASHBOARD_INSTANCE + + def __init__(self): + """ + Manages communication with dashboard data going to a remote computer via XPP protocol. + """ + self.left_motor = EncodedMotor.get_default_encoded_motor(index=1) + self.right_motor = EncodedMotor.get_default_encoded_motor(index=2) + self.motor_three = EncodedMotor.get_default_encoded_motor(index=3) + self.motor_four = EncodedMotor.get_default_encoded_motor(index=4) + self.imu = IMU.get_default_imu() + self.rangefinder = Rangefinder.get_default_rangefinder() + self.reflectance = Reflectance.get_default_reflectance() + self.VoltageADC = ADC(Pin('BOARD_VIN_MEASURE')) + #self.CurrLADC = ADC(Pin('ML_CUR')) + #self.CurrRADC = ADC(Pin('MR_CUR')) + #self.Curr3ADC = ADC(Pin('M3_CUR')) + #self.Curr4ADC = ADC(Pin('M4_CUR')) + + # Get XPP instance + self._puppet = Puppet.get_default_puppet() + + # Register all sensor variables + self._register_variables() + + # Create timer for periodic updates + self.update_timer = Timer(-1) + self._update_rate = 3 # Default 3 Hz + + def _register_variables(self): + """ + Register all sensor variables with XPP. + """ + # IMU variables (float) + for var_name in ['$imu.yaw', '$imu.roll', '$imu.pitch', + '$imu.acc_x', '$imu.acc_y', '$imu.acc_z']: + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + + # Encoder variables (int) + for var_name in ['$encoder.left', '$encoder.right', '$encoder.3', '$encoder.4']: + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) + + # Current sensor variables (int) + for var_name in ['$current.left', '$current.right', '$current.3', '$current.4']: + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) + + # Other sensor variables (float) + for var_name in ['$rangefinder.distance', '$reflectance.left', + '$reflectance.right', '$voltage']: + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + + def sendIntValue(self, index, value): + """ + Send an integer value (backward compatibility method). + Now uses XPP protocol. + + :param index: Variable index constant + :type index: int + :param value: Integer value to send + :type value: int + """ + if index not in self._VAR_NAMES: + return + + var_name = self._VAR_NAMES[index] + try: + self._puppet.set_variable(var_name, value) + except: + pass # Variable might not be registered yet + + def sendFloatValue(self, index, value): + """ + Send a float value (backward compatibility method). + Now uses XPP protocol. + + :param index: Variable index constant + :type index: int + :param value: Float value to send + :type value: float + """ + if index not in self._VAR_NAMES: + return + + var_name = self._VAR_NAMES[index] + try: + self._puppet.set_variable(var_name, value) + except: + pass # Variable might not be registered yet + + def _dashboard_update(self): + """ + Update all sensor variables with current readings. + """ + # IMU data + self._puppet.set_variable('$imu.yaw', self.imu.get_yaw()) + self._puppet.set_variable('$imu.roll', self.imu.get_roll()) + self._puppet.set_variable('$imu.pitch', self.imu.get_pitch()) + self._puppet.set_variable('$imu.acc_x', self.imu.get_acc_x()) + self._puppet.set_variable('$imu.acc_y', self.imu.get_acc_y()) + self._puppet.set_variable('$imu.acc_z', self.imu.get_acc_z()) + + # Encoder data + self._puppet.set_variable('$encoder.left', self.left_motor.get_position_counts()) + self._puppet.set_variable('$encoder.right', self.right_motor.get_position_counts()) + self._puppet.set_variable('$encoder.3', self.motor_three.get_position_counts()) + self._puppet.set_variable('$encoder.4', self.motor_four.get_position_counts()) + + # Current sensor data + #self._puppet.set_variable('$current.left', self.CurrLADC.read_u16()) + #self._puppet.set_variable('$current.right', self.CurrRADC.read_u16()) + #self._puppet.set_variable('$current.3', self.Curr3ADC.read_u16()) + #self._puppet.set_variable('$current.4', self.Curr4ADC.read_u16()) + + # Other sensors + self._puppet.set_variable('$rangefinder.distance', self.rangefinder.distance()) + self._puppet.set_variable('$reflectance.left', self.reflectance.get_left()) + self._puppet.set_variable('$reflectance.right', self.reflectance.get_right()) + + # Voltage + voltage = self.VoltageADC.read_u16() / (1024*64/14) + self._puppet.set_variable('$voltage', voltage) + + def start(self, rate_hz=3): + """ + Start sending dashboard packets to the remote computer at the specified rate. + + :param rate_hz: Update rate in Hz (default: 3) + :type rate_hz: int + """ + self._update_rate = rate_hz + + # Subscribe all variables at the specified rate + for var_name in self._VAR_NAMES.values(): + try: + self._puppet.subscribe_variable(var_name, rate_hz) + except: + pass # Variable might not be registered yet + + # Also use timer for backward compatibility + period_ms = int(1000 / rate_hz) + self.update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._dashboard_update()) + self._puppet.start() + + def stop(self): + """ + Stop sending dashboard data packets. + """ + # Unsubscribe from all variables + for var_name in self._VAR_NAMES.values(): + try: + self._puppet.subscribe_variable(var_name, 0) + except: + pass + + # Stop timer + self.update_timer.deinit() + self._puppet.stop() + + def set_value(self, name, value, rate_hz=3): + """ + Define a variable and subscribe to it at the specified rate. + + :param name: The variable name + :type name: str + :param value: The value to set + :type value: float + :param rate_hz: The update rate in Hz (default: 3) + :type rate_hz: int + """ + self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_READ_ONLY) + try: + self._puppet.subscribe_variable(name, rate_hz) + except: + pass + self._puppet.set_variable(name, value) + + def get_value(self, name): + """ + Get the value of a variable. + + :param name: The variable name + :type name: str + """ + self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) + return self._puppet.get_variable(name) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/defaults.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/defaults.py new file mode 100644 index 0000000..38216c8 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/defaults.py @@ -0,0 +1,34 @@ +from .board import Board +from .differential_drive import DifferentialDrive +from .motor import SinglePWMMotor, DualPWMMotor +from .encoder import Encoder +from .encoded_motor import EncodedMotor +from .rangefinder import Rangefinder +from .imu import IMU +from .reflectance import Reflectance +from .servo import Servo +from .webserver import Webserver +from machine import Pin + +""" +A simple file that constructs all of the default objects for the XRP robot +Run "from XRPLib.defaults import *" to use +""" + +left_motor = EncodedMotor.get_default_encoded_motor(index=1) +right_motor = EncodedMotor.get_default_encoded_motor(index=2) +motor_three = EncodedMotor.get_default_encoded_motor(index=3) +motor_four = EncodedMotor.get_default_encoded_motor(index=4) +imu = IMU.get_default_imu() +drivetrain = DifferentialDrive.get_default_differential_drive() +rangefinder = Rangefinder.get_default_rangefinder() +reflectance = Reflectance.get_default_reflectance() +servo_one = Servo.get_default_servo(index=1) +servo_two = Servo.get_default_servo(index=2) +webserver = Webserver.get_default_webserver() +board = Board.get_default_board() + +if hasattr(Pin.board, "SERVO_3"): + servo_three = Servo.get_default_servo(index=3) +if hasattr(Pin.board, "SERVO_4"): + servo_four = Servo.get_default_servo(index=4) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/differential_drive.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/differential_drive.py new file mode 100644 index 0000000..e3fbd5f --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/differential_drive.py @@ -0,0 +1,340 @@ +from .encoded_motor import EncodedMotor +from .imu import IMU +from .controller import Controller +from .pid import PID +from .timeout import Timeout +import time +import math + +class DifferentialDrive: + + _DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE =None + + @classmethod + def get_default_differential_drive(cls): + + """ + Get the default XRP differential drive instance. This is a singleton, so only one instance of the drivetrain will ever exist. + """ + + if cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE is None: + cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE = cls( + EncodedMotor.get_default_encoded_motor(index=1), + EncodedMotor.get_default_encoded_motor(index=2), + IMU.get_default_imu() + ) + + return cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE + + def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU = None, wheel_diam:float = 6.0, wheel_track:float = 15.5): + """ + A Differential Drive class designed for the XRP two-wheeled drive robot. + + :param leftMotor: The left motor of the drivetrain + :type leftMotor: EncodedMotor + :param rightMotor: The right motor of the drivetrain + :type rightMotor: EncodedMotor + :param imu: The IMU of the robot. If None, the robot will not use the IMU for turning or maintaining heading. + :type imu: IMU + :param wheelDiam: The diameter of the wheels in inches. Defaults to 6 cm. + :type wheelDiam: float + :param wheelTrack: The distance between the wheels in inches. Defaults to 15.5 cm. + :type wheelTrack: float + """ + + self.left_motor = left_motor + self.right_motor = right_motor + self.imu = imu + + self.brake_at_zero_power = False + self.wheel_diam = wheel_diam + self.track_width = wheel_track + + self.heading_pid = None + self.current_heading = None + self.reset_heading = True + self.turning = False + + if self.imu: + # if the IMU is initialized, then create a PID controller that can be used + # to maintain a constant heading when driving + self.heading_pid = PID( kp = 0.075, kd=0.001, ) + + def set_effort(self, left_effort: float, right_effort: float) -> None: + """ + Set the raw effort of both motors individually + + :param leftEffort: The power (Bounded from -1 to 1) to set the left motor to. + :type leftEffort: float + :param rightEffort: The power (Bounded from -1 to 1) to set the right motor to. + :type rightEffort: float + """ + + self.left_motor.set_effort(left_effort) + self.right_motor.set_effort(right_effort) + + def set_speed(self, left_speed: float, right_speed: float) -> None: + """ + Set the speed of both motors individually + + :param leftSpeed: The speed (In Centimeters per Second) to set the left motor to. + :type leftSpeed: float + :param rightSpeed: The speed (In Centimeters per Second) to set the right motor to. + :type rightSpeed: float + """ + # Convert from cm/s to RPM + cmpsToRPM = 60 / (math.pi * self.wheel_diam) + self.left_motor.set_speed(left_speed*cmpsToRPM) + self.right_motor.set_speed(right_speed*cmpsToRPM) + + def set_zero_effort_behavior(self, brake_at_zero_effort): + + """ + Sets the behavior of both motor at 0 effort to either brake (hold position) or coast (free spin) + :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. + :type brake_at_zero_effort: bool + """ + self.left_motor.set_zero_effort_behavior(brake_at_zero_effort) + self.right_motor.set_zero_effort_behavior(brake_at_zero_effort) + + def stop(self) -> None: + """ + Stops both drivetrain motors by setting power to zero. + """ + self.left_motor.set_speed() + self.right_motor.set_speed() + self.set_effort(0,0) + + def arcade(self, straight:float, turn:float): + """ + Sets the raw effort of both motors based on the arcade drive scheme + + :param straight: The base effort (Bounded from -1 to 1) used to drive forwards or backwards. + :type straight: float + :param turn: The modifier effort (Bounded from -1 to 1) used to skew robot left (positive) or right (negative). + :type turn: float + """ + if straight == 0 and turn == 0: + self.set_effort(0, 0) + else: + scale = max(abs(straight), abs(turn))/(abs(straight) + abs(turn)) + left_speed = (straight - turn)*scale + right_speed = (straight + turn)*scale + + if not self.heading_pid: + # if not using IMU assist to maintain heading, just pass down the left and right motor + # speeds to control movement + self.set_effort(left_speed, right_speed) + else: + # else if IMU assist is enabled, then use the IMU with PID to + # maintain a constant heading while driving. + if turn == 0: + # straight drive requested, then maintain the current heading + if self.turning: + # if previously turning, then clear the turn indicator and reset the course heading + self.reset_heading = True + self.turning = False + + if self.reset_heading: + self.reset_heading = False + self.current_heading = self.imu.get_yaw() + + # use the PID to set the heading correction based on the current heading + heading_correction = self.heading_pid.update(self.current_heading - self.imu.get_yaw()) + + self.set_effort(left_speed - heading_correction, right_speed + heading_correction) + else: + # set the turning indicator and apply the left and right speeds + self.turning = True + self.set_effort(left_speed, right_speed) + + def reset_encoder_position(self) -> None: + """ + Resets the position of both motors' encoders to 0 + """ + + self.left_motor.reset_encoder_position() + self.right_motor.reset_encoder_position() + + def get_left_encoder_position(self) -> float: + """ + :return: the current position of the left motor's encoder in cm. + :rtype: float + """ + return self.left_motor.get_position()*math.pi*self.wheel_diam + + def get_right_encoder_position(self) -> float: + """ + :return: the current position of the right motor's encoder in cm. + :rtype: float + """ + return self.right_motor.get_position()*math.pi*self.wheel_diam + + + def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: + """ + Go forward the specified distance in centimeters, and exit function when distance has been reached. + Max_effort is bounded from -1 (reverse at full speed) to 1 (forward at full speed) + + :param distance: The distance for the robot to travel (In Centimeters) + :type distance: float + :param max_effort: The max effort for which the robot to travel (Bounded from -1 to 1). Default is half effort forward + :type max_effort: float + :param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds) + :type timeout: float + :param main_controller: The main controller, for handling the distance driven forwards + :type main_controller: Controller + :param secondary_controller: The secondary controller, for correcting heading error that may result during the drive. + :type secondary_controller: Controller + :return: if the distance was reached before the timeout + :rtype: bool + """ + # ensure effort is always positive while distance could be either positive or negative + if max_effort < 0: + max_effort *= -1 + distance *= -1 + + time_out = Timeout(timeout) + starting_left = self.get_left_encoder_position() + starting_right = self.get_right_encoder_position() + + + if main_controller is None: + main_controller = PID( + kp = 0.1, + ki = 0.04, + kd = 0.04, + min_output = 0.3, + max_output = max_effort, + max_integral = 10, + tolerance = 0.25, + tolerance_count = 3, + ) + + # Secondary controller to keep encoder values in sync + if secondary_controller is None: + secondary_controller = PID( + kp = 0.075, kd=0.001, + ) + + if self.imu is not None: + # record current heading to maintain it + initial_heading = self.imu.get_yaw() + else: + initial_heading = 0 + + while True: + + # calculate the distance traveled + left_delta = self.get_left_encoder_position() - starting_left + right_delta = self.get_right_encoder_position() - starting_right + dist_traveled = (left_delta + right_delta) / 2 + + # PID for distance + distance_error = distance - dist_traveled + effort = main_controller.update(distance_error) + + if main_controller.is_done() or time_out.is_done(): + break + + # calculate heading correction + if self.imu is not None: + # record current heading to maintain it + current_heading = self.imu.get_yaw() + else: + current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) + + headingCorrection = secondary_controller.update(initial_heading - current_heading) + + self.set_effort(effort - headingCorrection, effort + headingCorrection) + + time.sleep(0.01) + + self.stop() + + return not time_out.is_done() + + + def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool: + """ + Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading. + effort is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed) + Uses the IMU to determine the heading of the robot and P control for the motor controller. + + :param turnDegrees: The number of angle for the robot to turn (In Degrees) + :type turnDegrees: float + :param max_effort: The max speed for which the robot to travel (Bounded from -1 to 1) + :type max_effort: float + :param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds) + :type timeout: float + :param main_controller: The main controller, for handling the angle turned + :type main_controller: Controller + :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference + :type secondary_controller: Controller + :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False) + :type use_imu: bool + :return: if the distance was reached before the timeout + :rtype: bool + """ + + if max_effort < 0: + max_effort = -max_effort + turn_degrees = -turn_degrees + + time_out = Timeout(timeout) + starting_left = self.get_left_encoder_position() + starting_right = self.get_right_encoder_position() + + if main_controller is None: + main_controller = PID( + # kp = 0.2, + # ki = 0.004, + # kd = 0.0036, + kd = 0.0036 + 0.0034 * (max(max_effort, 0.5) - 0.5) * 2, + kp = 0.2, + ki = 0.004, + #kd = 0.007, + min_output = 0.1, + max_output = max_effort, + max_integral = 30, + tolerance = 1, + tolerance_count = 3 + ) + + # Secondary controller to keep encoder values in sync + if secondary_controller is None: + secondary_controller = PID( + kp = 0.25, + ) + + if use_imu and (self.imu is not None): + turn_degrees += self.imu.get_yaw() + + while True: + + # calculate encoder correction to minimize drift + left_delta = self.get_left_encoder_position() - starting_left + right_delta = self.get_right_encoder_position() - starting_right + encoder_correction = secondary_controller.update(left_delta + right_delta) + + if use_imu and (self.imu is not None): + # calculate turn error (in degrees) from the imu + turn_error = turn_degrees - self.imu.get_yaw() + else: + # calculate turn error (in degrees) from the encoder counts + turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) + + # Pass the turn error to the main controller to get a turn speed + turn_speed = main_controller.update(turn_error) + + # exit if timeout or tolerance reached + if main_controller.is_done() or time_out.is_done(): + break + + self.set_effort(-turn_speed - encoder_correction, turn_speed - encoder_correction) + + time.sleep(0.01) + + self.stop() + + return not time_out.is_done() diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoded_motor.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoded_motor.py new file mode 100644 index 0000000..de2fa6f --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoded_motor.py @@ -0,0 +1,191 @@ +from .motor import SinglePWMMotor, DualPWMMotor +from .encoder import Encoder +from machine import Timer +from .controller import Controller +from .pid import PID +import sys + +class EncodedMotor: + + ZERO_EFFORT_BREAK = True + ZERO_EFFORT_COAST = False + + _DEFAULT_LEFT_MOTOR_INSTANCE = None + _DEFAULT_RIGHT_MOTOR_INSTANCE = None + _DEFAULT_MOTOR_THREE_INSTANCE = None + _DEFAULT_MOTOR_FOUR_INSTANCE = None + + @classmethod + def get_default_encoded_motor(cls, index:int = 1): + """ + Get one of the default XRP motor instances. These are singletons, so only one instance of each of these will ever exist. + Raises an exception if an invalid index is requested. + + :param index: The index of the motor to get; 1 for left, 2 for right, 3 for motor 3, 4 for motor 4 + :type index: int + """ + + if "RP2350" in sys.implementation._machine: + MotorImplementation = DualPWMMotor + else: + MotorImplementation = SinglePWMMotor + + if index == 1: + if cls._DEFAULT_LEFT_MOTOR_INSTANCE is None: + cls._DEFAULT_LEFT_MOTOR_INSTANCE = cls( + MotorImplementation("MOTOR_L_IN_1", "MOTOR_L_IN_2", flip_dir=True), + Encoder(0, "MOTOR_L_ENCODER_A", "MOTOR_L_ENCODER_B") + ) + motor = cls._DEFAULT_LEFT_MOTOR_INSTANCE + elif index == 2: + if cls._DEFAULT_RIGHT_MOTOR_INSTANCE is None: + cls._DEFAULT_RIGHT_MOTOR_INSTANCE = cls( + MotorImplementation("MOTOR_R_IN_1", "MOTOR_R_IN_2"), + Encoder(1, "MOTOR_R_ENCODER_A", "MOTOR_R_ENCODER_B") + ) + motor = cls._DEFAULT_RIGHT_MOTOR_INSTANCE + elif index == 3: + if cls._DEFAULT_MOTOR_THREE_INSTANCE is None: + cls._DEFAULT_MOTOR_THREE_INSTANCE = cls( + MotorImplementation("MOTOR_3_IN_1", "MOTOR_3_IN_2", flip_dir=True), + Encoder(2, "MOTOR_3_ENCODER_A", "MOTOR_3_ENCODER_B") + ) + motor = cls._DEFAULT_MOTOR_THREE_INSTANCE + elif index == 4: + if cls._DEFAULT_MOTOR_FOUR_INSTANCE is None: + cls._DEFAULT_MOTOR_FOUR_INSTANCE = cls( + MotorImplementation("MOTOR_4_IN_1", "MOTOR_4_IN_2"), + Encoder(3, "MOTOR_4_ENCODER_A", "MOTOR_4_ENCODER_B") + ) + motor = cls._DEFAULT_MOTOR_FOUR_INSTANCE + else: + return Exception("Invalid motor index") + return motor + + def __init__(self, motor, encoder: Encoder): + + self._motor = motor + self._encoder = encoder + + self.brake_at_zero = False + + self.target_speed = None + self.DEFAULT_SPEED_CONTROLLER = PID( + kp=0.035, + ki=0.03, + kd=0, + max_integral=50 + ) + self.speedController = self.DEFAULT_SPEED_CONTROLLER + self.prev_position = 0 + self.speed = 0 + # Use a virtual timer so we can leave the hardware timers up for the user + self.updateTimer = Timer(-1) + # If the update timer is not running, start it at 50 Hz (20ms updates) + self.updateTimer.init(period=20, callback=lambda t:self._update()) + + + def set_effort(self, effort: float): + """ + :param effort: The effort to set this motor to, from -1 to 1 + :type effort: float + """ + if self.brake_at_zero and effort == 0: + self.brake() + else: + self._motor.set_effort(effort) + + # EncodedMotor.set_zero_effort_behavior(EncodedMotor.ZERO_POWER_BRAKE) + def set_zero_effort_behavior(self, brake_at_zero_effort): + """ + Sets the behavior of the motor at 0 effort to either brake (hold position) or coast (free spin) + :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. + :type brake_at_zero_effort: bool + """ + self.brake_at_zero = brake_at_zero_effort + + def brake(self): + """ + Causes the motor to resist rotation. + """ + # Exact impl of brake depends on which board is being used. + self._motor.brake() + + def coast(self): + """ + Allows the motor to spin freely. + """ + self._motor.coast() + + def get_position(self) -> float: + """ + :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. + :rtype: float + """ + if self._motor.flip_dir: + invert = -1 + else: + invert = 1 + return self._encoder.get_position()*invert + + def get_position_counts(self) -> int: + """ + :return: The position of the encoded motor, in encoder counts, relative to the last time reset was called. + :rtype: int + """ + if self._motor.flip_dir: + invert = -1 + else: + invert = 1 + return self._encoder.get_position_counts()*invert + + def reset_encoder_position(self): + """ + Resets the encoder position back to zero. + """ + self._encoder.reset_encoder_position() + + def get_speed(self) -> float: + """ + :return: The speed of the motor, in rpm + :rtype: float + """ + # Convert from counts per 20ms to rpm (60 sec/min, 50 Hz) + return self.speed*(60*50)/self._encoder.resolution + + def set_speed(self, speed_rpm: float = None): + """ + Sets target speed (in rpm) to be maintained passively + Call with no parameters or 0 to turn off speed control + + :param target_speed_rpm: The target speed for the motor in rpm, or None + :type target_speed_rpm: float, or None + """ + if speed_rpm is None or speed_rpm == 0: + self.target_speed = None + self.set_effort(0) + return + # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) + self.target_speed = speed_rpm*self._encoder.resolution/(60*50) + + def set_speed_controller(self, new_controller: Controller): + """ + Sets a new controller for speed control + + :param new_controller: The new Controller for speed control + :type new_controller: Controller + """ + self.speedController = new_controller + self.speedController.clear_history() + + def _update(self): + """ + Non-api method; used for updating motor efforts for speed control + """ + current_position = self.get_position_counts() + self.speed = current_position - self.prev_position + if self.target_speed is not None: + error = self.target_speed - self.speed + effort = self.speedController.update(error) + self._motor.set_effort(effort) + self.prev_position = current_position \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoder.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoder.py new file mode 100644 index 0000000..414b973 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoder.py @@ -0,0 +1,119 @@ +# Modified from https://forum.micropython.org/viewtopic.php?t=12277&p=66659 + +import machine +import rp2 +import time + +class Encoder: + _gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75 + _counts_per_motor_shaft_revolution = 12 + resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585 + + def __init__(self, index, encAPin: int|str, encBPin: int|str): + """ + Uses the on board PIO State Machine to keep track of encoder positions. + Only 4 encoders can be instantiated this way. + + :param index: The index of the state machine to be used, indexed 0-3. + :type index: int + :param encAPin: The pin the left reflectance sensor is connected to + :type encAPin: int + :param encBPin: The pin the right reflectance sensor is connected to + :type encBPin: int + """ + # if(abs(encAPin - encBPin) != 1): + # raise Exception("Encoder pins must be successive!") + basePin = machine.Pin(min(encAPin, encBPin), machine.Pin.IN) + nextPin = machine.Pin(max(encAPin, encBPin), machine.Pin.IN) + self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin) + self.reset_encoder_position() + self.sm.active(1) + + def reset_encoder_position(self): + """ + Resets the encoder position to 0 + """ + # It's possible for this to cause issues if in the middle of inrementing + # or decrementing, but the result should only be off by 1. If that's a + # problem, an alternative solution is to stop the state machine, then + # reset both x and the program counter. But that's excessive. + self.sm.exec("set(x, 0)") + + def get_position_counts(self): + """ + :return: The position of the encoded motor, in counts, relative to the last time reset was called. + :rtype: int + """ + # Read 5 times for it to get past the buffer + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + counts = self.sm.get() + if(counts > 2**31): + counts -= 2**32 + return counts + + def get_position(self): + """ + :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. + :rtype: float + """ + return self.get_position_counts() / self.resolution + + @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT) + def _encoder(): + # Register descriptions: + # X - Encoder count, as a 32-bit number + # OSR - Previous pin values, only last 2 bits are used + # ISR - Push encoder count, and combine pin states together + + # Jump table + # The program counter is moved to memory address 0000 - 1111, based + # on the previous (left 2 bits) and current (right bits) pin states + jmp("read") # 00 -> 00 No change, continue + jmp("decr") # 00 -> 01 Reverse, decrement count + jmp("incr") # 00 -> 10 Forward, increment count + jmp("read") # 00 -> 11 Impossible, continue + + jmp("incr") # 01 -> 00 Forward, increment count + jmp("read") # 01 -> 01 No change, continue + jmp("read") # 01 -> 10 Impossible, continue + jmp("decr") # 01 -> 11 Reverse, decrement count + + jmp("decr") # 10 -> 00 Reverse, decrement count + jmp("read") # 10 -> 01 Impossible, continue + jmp("read") # 10 -> 10 No change, continue + jmp("incr") # 10 -> 11 Forward, increment count + + jmp("read") # 11 -> 00 Impossible, continue + jmp("incr") # 11 -> 01 Forward, increment count + jmp("decr") # 11 -> 10 Reverse, decrement count + jmp("read") # 11 -> 11 No change, continue + + label("read") + mov(osr, isr) # Store previous pin states in OSR + mov(isr, x) # Copy encoder count to ISR + push(noblock) # Push count to RX buffer, and reset ISR to 0 + out(isr, 2) # Shift previous pin states into ISR + in_(pins, 2) # Shift current pin states into ISR + mov(pc, isr) # Move PC to jump table to determine what to do next + + label("decr") # There is no explicite increment intruction, but X can be + jmp(x_dec, "decr_nop") # decremented in the jump instruction. So we use that and jump + label("decr_nop") # to the next instruction, which is equivalent to just decrementing + jmp("read") + + label("incr") # There is no explicite increment intruction, but X can be + mov(x, invert(x)) # decremented in the jump instruction. So we invert X, decrement, + jmp(x_dec, "incr_nop") # then invert again - this is equivalent to incrementing. + label("incr_nop") + mov(x, invert(x)) + jmp("read") + + # Fill remaining instruction memory with jumps to ensure nothing bad happens + # For some reason, weird behavior happens if the instruction memory isn't full + jmp("read") + jmp("read") + jmp("read") + jmp("read") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/gamepad.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/gamepad.py new file mode 100644 index 0000000..f3f08de --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/gamepad.py @@ -0,0 +1,169 @@ +from .puppet import Puppet, VAR_TYPE_FLOAT, VAR_TYPE_INT, VAR_TYPE_BOOL, PERM_WRITE_ONLY, PERM_READ_ONLY +from micropython import const + +class Gamepad: + + _DEFAULT_GAMEPAD_INSTANCE = None + + X1 = const(0) + Y1 = const(1) + X2 = const(2) + Y2 = const(3) + BUTTON_A = const(4) + BUTTON_B = const(5) + BUTTON_X = const(6) + BUTTON_Y = const(7) + BUMPER_L = const(8) + BUMPER_R = const(9) + TRIGGER_L = const(10) + TRIGGER_R = const(11) + BACK = const(12) + START = const(13) + DPAD_UP = const(14) + DPAD_DN = const(15) + DPAD_L = const(16) + DPAD_R = const(17) + + # Mapping from index to variable name + _VAR_NAMES = { + 0: '$gamepad.x1', + 1: '$gamepad.y1', + 2: '$gamepad.x2', + 3: '$gamepad.y2', + 4: '$gamepad.button_a', + 5: '$gamepad.button_b', + 6: '$gamepad.button_x', + 7: '$gamepad.button_y', + 8: '$gamepad.bumper_l', + 9: '$gamepad.bumper_r', + 10: '$gamepad.trigger_l', + 11: '$gamepad.trigger_r', + 12: '$gamepad.back', + 13: '$gamepad.start', + 14: '$gamepad.dpad_up', + 15: '$gamepad.dpad_dn', + 16: '$gamepad.dpad_l', + 17: '$gamepad.dpad_r', + } + + @classmethod + def get_default_gamepad(cls): + """ + Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist. + """ + if cls._DEFAULT_GAMEPAD_INSTANCE is None: + cls._DEFAULT_GAMEPAD_INSTANCE = cls() + cls._DEFAULT_GAMEPAD_INSTANCE.start() + return cls._DEFAULT_GAMEPAD_INSTANCE + + def __init__(self): + """ + Manages communication with gamepad data coming from a remote computer via XPP protocol. + """ + self._puppet = Puppet.get_default_puppet() + self._started = False + + # Register all gamepad variables + self._register_variables() + + def _register_variables(self): + """ + Register all gamepad variables with the XPP protocol. + """ + # Joystick axes are floats + for idx in [self.X1, self.Y1, self.X2, self.Y2]: + var_name = self._VAR_NAMES[idx] + self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) + + # Buttons are integers (1 or 0) + for idx in range(4, 18): + var_name = self._VAR_NAMES[idx] + self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_WRITE_ONLY) + + # Register gamepad enabled variable (read-only from XRP side) + self._puppet.define_variable('$gamepad.enabled', VAR_TYPE_BOOL, PERM_READ_ONLY) + + def start(self): + """ + Signals the remote computer to begin sending gamepad data packets. + Subscribes to all gamepad variables at a high rate (50 Hz). + """ + self._puppet.start() + self._puppet.send_program_start() + + # Enable gamepad - signal to client to start sending + self._puppet.set_variable('$gamepad.enabled', True) + + if self._started: + return + + # Subscribe to all gamepad variables at 50 Hz + for var_name in self._VAR_NAMES.values(): + self._puppet.subscribe_variable(var_name, 50) + + self._started = True + + def stop(self): + """ + Signals the remote computer to stop sending gamepad data packets. + Unsubscribes from all gamepad variables. + """ + + self._puppet.send_program_end() + + if not self._started: + return + + # Disable gamepad - signal to client to stop sending + self._puppet.set_variable('$gamepad.enabled', False) + + # Unsubscribe from all gamepad variables + for var_name in self._VAR_NAMES.values(): + self._puppet.subscribe_variable(var_name, 0) + + self._puppet.stop() + self._started = False + + def get_value(self, index: int) -> float: + """ + Get the current value of a joystick axis + + :param index: The joystick axis index + Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2 + :type int + :returns: The value of the joystick between -1 and 1 + :rtype: float + """ + if index not in self._VAR_NAMES: + return 0.0 + + var_name = self._VAR_NAMES[index] + try: + value = self._puppet.get_variable(var_name) + # Return negative to make normal for user (backward compatibility) + return -value + except: + # Return default if variable not available + return 0.0 + + def is_button_pressed(self, index: int) -> bool: + """ + Checks if a specific button is currently pressed. + + :param index: The button index + Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc + :type int + :returns: The value of the button 1 or 0 + :rtype: bool + """ + if index not in self._VAR_NAMES: + return False + + var_name = self._VAR_NAMES[index] + try: + value = self._puppet.get_variable(var_name) + # Works for both int and float + return value > 0 + except: + # Return default if variable not available + return False diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu.py new file mode 100644 index 0000000..cd7acbf --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu.py @@ -0,0 +1,559 @@ +# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive +# ver: 1.0 +# License: MIT +# Author: shaoziyang (shaoziyang@micropython.org.cn) +# v1.0 2019.7 +try: + from .imu_defs import * + from uctypes import struct, addressof +except (TypeError, ModuleNotFoundError): + LSM_ADDR_PRIMARY = 0x6A + # Import wrapped in a try/except so that autodoc generation can process properly + pass +from machine import I2C, Pin, Timer, disable_irq, enable_irq +import time, math + +class IMU(): + + _DEFAULT_IMU_INSTANCE = None + + @classmethod + def get_default_imu(cls): + """ + Get the default XRP IMU instance. This is a singleton, so only one instance of the drivetrain will ever exist. + """ + + if cls._DEFAULT_IMU_INSTANCE is None: + cls._DEFAULT_IMU_INSTANCE = cls() + cls._DEFAULT_IMU_INSTANCE.calibrate() + return cls._DEFAULT_IMU_INSTANCE + + def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY): + # I2C values + self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000) + self.addr = addr + + # Initialize member variables + self._reset_member_variables() + + # Transmit and recieve buffers + self.tb = bytearray(1) + self.rb = bytearray(1) + + # Copies of registers. Bytes and structs share the same memory + # addresses, so changing one changes the other + self.reg_ctrl1_xl_byte = bytearray(1) + self.reg_ctrl2_g_byte = bytearray(1) + self.reg_ctrl3_c_byte = bytearray(1) + self.reg_ctrl1_xl_bits = struct(addressof(self.reg_ctrl1_xl_byte), LSM_REG_LAYOUT_CTRL1_XL) + self.reg_ctrl2_g_bits = struct(addressof(self.reg_ctrl2_g_byte), LSM_REG_LAYOUT_CTRL2_G) + self.reg_ctrl3_c_bits = struct(addressof(self.reg_ctrl3_c_byte), LSM_REG_LAYOUT_CTRL3_C) + + # Create timer + self.update_timer = Timer(-1) + + # Check if the IMU is connected + if not self.is_connected(): + # TODO - do somehting intelligent here + pass + + # Reset sensor to clear any previous configuration + # reset() also sets the board to the default config + self.reset() + + def _default_config(self): + # Enable block data update + self._set_bdu() + + # Set default scale for each sensor + self.acc_scale('16g') + self.gyro_scale('2000dps') + + # Set default rate for each sensor + self.acc_rate('208Hz') + self.gyro_rate('208Hz') + + """ + The following are private helper methods to read and write registers, as well as to convert the read values to the correct unit. + """ + + def _reset_member_variables(self): + # Vector of IMU measurements + self.irq_v = [[0, 0, 0], [0, 0, 0]] + + # Sensor offsets + self.gyro_offsets = [0,0,0] + self.acc_offsets = [0,0,0] + + # Scale factors when ranges are changed + self._acc_scale_factor = 1 + self._gyro_scale_factor = 1 + + # Angle integrators + self.running_pitch = 0 + self.running_yaw = 0 + self.running_roll = 0 + + def _int16(self, d): + return d if d < 0x8000 else d - 0x10000 + + def _setreg(self, reg, dat): + self.tb[0] = dat + self.i2c.writeto_mem(self.addr, reg, self.tb) + + def _getreg(self, reg): + self.i2c.readfrom_mem_into(self.addr, reg, self.rb) + return self.rb[0] + + def _getregs(self, reg, num_bytes): + rx_buf = bytearray(num_bytes) + self.i2c.readfrom_mem_into(self.addr, reg, rx_buf) + return rx_buf + + def _get2reg(self, reg): + return self._getreg(reg) + self._getreg(reg+1) * 256 + + def _r_w_reg(self, reg, dat, mask): + self._getreg(reg) + self.rb[0] = (self.rb[0] & mask) | dat + self._setreg(reg, self.rb[0]) + + def _set_bdu(self, bdu = True): + """ + Sets Block Data Update bit + """ + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.BDU = bdu + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + def _set_if_inc(self, if_inc = True): + """ + Sets InterFace INCrement bit + """ + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.IF_INC = if_inc + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + def _raw_to_mg(self, raw): + return self._int16((raw[1] << 8) | raw[0]) * LSM_MG_PER_LSB_2G * self._acc_scale_factor + + def _raw_to_mdps(self, raw): + return self._int16((raw[1] << 8) | raw[0]) * LSM_MDPS_PER_LSB_125DPS * self._gyro_scale_factor + + """ + Public facing API Methods + """ + + def is_connected(self): + """ + Checks whether the IMU is connected + + :return: True if WHO_AM_I value is correct, otherwise False + :rtype: bool + """ + who_am_i = self._getreg(LSM_REG_WHO_AM_I) + return who_am_i == LSM_WHO_AM_I_VALUE + + def reset(self, wait_for_reset = True, wait_timeout_ms = 100): + """ + Resets the IMU, and restores all registers to their default values + + :param wait_for_reset: Whether to wait for reset to complete + :type wait_for_reset: bool + :param wait_timeout_ms: Timeout in milliseconds when waiting for reset + :type wait_timeout_ms: int + :return: False if timeout occurred, otherwise True + :rtype: bool + """ + # Stop timer + self._stop_timer() + + # Reset member variables + self._reset_member_variables() + + # Set BOOT and SW_RESET bits + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + self.reg_ctrl3_c_bits.BOOT = 1 + self.reg_ctrl3_c_bits.SW_RESET = 1 + self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) + + # Wait for reset to complete, if requested + if wait_for_reset: + # Loop with timeout + t0 = time.ticks_ms() + while time.ticks_ms() < (t0 + wait_timeout_ms): + # Check if register has returned to default value (0x04) + self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) + if self.reg_ctrl3_c_byte[0] == 0x04: + self._default_config() + self._start_timer() + return True + # Timeout occurred + # Attempt to set default config anyways + self._default_config() + self._start_timer() + return False + else: + self._default_config() + self._start_timer() + return True + + def get_acc_x(self): + """ + :return: The current reading for the accelerometer's X-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] + + def get_acc_y(self): + """ + :return: The current reading for the accelerometer's Y-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTY_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[1] + + def get_acc_z(self): + """ + :return: The current reading for the accelerometer's Z-axis, in mg + :rtype: int + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTZ_L_A, 2) + + # Convert raw data to mg's + return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[2] + + def get_acc_rates(self): + """ + :return: the list of readings from the Accelerometer, in mg. The order of the values is x, y, z. + :rtype: list + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 6) + + # Convert raw data to mg's + self.irq_v[0][0] = self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] + self.irq_v[0][1] = self._raw_to_mg(raw_bytes[2:4]) - self.acc_offsets[1] + self.irq_v[0][2] = self._raw_to_mg(raw_bytes[4:6]) - self.acc_offsets[2] + + return self.irq_v[0] + + def get_gyro_x_rate(self): + """ + Individual axis read for the Gyroscope's X-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + + def get_gyro_y_rate(self): + """ + Individual axis read for the Gyroscope's Y-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTY_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[1] + + def get_gyro_z_rate(self): + """ + Individual axis read for the Gyroscope's Z-axis, in mdps + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTZ_L_G, 2) + + # Convert raw data to mdps + return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[2] + + def get_gyro_rates(self): + """ + Retrieves the array of readings from the Gyroscope, in mdps + The order of the values is x, y, z. + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 6) + + # Convert raw data to mdps + self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] + self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] + + return self.irq_v[1] + + def get_acc_gyro_rates(self): + """ + Get the accelerometer and gyroscope values in mg and mdps in the form of a 2D array. + The first row is the acceleration values, the second row is the gyro values. + The order of the values is x, y, z. + """ + # Burst read data registers + raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 12) + + # Convert raw data to mg's and mdps + self.irq_v[0][0] = self._raw_to_mg(raw_bytes[6:8]) - self.acc_offsets[0] + self.irq_v[0][1] = self._raw_to_mg(raw_bytes[8:10]) - self.acc_offsets[1] + self.irq_v[0][2] = self._raw_to_mg(raw_bytes[10:12]) - self.acc_offsets[2] + self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] + self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] + self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] + + return self.irq_v + + def get_pitch(self): + """ + Get the pitch of the IMU in degrees. Unbounded in range + + :return: The pitch of the IMU in degrees + :rtype: float + """ + return self.running_pitch + + def get_yaw(self): + """ + Get the yaw (heading) of the IMU in degrees. Unbounded in range + + :return: The yaw (heading) of the IMU in degrees + :rtype: float + """ + return self.running_yaw + + def get_heading(self): + """ + Get's the heading of the IMU, but bounded between [0, 360) + + :return: The heading of the IMU in degrees, bound between [0, 360) + :rtype: float + """ + return self.running_yaw % 360 + + def get_roll(self): + """ + Get the roll of the IMU in degrees. Unbounded in range + + :return: The roll of the IMU in degrees + :rtype: float + """ + return self.running_roll + + def reset_pitch(self): + """ + Reset the pitch to 0 + """ + self.running_pitch = 0 + + def reset_yaw(self): + """ + Reset the yaw (heading) to 0 + """ + self.running_yaw = 0 + + def reset_roll(self): + """ + Reset the roll to 0 + """ + self.running_roll = 0 + + def set_pitch(self, pitch): + """ + Set the pitch to a specific angle in degrees + + :param pitch: The pitch to set the IMU to + :type pitch: float + """ + self.running_pitch = pitch + + def set_yaw(self, yaw): + """ + Set the yaw (heading) to a specific angle in degrees + + :param yaw: The yaw (heading) to set the IMU to + :type yaw: float + """ + self.running_yaw = yaw + + def set_roll(self, roll): + """ + Set the roll to a specific angle in degrees + + :param roll: The roll to set the IMU to + :type roll: float + """ + self.running_roll = roll + + def temperature(self): + """ + Read the temperature of the LSM6DSO in degrees Celsius + + :return: The temperature of the LSM6DSO in degrees Celsius + :rtype: float + """ + # The LSM6DSO's temperature can be read from the OUT_TEMP_L register + # We use OUT_TEMP_L+1 if OUT_TEMP_L cannot be read + try: + return self._int16(self._get2reg(LSM_REG_OUT_TEMP_L))/256 + 25 + except MemoryError: + return self._temperature_irq() + + def _temperature_irq(self): + # Helper function for temperature() to read the alternate temperature register + self._getreg(LSM_REG_OUT_TEMP_L+1) + if self.rb[0] & 0x80: + self.rb[0] -= 256 + return self.rb[0] + 25 + + def acc_scale(self, value=None): + """ + Set the accelerometer scale in g. The scale can be: + '2g', '4g', '8g', or '16g' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) + # Check if the provided value is in the dictionary + if value not in LSM_ACCEL_FS: + # Return string representation of this value + index = list(LSM_ACCEL_FS.values()).index(self.reg_ctrl1_xl_bits.FS_XL) + return list(LSM_ACCEL_FS.keys())[index] + else: + # Set value as requested + self.reg_ctrl1_xl_bits.FS_XL = LSM_ACCEL_FS[value] + self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) + # Update scale factor for converting raw data + self._acc_scale_factor = int(value.rstrip('g')) // 2 + + def gyro_scale(self, value=None): + """ + Set the gyroscope scale in dps. The scale can be: + '125', '250', '500', '1000', or '2000' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) + # Check if the provided value is in the dictionary + if value not in LSM_GYRO_FS: + # Return string representation of this value + index = list(LSM_GYRO_FS.values()).index(self.reg_ctrl2_g_bits.FS_G) + return list(LSM_GYRO_FS.keys())[index] + else: + # Set value as requested + self.reg_ctrl2_g_bits.FS_G = LSM_GYRO_FS[value] + self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) + # Update scale factor for converting raw data + self._gyro_scale_factor = int(value.rstrip('dps')) // 125 + + def acc_rate(self, value=None): + """ + Set the accelerometer rate in Hz. The rate can be: + '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) + # Check if the provided value is in the dictionary + if value not in LSM_ODR: + # Return string representation of this value + index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_XL) + return list(LSM_ODR.keys())[index] + else: + # Set value as requested + self.reg_ctrl1_xl_bits.ODR_XL = LSM_ODR[value] + self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) + + def gyro_rate(self, value=None): + """ + Set the gyroscope rate in Hz. The rate can be: + '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' + Pass in no parameters to retrieve the current value + """ + # Get register value + self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) + # Check if the provided value is in the dictionary + if value not in LSM_ODR: + # Return string representation of this value + index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_G) + return list(LSM_ODR.keys())[index] + else: + # Set value as requested + self.reg_ctrl2_g_bits.ODR_G = LSM_ODR[value] + self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) + + # Update timer frequency + self.timer_frequency = int(value.rstrip('Hz')) + self._start_timer() + + def calibrate(self, calibration_time:float=1, vertical_axis:int= 2): + """ + Collect readings for [calibration_time] seconds and calibrate the IMU based on those readings + Do not move the robot during this time + Assumes the board to be parallel to the ground. Please use the vertical_axis parameter if that is not correct + + :param calibration_time: The time in seconds to collect readings for + :type calibration_time: float + :param vertical_axis: The axis that is vertical. 0 for X, 1 for Y, 2 for Z + :type vertical_axis: int + """ + self._stop_timer() + self.acc_offsets = [0,0,0] + self.gyro_offsets = [0,0,0] + avg_vals = [[0,0,0],[0,0,0]] + num_vals = 0 + # Wait a bit for sensor to start measuring (data registers may default to something nonsensical) + time.sleep(.1) + start_time = time.ticks_ms() + while time.ticks_ms() < start_time + calibration_time*1000: + cur_vals = self.get_acc_gyro_rates() + # Accelerometer averages + avg_vals[0][0] += cur_vals[0][0] + avg_vals[0][1] += cur_vals[0][1] + avg_vals[0][2] += cur_vals[0][2] + # Gyroscope averages + avg_vals[1][0] += cur_vals[1][0] + avg_vals[1][1] += cur_vals[1][1] + avg_vals[1][2] += cur_vals[1][2] + # Increment counter and wait for next loop + num_vals += 1 + time.sleep(1 / self.timer_frequency) + + # Compute averages + avg_vals[0][0] /= num_vals + avg_vals[0][1] /= num_vals + avg_vals[0][2] /= num_vals + avg_vals[1][0] /= num_vals + avg_vals[1][1] /= num_vals + avg_vals[1][2] /= num_vals + + avg_vals[0][vertical_axis] -= 1000 #in mg + + self.acc_offsets = avg_vals[0] + self.gyro_offsets = avg_vals[1] + self._start_timer() + + def _start_timer(self): + self.update_timer.init(freq=self.timer_frequency, callback=lambda t:self._update_imu_readings()) + + def _stop_timer(self): + self.update_timer.deinit() + + def _update_imu_readings(self): + # Called every tick through a callback timer + self.get_gyro_rates() + delta_pitch = self.irq_v[1][0] / 1000 / self.timer_frequency + delta_roll = self.irq_v[1][1] / 1000 / self.timer_frequency + delta_yaw = self.irq_v[1][2] / 1000 / self.timer_frequency + + state = disable_irq() + self.running_pitch += delta_pitch + self.running_roll += delta_roll + self.running_yaw += delta_yaw + enable_irq(state) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu_defs.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu_defs.py new file mode 100644 index 0000000..c8732de --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu_defs.py @@ -0,0 +1,83 @@ +from uctypes import BFUINT8, BF_POS, BF_LEN +from micropython import const + +""" + Possible I2C addresses +""" +LSM_ADDR_PRIMARY = const(0x6B) +LSM_ADDR_SECONDARY = const(0x6A) + +""" + Register addresses +""" +LSM_REG_WHO_AM_I = const(0x0F) +LSM_REG_CTRL1_XL = const(0x10) +LSM_REG_CTRL2_G = const(0x11) +LSM_REG_CTRL3_C = const(0x12) +LSM_REG_OUT_TEMP_L = const(0x20) +LSM_REG_OUT_TEMP_H = const(0x21) +LSM_REG_OUTX_L_G = const(0x22) +LSM_REG_OUTY_L_G = const(0x24) +LSM_REG_OUTZ_L_G = const(0x26) +LSM_REG_OUTX_L_A = const(0x28) +LSM_REG_OUTY_L_A = const(0x2A) +LSM_REG_OUTZ_L_A = const(0x2C) + +""" + Bit field struct definitions of registers +""" +LSM_REG_LAYOUT_CTRL1_XL = { + "ODR_XL" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, + "FS_XL" : BFUINT8 | 2 << BF_POS | 2 << BF_LEN, + "LPF2_XL_EN" : BFUINT8 | 1 << BF_POS | 1 << BF_LEN, +} +LSM_REG_LAYOUT_CTRL2_G = { + "ODR_G" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, + "FS_G" : BFUINT8 | 1 << BF_POS | 3 << BF_LEN, +} +LSM_REG_LAYOUT_CTRL3_C = { + "BOOT" : BFUINT8 | 7 << BF_POS | 1 << BF_LEN, + "BDU" : BFUINT8 | 6 << BF_POS | 1 << BF_LEN, + "H_LACTIVE" : BFUINT8 | 5 << BF_POS | 1 << BF_LEN, + "PP_OD" : BFUINT8 | 4 << BF_POS | 1 << BF_LEN, + "SIM" : BFUINT8 | 3 << BF_POS | 1 << BF_LEN, + "IF_INC" : BFUINT8 | 2 << BF_POS | 1 << BF_LEN, + "SW_RESET" : BFUINT8 | 0 << BF_POS | 1 << BF_LEN, +} + +""" + Dictionaries for possible register settings +""" +LSM_ODR = { + "0Hz" : 0x0, + "12.5Hz" : 0x1, + "26Hz" : 0x2, + "52Hz" : 0x3, + "104Hz" : 0x4, + "208Hz" : 0x5, + "416Hz" : 0x6, + "833Hz" : 0x7, + "1660Hz" : 0x8, + "3330Hz" : 0x9, + "6660Hz" : 0xA, +} +LSM_ACCEL_FS = { + "2g" : 0x0, + "4g" : 0x2, + "8g" : 0x3, + "16g" : 0x1, +} +LSM_GYRO_FS = { + "125dps" : 0x1, + "250dps" : 0x0, + "500dps" : 0x2, + "1000dps" : 0x4, + "2000dps" : 0x6, +} + +""" + Other contants +""" +LSM_WHO_AM_I_VALUE = 0x6C +LSM_MG_PER_LSB_2G = 0.061 +LSM_MDPS_PER_LSB_125DPS = 4.375 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor.py new file mode 100644 index 0000000..2c5d479 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor.py @@ -0,0 +1,96 @@ +from machine import Pin, PWM + +class SinglePWMMotor: + + """ + A simple class handling direction and power sets for DC motors on the XRP robots + + This version is used for the XRP Beta, which uses the rp2040 processor + """ + + def __init__(self, in1_direction_pin: int|str, in2_speed_pin: int|str, flip_dir:bool=False): + self.flip_dir = flip_dir + self._MAX_PWM = 65534 # Motor holds when actually at full power + + self._in1DirPin = Pin(in1_direction_pin, Pin.OUT) + self._in2SpeedPin = PWM(Pin(in2_speed_pin, Pin.OUT)) + self._in2SpeedPin.freq(50) + + def set_effort(self, effort: float): + """ + Sets the effort value of the motor (corresponds to power) + + :param effort: The effort to set the motor to, between -1 and 1 + :type effort: float + """ + + if effort < 0: + # Change direction if negative power + effort *= -1 + self._set_direction(1) + else: + self._set_direction(0) + # Cap power to [0,1] + effort = max(0,min(effort,1)) + self._in2SpeedPin.duty_u16(int(effort*self._MAX_PWM)) + + def _set_direction(self, direction: int): + if self.flip_dir: + self._in1DirPin.value(not direction) + else: + self._in1DirPin.value(direction) + + def brake(self): + # Motor holds with the real max duty cycle (65535) + self._in2SpeedPin.duty_u16(self._MAX_PWM+1) + + def coast(self): + self.set_effort(0) + +class DualPWMMotor: + """ + A simple class handling effort setting for DC motors on the XRP robots + + This version of the Motor class is used for the official release of the XRP + """ + + def __init__(self, in1_pwm_forward: int|str, in2_pwm_backward: int|str, flip_dir:bool=False): + self.flip_dir = flip_dir + self._MAX_PWM = 65535 # Motor holds when actually at full power + + self._in1ForwardPin = PWM(Pin(in1_pwm_forward, Pin.OUT)) + self._in2BackwardPin = PWM(Pin(in2_pwm_backward, Pin.OUT)) + self._in1ForwardPin.freq(50) + self._in2BackwardPin.freq(50) + + def set_effort(self, effort: float): + """ + Sets the effort value of the motor (corresponds to power) + + :param effort: The effort to set the motor to, between -1 and 1 + :type effort: float + """ + + in1Pwm = (effort < 0) ^ (self.flip_dir) + if in1Pwm: + self._in1ForwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) + self._in2BackwardPin.duty_u16(int(0)) + else: + self._in1ForwardPin.duty_u16(int(0)) + self._in2BackwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) + + def brake(self): + """ + Powers the motor in both directions at the same time, enabling it to hold position + """ + self._in1ForwardPin.duty_u16(int(self._MAX_PWM)) + self._in2BackwardPin.duty_u16(int(self._MAX_PWM)) + + def coast(self): + """ + Disables the motor in both directions at the same time, enabling it to spin freely + """ + self._in1ForwardPin.duty_u16(int(0)) + self._in2BackwardPin.duty_u16(int(0)) + + diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor_group.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor_group.py new file mode 100644 index 0000000..ecfe4f0 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor_group.py @@ -0,0 +1,94 @@ +from .encoded_motor import EncodedMotor +class MotorGroup(EncodedMotor): + def __init__(self, *motors: EncodedMotor): + """ + A wrapper class for multiple motors, allowing them to be treated as one motor. + + :param motors: The motors to add to this group + :type motors: tuple + """ + self.motors = [] + for motor in motors: + self.add_motor(motor) + + def add_motor(self, motor:EncodedMotor): + """ + :param motor: The motor to add to this group + :type motor: EncodedMotor + """ + self.motors.append(motor) + + def remove_motor(self, motor:EncodedMotor): + """ + :param motor: The motor to remove from this group + :type motor: EncodedMotor + """ + try: + self.motors.remove(motor) + except: + print("Failed to remove motor from Motor Group") + + def set_effort(self, effort: float): + """ + :param effort: The effort to set all motors in this group to, from -1 to 1 + :type effort: float + """ + for motor in self.motors: + motor.set_effort(effort) + + def get_position(self) -> float: + """ + :return: The average position of all motors in this group, in revolutions, relative to the last time reset was called. + :rtype: float + """ + avg = 0 + for motor in self.motors: + avg += motor.get_position() + return avg / len(self.motors) + + def get_position_counts(self) -> int: + """ + :return: The average position of all motors in this group, in encoder counts, relative to the last time reset was called. + :rtype: int + """ + avg = 0 + for motor in self.motors: + avg += motor.get_position_counts() + return round(avg / len(self.motors)) + + def reset_encoder_position(self): + """ + Resets the encoder position of all motors in this group back to zero. + """ + for motor in self.motors: + motor.reset_encoder_position() + + def get_speed(self) -> float: + """ + :return: The average speed of the motors, in rpm + :rtype: float + """ + avg = 0 + for motor in self.motors: + avg += motor.get_speed() + return avg / len(self.motors) + + + def set_speed(self, target_speed_rpm: float = None): + """ + Sets target speed (in rpm) to be maintained passively by all motors in this group + Call with no parameters to turn off speed control + + :param target_speed_rpm: The target speed for these motors in rpm, or None + :type target_speed_rpm: float, or None + """ + for motor in self.motors: + motor.set_speed(target_speed_rpm) + + def set_speed_controller(self, new_controller): + """ + :param new_controller: The new Controller for speed control + :type new_controller: Controller + """ + for motor in self.motors: + motor.set_speed_controller(new_controller) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/pid.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/pid.py new file mode 100644 index 0000000..e9c0491 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/pid.py @@ -0,0 +1,129 @@ +import time +from .controller import Controller + +""" +PID controller with exit condition +""" + +class PID(Controller): + + def __init__(self, + kp = 1.0, + ki = 0.0, + kd = 0.0, + min_output = 0.0, + max_output = 1.0, + max_derivative = None, + max_integral = None, + tolerance = 0.1, + tolerance_count = 1 + ): + """ + :param kp: proportional gain + :param ki: integral gain + :param kd: derivative gain + :param min_output: minimum output + :param max_output: maximum output + :param max_derivative: maximum derivative (change per second) + :param max_integral: maximum integral windup allowed (will cap integral at this value) + :param tolerance: tolerance for exit condition + :param tolerance_count: number of times the error needs to be within tolerance for is_done to return True + """ + self.kp = kp + self.ki = ki + self.kd = kd + self.min_output = min_output + self.max_output = max_output + self.max_derivative = max_derivative + self.max_integral = max_integral + self.tolerance = tolerance + self.tolerance_count = tolerance_count + + self.prev_error = 0 + self.prev_integral = 0 + self.prev_output = 0 + + self.start_time = None + self.prev_time = None + + # number of actual times in tolerance + self.times = 0 + + def _handle_exit_condition(self, error: float): + if abs(error) < self.tolerance: + # if error is within tolerance, increment times in tolerance + self.times += 1 + else: + # otherwise, reset times in tolerance, because we need to be in tolerance for numTimesInTolerance consecutive times + self.times = 0 + + def update(self, error: float, debug: bool = False) -> float: + """ + Handle a new update of this PID loop given an error. + + :param error: The error of the system being controlled by this PID controller + :type error: float + + :return: The system output from the controller, to be used as an effort value or for any other purpose + :rtype: float + """ + current_time = time.ticks_ms() + if self.prev_time is None: + # First update after instantiation + self.start_time = current_time + timestep = 0.01 + else: + # get time delta in seconds + timestep = time.ticks_diff(current_time, self.prev_time) / 1000 + self.prev_time = current_time # cache time for next update + + self._handle_exit_condition(error) + + integral = self.prev_integral + error * timestep + + if self.max_integral is not None: + integral = max(-self.max_integral, min(self.max_integral, integral)) + + derivative = (error - self.prev_error) / timestep + + # derive output + output = self.kp * error + self.ki * integral + self.kd * derivative + self.prev_error = error + self.prev_integral = integral + + # Bound output by minimum + if output > 0: + output = max(self.min_output, output) + else: + output = min(-self.min_output, output) + + # Bound output by maximum + output = max(-self.max_output, min(self.max_output, output)) + + # Bound output by maximum acceleration + if self.max_derivative is not None: + lower_bound = self.prev_output - self.max_derivative * timestep + upper_bound = self.prev_output + self.max_derivative * timestep + output = max(lower_bound, min(upper_bound, output)) + + # cache output for next update + self.prev_output = output + + if debug: + print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})") + + return output + + def is_done(self) -> bool: + """ + :return: if error is within tolerance for numTimesInTolerance consecutive times, or timed out + :rtype: bool + """ + return self.times >= self.tolerance_count + + def clear_history(self): + self.prev_error = 0 + self.prev_integral = 0 + self.prev_output = 0 + self.prev_time = None + self.times = 0 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/puppet.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/puppet.py new file mode 100644 index 0000000..b2788aa --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/puppet.py @@ -0,0 +1,869 @@ +""" +XRP Puppet Protocol (XPP) - Core Protocol Implementation + +A bidirectional protocol for communicating with the XRP robot remotely. +Uses a Network Tables-like architecture with variable ID mapping. +""" + +import select +import struct +import sys +import time +from machine import Timer +from micropython import const,kbd_intr + +# Message framing constants +MSG_START_1 = const(0xAA) +MSG_START_2 = const(0x55) +MSG_END_1 = const(0x55) +MSG_END_2 = const(0xAA) +MAX_PAYLOAD_SIZE = const(251) + +# Message type constants +MSG_TYPE_VAR_DEF = const(1) +MSG_TYPE_VAR_UPDATE = const(2) +MSG_TYPE_VAR_SUBSCRIBE = const(3) +MSG_TYPE_VAR_UNSUBSCRIBE = const(4) +MSG_TYPE_PROGRAM_START = const(5) +MSG_TYPE_PROGRAM_END = const(6) +MSG_TYPE_HEARTBEAT = const(7) + +# Variable type constants +VAR_TYPE_INT = const(1) +VAR_TYPE_FLOAT = const(2) +VAR_TYPE_BOOL = const(3) + +# Permission constants +PERM_READ_ONLY = const(1) +PERM_WRITE_ONLY = const(2) +PERM_READ_WRITE = const(3) + +# First custom variable ID +FIRST_CUSTOM_VAR_ID = const(38) + +# Mapping of standard variable names to IDs (1-37) +_STANDARD_VAR_IDS = { + # Gamepad variables (1-19) + '$gamepad.x1': 1, + '$gamepad.y1': 2, + '$gamepad.x2': 3, + '$gamepad.y2': 4, + '$gamepad.button_a': 5, + '$gamepad.button_b': 6, + '$gamepad.button_x': 7, + '$gamepad.button_y': 8, + '$gamepad.bumper_l': 9, + '$gamepad.bumper_r': 10, + '$gamepad.trigger_l': 11, + '$gamepad.trigger_r': 12, + '$gamepad.back': 13, + '$gamepad.start': 14, + '$gamepad.dpad_up': 15, + '$gamepad.dpad_dn': 16, + '$gamepad.dpad_l': 17, + '$gamepad.dpad_r': 18, + '$gamepad.enabled': 19, + # IMU variables (20-25) + '$imu.yaw': 20, + '$imu.roll': 21, + '$imu.pitch': 22, + '$imu.acc_x': 23, + '$imu.acc_y': 24, + '$imu.acc_z': 25, + # Encoder variables (26-29) + '$encoder.left': 26, + '$encoder.right': 27, + '$encoder.3': 28, + '$encoder.4': 29, + # Current sensor variables (30-33) + '$current.left': 30, + '$current.right': 31, + '$current.3': 32, + '$current.4': 33, + # Other sensor variables (34-37) + '$rangefinder.distance': 34, + '$reflectance.left': 35, + '$reflectance.right': 36, + '$voltage': 37, +} + + +class Puppet: + """ + Core XRP Puppet Protocol implementation. + Manages bidirectional communication, variable registry, and message handling. + """ + + _DEFAULT_PUPPET_INSTANCE = None + + @classmethod + def get_default_puppet(cls): + """ + Get the default XPP instance. This is a singleton. + """ + if cls._DEFAULT_PUPPET_INSTANCE is None: + cls._DEFAULT_PUPPET_INSTANCE = cls() + return cls._DEFAULT_PUPPET_INSTANCE + + def __init__(self): + """ + Initialize the XPP protocol handler. + """ + # Variable registry: name -> (id, type, permissions, value, update_rate, last_sent_time) + self._variables = {} + self._variable_ids = {} # id -> name (reverse mapping) + self._next_var_id = FIRST_CUSTOM_VAR_ID # Start at 38 for custom variables + + # Transport layer + self._transport = None + self._transport_type = None + self._rx_buffer = bytearray() + self._rx_state = 0 # 0=waiting for start, 1=reading length, 2=reading payload, 3=waiting for end + + # Packet tracking + self.packets_sent = 0 + self.packets_received = 0 + self.packets_dropped = 0 + self._sequence_number = 0 + + # Update rate management + self._update_timer = Timer(-1) + self._update_timer_running = False + + # STDIO polling (for USB_STDIO transport) + self._poll_timer = Timer(-1) + self._poll_timer_running = False + self._poll_stdin_poll = None + + # Program state + self._program_running = False + + # Initialize transport + self._init_transport() + + def _init_transport(self): + """ + Auto-detect and initialize transport (BLE or USB serial). + """ + # Try BLE first + try: + from ble.blerepl import uart + if len(uart._connections) > 0: + self._transport = uart + self._transport_type = 'BLE' + self._transport.set_data_callback(self._data_callback) + return + else: + self._transport_type = 'USB_STDIO' + self._start_poll_timer() + return + except ImportError: + self._transport_type = 'USB_STDIO' + self._start_poll_timer() + return + + + def _poll_stdio(self): + """ + Poll STDIO for incoming data using select.poll. + Reads raw bytes from the stdin buffer. + """ + data_read = False + while True: + events = self._stdin_poll.poll(0) + if not events: + if data_read: + self._process_rx_buffer() + break + data = sys.stdin.buffer.read(1) + self._rx_buffer.extend(data) + data_read = True + + #if data: + #print(f"Received data: {data}") + #self._data_callback(data) + + def _start_poll_timer(self): + """ + Start STDIO polling for USB_STDIO transport. + Uses select.poll on the raw stdin buffer and a timer to check it. + """ + if self._transport_type != 'USB_STDIO' or self._poll_timer_running: + return + self._stdin_poll = select.poll() + self._stdin_poll.register(sys.stdin.buffer, select.POLLIN) + + kbd_intr(-1) #the data will have 03 in it, don't do a ctrl-c for that data. + + self._poll_timer.init(period=20, mode=Timer.PERIODIC, + callback=lambda t: self._poll_stdio()) + self._poll_timer_running = True + + def _stop_poll_timer(self): + """ + Stop the STDIO polling timer and unregister from poll. + """ + if self._poll_timer_running: + self._poll_timer.deinit() + kbd_intr(03) #start watching for ctrl-c again + self._poll_timer_running = False + if self._stdin_poll is not None: + try: + self._stdin_poll.unregister(sys.stdin.buffer) + except (OSError, AttributeError): + pass + self._stdin_poll = None + def start(self): + """ + Start the STDIO polling. + """ + if self._transport_type == 'USB_STDIO': + self._start_poll_timer() + + def stop(self): + """ + Stop the STDIO polling. + """ + if self._transport_type == 'USB_STDIO': + self._stop_poll_timer() + + + def _data_callback(self, data): + """ + Handle incoming data from transport layer. + """ + if isinstance(data, (bytes, bytearray)): + self._rx_buffer.extend(data) + else: + self._rx_buffer.append(data) + + self._process_rx_buffer() + + def _process_rx_buffer(self): + """ + Process received data buffer, extracting complete messages. + """ + while len(self._rx_buffer) >= 2: + if self._rx_state == 0: # Waiting for start sequence + # Look for start sequence + idx = -1 + for i in range(len(self._rx_buffer) - 1): + if self._rx_buffer[i] == MSG_START_1 and self._rx_buffer[i+1] == MSG_START_2: + idx = i + break + + if idx == -1: + # No start sequence found, clear buffer except last byte + if len(self._rx_buffer) > 1: + #see if anything in the buffer is a ctrl-c + for i in range(len(self._rx_buffer) - 1): + if self._rx_buffer[i] == 0x03: + self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler + self._rx_buffer = self._rx_buffer[-1:] + return + + # Remove everything before start sequence + if idx > 0: + #check for a ctrl-c in the non packet parts + for i in range(idx - 1): + if self._rx_buffer[i] == 0x03: + self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler + self._rx_buffer = self._rx_buffer[idx:] + + # Found start, move to length + self._rx_state = 1 + continue + + elif self._rx_state == 1: # Reading type + if len(self._rx_buffer) < 3: # Need start(2) + type(1) + return + msg_type = self._rx_buffer[2] + self._rx_state = 2 + continue + + elif self._rx_state == 2: # Reading length + if len(self._rx_buffer) < 4: # Need start(2) + type(1) + length(1) + return + payload_len = self._rx_buffer[3] + if payload_len > MAX_PAYLOAD_SIZE: + # Invalid length, reset + self._rx_buffer = self._rx_buffer[4:] + self._rx_state = 0 + self.packets_dropped += 1 + continue + + self._rx_state = 3 + continue + + elif self._rx_state == 3: # Reading payload + payload_len = self._rx_buffer[3] + total_needed = 4 + payload_len + 2 # start(2) + type(1) + len(1) + payload + end(2) + + if len(self._rx_buffer) < total_needed: + return # Wait for more data + + # Check end sequence + end_idx = 4 + payload_len + if (self._rx_buffer[end_idx] != MSG_END_1 or + self._rx_buffer[end_idx + 1] != MSG_END_2): + # Invalid end sequence, reset + self._rx_buffer = self._rx_buffer[4:] + self._rx_state = 0 + self.packets_dropped += 1 + continue + + # Extract message type and payload data + msg_type = self._rx_buffer[2] + payload_data = bytes(self._rx_buffer[4:end_idx]) + self._rx_buffer = self._rx_buffer[total_needed:] + self._rx_state = 0 + + # Process message + self.packets_received += 1 + self._handle_message(msg_type, payload_data) + continue + + def _write_data(self, data): + """ + Write data to transport layer. + """ + if self._transport_type == 'BLE': + self._transport.write_data(data) + + elif self._transport_type == 'USB_STDIO': + sys.stdout.buffer.write(data) + + def _pack_message(self, msg_type, payload_data): + """ + Pack a message with framing. + Returns bytearray with complete message. + Format: [START] [TYPE] [LENGTH] [PAYLOAD] [END] + LENGTH includes payload_data length (not including TYPE byte) + """ + payload_len = len(payload_data) + if payload_len > MAX_PAYLOAD_SIZE: + raise ValueError(f"Payload too large: {payload_len} > {MAX_PAYLOAD_SIZE}") + + msg = bytearray() + msg.append(MSG_START_1) + msg.append(MSG_START_2) + msg.append(msg_type) + msg.append(payload_len) # Length of payload_data only + msg.extend(payload_data) + msg.append(MSG_END_1) + msg.append(MSG_END_2) + + return msg + + def _send_message(self, msg_type, payload_data): + """ + Send a message over the transport. + """ + msg = self._pack_message(msg_type, payload_data) + self._write_data(msg) + self.packets_sent += 1 + self._sequence_number = (self._sequence_number + 1) % 256 + + def _handle_message(self, msg_type, payload_data): + """ + Handle incoming message based on type. + + :param msg_type: Message type byte + :param payload_data: Message payload data (without type byte) + """ + if msg_type == MSG_TYPE_VAR_DEF: + self._handle_var_def(payload_data) + elif msg_type == MSG_TYPE_VAR_UPDATE: + self._handle_var_update(payload_data) + elif msg_type == MSG_TYPE_VAR_SUBSCRIBE: + self._handle_var_subscribe(payload_data) + elif msg_type == MSG_TYPE_VAR_UNSUBSCRIBE: + self._handle_var_unsubscribe(payload_data) + elif msg_type == MSG_TYPE_PROGRAM_START: + self._handle_program_start() + elif msg_type == MSG_TYPE_PROGRAM_END: + self._handle_program_end() + elif msg_type == MSG_TYPE_HEARTBEAT: + self._handle_heartbeat(payload_data) + + def _handle_var_def(self, payload): + """ + Handle variable definition message. + Format: name_len(1) name(name_len) type(1) permissions(1) var_id(1) + """ + if len(payload) < 3: + return + + name_len = payload[0] + if len(payload) < 1 + name_len + 3: # name_len + name + type + permissions + var_id + return + + name = payload[1:1+name_len].decode('utf-8') + var_type = payload[1+name_len] + permissions = payload[1+name_len+1] + var_id = payload[1+name_len+2] + + # If this is a standard variable, use the predefined ID instead + if name in _STANDARD_VAR_IDS: + var_id = _STANDARD_VAR_IDS[name] + + # Register the variable with the (corrected) ID + if name not in self._variables: + # Default value based on type + if var_type == VAR_TYPE_INT: + default_value = 0 + elif var_type == VAR_TYPE_FLOAT: + default_value = 0.0 + elif var_type == VAR_TYPE_BOOL: + default_value = False + else: + return + + self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) + self._variable_ids[var_id] = name + # Update next_var_id if needed (for custom variables only) + if var_id >= self._next_var_id and name not in _STANDARD_VAR_IDS: + self._next_var_id = var_id + 1 + if self._next_var_id > 255: + self._next_var_id = FIRST_CUSTOM_VAR_ID # Wrap to start of custom range + + def _handle_var_update(self, payload): + """ + Handle variable update message (batched format). + Format: count(1) [var_id(1) type(1) value(type-dependent)] * count + A count of 1 is equivalent to a single update. + """ + if len(payload) < 1: + return + + count = payload[0] + offset = 1 + + if count == 0 or count > 50: # Sanity check + return + + # Batched update format: count(1) [var_id(1) type(1) value] * count + for i in range(count): + if len(payload) < offset + 2: # Need at least var_id(1) + type(1) + break + + var_id = payload[offset] + offset += 1 + var_type = payload[offset] + offset += 1 + + if var_id not in self._variable_ids: + # Skip this update, but need to advance offset + if var_type == VAR_TYPE_INT: + offset += 4 + elif var_type == VAR_TYPE_FLOAT: + offset += 4 + elif var_type == VAR_TYPE_BOOL: + offset += 1 + continue + + name = self._variable_ids[var_id] + var_info = self._variables[name] + + # Unpack value based on type from message + if var_type == VAR_TYPE_INT: + if len(payload) < offset + 4: + break + value = struct.unpack(' 255: + raise RuntimeError("Maximum number of custom variables exceeded") + send_def = True # Send VAR_DEF for custom variables + + # Default value based on type + if var_type == VAR_TYPE_INT: + default_value = 0 + elif var_type == VAR_TYPE_FLOAT: + default_value = 0.0 + elif var_type == VAR_TYPE_BOOL: + default_value = False + else: + raise ValueError(f"Invalid variable type: {var_type}") + + self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) + self._variable_ids[var_id] = name + + # Only send variable definition for custom variables + if send_def: + self._send_var_def(name, var_type, permissions, var_id) + + return var_id + + def _send_var_def(self, name, var_type, permissions, var_id): + """ + Send variable definition message. + """ + name_bytes = name.encode('utf-8') + payload = bytearray() + payload.append(len(name_bytes)) + payload.extend(name_bytes) + payload.append(var_type) + payload.append(permissions) + payload.append(var_id) # 1 byte + + self._send_message(MSG_TYPE_VAR_DEF, payload) + + def set_variable(self, name, value): + """ + Set a variable value and send update if subscribed. + + :param name: Variable name + :param value: Variable value + """ + if name not in self._variables: + raise ValueError(f"Variable not defined: {name}") + + var_info = self._variables[name] + var_type = var_info[1] + + # Type check + if var_type == VAR_TYPE_INT and not isinstance(value, int): + raise TypeError(f"Variable {name} expects int, got {type(value)}") + elif var_type == VAR_TYPE_FLOAT and not isinstance(value, (int, float)): + raise TypeError(f"Variable {name} expects float, got {type(value)}") + elif var_type == VAR_TYPE_BOOL and not isinstance(value, bool): + raise TypeError(f"Variable {name} expects bool, got {type(value)}") + + # Update value + self._variables[name] = (var_info[0], var_info[1], var_info[2], + value, var_info[4], var_info[5]) + + # Send update if rate > 0 or if this is an on-demand update + # (on-demand updates are sent immediately when set) + if var_info[4] > 0 or var_info[4] == 0: + self._send_var_update(name) + + def get_variable(self, name): + """ + Get a variable value. + + :param name: Variable name + :return: Variable value + """ + if name not in self._variables: + raise ValueError(f"Variable not defined: {name}") + + return self._variables[name][3] + + def _send_var_update(self, name): + """ + Send single variable update message (uses batched format with count=1). + For multiple updates, use _send_batched_var_updates(). + """ + if name not in self._variables: + return + + var_info = self._variables[name] + var_id = var_info[0] + var_type = var_info[1] + value = var_info[3] + + # Pack as batched update with count=1 + payload = bytearray() + payload.append(1) # count = 1 + payload.append(var_id) # 1 byte + payload.append(var_type) # Include type byte + + if var_type == VAR_TYPE_INT: + payload.extend(struct.pack(' 0 and enough time has passed + if rate > 0: + period_ms = int(1000 / rate) + if time.ticks_diff(current_time, last_sent) < period_ms: + continue # Not ready yet + + updates.append((name, var_info)) + + if not updates: + return + + # Pack batched update: count(1) [var_id(1) type(1) value] * count + payload = bytearray() + payload.append(len(updates)) # count + + for name, var_info in updates: + var_id = var_info[0] + var_type = var_info[1] + value = var_info[3] + + payload.append(var_id) # 1 byte + payload.append(var_type) + + if var_type == VAR_TYPE_INT: + payload.extend(struct.pack(' max_rate: + max_rate = var_info[4] + + if max_rate > 0 and not self._update_timer_running: + # Start timer at max_rate Hz + period_ms = int(1000 / max_rate) + self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._update_timer_callback()) + self._update_timer_running = True + elif max_rate == 0 and self._update_timer_running: + # Stop timer + self._update_timer.deinit() + self._update_timer_running = False + elif max_rate > 0 and self._update_timer_running: + # Update timer period if rate changed + period_ms = int(1000 / max_rate) + self._update_timer.deinit() + self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, + callback=lambda t: self._update_timer_callback()) + + def _update_timer_callback(self): + """ + Timer callback to send variable updates at their specified rates. + Batches all ready updates into a single message for efficiency. + """ + current_time = time.ticks_ms() + + # Collect all variables that are ready to send + ready_vars = [] + for name, var_info in self._variables.items(): + var_id, var_type, permissions, value, rate, last_sent = var_info + + # Only send if rate > 0 and enough time has passed + if rate > 0: + period_ms = int(1000 / rate) + if time.ticks_diff(current_time, last_sent) >= period_ms: + # Check if we have read permission + if permissions in (PERM_READ_ONLY, PERM_READ_WRITE): + ready_vars.append(name) + + # Send all ready updates in a single batched message + if ready_vars: + self._send_batched_var_updates(ready_vars) + + def send_program_start(self): + """ + Send program start message. + """ + self._send_message(MSG_TYPE_PROGRAM_START, b'') + self._program_running = True + + def send_program_end(self): + """ + Send program end message. + """ + self._send_message(MSG_TYPE_PROGRAM_END, b'') + self._program_running = False + + def send_heartbeat(self): + """ + Send heartbeat message. + """ + # Include stats + payload = struct.pack(' float: + """ + Get the distance in centimeters by measuring the echo pulse time + """ + if time.ticks_diff(time.ticks_us(), self.last_echo_time) < self.cache_time_us and not (self.cms == 65535 or self.cms == 0): + return self.cms + + try: + pulse_time = self._send_pulse_and_wait() + if pulse_time <= 0: + return self.MAX_VALUE + except OSError as exception: + # We don't want programs to crash if the HC-SR04 doesn't see anything in range + # So we catch those errors and return 65535 instead + if exception.args[0] == 110: # 110 = ETIMEDOUT + return self.MAX_VALUE + raise exception + + # To calculate the distance we get the pulse_time and divide it by 2 + # (the pulse walk the distance twice) and by 29.1 becasue + # the sound speed on air (343.2 m/s), that It's equivalent to + # 0.034320 cm/us that is 1cm each 29.1us + self.cms = (pulse_time / 2) / 29.1 + self.last_echo_time = time.ticks_us() + return self.cms + + def _delay_us(self, delay:int): + """ + Custom implementation of time.sleep_us(), used to get around the bug in MicroPython where time.sleep_us() + doesn't work properly and causes the IDE to hang when uploading the code + """ + start = time.ticks_us() + while time.ticks_diff(time.ticks_us(), start) < delay: + pass diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/reflectance.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/reflectance.py new file mode 100644 index 0000000..c986952 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/reflectance.py @@ -0,0 +1,49 @@ +from machine import Pin, ADC + +class Reflectance: + + _DEFAULT_REFLECTANCE_INSTANCE = None + + @classmethod + def get_default_reflectance(cls): + """ + Get the default XRP reflectance sensor instance. This is a singleton, so only one instance of the reflectance sensor will ever exist. + """ + if cls._DEFAULT_REFLECTANCE_INSTANCE is None: + cls._DEFAULT_REFLECTANCE_INSTANCE = cls() + return cls._DEFAULT_REFLECTANCE_INSTANCE + + def __init__(self, leftPin: int|str = "LINE_L", rightPin: int|str = "LINE_R"): + """ + Implements for a reflectance sensor using the built in 12-bit ADC. + Reads from analog in and converts to a float from 0 (white) to 1 (black) + + :param leftPin: The pin the left reflectance sensor is connected to + :type leftPin: int + :param rightPin: The pin the right reflectance sensor is connected to + :type rightPin: int + """ + self._leftReflectance = ADC(Pin(leftPin)) + self._rightReflectance = ADC(Pin(rightPin)) + + self.MAX_ADC_VALUE: int = 65536 + + def _get_value(self, sensor: ADC) -> float: + + return sensor.read_u16() / self.MAX_ADC_VALUE + + def get_left(self) -> float: + """ + Gets the the reflectance of the left reflectance sensor + : return: The reflectance ranging from 0 (white) to 1 (black) + : rtype: float + """ + return self._get_value(self._leftReflectance) + + def get_right(self) -> float: + """ + Gets the the reflectance of the right reflectance sensor + : return: The reflectance ranging from 0 (white) to 1 (black) + : rtype: float + """ + return self._get_value(self._rightReflectance) diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/resetbot.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/resetbot.py new file mode 100644 index 0000000..5397560 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/resetbot.py @@ -0,0 +1,76 @@ +import sys +""" +A simple file for shutting off all of the motors after a program gets interrupted from the REPL. +Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL. +""" + +def reset_motors(): + from XRPLib.encoded_motor import EncodedMotor + # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init + for i in range(4): + motor = EncodedMotor.get_default_encoded_motor(i+1) + motor.set_speed(0) + motor.reset_encoder_position() + +def reset_led(): + from XRPLib.board import Board + # Turn off the on-board LED + Board.get_default_board().led_off() + try: + # Turn off the RGB LED for boards that have it + Board.get_default_board().set_rgb_led(0, 0, 0) + except: + pass + +def reset_servos(): + from XRPLib.servo import Servo + # Turn off both Servos + Servo.get_default_servo(1).free() + Servo.get_default_servo(2).free() + try: #if 2350 then there are 4 servos + Servo.get_default_servo(3).free() + Servo.get_default_servo(4).free() + except: + pass + +def reset_webserver(): + from XRPLib.webserver import Webserver + # Shut off the webserver and close network connections + Webserver.get_default_webserver().stop_server() + +def reset_gamepad(): + from XRPLib.gamepad import Gamepad + # Stop the browser from sending more gamepad data + Gamepad.get_default_gamepad().stop() + +def reset_dashboard(): + from XRPLib.dashboard import Dashboard + # Stop the dashboard from sending more data + Dashboard.get_default_dashboard().stop() + +def reset_hard(): + reset_gamepad() + reset_dashboard() + reset_motors() + reset_led() + reset_servos() + reset_webserver() + +if "XRPLib.gamepad" in sys.modules: + reset_gamepad() + +if "XRPLib.dashboard" in sys.modules: + reset_dashboard() + +if "XRPLib.encoded_motor" in sys.modules: + reset_motors() + +if "XRPLib.board" in sys.modules: + reset_led() + +if "XRPLib.servo" in sys.modules: + reset_servos() + +if "XRPLib.webserver" in sys.modules: + reset_webserver() + diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/servo.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/servo.py new file mode 100644 index 0000000..e606dac --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/servo.py @@ -0,0 +1,66 @@ +from machine import Pin, PWM +import sys + +class Servo: + + _DEFAULT_SERVO_ONE_INSTANCE = None + _DEFAULT_SERVO_TWO_INSTANCE = None + _DEFAULT_SERVO_THREE_INSTANCE = None + _DEFAULT_SERVO_FOUR_INSTANCE = None + + @classmethod + def get_default_servo(cls, index:int): + """ + Gets one of the default XRP servo instances. These are singletons, so only one instance of each servo will ever exist. + Raises an exception if an invalid index is requested. + + :param index: The index of the servo to get (1-4; Beta only has 1 and 2) + :type index: int + """ + if index == 1: + if cls._DEFAULT_SERVO_ONE_INSTANCE is None: + cls._DEFAULT_SERVO_ONE_INSTANCE = cls("SERVO_1") + servo = cls._DEFAULT_SERVO_ONE_INSTANCE + elif index == 2: + if cls._DEFAULT_SERVO_TWO_INSTANCE is None: + cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2") + servo = cls._DEFAULT_SERVO_TWO_INSTANCE + elif index == 3 and hasattr(Pin.board, "SERVO_3"): + if cls._DEFAULT_SERVO_THREE_INSTANCE is None: + cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3") + servo = cls._DEFAULT_SERVO_THREE_INSTANCE + elif index == 4 and hasattr(Pin.board, "SERVO_4"): + if cls._DEFAULT_SERVO_FOUR_INSTANCE is None: + cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4") + servo = cls._DEFAULT_SERVO_FOUR_INSTANCE + else: + return Exception("Invalid servo index") + return servo + + def __init__(self, signal_pin: int|str): + """ + A simple class for interacting with a servo through PWM + + :param signal_pin: The pin the servo is connected to + :type signal_pin: int | str + """ + + self._servo = PWM(Pin(signal_pin, Pin.OUT)) + # Initialize base frequency for the PWM + self._servo.freq(50) + self.MICROSEC_PER_DEGREE: int = 10000 + self.LOW_ANGLE_OFFSET: int = 500000 + + def set_angle(self, degrees: float): + """ + Sets the angle of the servo + :param degrees: The angle to set the servo to [0,200] + :ptype degrees: float + """ + self._servo.duty_ns(int(degrees * self.MICROSEC_PER_DEGREE + self.LOW_ANGLE_OFFSET)) + + def free(self): + """ + Allows the servo to spin freely without holding position + """ + self._servo.duty_ns(0) diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/timeout.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/timeout.py new file mode 100644 index 0000000..7d7a669 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/timeout.py @@ -0,0 +1,23 @@ +import time + +class Timeout: + def __init__(self, timeout: float): + """ + Starts a timer that will expire after the given timeout. + + :param timeout: The timeout, in seconds + :type timeout: float + """ + self.timeout = timeout + if self.timeout != None: + self.timeout = timeout*1000 + + self.start_time = time.ticks_ms() + + def is_done(self): + """ + :return: True if the timeout has expired, False otherwise + """ + if self.timeout is None: + return False + return time.ticks_ms() - self.start_time > self.timeout \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/webserver.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/webserver.py new file mode 100644 index 0000000..bedbba6 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/webserver.py @@ -0,0 +1,326 @@ +from phew import server, template, logging, access_point, dns +from phew.template import render_template +from phew.server import redirect, stop, close +import gc +import network +import time +import json + +logging.log_file = "webserverLog.txt" + +class Webserver: + + @classmethod + def get_default_webserver(cls): + """ + Get the default webserver instance. This is a singleton, so only one instance of the webserver will ever exist. + """ + return webserver + + def __init__(self): + """ + Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below. + """ + + gc.threshold(50000) # garbage collection + self.logged_data = {} + self.buttons = {"forwardButton": lambda: logging.debug("Button not initialized"), + "backButton": lambda: logging.debug("Button not initialized"), + "leftButton": lambda: logging.debug("Button not initialized"), + "rightButton": lambda: logging.debug("Button not initialized"), + "stopButton": lambda: logging.debug("Button not initialized")} + self.FUNCTION_PREFIX = "startfunction" + self.FUNCTION_SUFFIX = "endfunction" + self.display_arrows = False + # Instantiate self.wlan now so that running stop before start doesn't cause an error + self.wlan = network.WLAN(network.STA_IF) + + def start_network(self, ssid:str=None, robot_id:int= None, password:str=None): + """ + Open an access point from the XRP board to be used as a captive host. The default network information can be set in secrets.json + + :param ssid: The ssid of the access point, defaults to value from secrets.json + :type ssid: str, optional + :param robot_id: Replaces "{robot_id}" in ssid, defaults to value from secrets.json + :type robot_id: int, optional + :param password: The password of the access point, defaults to value from secrets.json + :type password: str, optional + """ + if ssid is None: + try: + with open("../../secrets.json") as secrets_file: + secrets = json.load(secrets_file) + ssid = str(secrets["ap_ssid"]) + password = str(secrets["ap_password"]) + if robot_id is None: + robot_id = str(secrets["robot_id"]) + ssid = ssid.replace("{robot_id}", robot_id) + except (OSError, KeyError, ValueError): + if robot_id is None: + robot_id = 1 + ssid = f"XRP_{robot_id}" + password = "remote.xrp" + if password is not None and len(password) < 8: + logging.warn("Password is less than 8 characters, this may cause issues with some devices") + self.wlan = access_point(ssid, password) + logging.info(f"Starting Access Point \"{ssid}\"") + self.ip = self.wlan.ifconfig()[0] + + def connect_to_network(self, ssid:str=None, password:str=None, timeout = 10): + """ + Connect to a wifi network with the given ssid and password. + If the connection fails, the board will disconnect from the network and return. + + :param ssid: The ssid of the network, defaults to value from secrets.json + :type ssid: str, optional + :param password: The password of the network, defaults to value from secrets.json + :type password: str, optional + :param timeout: The amount of time to wait for the connection to succeed, defaults to 10 + :type timeout: int, optional + """ + self.wlan = network.WLAN(network.STA_IF) + self.wlan.active(True) # configure board to connect to wifi + if ssid is None: + try: + with open("../../secrets.json") as secrets_file: + secrets = json.load(secrets_file) + ssid = str(secrets["wifi_ssid"]) + password = str(secrets["wifi_password"]) + except (OSError, KeyError, ValueError): + print("secrets.json not found or improperly formatted") + return False + self.wlan.connect(ssid,password) + start_time = time.time() + while not self.wlan.isconnected(): + print("Connecting to network, may take a second") + if time.time() > start_time+timeout: + print("Failed to connect to network, please try again") + self.wlan.disconnect() + return False + time.sleep(0.25) + self.ip = self.wlan.ifconfig()[0] + + def start_server(self): + """ + Begin the webserver in either access point or bridge mode. The IP is printed to the console. + + Preconditions: Either start_network or connect_to_network must be called before this method. + """ + self.wlan.active(True) + logging.info(f"Starting DNS Server at {self.ip}") + dns.run_catchall(self.ip) + self.DOMAIN = self.ip + logging.disable_logging_types(logging.LOG_INFO) + server.run() + + def stop_server(self): + """ + Shuts off the webserver and network and stops handling requests + """ + if self.wlan.active(): + logging.enable_logging_types(logging.LOG_INFO) + logging.info("Stopping Webserver and Network Connections") + + stop() + self.wlan.active(False) + + def _index_page(self, request): + # Render index page and respond to form requests + if request.method == 'GET': + return self._generateHTML() + if request.method == 'POST': + if str(list(request.form.values())[0]).count(" ") == 0: + text = str(list(request.form.keys())[0]) + else: + text = str(list(request.form.values())[0]) + self._handleUserFunctionRequest(text) + return self._generateHTML() + + def _hotspot(self, request): + # Redirect to Index Page + return self._generateHTML() + + def _catch_all(self, request): + # Catch all requests and redirect if necessary + if request.headers.get("host") != self.DOMAIN: + return redirect("http://"+self.DOMAIN+"/") + return self._index_page(request=request) + + def log_data(self, label:str, data): + """ + Register a custom label to be displayed on the webserver + + :param label: The label as it will be displayed, must be unique + :type label: str + :param data: The data to be displayed + :type data: Any (converted to string) + """ + self.logged_data[label] = data + + def add_button(self, button_name:str, function): + """ + Register a custom button to be displayed on the webserver + + :param button_name: The label for the button as it will be displayed, must be unique + :type button_name: str + :param function: The function to be called when the button is pressed + :type function: function + """ + self.buttons[button_name] = function + + def registerForwardButton(self, function): + """ + Assign a function to the forward button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["forwardButton"] = function + + def registerBackwardButton(self, function): + """ + Assign a function to the backward button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["backButton"] = function + + def registerLeftButton(self, function): + """ + Assign a function to the left button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["leftButton"] = function + + def registerRightButton(self, function): + """ + Assign a function to the right button + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["rightButton"] = function + + def registerStopButton(self, function): + """ + Assign a function to the stop + + :param function: The function to be called when the button is pressed + :type function: function + """ + self.display_arrows = True + self.buttons["stopButton"] = function + + def _handleUserFunctionRequest(self, text) -> bool: + print(f"Running {text}") + try: + user_function = self.buttons[text] + if user_function is None: + logging.warning("User function "+text+" not found") + return False + user_function() + return True + except RuntimeError as xcpt: + logging.error("User function "+text+" caused an exception: "+str(xcpt)) + return False + + def _generateHTML(self): + + string = _HTML1 + + if self.display_arrows: + string += _HTML_ARROWS + + string += f'

Custom Function Bindings:

' + # add each button's href to html + for button in self.buttons.keys(): + if(["forwardButton","backButton","leftButton","rightButton","stopButton"].count(button) > 0): + # Slightly cursed solution to not display the arrow buttons as text buttons + continue + string += f'

' + string += "\n" + + string += f'

Logged Data:

' + # add logged data to the html + for data_label in self.logged_data.keys(): + string += f'

{data_label}: {str(self.logged_data[data_label])}

' + string += "\n" + + string += _HTML2 + + return string + +""" Use decorators to bind the wifi methods to the requests """ +webserver = Webserver() + +@server.route("/", methods=['GET','POST']) +def index(request): + return webserver._index_page(request) + +@server.route("/hotspot-detect.html", methods=["GET"]) +def hotspot(request): + return webserver._hotspot(request) + +@server.catchall() +def catch_all(request): + return webserver._catch_all(request) + +_HTML1 = """ + + + + + + + + + + +

XRP control page

+ +

+""" + +_HTML_ARROWS = """ +

+
+
+    +
+    +
+
+
+""" + +_HTML2 = """ +

+ + + + +""" \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/ble/__init__.py b/public/firmware-loader/boards/xrp-beta/micropython/ble/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/public/firmware-loader/boards/xrp-beta/micropython/ble/ble_uart_peripheral.py b/public/firmware-loader/boards/xrp-beta/micropython/ble/ble_uart_peripheral.py new file mode 100644 index 0000000..d9da813 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/ble/ble_uart_peripheral.py @@ -0,0 +1,158 @@ +# This implements the Nordic UART Service (NUS). + +import bluetooth +#from .ble_advertising import advertising_payload +import struct +from micropython import const +from machine import Timer + +#Advertise info +# org.bluetooth.characteristic.gap.appearance.xml +_ADV_APPEARANCE_GENERIC_COMPUTER = const(128) +_ADV_TYPE_FLAGS = const(0x01) +_ADV_TYPE_APPEARANCE = const(0x19) +_ADV_TYPE_NAME = const(0x09) + +_IRQ_CENTRAL_CONNECT = const(1) +_IRQ_CENTRAL_DISCONNECT = const(2) +_IRQ_GATTS_WRITE = const(3) +_IRQ_GATTS_INDICATE_DONE = const(20) + +_FLAG_READ = const(0x0002) +_FLAG_WRITE = const(0x0008) +_FLAG_NOTIFY = const(0x0010) + +_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") +_UART_TX = ( + bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"), + _FLAG_NOTIFY, +) +_UART_RX = ( + bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E"), + _FLAG_WRITE, +) + +# Define a new UUID for the binary data characteristic. +_UART_DATA_RX = ( + bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36ff"), + _FLAG_WRITE, +) +# Define a new UUID for the binary data characteristic. +_UART_DATA_TX = ( + bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36fe"), + _FLAG_NOTIFY, +) + +_UART_SERVICE = ( + _UART_UUID, + (_UART_TX, _UART_RX, _UART_DATA_RX, _UART_DATA_TX,), +) + +_timer = Timer(-1) + +def delayedRestart(_arg): + import machine + machine.reset() + +class BLEUART: + def __init__(self, ble, name="mpy-uart", rxbuf=100): + self._ble = ble + self._ble.active(True) + self._ble.irq(self._irq) + ((self._tx_handle, self._rx_handle, self._data_rx_handle, self._data_tx_handle),) = self._ble.gatts_register_services((_UART_SERVICE,)) + # Increase the size of the rx buffer and enable append mode. + self._ble.gatts_set_buffer(self._rx_handle, rxbuf, True) + self._connections = set() + self._rx_buffer = bytearray() + self._handler = None + self._payload = self._advertising_payload(name, _ADV_APPEARANCE_GENERIC_COMPUTER) + self._data_callback = None + self._advertise() + + def irq(self, handler): + self._handler = handler + + def _irq(self, event, data): + # Track connections so we can send notifications. + if event == _IRQ_CENTRAL_CONNECT: + conn_handle, _, _ = data + self._connections.add(conn_handle) + elif event == _IRQ_CENTRAL_DISCONNECT: + conn_handle, _, _ = data + if conn_handle in self._connections: + self._connections.remove(conn_handle) + # Start advertising again to allow a new connection. + self._advertise() + elif event == _IRQ_GATTS_WRITE: + conn_handle, value_handle = data + if conn_handle in self._connections and value_handle == self._rx_handle: + self._rx_buffer += self._ble.gatts_read(self._rx_handle) + if(self._rx_buffer.find(b'##XRPSTOP#' + b'#') != -1): #WARNING: This is broken up so it won't restart during an update or this file. + self._rx_buffer = bytearray() + # set the bit in isrunning to tell main not to re-run the program so the IDE can connect + FILE_PATH = '/lib/ble/isrunning' + with open(FILE_PATH, 'r+b') as file: + file.write(b'\x01') + # slight delay to avoid errors on the browser side. + _timer.init(mode=Timer.PERIODIC, period=50, callback=delayedRestart) + elif conn_handle in self._connections and value_handle == self._data_rx_handle: + new_data = self._ble.gatts_read(self._data_rx_handle) + if self._data_callback: + self._data_callback(new_data) + #schedule(self._data_callback, new_data) + elif event == _IRQ_GATTS_INDICATE_DONE: + if self._handler: + self._handler() + #else: + #print("IRQ Event Code: " + str(event)) + + def any(self): + return len(self._rx_buffer) + + def read(self, sz=None): + if not sz: + sz = len(self._rx_buffer) + result = self._rx_buffer[0:sz] + self._rx_buffer = self._rx_buffer[sz:] + return result + + def write(self, data): + #print("write:" + data) + for conn_handle in self._connections: + self._ble.gatts_indicate(conn_handle, self._tx_handle, data) + + def write_data(self, data): + #print("write_data:" + data) + for conn_handle in self._connections: + self._ble.gatts_notify(conn_handle, self._data_tx_handle, data) + + def set_data_callback(self, callback): + self._data_callback = callback + + def clear_data_callback(self): + self._data_callback = None + + def close(self): + for conn_handle in self._connections: + self._ble.gap_disconnect(conn_handle) + self._connections.clear() + + def _advertise(self, interval_us=500000): + self._ble.gap_advertise(interval_us, adv_data=self._payload) + + # Generate a payload to be passed to gap_advertise(adv_data=...). + def _advertising_payload(self, name, appearance): + payload = bytearray() + + def _append(adv_type, value): + nonlocal payload + payload += struct.pack("BB", len(value) + 1, adv_type) + value + + _append( + _ADV_TYPE_FLAGS, + struct.pack("B", 0x02 + 0x04), + ) + _append(_ADV_TYPE_NAME, name) + _append(_ADV_TYPE_APPEARANCE, struct.pack("= len(self._tx_buf): + self._tx_buf = bytearray() + self._tx_buf_index = 0 + self._uart.write(data) + + def write(self, buf): + state = disable_irq() + empty = not self._tx_buf + self._tx_buf += buf + enable_irq(state) + + if empty: + waitingForTimer = True + schedule_in(self._timer_handler, 50) + +def background_task(): + global uart + ble = bluetooth.BLE() + x = (''.join(['{:02x}'.format(b) for b in unique_id()])) + uart = BLEUART(ble, name="XRP-" + x[11:], rxbuf = 250) + stream = BLEUARTStream(uart) + os.dupterm(stream,0) + +# Start the background task +background_task() + \ No newline at end of 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relatively large blocks of ram. +import gc, os, machine +gc.threshold(50000) + +# phew! the Pico (or Python) HTTP Endpoint Wrangler +from . import logging + +# determine if remotely mounted or not, changes some behaviours like +# logging truncation +remote_mount = False +try: + os.statvfs(".") # causes exception if remotely mounted (mpremote/pyboard.py) +except: + remote_mount = True + +def get_ip_address(): + import network + try: + return network.WLAN(network.STA_IF).ifconfig()[0] + except: + return None + +def is_connected_to_wifi(): + import network, time + wlan = network.WLAN(network.STA_IF) + return wlan.isconnected() + +# helper method to quickly get connected to wifi +def connect_to_wifi(ssid, password, timeout_seconds=30): + import network, time + + statuses = { + network.STAT_IDLE: "idle", + network.STAT_CONNECTING: "connecting", + network.STAT_WRONG_PASSWORD: "wrong password", + network.STAT_NO_AP_FOUND: "access point not found", + network.STAT_CONNECT_FAIL: "connection failed", + network.STAT_GOT_IP: "got ip address" + } + + wlan = network.WLAN(network.STA_IF) + wlan.active(True) + wlan.connect(ssid, password) + start = time.ticks_ms() + status = wlan.status() + + logging.debug(f" - {statuses[status]}") + while not wlan.isconnected() and (time.ticks_ms() - start) < (timeout_seconds * 1000): + new_status = wlan.status() + if status != new_status: + logging.debug(f" - {statuses[status]}") + status = new_status + time.sleep(0.25) + + if wlan.status() == network.STAT_GOT_IP: + return wlan.ifconfig()[0] + return None + + +# helper method to put the pico into access point mode +def access_point(ssid, password = None): + import network + + # start up network in access point mode + wlan = network.WLAN(network.AP_IF) + wlan.config(essid=ssid) + if password: + wlan.config(password=password) + else: + wlan.config(security=0) # disable password + wlan.active(True) + + return wlan diff --git a/public/firmware-loader/boards/xrp-beta/micropython/phew/dns.py b/public/firmware-loader/boards/xrp-beta/micropython/phew/dns.py new file mode 100644 index 0000000..2a1a4b3 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/phew/dns.py @@ -0,0 +1,32 @@ +import uasyncio, usocket +from . import logging + +async def _handler(socket, ip_address): + while True: + try: + yield uasyncio.core._io_queue.queue_read(socket) + request, client = socket.recvfrom(256) + response = request[:2] # request id + response += b"\x81\x80" # response flags + response += request[4:6] + request[4:6] # qd/an count + response += b"\x00\x00\x00\x00" # ns/ar count + response += request[12:] # origional request body + response += b"\xC0\x0C" # pointer to domain name at byte 12 + response += b"\x00\x01\x00\x01" # type and class (A record / IN class) + response += b"\x00\x00\x00\x3C" # time to live 60 seconds + response += b"\x00\x04" # response length (4 bytes = 1 ipv4 address) + response += bytes(map(int, ip_address.split("."))) # ip address parts + socket.sendto(response, client) + except Exception as e: + logging.error(e) + +def run_catchall(ip_address, port=53): + logging.info("> starting catch all dns server on port {}".format(port)) + + _socket = usocket.socket(usocket.AF_INET, usocket.SOCK_DGRAM) + _socket.setblocking(False) + _socket.setsockopt(usocket.SOL_SOCKET, usocket.SO_REUSEADDR, 1) + _socket.bind(usocket.getaddrinfo(ip_address, port, 0, usocket.SOCK_DGRAM)[0][-1]) + + loop = uasyncio.get_event_loop() + loop.create_task(_handler(_socket, ip_address)) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/phew/logging.py b/public/firmware-loader/boards/xrp-beta/micropython/phew/logging.py new file mode 100644 index 0000000..dd70394 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/phew/logging.py @@ -0,0 +1,111 @@ +import machine, os, gc + +log_file = "log.txt" + +LOG_INFO = 0b00001 +LOG_WARNING = 0b00010 +LOG_ERROR = 0b00100 +LOG_DEBUG = 0b01000 +LOG_EXCEPTION = 0b10000 +LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION + +_logging_types = LOG_ALL + +# the log file will be truncated if it exceeds _log_truncate_at bytes in +# size. the defaults values are designed to limit the log to at most +# three blocks on the Pico +_log_truncate_at = 11 * 1024 +_log_truncate_to = 8 * 1024 + +def datetime_string(): + dt = machine.RTC().datetime() + return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) + +def file_size(file): + try: + return os.stat(file)[6] + except OSError: + return None + +def set_truncate_thresholds(truncate_at, truncate_to): + global _log_truncate_at + global _log_truncate_to + _log_truncate_at = truncate_at + _log_truncate_to = truncate_to + +def enable_logging_types(types): + global _logging_types + _logging_types = _logging_types | types + +def disable_logging_types(types): + global _logging_types + _logging_types = _logging_types & ~types + +# truncates the log file down to a target size while maintaining +# clean line breaks +def truncate(file, target_size): + # get the current size of the log file + size = file_size(file) + + # calculate how many bytes we're aiming to discard + discard = size - target_size + if discard <= 0: + return + + with open(file, "rb") as infile: + with open(file + ".tmp", "wb") as outfile: + # skip a bunch of the input file until we've discarded + # at least enough + while discard > 0: + chunk = infile.read(1024) + discard -= len(chunk) + + # try to find a line break nearby to split first chunk on + break_position = max( + chunk.find (b"\n", -discard), # search forward + chunk.rfind(b"\n", -discard) # search backwards + ) + if break_position != -1: # if we found a line break.. + outfile.write(chunk[break_position + 1:]) + + # now copy the rest of the file + while True: + chunk = infile.read(1024) + if not chunk: + break + outfile.write(chunk) + + # delete the old file and replace with the new + os.remove(file) + os.rename(file + ".tmp", file) + + +def log(level, text): + datetime = datetime_string() + log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) + print(log_entry) + with open(log_file, "a") as logfile: + logfile.write(log_entry + '\n') + + if _log_truncate_at and file_size(log_file) > _log_truncate_at: + truncate(log_file, _log_truncate_to) + +def info(*items): + if _logging_types & LOG_INFO: + log("info", " ".join(map(str, items))) + +def warn(*items): + if _logging_types & LOG_WARNING: + log("warning", " ".join(map(str, items))) + +def error(*items): + if _logging_types & LOG_ERROR: + log("error", " ".join(map(str, items))) + +def debug(*items): + if _logging_types & LOG_DEBUG: + log("debug", " ".join(map(str, items))) + +def exception(*items): + if _logging_types & LOG_EXCEPTION: + log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/phew/server.py b/public/firmware-loader/boards/xrp-beta/micropython/phew/server.py new file mode 100644 index 0000000..60a3113 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/phew/server.py @@ -0,0 +1,358 @@ +import uasyncio, os, time +from . import logging + +_routes = [] +catchall_handler = None +loop = uasyncio.get_event_loop() + + +def file_exists(filename): + try: + return (os.stat(filename)[0] & 0x4000) == 0 + except OSError: + return False + + +def urldecode(text): + text = text.replace("+", " ") + result = "" + token_caret = 0 + # decode any % encoded characters + while True: + start = text.find("%", token_caret) + if start == -1: + result += text[token_caret:] + break + result += text[token_caret:start] + code = int(text[start + 1:start + 3], 16) + result += chr(code) + token_caret = start + 3 + return result + +def _parse_query_string(query_string): + result = {} + for parameter in query_string.split("&"): + key, value = parameter.split("=", 1) + key = urldecode(key) + value = urldecode(value) + result[key] = value + return result + + +class Request: + def __init__(self, method, uri, protocol): + self.method = method + self.uri = uri + self.protocol = protocol + self.form = {} + self.data = {} + self.query = {} + query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) + self.path = uri[:query_string_start] + self.query_string = uri[query_string_start + 1:] + if self.query_string: + self.query = _parse_query_string(self.query_string) + + def __str__(self): + return f"""\ +request: {self.method} {self.path} {self.protocol} +headers: {self.headers} +form: {self.form} +data: {self.data}""" + + +class Response: + def __init__(self, body, status=200, headers={}): + self.status = status + self.headers = headers + self.body = body + + def add_header(self, name, value): + self.headers[name] = value + + def __str__(self): + return f"""\ +status: {self.status} +headers: {self.headers} +body: {self.body}""" + + +content_type_map = { + "html": "text/html", + "jpg": "image/jpeg", + "jpeg": "image/jpeg", + "svg": "image/svg+xml", + "json": "application/json", + "png": "image/png", + "css": "text/css", + "js": "text/javascript", + "csv": "text/csv", +} + + +class FileResponse(Response): + def __init__(self, file, status=200, headers={}): + self.status = 404 + self.headers = headers + self.file = file + + try: + if (os.stat(self.file)[0] & 0x4000) == 0: + self.status = 200 + + # auto set content type + extension = self.file.split(".")[-1].lower() + if extension in content_type_map: + headers["Content-Type"] = content_type_map[extension] + + headers["Content-Length"] = os.stat(self.file)[6] + except OSError: + return False + + +class Route: + def __init__(self, path, handler, methods=["GET"]): + self.path = path + self.methods = methods + self.handler = handler + self.path_parts = path.split("/") + + # returns True if the supplied request matches this route + def matches(self, request): + if request.method not in self.methods: + return False + compare_parts = request.path.split("/") + if len(compare_parts) != len(self.path_parts): + return False + for part, compare in zip(self.path_parts, compare_parts): + if not part.startswith("<") and part != compare: + return False + return True + + # call the route handler passing any named parameters in the path + def call_handler(self, request): + parameters = {} + for part, compare in zip(self.path_parts, request.path.split("/")): + if part.startswith("<"): + name = part[1:-1] + parameters[name] = compare + + return self.handler(request, **parameters) + + def __str__(self): + return f"""\ +path: {self.path} +methods: {self.methods} +""" + + def __repr__(self): + return f"" + + +# parses the headers for a http request (or the headers attached to +# each field in a multipart/form-data) +async def _parse_headers(reader): + headers = {} + while True: + header_line = await reader.readline() + if header_line == b"\r\n": # crlf denotes body start + break + name, value = header_line.decode().strip().split(": ", 1) + headers[name.lower()] = value + return headers + + +# returns the route matching the supplied path or None +def _match_route(request): + for route in _routes: + if route.matches(request): + return route + return None + + +# if the content type is multipart/form-data then parse the fields +async def _parse_form_data(reader, headers): + boundary = headers["content-type"].split("boundary=")[1] + # discard first boundary line + dummy = await reader.readline() + + form = {} + while True: + # get the field name + field_headers = await _parse_headers(reader) + if len(field_headers) == 0: + break + name = field_headers["content-disposition"].split("name=\"")[1][:-1] + # get the field value + value = "" + while True: + line = await reader.readline() + line = line.decode().strip() + # if we hit a boundary then save the value and move to next field + if line == "--" + boundary: + form[name] = value + break + # if we hit end of form data boundary then save value and return + if line == "--" + boundary + "--": + form[name] = value + return form + value += line + return None + + +# if the content type is application/json then parse the body +async def _parse_json_body(reader, headers): + import json + content_length_bytes = int(headers["content-length"]) + body = await reader.readexactly(content_length_bytes) + return json.loads(body.decode()) + + +status_message_map = { + 200: "OK", 201: "Created", 202: "Accepted", + 203: "Non-Authoritative Information", 204: "No Content", + 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", + 301: "Moved Permanently", 302: "Found", 303: "See Other", + 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", + 307: "Temporary Redirect", 308: "Permanent Redirect", + 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", + 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", + 408: "Request Timeout", 409: "Conflict", 410: "Gone", + 414: "URI Too Long", 415: "Unsupported Media Type", + 416: "Range Not Satisfiable", 418: "I'm a teapot", + 500: "Internal Server Error", 501: "Not Implemented" +} + + +# handle an incoming request to the web server +async def _handle_request(reader, writer): + response = None + + request_start_time = time.ticks_ms() + + request_line = await reader.readline() + try: + method, uri, protocol = request_line.decode().split() + except Exception as e: + logging.error(e) + return + + request = Request(method, uri, protocol) + request.headers = await _parse_headers(reader) + if "content-length" in request.headers and "content-type" in request.headers: + if request.headers["content-type"].startswith("multipart/form-data"): + request.form = await _parse_form_data(reader, request.headers) + if request.headers["content-type"].startswith("application/json"): + request.data = await _parse_json_body(reader, request.headers) + if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): + form_data = await reader.read(int(request.headers["content-length"])) + request.form = _parse_query_string(form_data.decode()) + + route = _match_route(request) + if route: + response = route.call_handler(request) + elif catchall_handler: + response = catchall_handler(request) + + # if shorthand body generator only notation used then convert to tuple + if type(response).__name__ == "generator": + response = (response,) + + # if shorthand body text only notation used then convert to tuple + if isinstance(response, str): + response = (response,) + + # if shorthand tuple notation used then build full response object + if isinstance(response, tuple): + body = response[0] + status = response[1] if len(response) >= 2 else 200 + content_type = response[2] if len(response) >= 3 else "text/html" + response = Response(body, status=status) + response.add_header("Content-Type", content_type) + if hasattr(body, '__len__'): + response.add_header("Content-Length", len(body)) + + # write status line + status_message = status_message_map.get(response.status, "Unknown") + writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) + + # write headers + for key, value in response.headers.items(): + writer.write(f"{key}: {value}\r\n".encode("ascii")) + + # blank line to denote end of headers + writer.write("\r\n".encode("ascii")) + + if isinstance(response, FileResponse): + # file + with open(response.file, "rb") as f: + while True: + chunk = f.read(1024) + if not chunk: + break + writer.write(chunk) + await writer.drain() + elif type(response.body).__name__ == "generator": + # generator + for chunk in response.body: + writer.write(chunk) + await writer.drain() + else: + # string/bytes + writer.write(response.body) + await writer.drain() + + writer.close() + await writer.wait_closed() + + processing_time = time.ticks_ms() - request_start_time + logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") + + +# adds a new route to the routing table +def add_route(path, handler, methods=["GET"]): + global _routes + _routes.append(Route(path, handler, methods)) + # descending complexity order so most complex routes matched first + _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) + + +def set_callback(handler): + global catchall_handler + catchall_handler = handler + + +# decorator shorthand for adding a route +def route(path, methods=["GET"]): + def _route(f): + add_route(path, f, methods=methods) + return f + return _route + + +# decorator for adding catchall route +def catchall(): + def _catchall(f): + set_callback(f) + return f + return _catchall + + +def redirect(url, status = 301): + return Response("", status, {"Location": url}) + + +def serve_file(file): + return FileResponse(file) + + +def run(host = "0.0.0.0", port = 80): + logging.info("> starting web server on port {}".format(port)) + loop.create_task(uasyncio.start_server(_handle_request, host, port)) + loop.run_forever() + +def stop(): + loop.stop() + +def close(): + loop.close() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/phew/template.py b/public/firmware-loader/boards/xrp-beta/micropython/phew/template.py new file mode 100644 index 0000000..d1d1df4 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/phew/template.py @@ -0,0 +1,65 @@ +from . import logging + +async def render_template(template, **kwargs): + import time + start_time = time.ticks_ms() + + with open(template, "rb") as f: + # read the whole template file, we could work on single lines but + # the performance is much worse - so long as our templates are + # just a handful of kB it's ok to do this + data = f.read() + token_caret = 0 + + while True: + # find the next tag that needs evaluating + start = data.find(b"{{", token_caret) + end = data.find(b"}}", start) + + match = start != -1 and end != -1 + + # no more magic to handle, just return what's left + if not match: + yield data[token_caret:] + break + + expression = data[start + 2:end].strip() + + # output the bit before the tag + yield data[token_caret:start] + + # merge locals with the supplied named arguments and + # the response object + params = {} + params.update(locals()) + params.update(kwargs) + #params["response"] = response + + # parse the expression + try: + if expression.decode("utf-8") in params: + result = params[expression.decode("utf-8")] + result = result.replace("&", "&") + result = result.replace('"', """) + result = result.replace("'", "'") + result = result.replace(">", ">") + result = result.replace("<", "<") + else: + result = eval(expression, globals(), params) + + if type(result).__name__ == "generator": + # if expression returned a generator then iterate it fully + # and yield each result + for chunk in result: + yield chunk + else: + # yield the result of the expression + if result is not None: + yield str(result) + except: + pass + + # discard the parsed bit + token_caret = end + 2 + + logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/project.json b/public/firmware-loader/boards/xrp-beta/micropython/project.json new file mode 100644 index 0000000..d33b376 --- /dev/null +++ b/public/firmware-loader/boards/xrp-beta/micropython/project.json @@ -0,0 +1,45 @@ +{ + "title": "MicroPython", + "description": "Flash MicroPython firmware, then copy the listed XRPLib, XRPExamples, ble and phew files to your robot.", + "uf2Path": "firmware.uf2", + "version": "2.2.1", + "urls": [ + ["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], + ["/lib/XRPLib/board.py", "XRPLib/board.py"], + ["/lib/XRPLib/controller.py", "XRPLib/controller.py"], + ["/lib/XRPLib/dashboard.py", "XRPLib/dashboard.py"], + ["/lib/XRPLib/defaults.py", "XRPLib/defaults.py"], + ["/lib/XRPLib/differential_drive.py", "XRPLib/differential_drive.py"], + ["/lib/XRPLib/encoded_motor.py", "XRPLib/encoded_motor.py"], + ["/lib/XRPLib/encoder.py", "XRPLib/encoder.py"], + ["/lib/XRPLib/gamepad.py", "XRPLib/gamepad.py"], + ["/lib/XRPLib/imu.py", "XRPLib/imu.py"], + ["/lib/XRPLib/imu_defs.py", "XRPLib/imu_defs.py"], + ["/lib/XRPLib/motor.py", "XRPLib/motor.py"], + ["/lib/XRPLib/motor_group.py", "XRPLib/motor_group.py"], + ["/lib/XRPLib/pid.py", "XRPLib/pid.py"], + ["/lib/XRPLib/puppet.py", "XRPLib/puppet.py"], + ["/lib/XRPLib/rangefinder.py", "XRPLib/rangefinder.py"], + ["/lib/XRPLib/reflectance.py", "XRPLib/reflectance.py"], + ["/lib/XRPLib/resetbot.py", "XRPLib/resetbot.py"], + ["/lib/XRPLib/servo.py", "XRPLib/servo.py"], + ["/lib/XRPLib/timeout.py", "XRPLib/timeout.py"], + ["/lib/XRPLib/webserver.py", "XRPLib/webserver.py"], + ["/XRPExamples/__init__.py", "XRPExamples/__init__.py"], + ["/XRPExamples/drive_examples.py", "XRPExamples/drive_examples.py"], + ["/XRPExamples/gamepad_example.blocks", "XRPExamples/gamepad_example.blocks"], + ["/XRPExamples/installation_verification.py", "XRPExamples/installation_verification.py"], + ["/XRPExamples/led_example.py", "XRPExamples/led_example.py"], + ["/XRPExamples/sensor_examples.py", "XRPExamples/sensor_examples.py"], + ["/XRPExamples/webserver_example.py", "XRPExamples/webserver_example.py"], + ["/lib/ble/__init__.py", "ble/__init__.py"], + ["/lib/ble/ble_uart_peripheral.py", "ble/ble_uart_peripheral.py"], + ["/lib/ble/blerepl.py", "ble/blerepl.py"], + ["/lib/ble/isrunning", "ble/isrunning"], + ["/lib/phew/__init__.py", "phew/__init__.py"], + ["/lib/phew/dns.py", "phew/dns.py"], + ["/lib/phew/logging.py", "phew/logging.py"], + ["/lib/phew/server.py", "phew/server.py"], + ["/lib/phew/template.py", "phew/template.py"] + ] +} diff --git a/public/firmware-loader/boards/xrp-beta/wpilib/firmware.uf2 b/public/firmware-loader/boards/xrp-beta/wpilib/firmware.uf2 new file mode 100644 index 0000000000000000000000000000000000000000..5513eefa3b185361faad60ddb06651f0eb029d17 GIT binary 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z;$NupFHGUT8}v(b5bVLm{Wo;R(_p*Tz&Y8!PYxnG39{MXpQT7(T`3V;fqE!@eA_?f zRpQ_jIh7KhN|BRYC*&ackatie{mJVSIg=tMWlP2Z3*)#ScBb6+r^t0Fa$SlX9xb}> zj|uDlnJWL8Dg23k$veHsLHuLSYpDJd`PlY^vy(jm%*t(gV6EpMiXK0d zt@I0uETAXM^f)6^d9-ikRm75K3CZDw=K$bs5#YOwDi#qx>mjv6_1ipI<9^PQ4gSv- zz_S8a-Ks_W3vd}oRr!3(DSo*1gKYl{&je40(@xa+tnyD*Fe+iCNFYqs2ogQn8xjBg zdraUzTjf9d4*tm=nCKyeHA?ohM4s$ji9gw+62DBo5N@v!@WR)4 pump 1 - # Threshold in pF; water when below threshold (dry soil) - controller.register_plant_system( - sensor_index=1, - pump_index=1, - interval_minutes=5.0, - threshold=300.0, # Water when soil moisture below 300 pF (adjust for your sensor) - duration_seconds=3.0, - enabled=True - ) - - # Plant system 2: capacitive sensor 2 -> pump 2 - controller.register_plant_system( - sensor_index=2, - pump_index=2, - interval_minutes=5.0, - threshold=300.0, # Water when soil moisture below 300 pF (adjust for your sensor) - duration_seconds=3.0, - enabled=True - ) - - # Start the automatic control loop - controller.start_control_loop() - print("Controller started with automatic watering enabled") - - # Create webserver - webserver = AgXRPWebServer() - - # Register controller with webserver (if we have one) - if controller: - webserver.register_controller(controller) - - # Register sensors that will be displayed on the web page - # webserver.register_temperature() - # webserver.register_humidity() - # webserver.register_co2() - # webserver.register_light_intensity() - webserver.register_soil_moisture_sensor_1() - webserver.register_soil_moisture_sensor_2() - - # Start access point - if not webserver.start_access_point(ssid="AgXRP_SensorKit_2", password="sensor123", use_random_data=USE_RANDOM_DATA): - print("ERROR: Failed to start access point") - return - - print(f"Access point started. Connect to 'AgXRP_SensorKit_2' and visit http://{webserver.get_ip_address()}") - - # Start web server - # Note: server.run() is blocking, so for real sensors you would need - # to use uasyncio to run sensor updates concurrently - print("Starting web server...") - print("Press Ctrl+C to stop") - - try: - if USE_RANDOM_DATA: - # For random data mode, the update endpoint will generate new data - # when the Update button is clicked - webserver.run() - else: - # For real sensors, use uasyncio to run sensor updates concurrently - async def update_sensors(): - while True: - agxrp.update() - data = {} - if agxrp.co2_sensor and agxrp.co2_sensor.is_connected(): - data["temperature"] = agxrp.co2_sensor.get_temperature() - data["humidity"] = agxrp.co2_sensor.get_humidity() - data["co2"] = agxrp.co2_sensor.get_co2() - if agxrp.light_sensor and agxrp.light_sensor.is_connected(): - data["light_intensity"] = agxrp.light_sensor.get_ambient_light() - for idx in [1, 2]: - if idx in agxrp.soil_sensors: - sensor = agxrp.soil_sensors[idx] - if sensor and sensor.is_connected(): - data[f"soil_moisture_{idx}"] = sensor.get_moisture() - webserver.update_sensor_data(data) - await uasyncio.sleep(2) - - loop = uasyncio.get_event_loop() - loop.create_task(update_sensors()) - webserver.run() - - except KeyboardInterrupt: - print("\nShutting down...") - if controller: - controller.stop_control_loop() - print("Controller stopped") - if agxrp: - print("Sensor kit stopped") - print("Web server stopped") - -if __name__ == "__main__": - main() - diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/__init__.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/__init__.py deleted file mode 100644 index 4131b0f..0000000 --- a/public/firmware-loader/boards/xrp-2350/agxrp/phew/__init__.py +++ /dev/null @@ -1,77 +0,0 @@ -__version__ = "0.0.2" - -# highly recommended to set a lowish garbage collection threshold -# to minimise memory fragmentation as we sometimes want to -# allocate relatively large blocks of ram. -import gc, os, machine -gc.threshold(50000) - -# phew! the Pico (or Python) HTTP Endpoint Wrangler -from . import logging - -# determine if remotely mounted or not, changes some behaviours like -# logging truncation -remote_mount = False -try: - os.statvfs(".") # causes exception if remotely mounted (mpremote/pyboard.py) -except: - remote_mount = True - -def get_ip_address(): - import network - try: - return network.WLAN(network.STA_IF).ifconfig()[0] - except: - return None - -def is_connected_to_wifi(): - import network, time - wlan = network.WLAN(network.STA_IF) - return wlan.isconnected() - -# helper method to quickly get connected to wifi -def connect_to_wifi(ssid, password, timeout_seconds=30): - import network, time - - statuses = { - network.STAT_IDLE: "idle", - network.STAT_CONNECTING: "connecting", - network.STAT_WRONG_PASSWORD: "wrong password", - network.STAT_NO_AP_FOUND: "access point not found", - network.STAT_CONNECT_FAIL: "connection failed", - network.STAT_GOT_IP: "got ip address" - } - - wlan = network.WLAN(network.STA_IF) - wlan.active(True) - wlan.connect(ssid, password) - start = time.ticks_ms() - status = wlan.status() - - logging.debug(f" - {statuses[status]}") - while not wlan.isconnected() and (time.ticks_ms() - start) < (timeout_seconds * 1000): - new_status = wlan.status() - if status != new_status: - logging.debug(f" - {statuses[status]}") - status = new_status - time.sleep(0.25) - - if wlan.status() == network.STAT_GOT_IP: - return wlan.ifconfig()[0] - return None - - -# helper method to put the pico into access point mode -def access_point(ssid, password = None): - import network - - # start up network in access point mode - wlan = network.WLAN(network.AP_IF) - wlan.config(essid=ssid) - if password: - wlan.config(password=password) - else: - wlan.config(security=0) # disable password - wlan.active(True) - - return wlan diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/dns.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/dns.py deleted file mode 100644 index 2a1a4b3..0000000 --- a/public/firmware-loader/boards/xrp-2350/agxrp/phew/dns.py +++ /dev/null @@ -1,32 +0,0 @@ -import uasyncio, usocket -from . import logging - -async def _handler(socket, ip_address): - while True: - try: - yield uasyncio.core._io_queue.queue_read(socket) - request, client = socket.recvfrom(256) - response = request[:2] # request id - response += b"\x81\x80" # response flags - response += request[4:6] + request[4:6] # qd/an count - response += b"\x00\x00\x00\x00" # ns/ar count - response += request[12:] # origional request body - response += b"\xC0\x0C" # pointer to domain name at byte 12 - response += b"\x00\x01\x00\x01" # type and class (A record / IN class) - response += b"\x00\x00\x00\x3C" # time to live 60 seconds - response += b"\x00\x04" # response length (4 bytes = 1 ipv4 address) - response += bytes(map(int, ip_address.split("."))) # ip address parts - socket.sendto(response, client) - except Exception as e: - logging.error(e) - -def run_catchall(ip_address, port=53): - logging.info("> starting catch all dns server on port {}".format(port)) - - _socket = usocket.socket(usocket.AF_INET, usocket.SOCK_DGRAM) - _socket.setblocking(False) - _socket.setsockopt(usocket.SOL_SOCKET, usocket.SO_REUSEADDR, 1) - _socket.bind(usocket.getaddrinfo(ip_address, port, 0, usocket.SOCK_DGRAM)[0][-1]) - - loop = uasyncio.get_event_loop() - loop.create_task(_handler(_socket, ip_address)) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/logging.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/logging.py deleted file mode 100644 index dd70394..0000000 --- a/public/firmware-loader/boards/xrp-2350/agxrp/phew/logging.py +++ /dev/null @@ -1,111 +0,0 @@ -import machine, os, gc - -log_file = "log.txt" - -LOG_INFO = 0b00001 -LOG_WARNING = 0b00010 -LOG_ERROR = 0b00100 -LOG_DEBUG = 0b01000 -LOG_EXCEPTION = 0b10000 -LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION - -_logging_types = LOG_ALL - -# the log file will be truncated if it exceeds _log_truncate_at bytes in -# size. the defaults values are designed to limit the log to at most -# three blocks on the Pico -_log_truncate_at = 11 * 1024 -_log_truncate_to = 8 * 1024 - -def datetime_string(): - dt = machine.RTC().datetime() - return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) - -def file_size(file): - try: - return os.stat(file)[6] - except OSError: - return None - -def set_truncate_thresholds(truncate_at, truncate_to): - global _log_truncate_at - global _log_truncate_to - _log_truncate_at = truncate_at - _log_truncate_to = truncate_to - -def enable_logging_types(types): - global _logging_types - _logging_types = _logging_types | types - -def disable_logging_types(types): - global _logging_types - _logging_types = _logging_types & ~types - -# truncates the log file down to a target size while maintaining -# clean line breaks -def truncate(file, target_size): - # get the current size of the log file - size = file_size(file) - - # calculate how many bytes we're aiming to discard - discard = size - target_size - if discard <= 0: - return - - with open(file, "rb") as infile: - with open(file + ".tmp", "wb") as outfile: - # skip a bunch of the input file until we've discarded - # at least enough - while discard > 0: - chunk = infile.read(1024) - discard -= len(chunk) - - # try to find a line break nearby to split first chunk on - break_position = max( - chunk.find (b"\n", -discard), # search forward - chunk.rfind(b"\n", -discard) # search backwards - ) - if break_position != -1: # if we found a line break.. - outfile.write(chunk[break_position + 1:]) - - # now copy the rest of the file - while True: - chunk = infile.read(1024) - if not chunk: - break - outfile.write(chunk) - - # delete the old file and replace with the new - os.remove(file) - os.rename(file + ".tmp", file) - - -def log(level, text): - datetime = datetime_string() - log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) - print(log_entry) - with open(log_file, "a") as logfile: - logfile.write(log_entry + '\n') - - if _log_truncate_at and file_size(log_file) > _log_truncate_at: - truncate(log_file, _log_truncate_to) - -def info(*items): - if _logging_types & LOG_INFO: - log("info", " ".join(map(str, items))) - -def warn(*items): - if _logging_types & LOG_WARNING: - log("warning", " ".join(map(str, items))) - -def error(*items): - if _logging_types & LOG_ERROR: - log("error", " ".join(map(str, items))) - -def debug(*items): - if _logging_types & LOG_DEBUG: - log("debug", " ".join(map(str, items))) - -def exception(*items): - if _logging_types & LOG_EXCEPTION: - log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/server.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/server.py deleted file mode 100644 index 60a3113..0000000 --- a/public/firmware-loader/boards/xrp-2350/agxrp/phew/server.py +++ /dev/null @@ -1,358 +0,0 @@ -import uasyncio, os, time -from . import logging - -_routes = [] -catchall_handler = None -loop = uasyncio.get_event_loop() - - -def file_exists(filename): - try: - return (os.stat(filename)[0] & 0x4000) == 0 - except OSError: - return False - - -def urldecode(text): - text = text.replace("+", " ") - result = "" - token_caret = 0 - # decode any % encoded characters - while True: - start = text.find("%", token_caret) - if start == -1: - result += text[token_caret:] - break - result += text[token_caret:start] - code = int(text[start + 1:start + 3], 16) - result += chr(code) - token_caret = start + 3 - return result - -def _parse_query_string(query_string): - result = {} - for parameter in query_string.split("&"): - key, value = parameter.split("=", 1) - key = urldecode(key) - value = urldecode(value) - result[key] = value - return result - - -class Request: - def __init__(self, method, uri, protocol): - self.method = method - self.uri = uri - self.protocol = protocol - self.form = {} - self.data = {} - self.query = {} - query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) - self.path = uri[:query_string_start] - self.query_string = uri[query_string_start + 1:] - if self.query_string: - self.query = _parse_query_string(self.query_string) - - def __str__(self): - return f"""\ -request: {self.method} {self.path} {self.protocol} -headers: {self.headers} -form: {self.form} -data: {self.data}""" - - -class Response: - def __init__(self, body, status=200, headers={}): - self.status = status - self.headers = headers - self.body = body - - def add_header(self, name, value): - self.headers[name] = value - - def __str__(self): - return f"""\ -status: {self.status} -headers: {self.headers} -body: {self.body}""" - - -content_type_map = { - "html": "text/html", - "jpg": "image/jpeg", - "jpeg": "image/jpeg", - "svg": "image/svg+xml", - "json": "application/json", - "png": "image/png", - "css": "text/css", - "js": "text/javascript", - "csv": "text/csv", -} - - -class FileResponse(Response): - def __init__(self, file, status=200, headers={}): - self.status = 404 - self.headers = headers - self.file = file - - try: - if (os.stat(self.file)[0] & 0x4000) == 0: - self.status = 200 - - # auto set content type - extension = self.file.split(".")[-1].lower() - if extension in content_type_map: - headers["Content-Type"] = content_type_map[extension] - - headers["Content-Length"] = os.stat(self.file)[6] - except OSError: - return False - - -class Route: - def __init__(self, path, handler, methods=["GET"]): - self.path = path - self.methods = methods - self.handler = handler - self.path_parts = path.split("/") - - # returns True if the supplied request matches this route - def matches(self, request): - if request.method not in self.methods: - return False - compare_parts = request.path.split("/") - if len(compare_parts) != len(self.path_parts): - return False - for part, compare in zip(self.path_parts, compare_parts): - if not part.startswith("<") and part != compare: - return False - return True - - # call the route handler passing any named parameters in the path - def call_handler(self, request): - parameters = {} - for part, compare in zip(self.path_parts, request.path.split("/")): - if part.startswith("<"): - name = part[1:-1] - parameters[name] = compare - - return self.handler(request, **parameters) - - def __str__(self): - return f"""\ -path: {self.path} -methods: {self.methods} -""" - - def __repr__(self): - return f"" - - -# parses the headers for a http request (or the headers attached to -# each field in a multipart/form-data) -async def _parse_headers(reader): - headers = {} - while True: - header_line = await reader.readline() - if header_line == b"\r\n": # crlf denotes body start - break - name, value = header_line.decode().strip().split(": ", 1) - headers[name.lower()] = value - return headers - - -# returns the route matching the supplied path or None -def _match_route(request): - for route in _routes: - if route.matches(request): - return route - return None - - -# if the content type is multipart/form-data then parse the fields -async def _parse_form_data(reader, headers): - boundary = headers["content-type"].split("boundary=")[1] - # discard first boundary line - dummy = await reader.readline() - - form = {} - while True: - # get the field name - field_headers = await _parse_headers(reader) - if len(field_headers) == 0: - break - name = field_headers["content-disposition"].split("name=\"")[1][:-1] - # get the field value - value = "" - while True: - line = await reader.readline() - line = line.decode().strip() - # if we hit a boundary then save the value and move to next field - if line == "--" + boundary: - form[name] = value - break - # if we hit end of form data boundary then save value and return - if line == "--" + boundary + "--": - form[name] = value - return form - value += line - return None - - -# if the content type is application/json then parse the body -async def _parse_json_body(reader, headers): - import json - content_length_bytes = int(headers["content-length"]) - body = await reader.readexactly(content_length_bytes) - return json.loads(body.decode()) - - -status_message_map = { - 200: "OK", 201: "Created", 202: "Accepted", - 203: "Non-Authoritative Information", 204: "No Content", - 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", - 301: "Moved Permanently", 302: "Found", 303: "See Other", - 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", - 307: "Temporary Redirect", 308: "Permanent Redirect", - 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", - 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", - 408: "Request Timeout", 409: "Conflict", 410: "Gone", - 414: "URI Too Long", 415: "Unsupported Media Type", - 416: "Range Not Satisfiable", 418: "I'm a teapot", - 500: "Internal Server Error", 501: "Not Implemented" -} - - -# handle an incoming request to the web server -async def _handle_request(reader, writer): - response = None - - request_start_time = time.ticks_ms() - - request_line = await reader.readline() - try: - method, uri, protocol = request_line.decode().split() - except Exception as e: - logging.error(e) - return - - request = Request(method, uri, protocol) - request.headers = await _parse_headers(reader) - if "content-length" in request.headers and "content-type" in request.headers: - if request.headers["content-type"].startswith("multipart/form-data"): - request.form = await _parse_form_data(reader, request.headers) - if request.headers["content-type"].startswith("application/json"): - request.data = await _parse_json_body(reader, request.headers) - if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): - form_data = await reader.read(int(request.headers["content-length"])) - request.form = _parse_query_string(form_data.decode()) - - route = _match_route(request) - if route: - response = route.call_handler(request) - elif catchall_handler: - response = catchall_handler(request) - - # if shorthand body generator only notation used then convert to tuple - if type(response).__name__ == "generator": - response = (response,) - - # if shorthand body text only notation used then convert to tuple - if isinstance(response, str): - response = (response,) - - # if shorthand tuple notation used then build full response object - if isinstance(response, tuple): - body = response[0] - status = response[1] if len(response) >= 2 else 200 - content_type = response[2] if len(response) >= 3 else "text/html" - response = Response(body, status=status) - response.add_header("Content-Type", content_type) - if hasattr(body, '__len__'): - response.add_header("Content-Length", len(body)) - - # write status line - status_message = status_message_map.get(response.status, "Unknown") - writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) - - # write headers - for key, value in response.headers.items(): - writer.write(f"{key}: {value}\r\n".encode("ascii")) - - # blank line to denote end of headers - writer.write("\r\n".encode("ascii")) - - if isinstance(response, FileResponse): - # file - with open(response.file, "rb") as f: - while True: - chunk = f.read(1024) - if not chunk: - break - writer.write(chunk) - await writer.drain() - elif type(response.body).__name__ == "generator": - # generator - for chunk in response.body: - writer.write(chunk) - await writer.drain() - else: - # string/bytes - writer.write(response.body) - await writer.drain() - - writer.close() - await writer.wait_closed() - - processing_time = time.ticks_ms() - request_start_time - logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") - - -# adds a new route to the routing table -def add_route(path, handler, methods=["GET"]): - global _routes - _routes.append(Route(path, handler, methods)) - # descending complexity order so most complex routes matched first - _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) - - -def set_callback(handler): - global catchall_handler - catchall_handler = handler - - -# decorator shorthand for adding a route -def route(path, methods=["GET"]): - def _route(f): - add_route(path, f, methods=methods) - return f - return _route - - -# decorator for adding catchall route -def catchall(): - def _catchall(f): - set_callback(f) - return f - return _catchall - - -def redirect(url, status = 301): - return Response("", status, {"Location": url}) - - -def serve_file(file): - return FileResponse(file) - - -def run(host = "0.0.0.0", port = 80): - logging.info("> starting web server on port {}".format(port)) - loop.create_task(uasyncio.start_server(_handle_request, host, port)) - loop.run_forever() - -def stop(): - loop.stop() - -def close(): - loop.close() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/phew/template.py b/public/firmware-loader/boards/xrp-2350/agxrp/phew/template.py deleted file mode 100644 index d1d1df4..0000000 --- a/public/firmware-loader/boards/xrp-2350/agxrp/phew/template.py +++ /dev/null @@ -1,65 +0,0 @@ -from . import logging - -async def render_template(template, **kwargs): - import time - start_time = time.ticks_ms() - - with open(template, "rb") as f: - # read the whole template file, we could work on single lines but - # the performance is much worse - so long as our templates are - # just a handful of kB it's ok to do this - data = f.read() - token_caret = 0 - - while True: - # find the next tag that needs evaluating - start = data.find(b"{{", token_caret) - end = data.find(b"}}", start) - - match = start != -1 and end != -1 - - # no more magic to handle, just return what's left - if not match: - yield data[token_caret:] - break - - expression = data[start + 2:end].strip() - - # output the bit before the tag - yield data[token_caret:start] - - # merge locals with the supplied named arguments and - # the response object - params = {} - params.update(locals()) - params.update(kwargs) - #params["response"] = response - - # parse the expression - try: - if expression.decode("utf-8") in params: - result = params[expression.decode("utf-8")] - result = result.replace("&", "&") - result = result.replace('"', """) - result = result.replace("'", "'") - result = result.replace(">", ">") - result = result.replace("<", "<") - else: - result = eval(expression, globals(), params) - - if type(result).__name__ == "generator": - # if expression returned a generator then iterate it fully - # and yield each result - for chunk in result: - yield chunk - else: - # yield the result of the expression - if result is not None: - yield str(result) - except: - pass - - # discard the parsed bit - token_caret = end + 2 - - logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/agxrp/project.json b/public/firmware-loader/boards/xrp-2350/agxrp/project.json deleted file mode 100644 index 62de1c1..0000000 --- a/public/firmware-loader/boards/xrp-2350/agxrp/project.json +++ /dev/null @@ -1,77 +0,0 @@ -{ - "title": "AgXRP", - "description": "Flash MicroPython firmware, then copy the files needed for an AgXRP.", - "uf2Path": "firmware.uf2", - "version": "1.0.1", - "urls": [ - ["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], - ["/lib/XRPLib/board.py", "XRPLib/board.py"], - ["/lib/XRPLib/controller.py", "XRPLib/controller.py"], - ["/lib/XRPLib/defaults.py", "XRPLib/defaults.py"], - ["/lib/XRPLib/differential_drive.py", "XRPLib/differential_drive.py"], - ["/lib/XRPLib/encoded_motor.py", "XRPLib/encoded_motor.py"], - ["/lib/XRPLib/encoder.py", "XRPLib/encoder.py"], - ["/lib/XRPLib/gamepad.py", "XRPLib/gamepad.py"], - ["/lib/XRPLib/imu.py", "XRPLib/imu.py"], - ["/lib/XRPLib/imu_defs.py", "XRPLib/imu_defs.py"], - ["/lib/XRPLib/motor.py", "XRPLib/motor.py"], - ["/lib/XRPLib/motor_group.py", "XRPLib/motor_group.py"], - ["/lib/XRPLib/pid.py", "XRPLib/pid.py"], - ["/lib/XRPLib/rangefinder.py", "XRPLib/rangefinder.py"], - ["/lib/XRPLib/reflectance.py", "XRPLib/reflectance.py"], - ["/lib/XRPLib/resetbot.py", "XRPLib/resetbot.py"], - ["/lib/XRPLib/servo.py", "XRPLib/servo.py"], - ["/lib/XRPLib/timeout.py", "XRPLib/timeout.py"], - ["/lib/XRPLib/webserver.py", "XRPLib/webserver.py"], - - ["/lib/AgXRPLib/agxrp_controller.py", "AgXRPLib/agxrp_controller.py"], - ["/lib/AgXRPLib/agxrp_csv_logger.py", "AgXRPLib/agxrp_csv_logger.py"], - ["/lib/AgXRPLib/agxrp_sensor_as7343.py", "AgXRPLib/agxrp_sensor_as7343.py"], - ["/lib/AgXRPLib/agxrp_sensor_kit copy.py", "AgXRPLib/agxrp_sensor_kit copy.py"], - ["/lib/AgXRPLib/agxrp_sensor_kit_demo.py", "AgXRPLib/agxrp_sensor_kit_demo.py"], - ["/lib/AgXRPLib/agxrp_sensor_kit.py", "AgXRPLib/agxrp_sensor_kit.py"], - ["/lib/AgXRPLib/agxrp_sensor_resistive_soil.py", "AgXRPLib/agxrp_sensor_resistive_soil.py"], - ["/lib/AgXRPLib/agxrp_sensor_scd4x.py", "AgXRPLib/agxrp_sensor_scd4x.py"], - ["/lib/AgXRPLib/agxrp_sensor_soil.py", "AgXRPLib/agxrp_sensor_soil.py"], - ["/lib/AgXRPLib/agxrp_sensor_veml.py", "AgXRPLib/agxrp_sensor_veml.py"], - ["/lib/AgXRPLib/agxrp_sensor.py", "AgXRPLib/agxrp_sensor.py"], - ["/lib/AgXRPLib/agxrp_water_pump.py", "AgXRPLib/agxrp_water_pump.py"], - ["/lib/AgXRPLib/agxrp_webserver.py", "AgXRPLib/agxrp_webserver.py"], - ["/lib/AgXRPLib/qwiic_as7343.py", "AgXRPLib/qwiic_as7343.py"], - ["/lib/AgXRPLib/qwiic_cy8cmbr3.py", "AgXRPLib/qwiic_cy8cmbr3.py"], - ["/lib/AgXRPLib/qwiic_scd4x.py", "AgXRPLib/qwiic_scd4x.py"], - ["/lib/AgXRPLib/qwiic_soil_moisture_sensor.py", "AgXRPLib/qwiic_soil_moisture_sensor.py"], - ["/lib/AgXRPLib/qwiic_veml.py", "AgXRPLib/qwiic_veml.py"], - - ["/lib/AgXRPLib/qwiic_i2c/__init__.py", "AgXRPLib/qwiic_i2c/__init__.py"], - ["/lib/AgXRPLib/qwiic_i2c/circuitpython_i2c.py", "AgXRPLib/qwiic_i2c/circuitpython_i2c.py"], - ["/lib/AgXRPLib/qwiic_i2c/i2c_driver.py", "AgXRPLib/qwiic_i2c/i2c_driver.py"], - ["/lib/AgXRPLib/qwiic_i2c/linux_i2c.py", "AgXRPLib/qwiic_i2c/linux_i2c.py"], - ["/lib/AgXRPLib/qwiic_i2c/micropython_i2c.py", "AgXRPLib/qwiic_i2c/micropython_i2c.py"], - - ["/lib/AgXRPLib/qwiic_oled/__init__.py", "AgXRPLib/qwiic_oled/__init__.py"], - ["/lib/AgXRPLib/qwiic_oled/oled_fonts.py", "AgXRPLib/qwiic_oled/oled_fonts.py"], - ["/lib/AgXRPLib/qwiic_oled/oled_logos.py", "AgXRPLib/qwiic_oled/oled_logos.py"], - ["/lib/AgXRPLib/qwiic_oled/qwiic_large_oled.py", "AgXRPLib/qwiic_oled/qwiic_large_oled.py"], - ["/lib/AgXRPLib/qwiic_oled/qwiic_micro_oled.py", "AgXRPLib/qwiic_oled/qwiic_micro_oled.py"], - ["/lib/AgXRPLib/qwiic_oled/qwiic_oled_base.py", "AgXRPLib/qwiic_oled/qwiic_oled_base.py"], - ["/lib/AgXRPLib/qwiic_oled/qwiic_oled_display.py", "AgXRPLib/qwiic_oled/qwiic_oled_display.py"], - ["/lib/AgXRPLib/qwiic_oled/fonts/0_font5x7.bin", "AgXRPLib/qwiic_oled/fonts/0_font5x7.bin"], - ["/lib/AgXRPLib/qwiic_oled/fonts/1_font8x16.bin", "AgXRPLib/qwiic_oled/fonts/1_font8x16.bin"], - ["/lib/AgXRPLib/qwiic_oled/fonts/2_7segment.bin", "AgXRPLib/qwiic_oled/fonts/2_7segment.bin"], - ["/lib/AgXRPLib/qwiic_oled/fonts/3_fontlargenumber.bin", "AgXRPLib/qwiic_oled/fonts/3_fontlargenumber.bin"], - ["/lib/AgXRPLib/qwiic_oled/fonts/4_fontlargeletter31x48.bin", "AgXRPLib/qwiic_oled/fonts/4_fontlargeletter31x48.bin"], - - ["/lib/ble/__init__.py", "ble/__init__.py"], - ["/lib/ble/ble_uart_peripheral.py", "ble/ble_uart_peripheral.py"], - ["/lib/ble/blerepl.py", "ble/blerepl.py"], - ["/lib/ble/isrunning", "ble/isrunning"], - ["/lib/phew/__init__.py", "phew/__init__.py"], - ["/lib/phew/dns.py", "phew/dns.py"], - ["/lib/phew/logging.py", "phew/logging.py"], - ["/lib/phew/server.py", "phew/server.py"], - ["/lib/phew/template.py", "phew/template.py"], - - ["/main.py", "main.py"] - ] -} diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/__init__.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/dashboard sample.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/dashboard sample.py deleted file mode 100644 index 87ab311..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/dashboard sample.py +++ /dev/null @@ -1,65 +0,0 @@ -from XRPLib.defaults import * -from ble.blerepl import uart -from time import sleep -from micropython import const -import time -import struct - -YAW = const(0) -ROLL = const(1) -PTICH = const(2) -ACCX = const(3) -ACCY = const(4) -ACCZ = const(5) -ENCL = const(6) -ENCR = const(7) -ENC3 = const(8) -ENC4 = const(9) -CURRL = const(10) -CURRR = const(11) -CURR3 = const(12) -CURR4 = const(13) -DIST = const(14) -REFLECTANCEL = const(15) -REFLECTANCER = const(16) -VOLTAGE = const(17) - -def startDashboard(): - data = bytearray([0x46, 0]) - uart.write_data(data) - -def sendIntValue(index, value): - data = bytearray([0x45, 3, 0, 0, 0]) - data[3] = index - data[4] = value - uart.write_data(data) - -def sendFloatValue(index, value): - data = bytearray([0x45, 6, 1, 0, 0, 0, 0 ,0]) - data[3] = index - data[4:] = struct.pack(' timeout: - break - -print("done") - -print("done") - - diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/drive_examples.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/drive_examples.py deleted file mode 100644 index c9719fa..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/drive_examples.py +++ /dev/null @@ -1,72 +0,0 @@ -from XRPLib.defaults import * -import time - -""" - By the end of this file students will learn how to control the drivetrain, - both by setting effort values directly to the motors and by using go_straight and go_turn -""" - -# drive straight for a set time period (defualt 1 second) -def drive_straight(drive_time: float = 1): - drivetrain.set_effort(0.8, 0.8) - time.sleep(drive_time) - drivetrain.stop() - -# drive at a slight counter clockwise arc for a set time period (default 1 second) -def arc_turn(turn_time: float = 1): - drivetrain.set_effort(0.5, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# turn CCW at a point for a set time period (default 1 second) -def point_turn(turn_time: float = 1): - drivetrain.set_effort(-0.8, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# pivot turn around the left wheel for a set time period (default 1 second) -def swing_turn(turn_time: float = 1): - drivetrain.set_effort(0, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# Driving in a circle by setting a difference in motor efforts -def circle(): - while True: - drivetrain.set_effort(0.8, 1) - -# Follow the perimeter of a square with variable sidelength -def square(sidelength): - for sides in range(4): - drivetrain.straight(sidelength, 0.8) - drivetrain.turn(90) - # Alternatively: - # polygon(sidelength, 4) - -# Follow the perimeter of an arbitrary polygon with variable side length and number of sides -# Side length in centimeters -def polygon(side_length, number_of_sides): - for s in range(number_of_sides): - drivetrain.straight(side_length) - drivetrain.turn(360/number_of_sides) - -# A slightly longer example program showing how a robot may follow a simple path -def test_drive(): - print("Driving forward 25cm") - drivetrain.straight(25, 0.8) - - time.sleep(1) - - print("turn 90 degrees right") - drivetrain.turn(90,0.8) - - time.sleep(1) - - print("turn 90 degrees left by setting speed negative") - drivetrain.turn(90, -0.8) - - time.sleep(1) - - print("drive backwards 25 cm by setting distance negative") - # There is no difference between setting speed or distance negative, both work - drivetrain.straight(-25,0.8) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/gamepad_example.blocks b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/gamepad_example.blocks deleted file mode 100644 index d5e3795..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/gamepad_example.blocks +++ /dev/null @@ -1,15 +0,0 @@ -from XRPLib.gamepad import * -from XRPLib.differential_drive import DifferentialDrive - -gp = Gamepad.get_default_gamepad() - -differentialDrive = DifferentialDrive.get_default_differential_drive() - - -while not (gp.is_button_pressed(gp.BACK)): - differentialDrive.arcade((gp.get_value(gp.Y1)), (gp.get_value(gp.X1))) - - - -## [2025-07-13 01:36:24] -##XRPBLOCKS {"blocks":{"languageVersion":0,"blocks":[{"type":"controls_whileUntil","id":"#/DDnbE2JxVsLQo`C`e^","x":-363,"y":16,"fields":{"MODE":"UNTIL"},"inputs":{"BOOL":{"block":{"type":"xrp_gp_button_pressed","id":"DtLypJc;SU2xT4A~S3nV","fields":{"GPBUTTON":"BACK"}}},"DO":{"block":{"type":"xrp_arcade","id":"(|]Iln#JYa9hzgEz+(4g","inputs":{"STRAIGHT":{"shadow":{"type":"math_number","id":"FOj1uvC$:~x/+cX}d(:|","fields":{"NUM":0.8}},"block":{"type":"xrp_gp_get_value","id":"s#GS_Dt)B8Cb9+4ctpwk","fields":{"GPVALUE":"Y1"}}},"TURN":{"shadow":{"type":"math_number","id":"n1jAKrjST!+3#bfChh$d","fields":{"NUM":0.2}},"block":{"type":"xrp_gp_get_value","id":"*]`U9XHyYnA?Gp%U;$NF","fields":{"GPVALUE":"X1"}}}}}}}}]}} \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/installation_verification.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/installation_verification.py deleted file mode 100644 index 8f33c4e..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/installation_verification.py +++ /dev/null @@ -1,84 +0,0 @@ -from XRPLib.defaults import * -import time - -# Installation Verification Program -def ivp(): - # Print welcome message - print("------------------------------------------") - print("Running Installation Verification Program!") - print("------------------------------------------") - print() - print("Welcome to the XRP! This example code will help") - print("you verify that everything is working on your robot.") - print("After each test, press the user button to continue.") - print() - - # Flash LED at 5Hz - print("Flashing LED") - board.led_blink(5) - - # Wait for user to press button - print("Press user button to test reflectance sensor") - board.wait_for_button() - - # Stop blinking LED - board.led_off() - - # Print reflectance values until button is pressed - while not board.is_button_pressed(): - print(f"Reflectance Left: {reflectance.get_left():.3f} Right: {reflectance.get_right():.3f} Press user button to test range sensor") - time.sleep(0.1) - - # Wait until button is released - while board.is_button_pressed(): - time.sleep(0.1) - - # Print range values until button is pressed - while not board.is_button_pressed(): - print(f"Range Distance: {rangefinder.distance():.1f} Press user button to test servo") - time.sleep(0.1) - - # Wait until button is released - while board.is_button_pressed(): - time.sleep(0.1) - - # Print warning and wait for button press - print() - print("The next test will move the servo, so keep your hands clear!") - print("Also please make sure the power switch is turned on!") - print("Press user button to test servo") - board.wait_for_button() - - # Test servo - print("Testing servo") - time.sleep(1) - servo_one.set_angle(90) - time.sleep(1) - servo_one.set_angle(0) - time.sleep(1) - servo_one.set_angle(180) - - # Print warning and wait for button press - print() - print("The next test will drive the motors, so place the robot on a flat surface!") - print("Also please make sure the power switch is turned on!") - print("Press user button to test drivetrain") - board.wait_for_button() - - # Test drivetrain - print("Testing drivetrain") - time.sleep(1) - drivetrain.straight(25, 0.8) - time.sleep(1) - drivetrain.turn(90,0.8) - time.sleep(1) - drivetrain.turn(90, -0.8) - time.sleep(1) - drivetrain.straight(-25,0.8) - - print() - print("-----------------------------------") - print("All tests complete! Happy roboting!") - print("-----------------------------------") - -ivp() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/led_example.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/led_example.py deleted file mode 100644 index bb1286e..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/led_example.py +++ /dev/null @@ -1,79 +0,0 @@ -from XRPLib.board import Board -from machine import Timer, Pin -import time - -# Get a reference to the board -board = Board.get_default_board() - -# Create a timer for the RGB LED, assuming it's present on this board -rgb_led_timer = Timer(-1) - -# Conversion from hue to RGB -def hue_to_rgb(hue): - # Initialize RGB values - r = 0 - g = 0 - b = 0 - - # Ensure hue is in range of [0,360) - hue %= 360 - - if(hue < 120): - # Red to green region - r = (120 - hue) / 120 * 255 - g = (hue - 0) / 120 * 255 - b = 0 - elif(hue < 240): - # Green to blue region - hue -= 120 - r = 0 - g = (120 - hue) / 120 * 255 - b = (hue - 0) / 120 * 255 - else: - # Blue to red region - hue -= 240 - r = (hue - 0) / 120 * 255 - g = 0 - b = (120 - hue) / 120 * 255 - - # Return RGB as tuple of integers in range of [0,255] - return (int(r), int(g), int(b)) - -def update_rgb_led_rainbow(timer): - # Set hue based on current time. Hue is an angle up to 360 degrees, - # so using the milliseconds divided by 10 creates a rainbow that - # repeats every 3.6 seconds - hue = time.ticks_ms() / 10 - - # Compute RGB values - rgb = hue_to_rgb(hue) - - # Max brightness is blinding, so recompute RGB values with 10% brightness - brightness = 0.1 - r = int(rgb[0] * brightness) - g = int(rgb[1] * brightness) - b = int(rgb[2] * brightness) - - # Set the RGB LED color - board.set_rgb_led(r, g, b) - -def start_led_demo(): - # Make the monochrome LED start blinking - board.led_blink(1) - - # If this board has an RGB LED, make it start changing colors - if hasattr(Pin.board, "BOARD_NEOPIXEL"): - # Set up timer to update the RGB LED at 100Hz for smooth color changes - rgb_led_timer.init(freq = 100, callback = update_rgb_led_rainbow) - -def stop_led_demo(): - # Make the monochrome LED stop blinking and turn off the LED - board.led_blink(0) - board.led_off() - - # If this board has an RGB LED, stop the timer and turn off the LED - if hasattr(Pin.board, "BOARD_NEOPIXEL"): - rgb_led_timer.deinit() - board.set_rgb_led(0, 0, 0) - -start_led_demo() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/sensor_examples.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/sensor_examples.py deleted file mode 100644 index 69b280a..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/sensor_examples.py +++ /dev/null @@ -1,75 +0,0 @@ -from XRPLib.defaults import * -import time - -""" - By the end of this file students will learn how to read and use data from - both the ultrasonic sensors and the line followers. - They will also have a chance to learn the basics of proportional control. -""" - -# Polling data from the ultrasonic sensor -def ultrasonic_test(): - while True: - print(rangefinder.distance()) - time.sleep(0.1) - -# Approaches a wall at a set speed and then stops -def drive_till_close(target_distance: float = 10.0): - speed = 0.6 - while rangefinder.distance() > target_distance: - drivetrain.set_effort(speed, speed) - time.sleep(0.01) - drivetrain.set_effort(0, 0) - -# Maintains a certain distance from the wall using proportional control -def standoff(target_distance: float = 10.0): - KP = 0.2 - while True: - distance = rangefinder.distance() - error = distance - target_distance - drivetrain.set_effort(error * KP, error*KP) - time.sleep(0.01) - -# Maintains a certain distance from the wall while driving -# using proportional control (sensor on right side of robot this time) -def wall_follow(target_distance: float = 10.0): - KP = 0.1 - base_speed = 0.5 - while True: - distance = rangefinder.distance() - error = distance - target_distance - print(error) - drivetrain.set_effort(base_speed + error * KP, base_speed - error*KP) - time.sleep(0.01) - -# Follows a line using the line followers -def line_track(): - base_effort = 0.6 - KP = 0.6 - while True: - # You always want to take the difference of the sensors because the raw value isn't always consistent. - error = reflectance.get_left() - reflectance.get_right() - print(error) - drivetrain.set_effort(base_effort - error * KP, base_effort + error * KP) - time.sleep(0.01) - -# Polling data from the IMU -def imu_test(): - while True: - print(f"Pitch: {imu.get_pitch()}, Heading: {imu.get_heading()}, Roll: {imu.get_yaw()}, Accelerometer output: {imu.get_acc_rates()}") - time.sleep(0.1) - -def climb_ramp(ramp_angle, angle_tolerance=3.5): - speed = 0.6 - # Find ramp by driving forward - while imu.get_pitch() < ramp_angle-angle_tolerance: - drivetrain.set_effort(speed, speed) - time.sleep(0.05) - # Drive up ramp until angle levels out again - while imu.get_pitch() >= ramp_angle-angle_tolerance: - drivetrain.set_effort(speed, speed) - time.sleep(0.05) - # Then stop - drivetrain.set_effort(0, 0) - -ultrasonic_test() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/webserver_example.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/webserver_example.py deleted file mode 100644 index 695697d..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/webserver_example.py +++ /dev/null @@ -1,48 +0,0 @@ -from XRPLib.defaults import * -import time -from machine import Timer - -# Binding functions to the arrow buttons -webserver.registerForwardButton(lambda: drivetrain.set_effort(0.5, 0.5)) -webserver.registerLeftButton(lambda: drivetrain.set_effort(-0.5, 0.5)) -webserver.registerRightButton(lambda: drivetrain.set_effort(0.5, -0.5)) -webserver.registerBackwardButton(lambda: drivetrain.set_effort(-0.5, -0.5)) -webserver.registerStopButton(lambda: drivetrain.set_effort(0, 0)) - -# Binding functions to custom buttons -webserver.add_button("Close Server", lambda: webserver.stop_server()) -webserver.add_button("Blink", lambda: board.led_blink(2)) -webserver.add_button("LED Off", lambda: board.led_off()) -webserver.add_button("Servo Up", lambda: servo_one.set_angle(90)) -webserver.add_button("Servo Down", lambda: servo_one.set_angle(0)) - -# Logging static data to the webserver -# webserver.log_data("test", "test") -# webserver.log_data("List", [1,2,3]) -# webserver.log_data("Dict", {"a":1,"b":2,"c":3}) -# webserver.log_data("Tuple", (1,2,3)) - -def log_time_and_range(): - # This function is called every second to update the data on the webserver - webserver.log_data("Time", time.time()) - webserver.log_data("Range", rangefinder.distance()) - webserver.log_data("Left Motor", left_motor.get_position()) - webserver.log_data("Right Motor", right_motor.get_position()) - webserver.log_data("Button State", board.is_button_pressed()) - -timer = Timer(-1) -timer.init(freq=4, mode=Timer.PERIODIC, callback=lambda t: log_time_and_range()) - -def connect_and_start_webserver(): - # Connect to the network and start the webserver in bridge mode - # Network ssid and password are stored in root/secrets.json - webserver.connect_to_network() - webserver.start_server() - -def start_network_and_webserver(): - # Start the webserver in access point mode - # Network ssid and password are stored in root/secrets.json - webserver.start_network() - webserver.start_server() - -start_network_and_webserver() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/xrp_test.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/xrp_test.py deleted file mode 100644 index 4455401..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPExamples/xrp_test.py +++ /dev/null @@ -1,76 +0,0 @@ -from XRPLib.defaults import * -from machine import Pin -import time - -imu.reset_pitch() -imu.reset_yaw() -imu.reset_roll() - -def log_imu_heading(): - # Set to true to log the IMU heading forever - while True: - print(imu.get_yaw()) - time.sleep(0.1) - -def log_encoder_position(): - while True: - print(left_motor.get_position(), right_motor.get_position()) - time.sleep(0.1) - -def benchmark_encoder_isr(): - print("start benchmark") - N = 100000 - a = time.time() - for i in range(N): - drivetrain.left_motor._encoder.isr() - b = time.time() - - # Print benchmark - print(f"Time for {N} calls: {b-a}s") - print(f"Time per call: {(b-a)/N}s") # ~0.06 ms per call - -def test_turns(): - drivetrain.turn(45, 0.5) - time.sleep(1) - drivetrain.turn(-45, 0.75) - time.sleep(1) - - drivetrain.turn(90, 0.5) - time.sleep(1) - drivetrain.turn(-90, 0.75) - time.sleep(1) - - - # Turns 360 slow and fast, then turns 180 slow and fast - drivetrain.turn(360, 0.5) - time.sleep(1) - drivetrain.turn(-360, 0.75) - time.sleep(1) - -def test_straight(): - drivetrain.straight(30, 0.2) - -def test_set_effort(): - drivetrain.set_effort(0.3, 0.3) - time.sleep(2) - drivetrain.stop() - -def test_led(): - board.led_blink(5) - time.sleep(3) - board.led_off() - -def test_button(): - board.set_button_callback(trigger=Pin.IRQ_RISING, callback=lambda p: board.led.toggle()) - -def test_rangefinder(): - while not board.is_button_pressed(): - print(f"{rangefinder.distance()}, {rangefinder.distance()}") - time.sleep(0.5) - -def encoder_test(): - while not board.is_button_pressed(): - print(f"Left: {left_motor.get_position()}\tRight:{right_motor.get_position()}") - time.sleep(0.1) - -test_rangefinder() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/__init__.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/__init__.py deleted file mode 100644 index 6759c04..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/__init__.py +++ /dev/null @@ -1,10 +0,0 @@ -""" - THIS LIBRARY WAS MADE FOR THE SPARKFUN XRP CONTROL BOARD. - PLEASE USE THE ASSOCIATED MICROPYTHON UF2 FILE. -""" - -import sys -if not "XRP" in sys.implementation._machine: - raise NotImplementedError("This library does not support your version of MicroPython. " - + "Please update your UF2 File for the Beta XRP Controller here: " - + "https://github.com/Open-STEM/XRP_MicroPython/releases/tag/v2.0.0") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/board.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/board.py deleted file mode 100644 index 8039f77..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/board.py +++ /dev/null @@ -1,127 +0,0 @@ -from machine import Pin, ADC, Timer -from neopixel import NeoPixel -import time -import sys - -class Board: - - _DEFAULT_BOARD_INSTANCE = None - - @classmethod - def get_default_board(cls): - """ - Get the default board instance. This is a singleton, so only one instance of the board will ever exist. - """ - if cls._DEFAULT_BOARD_INSTANCE is None: - cls._DEFAULT_BOARD_INSTANCE = cls() - return cls._DEFAULT_BOARD_INSTANCE - - def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON", - rgb_led_pin = "BOARD_NEOPIXEL", led_pin = "LED"): - """ - Implements for extra features on the XRP board. Handles the on/off switch, button, and LED. - - :param vin_pin: The pin the on/off switch is connected to - :type vin_pin: int - :param button_pin: The pin the button is connected to - :type button_pin: int - """ - - self.on_switch = ADC(Pin(vin_pin)) - - self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP) - - self.led = Pin(led_pin, Pin.OUT) - - if hasattr(Pin.board, rgb_led_pin): - self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1) - # A timer ID of -1 is a virtual timer. - # Leaves the hardware timers for more important uses - self._virt_timer = Timer(-1) - self.is_led_blinking = False - - - def are_motors_powered(self) -> bool: - """ - :return: Returns true if the batteries are connected and powering the motors, false otherwise - :rytpe: bool - """ - return self.on_switch.read_u16() > 20000 - - def is_button_pressed(self) -> bool: - """ - Returns the state of the button - - :return: True if the button is pressed, False otherwise - :rtype: bool - """ - return not self.button.value() - - def wait_for_button(self): - """ - Halts the program until the button is pressed - """ - - # Wait until user command before running - while not self.is_button_pressed(): - time.sleep(.01) - - # Wait until user to release button before running - while self.is_button_pressed(): - time.sleep(.01) - - - def led_on(self): - """ - Turns the LED on - Stops the blinking timer if it is running - """ - self.is_led_blinking = False - self.led.on() - self._virt_timer.deinit() - - def led_off(self): - """ - Turns the LED off - Stops the blinking timer if it is running - """ - self.is_led_blinking = False - self.led.off() - self._virt_timer.deinit() - - def led_blink(self, frequency: int=0): - """ - Blinks the LED at a given frequency. If the frequency is 0, the LED will stop blinking. - - :param frequency: The frequency to blink the LED at (in Hz) - :type frequency: int - """ - if self.is_led_blinking: - # disable the old timer so we can reinitialize it - self._virt_timer.deinit() - # We set it to twice in input frequency so that - # the led flashes on and off frequency times per second - if frequency != 0: - self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC, - callback=lambda t:self.led.toggle()) - self.is_led_blinking = True - else: - self._virt_timer.deinit() - self.is_led_blinking = False - - def set_rgb_led(self, r:int, g:int, b:int): - """ - Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta - - :param r: The amount of red in the desired color - :type r: int - :param g: The amount of green in the desired color - :type g: int - :param b: The amount of blue in the desired color - :type b: int - """ - if "rgb_led" in self.__dict__: - self.rgb_led[0] = (r, g, b) - self.rgb_led.write() - else: - raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta") diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/controller.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/controller.py deleted file mode 100644 index 8d14a60..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/controller.py +++ /dev/null @@ -1,30 +0,0 @@ -class Controller: - """ - An abstract class to be entended to demonstrate different types of control. A PID subclass has also been provided - """ - - def update(self, input) -> float: - """ - Handle a new update of this control loop given an effected input. - - :param error: The input to this controller for a given update. Usually an error or some other correctable value - :type error: float - - :return: The system output from the controller, to be used as an effort value or for any other purpose - :rtype: float - """ - pass - - def is_done(self) -> bool: - - """ - :return: If the controller has reached or settled at its desired value - :rtype: bool - """ - pass - - def clear_history(self): - """ - Clears all past data, such as integral sums or any other previous data - """ - pass \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/dashboard.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/dashboard.py deleted file mode 100644 index 385e14e..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/dashboard.py +++ /dev/null @@ -1,257 +0,0 @@ -from .encoded_motor import EncodedMotor -from .rangefinder import Rangefinder -from .imu import IMU -from .reflectance import Reflectance -from .puppet import Puppet, VAR_TYPE_INT, VAR_TYPE_FLOAT, PERM_READ_ONLY - -from machine import Timer, ADC, Pin -from micropython import const -import time - - -class Dashboard: - - _DEFAULT_DASHBOARD_INSTANCE = None - - # Variable type constants - VAR_TYPE_FLOAT = const(2) - - # Permission constants - PERM_READ_ONLY = const(1) - PERM_WRITE_ONLY = const(2) - - # Backward compatibility constants - YAW = const(0) - ROLL = const(1) - PTICH = const(2) - ACCX = const(3) - ACCY = const(4) - ACCZ = const(5) - ENCL = const(6) - ENCR = const(7) - ENC3 = const(8) - ENC4 = const(9) - CURRR = const(10) - CURRL = const(11) - CURR3 = const(12) - CURR4 = const(13) - DIST = const(14) - REFL = const(15) - REFR = const(16) - VOLTAGE = const(17) - - # Mapping from old index to XPP variable names - _VAR_NAMES = { - YAW: '$imu.yaw', - ROLL: '$imu.roll', - PTICH: '$imu.pitch', - ACCX: '$imu.acc_x', - ACCY: '$imu.acc_y', - ACCZ: '$imu.acc_z', - ENCL: '$encoder.left', - ENCR: '$encoder.right', - ENC3: '$encoder.3', - ENC4: '$encoder.4', - CURRL: '$current.left', - CURRR: '$current.right', - CURR3: '$current.3', - CURR4: '$current.4', - DIST: '$rangefinder.distance', - REFL: '$reflectance.left', - REFR: '$reflectance.right', - VOLTAGE: '$voltage', - } - - @classmethod - def get_default_dashboard(cls): - """ - Get the default XRP dashboard instance. This is a singleton, so only one instance of the dashboard sensor will ever exist. - """ - if cls._DEFAULT_DASHBOARD_INSTANCE is None: - cls._DEFAULT_DASHBOARD_INSTANCE = cls() - return cls._DEFAULT_DASHBOARD_INSTANCE - - def __init__(self): - """ - Manages communication with dashboard data going to a remote computer via XPP protocol. - """ - self.left_motor = EncodedMotor.get_default_encoded_motor(index=1) - self.right_motor = EncodedMotor.get_default_encoded_motor(index=2) - self.motor_three = EncodedMotor.get_default_encoded_motor(index=3) - self.motor_four = EncodedMotor.get_default_encoded_motor(index=4) - self.imu = IMU.get_default_imu() - self.rangefinder = Rangefinder.get_default_rangefinder() - self.reflectance = Reflectance.get_default_reflectance() - self.VoltageADC = ADC(Pin('BOARD_VIN_MEASURE')) - #self.CurrLADC = ADC(Pin('ML_CUR')) - #self.CurrRADC = ADC(Pin('MR_CUR')) - #self.Curr3ADC = ADC(Pin('M3_CUR')) - #self.Curr4ADC = ADC(Pin('M4_CUR')) - - # Get XPP instance - self._puppet = Puppet.get_default_puppet() - - # Register all sensor variables - self._register_variables() - - # Create timer for periodic updates - self.update_timer = Timer(-1) - self._update_rate = 3 # Default 3 Hz - - def _register_variables(self): - """ - Register all sensor variables with XPP. - """ - # IMU variables (float) - for var_name in ['$imu.yaw', '$imu.roll', '$imu.pitch', - '$imu.acc_x', '$imu.acc_y', '$imu.acc_z']: - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - - # Encoder variables (int) - for var_name in ['$encoder.left', '$encoder.right', '$encoder.3', '$encoder.4']: - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) - - # Current sensor variables (int) - for var_name in ['$current.left', '$current.right', '$current.3', '$current.4']: - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) - - # Other sensor variables (float) - for var_name in ['$rangefinder.distance', '$reflectance.left', - '$reflectance.right', '$voltage']: - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - - def sendIntValue(self, index, value): - """ - Send an integer value (backward compatibility method). - Now uses XPP protocol. - - :param index: Variable index constant - :type index: int - :param value: Integer value to send - :type value: int - """ - if index not in self._VAR_NAMES: - return - - var_name = self._VAR_NAMES[index] - try: - self._puppet.set_variable(var_name, value) - except: - pass # Variable might not be registered yet - - def sendFloatValue(self, index, value): - """ - Send a float value (backward compatibility method). - Now uses XPP protocol. - - :param index: Variable index constant - :type index: int - :param value: Float value to send - :type value: float - """ - if index not in self._VAR_NAMES: - return - - var_name = self._VAR_NAMES[index] - try: - self._puppet.set_variable(var_name, value) - except: - pass # Variable might not be registered yet - - def _dashboard_update(self): - """ - Update all sensor variables with current readings. - """ - # IMU data - self._puppet.set_variable('$imu.yaw', self.imu.get_yaw()) - self._puppet.set_variable('$imu.roll', self.imu.get_roll()) - self._puppet.set_variable('$imu.pitch', self.imu.get_pitch()) - self._puppet.set_variable('$imu.acc_x', self.imu.get_acc_x()) - self._puppet.set_variable('$imu.acc_y', self.imu.get_acc_y()) - self._puppet.set_variable('$imu.acc_z', self.imu.get_acc_z()) - - # Encoder data - self._puppet.set_variable('$encoder.left', self.left_motor.get_position_counts()) - self._puppet.set_variable('$encoder.right', self.right_motor.get_position_counts()) - self._puppet.set_variable('$encoder.3', self.motor_three.get_position_counts()) - self._puppet.set_variable('$encoder.4', self.motor_four.get_position_counts()) - - # Current sensor data - #self._puppet.set_variable('$current.left', self.CurrLADC.read_u16()) - #self._puppet.set_variable('$current.right', self.CurrRADC.read_u16()) - #self._puppet.set_variable('$current.3', self.Curr3ADC.read_u16()) - #self._puppet.set_variable('$current.4', self.Curr4ADC.read_u16()) - - # Other sensors - self._puppet.set_variable('$rangefinder.distance', self.rangefinder.distance()) - self._puppet.set_variable('$reflectance.left', self.reflectance.get_left()) - self._puppet.set_variable('$reflectance.right', self.reflectance.get_right()) - - # Voltage - voltage = self.VoltageADC.read_u16() / (1024*64/14) - self._puppet.set_variable('$voltage', voltage) - - def start(self, rate_hz=3): - """ - Start sending dashboard packets to the remote computer at the specified rate. - - :param rate_hz: Update rate in Hz (default: 3) - :type rate_hz: int - """ - self._update_rate = rate_hz - - # Subscribe all variables at the specified rate - for var_name in self._VAR_NAMES.values(): - try: - self._puppet.subscribe_variable(var_name, rate_hz) - except: - pass # Variable might not be registered yet - - # Also use timer for backward compatibility - period_ms = int(1000 / rate_hz) - self.update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._dashboard_update()) - self._puppet.start() - - def stop(self): - """ - Stop sending dashboard data packets. - """ - # Unsubscribe from all variables - for var_name in self._VAR_NAMES.values(): - try: - self._puppet.subscribe_variable(var_name, 0) - except: - pass - - # Stop timer - self.update_timer.deinit() - self._puppet.stop() - - def set_value(self, name, value, rate_hz=3): - """ - Define a variable and subscribe to it at the specified rate. - - :param name: The variable name - :type name: str - :param value: The value to set - :type value: float - :param rate_hz: The update rate in Hz (default: 3) - :type rate_hz: int - """ - self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - try: - self._puppet.subscribe_variable(name, rate_hz) - except: - pass - self._puppet.set_variable(name, value) - - def get_value(self, name): - """ - Get the value of a variable. - - :param name: The variable name - :type name: str - """ - self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) - return self._puppet.get_variable(name) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/defaults.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/defaults.py deleted file mode 100644 index 38216c8..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/defaults.py +++ /dev/null @@ -1,34 +0,0 @@ -from .board import Board -from .differential_drive import DifferentialDrive -from .motor import SinglePWMMotor, DualPWMMotor -from .encoder import Encoder -from .encoded_motor import EncodedMotor -from .rangefinder import Rangefinder -from .imu import IMU -from .reflectance import Reflectance -from .servo import Servo -from .webserver import Webserver -from machine import Pin - -""" -A simple file that constructs all of the default objects for the XRP robot -Run "from XRPLib.defaults import *" to use -""" - -left_motor = EncodedMotor.get_default_encoded_motor(index=1) -right_motor = EncodedMotor.get_default_encoded_motor(index=2) -motor_three = EncodedMotor.get_default_encoded_motor(index=3) -motor_four = EncodedMotor.get_default_encoded_motor(index=4) -imu = IMU.get_default_imu() -drivetrain = DifferentialDrive.get_default_differential_drive() -rangefinder = Rangefinder.get_default_rangefinder() -reflectance = Reflectance.get_default_reflectance() -servo_one = Servo.get_default_servo(index=1) -servo_two = Servo.get_default_servo(index=2) -webserver = Webserver.get_default_webserver() -board = Board.get_default_board() - -if hasattr(Pin.board, "SERVO_3"): - servo_three = Servo.get_default_servo(index=3) -if hasattr(Pin.board, "SERVO_4"): - servo_four = Servo.get_default_servo(index=4) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/differential_drive.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/differential_drive.py deleted file mode 100644 index e3fbd5f..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/differential_drive.py +++ /dev/null @@ -1,340 +0,0 @@ -from .encoded_motor import EncodedMotor -from .imu import IMU -from .controller import Controller -from .pid import PID -from .timeout import Timeout -import time -import math - -class DifferentialDrive: - - _DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE =None - - @classmethod - def get_default_differential_drive(cls): - - """ - Get the default XRP differential drive instance. This is a singleton, so only one instance of the drivetrain will ever exist. - """ - - if cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE is None: - cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE = cls( - EncodedMotor.get_default_encoded_motor(index=1), - EncodedMotor.get_default_encoded_motor(index=2), - IMU.get_default_imu() - ) - - return cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE - - def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU = None, wheel_diam:float = 6.0, wheel_track:float = 15.5): - """ - A Differential Drive class designed for the XRP two-wheeled drive robot. - - :param leftMotor: The left motor of the drivetrain - :type leftMotor: EncodedMotor - :param rightMotor: The right motor of the drivetrain - :type rightMotor: EncodedMotor - :param imu: The IMU of the robot. If None, the robot will not use the IMU for turning or maintaining heading. - :type imu: IMU - :param wheelDiam: The diameter of the wheels in inches. Defaults to 6 cm. - :type wheelDiam: float - :param wheelTrack: The distance between the wheels in inches. Defaults to 15.5 cm. - :type wheelTrack: float - """ - - self.left_motor = left_motor - self.right_motor = right_motor - self.imu = imu - - self.brake_at_zero_power = False - self.wheel_diam = wheel_diam - self.track_width = wheel_track - - self.heading_pid = None - self.current_heading = None - self.reset_heading = True - self.turning = False - - if self.imu: - # if the IMU is initialized, then create a PID controller that can be used - # to maintain a constant heading when driving - self.heading_pid = PID( kp = 0.075, kd=0.001, ) - - def set_effort(self, left_effort: float, right_effort: float) -> None: - """ - Set the raw effort of both motors individually - - :param leftEffort: The power (Bounded from -1 to 1) to set the left motor to. - :type leftEffort: float - :param rightEffort: The power (Bounded from -1 to 1) to set the right motor to. - :type rightEffort: float - """ - - self.left_motor.set_effort(left_effort) - self.right_motor.set_effort(right_effort) - - def set_speed(self, left_speed: float, right_speed: float) -> None: - """ - Set the speed of both motors individually - - :param leftSpeed: The speed (In Centimeters per Second) to set the left motor to. - :type leftSpeed: float - :param rightSpeed: The speed (In Centimeters per Second) to set the right motor to. - :type rightSpeed: float - """ - # Convert from cm/s to RPM - cmpsToRPM = 60 / (math.pi * self.wheel_diam) - self.left_motor.set_speed(left_speed*cmpsToRPM) - self.right_motor.set_speed(right_speed*cmpsToRPM) - - def set_zero_effort_behavior(self, brake_at_zero_effort): - - """ - Sets the behavior of both motor at 0 effort to either brake (hold position) or coast (free spin) - :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. - :type brake_at_zero_effort: bool - """ - self.left_motor.set_zero_effort_behavior(brake_at_zero_effort) - self.right_motor.set_zero_effort_behavior(brake_at_zero_effort) - - def stop(self) -> None: - """ - Stops both drivetrain motors by setting power to zero. - """ - self.left_motor.set_speed() - self.right_motor.set_speed() - self.set_effort(0,0) - - def arcade(self, straight:float, turn:float): - """ - Sets the raw effort of both motors based on the arcade drive scheme - - :param straight: The base effort (Bounded from -1 to 1) used to drive forwards or backwards. - :type straight: float - :param turn: The modifier effort (Bounded from -1 to 1) used to skew robot left (positive) or right (negative). - :type turn: float - """ - if straight == 0 and turn == 0: - self.set_effort(0, 0) - else: - scale = max(abs(straight), abs(turn))/(abs(straight) + abs(turn)) - left_speed = (straight - turn)*scale - right_speed = (straight + turn)*scale - - if not self.heading_pid: - # if not using IMU assist to maintain heading, just pass down the left and right motor - # speeds to control movement - self.set_effort(left_speed, right_speed) - else: - # else if IMU assist is enabled, then use the IMU with PID to - # maintain a constant heading while driving. - if turn == 0: - # straight drive requested, then maintain the current heading - if self.turning: - # if previously turning, then clear the turn indicator and reset the course heading - self.reset_heading = True - self.turning = False - - if self.reset_heading: - self.reset_heading = False - self.current_heading = self.imu.get_yaw() - - # use the PID to set the heading correction based on the current heading - heading_correction = self.heading_pid.update(self.current_heading - self.imu.get_yaw()) - - self.set_effort(left_speed - heading_correction, right_speed + heading_correction) - else: - # set the turning indicator and apply the left and right speeds - self.turning = True - self.set_effort(left_speed, right_speed) - - def reset_encoder_position(self) -> None: - """ - Resets the position of both motors' encoders to 0 - """ - - self.left_motor.reset_encoder_position() - self.right_motor.reset_encoder_position() - - def get_left_encoder_position(self) -> float: - """ - :return: the current position of the left motor's encoder in cm. - :rtype: float - """ - return self.left_motor.get_position()*math.pi*self.wheel_diam - - def get_right_encoder_position(self) -> float: - """ - :return: the current position of the right motor's encoder in cm. - :rtype: float - """ - return self.right_motor.get_position()*math.pi*self.wheel_diam - - - def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: - """ - Go forward the specified distance in centimeters, and exit function when distance has been reached. - Max_effort is bounded from -1 (reverse at full speed) to 1 (forward at full speed) - - :param distance: The distance for the robot to travel (In Centimeters) - :type distance: float - :param max_effort: The max effort for which the robot to travel (Bounded from -1 to 1). Default is half effort forward - :type max_effort: float - :param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds) - :type timeout: float - :param main_controller: The main controller, for handling the distance driven forwards - :type main_controller: Controller - :param secondary_controller: The secondary controller, for correcting heading error that may result during the drive. - :type secondary_controller: Controller - :return: if the distance was reached before the timeout - :rtype: bool - """ - # ensure effort is always positive while distance could be either positive or negative - if max_effort < 0: - max_effort *= -1 - distance *= -1 - - time_out = Timeout(timeout) - starting_left = self.get_left_encoder_position() - starting_right = self.get_right_encoder_position() - - - if main_controller is None: - main_controller = PID( - kp = 0.1, - ki = 0.04, - kd = 0.04, - min_output = 0.3, - max_output = max_effort, - max_integral = 10, - tolerance = 0.25, - tolerance_count = 3, - ) - - # Secondary controller to keep encoder values in sync - if secondary_controller is None: - secondary_controller = PID( - kp = 0.075, kd=0.001, - ) - - if self.imu is not None: - # record current heading to maintain it - initial_heading = self.imu.get_yaw() - else: - initial_heading = 0 - - while True: - - # calculate the distance traveled - left_delta = self.get_left_encoder_position() - starting_left - right_delta = self.get_right_encoder_position() - starting_right - dist_traveled = (left_delta + right_delta) / 2 - - # PID for distance - distance_error = distance - dist_traveled - effort = main_controller.update(distance_error) - - if main_controller.is_done() or time_out.is_done(): - break - - # calculate heading correction - if self.imu is not None: - # record current heading to maintain it - current_heading = self.imu.get_yaw() - else: - current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) - - headingCorrection = secondary_controller.update(initial_heading - current_heading) - - self.set_effort(effort - headingCorrection, effort + headingCorrection) - - time.sleep(0.01) - - self.stop() - - return not time_out.is_done() - - - def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool: - """ - Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading. - effort is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed) - Uses the IMU to determine the heading of the robot and P control for the motor controller. - - :param turnDegrees: The number of angle for the robot to turn (In Degrees) - :type turnDegrees: float - :param max_effort: The max speed for which the robot to travel (Bounded from -1 to 1) - :type max_effort: float - :param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds) - :type timeout: float - :param main_controller: The main controller, for handling the angle turned - :type main_controller: Controller - :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference - :type secondary_controller: Controller - :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False) - :type use_imu: bool - :return: if the distance was reached before the timeout - :rtype: bool - """ - - if max_effort < 0: - max_effort = -max_effort - turn_degrees = -turn_degrees - - time_out = Timeout(timeout) - starting_left = self.get_left_encoder_position() - starting_right = self.get_right_encoder_position() - - if main_controller is None: - main_controller = PID( - # kp = 0.2, - # ki = 0.004, - # kd = 0.0036, - kd = 0.0036 + 0.0034 * (max(max_effort, 0.5) - 0.5) * 2, - kp = 0.2, - ki = 0.004, - #kd = 0.007, - min_output = 0.1, - max_output = max_effort, - max_integral = 30, - tolerance = 1, - tolerance_count = 3 - ) - - # Secondary controller to keep encoder values in sync - if secondary_controller is None: - secondary_controller = PID( - kp = 0.25, - ) - - if use_imu and (self.imu is not None): - turn_degrees += self.imu.get_yaw() - - while True: - - # calculate encoder correction to minimize drift - left_delta = self.get_left_encoder_position() - starting_left - right_delta = self.get_right_encoder_position() - starting_right - encoder_correction = secondary_controller.update(left_delta + right_delta) - - if use_imu and (self.imu is not None): - # calculate turn error (in degrees) from the imu - turn_error = turn_degrees - self.imu.get_yaw() - else: - # calculate turn error (in degrees) from the encoder counts - turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) - - # Pass the turn error to the main controller to get a turn speed - turn_speed = main_controller.update(turn_error) - - # exit if timeout or tolerance reached - if main_controller.is_done() or time_out.is_done(): - break - - self.set_effort(-turn_speed - encoder_correction, turn_speed - encoder_correction) - - time.sleep(0.01) - - self.stop() - - return not time_out.is_done() diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoded_motor.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoded_motor.py deleted file mode 100644 index de2fa6f..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoded_motor.py +++ /dev/null @@ -1,191 +0,0 @@ -from .motor import SinglePWMMotor, DualPWMMotor -from .encoder import Encoder -from machine import Timer -from .controller import Controller -from .pid import PID -import sys - -class EncodedMotor: - - ZERO_EFFORT_BREAK = True - ZERO_EFFORT_COAST = False - - _DEFAULT_LEFT_MOTOR_INSTANCE = None - _DEFAULT_RIGHT_MOTOR_INSTANCE = None - _DEFAULT_MOTOR_THREE_INSTANCE = None - _DEFAULT_MOTOR_FOUR_INSTANCE = None - - @classmethod - def get_default_encoded_motor(cls, index:int = 1): - """ - Get one of the default XRP motor instances. These are singletons, so only one instance of each of these will ever exist. - Raises an exception if an invalid index is requested. - - :param index: The index of the motor to get; 1 for left, 2 for right, 3 for motor 3, 4 for motor 4 - :type index: int - """ - - if "RP2350" in sys.implementation._machine: - MotorImplementation = DualPWMMotor - else: - MotorImplementation = SinglePWMMotor - - if index == 1: - if cls._DEFAULT_LEFT_MOTOR_INSTANCE is None: - cls._DEFAULT_LEFT_MOTOR_INSTANCE = cls( - MotorImplementation("MOTOR_L_IN_1", "MOTOR_L_IN_2", flip_dir=True), - Encoder(0, "MOTOR_L_ENCODER_A", "MOTOR_L_ENCODER_B") - ) - motor = cls._DEFAULT_LEFT_MOTOR_INSTANCE - elif index == 2: - if cls._DEFAULT_RIGHT_MOTOR_INSTANCE is None: - cls._DEFAULT_RIGHT_MOTOR_INSTANCE = cls( - MotorImplementation("MOTOR_R_IN_1", "MOTOR_R_IN_2"), - Encoder(1, "MOTOR_R_ENCODER_A", "MOTOR_R_ENCODER_B") - ) - motor = cls._DEFAULT_RIGHT_MOTOR_INSTANCE - elif index == 3: - if cls._DEFAULT_MOTOR_THREE_INSTANCE is None: - cls._DEFAULT_MOTOR_THREE_INSTANCE = cls( - MotorImplementation("MOTOR_3_IN_1", "MOTOR_3_IN_2", flip_dir=True), - Encoder(2, "MOTOR_3_ENCODER_A", "MOTOR_3_ENCODER_B") - ) - motor = cls._DEFAULT_MOTOR_THREE_INSTANCE - elif index == 4: - if cls._DEFAULT_MOTOR_FOUR_INSTANCE is None: - cls._DEFAULT_MOTOR_FOUR_INSTANCE = cls( - MotorImplementation("MOTOR_4_IN_1", "MOTOR_4_IN_2"), - Encoder(3, "MOTOR_4_ENCODER_A", "MOTOR_4_ENCODER_B") - ) - motor = cls._DEFAULT_MOTOR_FOUR_INSTANCE - else: - return Exception("Invalid motor index") - return motor - - def __init__(self, motor, encoder: Encoder): - - self._motor = motor - self._encoder = encoder - - self.brake_at_zero = False - - self.target_speed = None - self.DEFAULT_SPEED_CONTROLLER = PID( - kp=0.035, - ki=0.03, - kd=0, - max_integral=50 - ) - self.speedController = self.DEFAULT_SPEED_CONTROLLER - self.prev_position = 0 - self.speed = 0 - # Use a virtual timer so we can leave the hardware timers up for the user - self.updateTimer = Timer(-1) - # If the update timer is not running, start it at 50 Hz (20ms updates) - self.updateTimer.init(period=20, callback=lambda t:self._update()) - - - def set_effort(self, effort: float): - """ - :param effort: The effort to set this motor to, from -1 to 1 - :type effort: float - """ - if self.brake_at_zero and effort == 0: - self.brake() - else: - self._motor.set_effort(effort) - - # EncodedMotor.set_zero_effort_behavior(EncodedMotor.ZERO_POWER_BRAKE) - def set_zero_effort_behavior(self, brake_at_zero_effort): - """ - Sets the behavior of the motor at 0 effort to either brake (hold position) or coast (free spin) - :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. - :type brake_at_zero_effort: bool - """ - self.brake_at_zero = brake_at_zero_effort - - def brake(self): - """ - Causes the motor to resist rotation. - """ - # Exact impl of brake depends on which board is being used. - self._motor.brake() - - def coast(self): - """ - Allows the motor to spin freely. - """ - self._motor.coast() - - def get_position(self) -> float: - """ - :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. - :rtype: float - """ - if self._motor.flip_dir: - invert = -1 - else: - invert = 1 - return self._encoder.get_position()*invert - - def get_position_counts(self) -> int: - """ - :return: The position of the encoded motor, in encoder counts, relative to the last time reset was called. - :rtype: int - """ - if self._motor.flip_dir: - invert = -1 - else: - invert = 1 - return self._encoder.get_position_counts()*invert - - def reset_encoder_position(self): - """ - Resets the encoder position back to zero. - """ - self._encoder.reset_encoder_position() - - def get_speed(self) -> float: - """ - :return: The speed of the motor, in rpm - :rtype: float - """ - # Convert from counts per 20ms to rpm (60 sec/min, 50 Hz) - return self.speed*(60*50)/self._encoder.resolution - - def set_speed(self, speed_rpm: float = None): - """ - Sets target speed (in rpm) to be maintained passively - Call with no parameters or 0 to turn off speed control - - :param target_speed_rpm: The target speed for the motor in rpm, or None - :type target_speed_rpm: float, or None - """ - if speed_rpm is None or speed_rpm == 0: - self.target_speed = None - self.set_effort(0) - return - # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) - self.target_speed = speed_rpm*self._encoder.resolution/(60*50) - - def set_speed_controller(self, new_controller: Controller): - """ - Sets a new controller for speed control - - :param new_controller: The new Controller for speed control - :type new_controller: Controller - """ - self.speedController = new_controller - self.speedController.clear_history() - - def _update(self): - """ - Non-api method; used for updating motor efforts for speed control - """ - current_position = self.get_position_counts() - self.speed = current_position - self.prev_position - if self.target_speed is not None: - error = self.target_speed - self.speed - effort = self.speedController.update(error) - self._motor.set_effort(effort) - self.prev_position = current_position \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoder.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoder.py deleted file mode 100644 index 414b973..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/encoder.py +++ /dev/null @@ -1,119 +0,0 @@ -# Modified from https://forum.micropython.org/viewtopic.php?t=12277&p=66659 - -import machine -import rp2 -import time - -class Encoder: - _gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75 - _counts_per_motor_shaft_revolution = 12 - resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585 - - def __init__(self, index, encAPin: int|str, encBPin: int|str): - """ - Uses the on board PIO State Machine to keep track of encoder positions. - Only 4 encoders can be instantiated this way. - - :param index: The index of the state machine to be used, indexed 0-3. - :type index: int - :param encAPin: The pin the left reflectance sensor is connected to - :type encAPin: int - :param encBPin: The pin the right reflectance sensor is connected to - :type encBPin: int - """ - # if(abs(encAPin - encBPin) != 1): - # raise Exception("Encoder pins must be successive!") - basePin = machine.Pin(min(encAPin, encBPin), machine.Pin.IN) - nextPin = machine.Pin(max(encAPin, encBPin), machine.Pin.IN) - self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin) - self.reset_encoder_position() - self.sm.active(1) - - def reset_encoder_position(self): - """ - Resets the encoder position to 0 - """ - # It's possible for this to cause issues if in the middle of inrementing - # or decrementing, but the result should only be off by 1. If that's a - # problem, an alternative solution is to stop the state machine, then - # reset both x and the program counter. But that's excessive. - self.sm.exec("set(x, 0)") - - def get_position_counts(self): - """ - :return: The position of the encoded motor, in counts, relative to the last time reset was called. - :rtype: int - """ - # Read 5 times for it to get past the buffer - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - if(counts > 2**31): - counts -= 2**32 - return counts - - def get_position(self): - """ - :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. - :rtype: float - """ - return self.get_position_counts() / self.resolution - - @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT) - def _encoder(): - # Register descriptions: - # X - Encoder count, as a 32-bit number - # OSR - Previous pin values, only last 2 bits are used - # ISR - Push encoder count, and combine pin states together - - # Jump table - # The program counter is moved to memory address 0000 - 1111, based - # on the previous (left 2 bits) and current (right bits) pin states - jmp("read") # 00 -> 00 No change, continue - jmp("decr") # 00 -> 01 Reverse, decrement count - jmp("incr") # 00 -> 10 Forward, increment count - jmp("read") # 00 -> 11 Impossible, continue - - jmp("incr") # 01 -> 00 Forward, increment count - jmp("read") # 01 -> 01 No change, continue - jmp("read") # 01 -> 10 Impossible, continue - jmp("decr") # 01 -> 11 Reverse, decrement count - - jmp("decr") # 10 -> 00 Reverse, decrement count - jmp("read") # 10 -> 01 Impossible, continue - jmp("read") # 10 -> 10 No change, continue - jmp("incr") # 10 -> 11 Forward, increment count - - jmp("read") # 11 -> 00 Impossible, continue - jmp("incr") # 11 -> 01 Forward, increment count - jmp("decr") # 11 -> 10 Reverse, decrement count - jmp("read") # 11 -> 11 No change, continue - - label("read") - mov(osr, isr) # Store previous pin states in OSR - mov(isr, x) # Copy encoder count to ISR - push(noblock) # Push count to RX buffer, and reset ISR to 0 - out(isr, 2) # Shift previous pin states into ISR - in_(pins, 2) # Shift current pin states into ISR - mov(pc, isr) # Move PC to jump table to determine what to do next - - label("decr") # There is no explicite increment intruction, but X can be - jmp(x_dec, "decr_nop") # decremented in the jump instruction. So we use that and jump - label("decr_nop") # to the next instruction, which is equivalent to just decrementing - jmp("read") - - label("incr") # There is no explicite increment intruction, but X can be - mov(x, invert(x)) # decremented in the jump instruction. So we invert X, decrement, - jmp(x_dec, "incr_nop") # then invert again - this is equivalent to incrementing. - label("incr_nop") - mov(x, invert(x)) - jmp("read") - - # Fill remaining instruction memory with jumps to ensure nothing bad happens - # For some reason, weird behavior happens if the instruction memory isn't full - jmp("read") - jmp("read") - jmp("read") - jmp("read") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/gamepad.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/gamepad.py deleted file mode 100644 index f3f08de..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/gamepad.py +++ /dev/null @@ -1,169 +0,0 @@ -from .puppet import Puppet, VAR_TYPE_FLOAT, VAR_TYPE_INT, VAR_TYPE_BOOL, PERM_WRITE_ONLY, PERM_READ_ONLY -from micropython import const - -class Gamepad: - - _DEFAULT_GAMEPAD_INSTANCE = None - - X1 = const(0) - Y1 = const(1) - X2 = const(2) - Y2 = const(3) - BUTTON_A = const(4) - BUTTON_B = const(5) - BUTTON_X = const(6) - BUTTON_Y = const(7) - BUMPER_L = const(8) - BUMPER_R = const(9) - TRIGGER_L = const(10) - TRIGGER_R = const(11) - BACK = const(12) - START = const(13) - DPAD_UP = const(14) - DPAD_DN = const(15) - DPAD_L = const(16) - DPAD_R = const(17) - - # Mapping from index to variable name - _VAR_NAMES = { - 0: '$gamepad.x1', - 1: '$gamepad.y1', - 2: '$gamepad.x2', - 3: '$gamepad.y2', - 4: '$gamepad.button_a', - 5: '$gamepad.button_b', - 6: '$gamepad.button_x', - 7: '$gamepad.button_y', - 8: '$gamepad.bumper_l', - 9: '$gamepad.bumper_r', - 10: '$gamepad.trigger_l', - 11: '$gamepad.trigger_r', - 12: '$gamepad.back', - 13: '$gamepad.start', - 14: '$gamepad.dpad_up', - 15: '$gamepad.dpad_dn', - 16: '$gamepad.dpad_l', - 17: '$gamepad.dpad_r', - } - - @classmethod - def get_default_gamepad(cls): - """ - Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist. - """ - if cls._DEFAULT_GAMEPAD_INSTANCE is None: - cls._DEFAULT_GAMEPAD_INSTANCE = cls() - cls._DEFAULT_GAMEPAD_INSTANCE.start() - return cls._DEFAULT_GAMEPAD_INSTANCE - - def __init__(self): - """ - Manages communication with gamepad data coming from a remote computer via XPP protocol. - """ - self._puppet = Puppet.get_default_puppet() - self._started = False - - # Register all gamepad variables - self._register_variables() - - def _register_variables(self): - """ - Register all gamepad variables with the XPP protocol. - """ - # Joystick axes are floats - for idx in [self.X1, self.Y1, self.X2, self.Y2]: - var_name = self._VAR_NAMES[idx] - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) - - # Buttons are integers (1 or 0) - for idx in range(4, 18): - var_name = self._VAR_NAMES[idx] - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_WRITE_ONLY) - - # Register gamepad enabled variable (read-only from XRP side) - self._puppet.define_variable('$gamepad.enabled', VAR_TYPE_BOOL, PERM_READ_ONLY) - - def start(self): - """ - Signals the remote computer to begin sending gamepad data packets. - Subscribes to all gamepad variables at a high rate (50 Hz). - """ - self._puppet.start() - self._puppet.send_program_start() - - # Enable gamepad - signal to client to start sending - self._puppet.set_variable('$gamepad.enabled', True) - - if self._started: - return - - # Subscribe to all gamepad variables at 50 Hz - for var_name in self._VAR_NAMES.values(): - self._puppet.subscribe_variable(var_name, 50) - - self._started = True - - def stop(self): - """ - Signals the remote computer to stop sending gamepad data packets. - Unsubscribes from all gamepad variables. - """ - - self._puppet.send_program_end() - - if not self._started: - return - - # Disable gamepad - signal to client to stop sending - self._puppet.set_variable('$gamepad.enabled', False) - - # Unsubscribe from all gamepad variables - for var_name in self._VAR_NAMES.values(): - self._puppet.subscribe_variable(var_name, 0) - - self._puppet.stop() - self._started = False - - def get_value(self, index: int) -> float: - """ - Get the current value of a joystick axis - - :param index: The joystick axis index - Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2 - :type int - :returns: The value of the joystick between -1 and 1 - :rtype: float - """ - if index not in self._VAR_NAMES: - return 0.0 - - var_name = self._VAR_NAMES[index] - try: - value = self._puppet.get_variable(var_name) - # Return negative to make normal for user (backward compatibility) - return -value - except: - # Return default if variable not available - return 0.0 - - def is_button_pressed(self, index: int) -> bool: - """ - Checks if a specific button is currently pressed. - - :param index: The button index - Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc - :type int - :returns: The value of the button 1 or 0 - :rtype: bool - """ - if index not in self._VAR_NAMES: - return False - - var_name = self._VAR_NAMES[index] - try: - value = self._puppet.get_variable(var_name) - # Works for both int and float - return value > 0 - except: - # Return default if variable not available - return False diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu.py deleted file mode 100644 index cd7acbf..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu.py +++ /dev/null @@ -1,559 +0,0 @@ -# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive -# ver: 1.0 -# License: MIT -# Author: shaoziyang (shaoziyang@micropython.org.cn) -# v1.0 2019.7 -try: - from .imu_defs import * - from uctypes import struct, addressof -except (TypeError, ModuleNotFoundError): - LSM_ADDR_PRIMARY = 0x6A - # Import wrapped in a try/except so that autodoc generation can process properly - pass -from machine import I2C, Pin, Timer, disable_irq, enable_irq -import time, math - -class IMU(): - - _DEFAULT_IMU_INSTANCE = None - - @classmethod - def get_default_imu(cls): - """ - Get the default XRP IMU instance. This is a singleton, so only one instance of the drivetrain will ever exist. - """ - - if cls._DEFAULT_IMU_INSTANCE is None: - cls._DEFAULT_IMU_INSTANCE = cls() - cls._DEFAULT_IMU_INSTANCE.calibrate() - return cls._DEFAULT_IMU_INSTANCE - - def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY): - # I2C values - self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000) - self.addr = addr - - # Initialize member variables - self._reset_member_variables() - - # Transmit and recieve buffers - self.tb = bytearray(1) - self.rb = bytearray(1) - - # Copies of registers. Bytes and structs share the same memory - # addresses, so changing one changes the other - self.reg_ctrl1_xl_byte = bytearray(1) - self.reg_ctrl2_g_byte = bytearray(1) - self.reg_ctrl3_c_byte = bytearray(1) - self.reg_ctrl1_xl_bits = struct(addressof(self.reg_ctrl1_xl_byte), LSM_REG_LAYOUT_CTRL1_XL) - self.reg_ctrl2_g_bits = struct(addressof(self.reg_ctrl2_g_byte), LSM_REG_LAYOUT_CTRL2_G) - self.reg_ctrl3_c_bits = struct(addressof(self.reg_ctrl3_c_byte), LSM_REG_LAYOUT_CTRL3_C) - - # Create timer - self.update_timer = Timer(-1) - - # Check if the IMU is connected - if not self.is_connected(): - # TODO - do somehting intelligent here - pass - - # Reset sensor to clear any previous configuration - # reset() also sets the board to the default config - self.reset() - - def _default_config(self): - # Enable block data update - self._set_bdu() - - # Set default scale for each sensor - self.acc_scale('16g') - self.gyro_scale('2000dps') - - # Set default rate for each sensor - self.acc_rate('208Hz') - self.gyro_rate('208Hz') - - """ - The following are private helper methods to read and write registers, as well as to convert the read values to the correct unit. - """ - - def _reset_member_variables(self): - # Vector of IMU measurements - self.irq_v = [[0, 0, 0], [0, 0, 0]] - - # Sensor offsets - self.gyro_offsets = [0,0,0] - self.acc_offsets = [0,0,0] - - # Scale factors when ranges are changed - self._acc_scale_factor = 1 - self._gyro_scale_factor = 1 - - # Angle integrators - self.running_pitch = 0 - self.running_yaw = 0 - self.running_roll = 0 - - def _int16(self, d): - return d if d < 0x8000 else d - 0x10000 - - def _setreg(self, reg, dat): - self.tb[0] = dat - self.i2c.writeto_mem(self.addr, reg, self.tb) - - def _getreg(self, reg): - self.i2c.readfrom_mem_into(self.addr, reg, self.rb) - return self.rb[0] - - def _getregs(self, reg, num_bytes): - rx_buf = bytearray(num_bytes) - self.i2c.readfrom_mem_into(self.addr, reg, rx_buf) - return rx_buf - - def _get2reg(self, reg): - return self._getreg(reg) + self._getreg(reg+1) * 256 - - def _r_w_reg(self, reg, dat, mask): - self._getreg(reg) - self.rb[0] = (self.rb[0] & mask) | dat - self._setreg(reg, self.rb[0]) - - def _set_bdu(self, bdu = True): - """ - Sets Block Data Update bit - """ - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.BDU = bdu - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - def _set_if_inc(self, if_inc = True): - """ - Sets InterFace INCrement bit - """ - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.IF_INC = if_inc - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - def _raw_to_mg(self, raw): - return self._int16((raw[1] << 8) | raw[0]) * LSM_MG_PER_LSB_2G * self._acc_scale_factor - - def _raw_to_mdps(self, raw): - return self._int16((raw[1] << 8) | raw[0]) * LSM_MDPS_PER_LSB_125DPS * self._gyro_scale_factor - - """ - Public facing API Methods - """ - - def is_connected(self): - """ - Checks whether the IMU is connected - - :return: True if WHO_AM_I value is correct, otherwise False - :rtype: bool - """ - who_am_i = self._getreg(LSM_REG_WHO_AM_I) - return who_am_i == LSM_WHO_AM_I_VALUE - - def reset(self, wait_for_reset = True, wait_timeout_ms = 100): - """ - Resets the IMU, and restores all registers to their default values - - :param wait_for_reset: Whether to wait for reset to complete - :type wait_for_reset: bool - :param wait_timeout_ms: Timeout in milliseconds when waiting for reset - :type wait_timeout_ms: int - :return: False if timeout occurred, otherwise True - :rtype: bool - """ - # Stop timer - self._stop_timer() - - # Reset member variables - self._reset_member_variables() - - # Set BOOT and SW_RESET bits - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.BOOT = 1 - self.reg_ctrl3_c_bits.SW_RESET = 1 - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - # Wait for reset to complete, if requested - if wait_for_reset: - # Loop with timeout - t0 = time.ticks_ms() - while time.ticks_ms() < (t0 + wait_timeout_ms): - # Check if register has returned to default value (0x04) - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - if self.reg_ctrl3_c_byte[0] == 0x04: - self._default_config() - self._start_timer() - return True - # Timeout occurred - # Attempt to set default config anyways - self._default_config() - self._start_timer() - return False - else: - self._default_config() - self._start_timer() - return True - - def get_acc_x(self): - """ - :return: The current reading for the accelerometer's X-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] - - def get_acc_y(self): - """ - :return: The current reading for the accelerometer's Y-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTY_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[1] - - def get_acc_z(self): - """ - :return: The current reading for the accelerometer's Z-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTZ_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[2] - - def get_acc_rates(self): - """ - :return: the list of readings from the Accelerometer, in mg. The order of the values is x, y, z. - :rtype: list - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 6) - - # Convert raw data to mg's - self.irq_v[0][0] = self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] - self.irq_v[0][1] = self._raw_to_mg(raw_bytes[2:4]) - self.acc_offsets[1] - self.irq_v[0][2] = self._raw_to_mg(raw_bytes[4:6]) - self.acc_offsets[2] - - return self.irq_v[0] - - def get_gyro_x_rate(self): - """ - Individual axis read for the Gyroscope's X-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - - def get_gyro_y_rate(self): - """ - Individual axis read for the Gyroscope's Y-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTY_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[1] - - def get_gyro_z_rate(self): - """ - Individual axis read for the Gyroscope's Z-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTZ_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[2] - - def get_gyro_rates(self): - """ - Retrieves the array of readings from the Gyroscope, in mdps - The order of the values is x, y, z. - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 6) - - # Convert raw data to mdps - self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] - self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] - - return self.irq_v[1] - - def get_acc_gyro_rates(self): - """ - Get the accelerometer and gyroscope values in mg and mdps in the form of a 2D array. - The first row is the acceleration values, the second row is the gyro values. - The order of the values is x, y, z. - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 12) - - # Convert raw data to mg's and mdps - self.irq_v[0][0] = self._raw_to_mg(raw_bytes[6:8]) - self.acc_offsets[0] - self.irq_v[0][1] = self._raw_to_mg(raw_bytes[8:10]) - self.acc_offsets[1] - self.irq_v[0][2] = self._raw_to_mg(raw_bytes[10:12]) - self.acc_offsets[2] - self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] - self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] - - return self.irq_v - - def get_pitch(self): - """ - Get the pitch of the IMU in degrees. Unbounded in range - - :return: The pitch of the IMU in degrees - :rtype: float - """ - return self.running_pitch - - def get_yaw(self): - """ - Get the yaw (heading) of the IMU in degrees. Unbounded in range - - :return: The yaw (heading) of the IMU in degrees - :rtype: float - """ - return self.running_yaw - - def get_heading(self): - """ - Get's the heading of the IMU, but bounded between [0, 360) - - :return: The heading of the IMU in degrees, bound between [0, 360) - :rtype: float - """ - return self.running_yaw % 360 - - def get_roll(self): - """ - Get the roll of the IMU in degrees. Unbounded in range - - :return: The roll of the IMU in degrees - :rtype: float - """ - return self.running_roll - - def reset_pitch(self): - """ - Reset the pitch to 0 - """ - self.running_pitch = 0 - - def reset_yaw(self): - """ - Reset the yaw (heading) to 0 - """ - self.running_yaw = 0 - - def reset_roll(self): - """ - Reset the roll to 0 - """ - self.running_roll = 0 - - def set_pitch(self, pitch): - """ - Set the pitch to a specific angle in degrees - - :param pitch: The pitch to set the IMU to - :type pitch: float - """ - self.running_pitch = pitch - - def set_yaw(self, yaw): - """ - Set the yaw (heading) to a specific angle in degrees - - :param yaw: The yaw (heading) to set the IMU to - :type yaw: float - """ - self.running_yaw = yaw - - def set_roll(self, roll): - """ - Set the roll to a specific angle in degrees - - :param roll: The roll to set the IMU to - :type roll: float - """ - self.running_roll = roll - - def temperature(self): - """ - Read the temperature of the LSM6DSO in degrees Celsius - - :return: The temperature of the LSM6DSO in degrees Celsius - :rtype: float - """ - # The LSM6DSO's temperature can be read from the OUT_TEMP_L register - # We use OUT_TEMP_L+1 if OUT_TEMP_L cannot be read - try: - return self._int16(self._get2reg(LSM_REG_OUT_TEMP_L))/256 + 25 - except MemoryError: - return self._temperature_irq() - - def _temperature_irq(self): - # Helper function for temperature() to read the alternate temperature register - self._getreg(LSM_REG_OUT_TEMP_L+1) - if self.rb[0] & 0x80: - self.rb[0] -= 256 - return self.rb[0] + 25 - - def acc_scale(self, value=None): - """ - Set the accelerometer scale in g. The scale can be: - '2g', '4g', '8g', or '16g' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) - # Check if the provided value is in the dictionary - if value not in LSM_ACCEL_FS: - # Return string representation of this value - index = list(LSM_ACCEL_FS.values()).index(self.reg_ctrl1_xl_bits.FS_XL) - return list(LSM_ACCEL_FS.keys())[index] - else: - # Set value as requested - self.reg_ctrl1_xl_bits.FS_XL = LSM_ACCEL_FS[value] - self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) - # Update scale factor for converting raw data - self._acc_scale_factor = int(value.rstrip('g')) // 2 - - def gyro_scale(self, value=None): - """ - Set the gyroscope scale in dps. The scale can be: - '125', '250', '500', '1000', or '2000' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) - # Check if the provided value is in the dictionary - if value not in LSM_GYRO_FS: - # Return string representation of this value - index = list(LSM_GYRO_FS.values()).index(self.reg_ctrl2_g_bits.FS_G) - return list(LSM_GYRO_FS.keys())[index] - else: - # Set value as requested - self.reg_ctrl2_g_bits.FS_G = LSM_GYRO_FS[value] - self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) - # Update scale factor for converting raw data - self._gyro_scale_factor = int(value.rstrip('dps')) // 125 - - def acc_rate(self, value=None): - """ - Set the accelerometer rate in Hz. The rate can be: - '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) - # Check if the provided value is in the dictionary - if value not in LSM_ODR: - # Return string representation of this value - index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_XL) - return list(LSM_ODR.keys())[index] - else: - # Set value as requested - self.reg_ctrl1_xl_bits.ODR_XL = LSM_ODR[value] - self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) - - def gyro_rate(self, value=None): - """ - Set the gyroscope rate in Hz. The rate can be: - '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) - # Check if the provided value is in the dictionary - if value not in LSM_ODR: - # Return string representation of this value - index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_G) - return list(LSM_ODR.keys())[index] - else: - # Set value as requested - self.reg_ctrl2_g_bits.ODR_G = LSM_ODR[value] - self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) - - # Update timer frequency - self.timer_frequency = int(value.rstrip('Hz')) - self._start_timer() - - def calibrate(self, calibration_time:float=1, vertical_axis:int= 2): - """ - Collect readings for [calibration_time] seconds and calibrate the IMU based on those readings - Do not move the robot during this time - Assumes the board to be parallel to the ground. Please use the vertical_axis parameter if that is not correct - - :param calibration_time: The time in seconds to collect readings for - :type calibration_time: float - :param vertical_axis: The axis that is vertical. 0 for X, 1 for Y, 2 for Z - :type vertical_axis: int - """ - self._stop_timer() - self.acc_offsets = [0,0,0] - self.gyro_offsets = [0,0,0] - avg_vals = [[0,0,0],[0,0,0]] - num_vals = 0 - # Wait a bit for sensor to start measuring (data registers may default to something nonsensical) - time.sleep(.1) - start_time = time.ticks_ms() - while time.ticks_ms() < start_time + calibration_time*1000: - cur_vals = self.get_acc_gyro_rates() - # Accelerometer averages - avg_vals[0][0] += cur_vals[0][0] - avg_vals[0][1] += cur_vals[0][1] - avg_vals[0][2] += cur_vals[0][2] - # Gyroscope averages - avg_vals[1][0] += cur_vals[1][0] - avg_vals[1][1] += cur_vals[1][1] - avg_vals[1][2] += cur_vals[1][2] - # Increment counter and wait for next loop - num_vals += 1 - time.sleep(1 / self.timer_frequency) - - # Compute averages - avg_vals[0][0] /= num_vals - avg_vals[0][1] /= num_vals - avg_vals[0][2] /= num_vals - avg_vals[1][0] /= num_vals - avg_vals[1][1] /= num_vals - avg_vals[1][2] /= num_vals - - avg_vals[0][vertical_axis] -= 1000 #in mg - - self.acc_offsets = avg_vals[0] - self.gyro_offsets = avg_vals[1] - self._start_timer() - - def _start_timer(self): - self.update_timer.init(freq=self.timer_frequency, callback=lambda t:self._update_imu_readings()) - - def _stop_timer(self): - self.update_timer.deinit() - - def _update_imu_readings(self): - # Called every tick through a callback timer - self.get_gyro_rates() - delta_pitch = self.irq_v[1][0] / 1000 / self.timer_frequency - delta_roll = self.irq_v[1][1] / 1000 / self.timer_frequency - delta_yaw = self.irq_v[1][2] / 1000 / self.timer_frequency - - state = disable_irq() - self.running_pitch += delta_pitch - self.running_roll += delta_roll - self.running_yaw += delta_yaw - enable_irq(state) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu_defs.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu_defs.py deleted file mode 100644 index c8732de..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/imu_defs.py +++ /dev/null @@ -1,83 +0,0 @@ -from uctypes import BFUINT8, BF_POS, BF_LEN -from micropython import const - -""" - Possible I2C addresses -""" -LSM_ADDR_PRIMARY = const(0x6B) -LSM_ADDR_SECONDARY = const(0x6A) - -""" - Register addresses -""" -LSM_REG_WHO_AM_I = const(0x0F) -LSM_REG_CTRL1_XL = const(0x10) -LSM_REG_CTRL2_G = const(0x11) -LSM_REG_CTRL3_C = const(0x12) -LSM_REG_OUT_TEMP_L = const(0x20) -LSM_REG_OUT_TEMP_H = const(0x21) -LSM_REG_OUTX_L_G = const(0x22) -LSM_REG_OUTY_L_G = const(0x24) -LSM_REG_OUTZ_L_G = const(0x26) -LSM_REG_OUTX_L_A = const(0x28) -LSM_REG_OUTY_L_A = const(0x2A) -LSM_REG_OUTZ_L_A = const(0x2C) - -""" - Bit field struct definitions of registers -""" -LSM_REG_LAYOUT_CTRL1_XL = { - "ODR_XL" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, - "FS_XL" : BFUINT8 | 2 << BF_POS | 2 << BF_LEN, - "LPF2_XL_EN" : BFUINT8 | 1 << BF_POS | 1 << BF_LEN, -} -LSM_REG_LAYOUT_CTRL2_G = { - "ODR_G" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, - "FS_G" : BFUINT8 | 1 << BF_POS | 3 << BF_LEN, -} -LSM_REG_LAYOUT_CTRL3_C = { - "BOOT" : BFUINT8 | 7 << BF_POS | 1 << BF_LEN, - "BDU" : BFUINT8 | 6 << BF_POS | 1 << BF_LEN, - "H_LACTIVE" : BFUINT8 | 5 << BF_POS | 1 << BF_LEN, - "PP_OD" : BFUINT8 | 4 << BF_POS | 1 << BF_LEN, - "SIM" : BFUINT8 | 3 << BF_POS | 1 << BF_LEN, - "IF_INC" : BFUINT8 | 2 << BF_POS | 1 << BF_LEN, - "SW_RESET" : BFUINT8 | 0 << BF_POS | 1 << BF_LEN, -} - -""" - Dictionaries for possible register settings -""" -LSM_ODR = { - "0Hz" : 0x0, - "12.5Hz" : 0x1, - "26Hz" : 0x2, - "52Hz" : 0x3, - "104Hz" : 0x4, - "208Hz" : 0x5, - "416Hz" : 0x6, - "833Hz" : 0x7, - "1660Hz" : 0x8, - "3330Hz" : 0x9, - "6660Hz" : 0xA, -} -LSM_ACCEL_FS = { - "2g" : 0x0, - "4g" : 0x2, - "8g" : 0x3, - "16g" : 0x1, -} -LSM_GYRO_FS = { - "125dps" : 0x1, - "250dps" : 0x0, - "500dps" : 0x2, - "1000dps" : 0x4, - "2000dps" : 0x6, -} - -""" - Other contants -""" -LSM_WHO_AM_I_VALUE = 0x6C -LSM_MG_PER_LSB_2G = 0.061 -LSM_MDPS_PER_LSB_125DPS = 4.375 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor.py deleted file mode 100644 index 2c5d479..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor.py +++ /dev/null @@ -1,96 +0,0 @@ -from machine import Pin, PWM - -class SinglePWMMotor: - - """ - A simple class handling direction and power sets for DC motors on the XRP robots - - This version is used for the XRP Beta, which uses the rp2040 processor - """ - - def __init__(self, in1_direction_pin: int|str, in2_speed_pin: int|str, flip_dir:bool=False): - self.flip_dir = flip_dir - self._MAX_PWM = 65534 # Motor holds when actually at full power - - self._in1DirPin = Pin(in1_direction_pin, Pin.OUT) - self._in2SpeedPin = PWM(Pin(in2_speed_pin, Pin.OUT)) - self._in2SpeedPin.freq(50) - - def set_effort(self, effort: float): - """ - Sets the effort value of the motor (corresponds to power) - - :param effort: The effort to set the motor to, between -1 and 1 - :type effort: float - """ - - if effort < 0: - # Change direction if negative power - effort *= -1 - self._set_direction(1) - else: - self._set_direction(0) - # Cap power to [0,1] - effort = max(0,min(effort,1)) - self._in2SpeedPin.duty_u16(int(effort*self._MAX_PWM)) - - def _set_direction(self, direction: int): - if self.flip_dir: - self._in1DirPin.value(not direction) - else: - self._in1DirPin.value(direction) - - def brake(self): - # Motor holds with the real max duty cycle (65535) - self._in2SpeedPin.duty_u16(self._MAX_PWM+1) - - def coast(self): - self.set_effort(0) - -class DualPWMMotor: - """ - A simple class handling effort setting for DC motors on the XRP robots - - This version of the Motor class is used for the official release of the XRP - """ - - def __init__(self, in1_pwm_forward: int|str, in2_pwm_backward: int|str, flip_dir:bool=False): - self.flip_dir = flip_dir - self._MAX_PWM = 65535 # Motor holds when actually at full power - - self._in1ForwardPin = PWM(Pin(in1_pwm_forward, Pin.OUT)) - self._in2BackwardPin = PWM(Pin(in2_pwm_backward, Pin.OUT)) - self._in1ForwardPin.freq(50) - self._in2BackwardPin.freq(50) - - def set_effort(self, effort: float): - """ - Sets the effort value of the motor (corresponds to power) - - :param effort: The effort to set the motor to, between -1 and 1 - :type effort: float - """ - - in1Pwm = (effort < 0) ^ (self.flip_dir) - if in1Pwm: - self._in1ForwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) - self._in2BackwardPin.duty_u16(int(0)) - else: - self._in1ForwardPin.duty_u16(int(0)) - self._in2BackwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) - - def brake(self): - """ - Powers the motor in both directions at the same time, enabling it to hold position - """ - self._in1ForwardPin.duty_u16(int(self._MAX_PWM)) - self._in2BackwardPin.duty_u16(int(self._MAX_PWM)) - - def coast(self): - """ - Disables the motor in both directions at the same time, enabling it to spin freely - """ - self._in1ForwardPin.duty_u16(int(0)) - self._in2BackwardPin.duty_u16(int(0)) - - diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor_group.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor_group.py deleted file mode 100644 index ecfe4f0..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/motor_group.py +++ /dev/null @@ -1,94 +0,0 @@ -from .encoded_motor import EncodedMotor -class MotorGroup(EncodedMotor): - def __init__(self, *motors: EncodedMotor): - """ - A wrapper class for multiple motors, allowing them to be treated as one motor. - - :param motors: The motors to add to this group - :type motors: tuple - """ - self.motors = [] - for motor in motors: - self.add_motor(motor) - - def add_motor(self, motor:EncodedMotor): - """ - :param motor: The motor to add to this group - :type motor: EncodedMotor - """ - self.motors.append(motor) - - def remove_motor(self, motor:EncodedMotor): - """ - :param motor: The motor to remove from this group - :type motor: EncodedMotor - """ - try: - self.motors.remove(motor) - except: - print("Failed to remove motor from Motor Group") - - def set_effort(self, effort: float): - """ - :param effort: The effort to set all motors in this group to, from -1 to 1 - :type effort: float - """ - for motor in self.motors: - motor.set_effort(effort) - - def get_position(self) -> float: - """ - :return: The average position of all motors in this group, in revolutions, relative to the last time reset was called. - :rtype: float - """ - avg = 0 - for motor in self.motors: - avg += motor.get_position() - return avg / len(self.motors) - - def get_position_counts(self) -> int: - """ - :return: The average position of all motors in this group, in encoder counts, relative to the last time reset was called. - :rtype: int - """ - avg = 0 - for motor in self.motors: - avg += motor.get_position_counts() - return round(avg / len(self.motors)) - - def reset_encoder_position(self): - """ - Resets the encoder position of all motors in this group back to zero. - """ - for motor in self.motors: - motor.reset_encoder_position() - - def get_speed(self) -> float: - """ - :return: The average speed of the motors, in rpm - :rtype: float - """ - avg = 0 - for motor in self.motors: - avg += motor.get_speed() - return avg / len(self.motors) - - - def set_speed(self, target_speed_rpm: float = None): - """ - Sets target speed (in rpm) to be maintained passively by all motors in this group - Call with no parameters to turn off speed control - - :param target_speed_rpm: The target speed for these motors in rpm, or None - :type target_speed_rpm: float, or None - """ - for motor in self.motors: - motor.set_speed(target_speed_rpm) - - def set_speed_controller(self, new_controller): - """ - :param new_controller: The new Controller for speed control - :type new_controller: Controller - """ - for motor in self.motors: - motor.set_speed_controller(new_controller) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/pid.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/pid.py deleted file mode 100644 index e9c0491..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/pid.py +++ /dev/null @@ -1,129 +0,0 @@ -import time -from .controller import Controller - -""" -PID controller with exit condition -""" - -class PID(Controller): - - def __init__(self, - kp = 1.0, - ki = 0.0, - kd = 0.0, - min_output = 0.0, - max_output = 1.0, - max_derivative = None, - max_integral = None, - tolerance = 0.1, - tolerance_count = 1 - ): - """ - :param kp: proportional gain - :param ki: integral gain - :param kd: derivative gain - :param min_output: minimum output - :param max_output: maximum output - :param max_derivative: maximum derivative (change per second) - :param max_integral: maximum integral windup allowed (will cap integral at this value) - :param tolerance: tolerance for exit condition - :param tolerance_count: number of times the error needs to be within tolerance for is_done to return True - """ - self.kp = kp - self.ki = ki - self.kd = kd - self.min_output = min_output - self.max_output = max_output - self.max_derivative = max_derivative - self.max_integral = max_integral - self.tolerance = tolerance - self.tolerance_count = tolerance_count - - self.prev_error = 0 - self.prev_integral = 0 - self.prev_output = 0 - - self.start_time = None - self.prev_time = None - - # number of actual times in tolerance - self.times = 0 - - def _handle_exit_condition(self, error: float): - if abs(error) < self.tolerance: - # if error is within tolerance, increment times in tolerance - self.times += 1 - else: - # otherwise, reset times in tolerance, because we need to be in tolerance for numTimesInTolerance consecutive times - self.times = 0 - - def update(self, error: float, debug: bool = False) -> float: - """ - Handle a new update of this PID loop given an error. - - :param error: The error of the system being controlled by this PID controller - :type error: float - - :return: The system output from the controller, to be used as an effort value or for any other purpose - :rtype: float - """ - current_time = time.ticks_ms() - if self.prev_time is None: - # First update after instantiation - self.start_time = current_time - timestep = 0.01 - else: - # get time delta in seconds - timestep = time.ticks_diff(current_time, self.prev_time) / 1000 - self.prev_time = current_time # cache time for next update - - self._handle_exit_condition(error) - - integral = self.prev_integral + error * timestep - - if self.max_integral is not None: - integral = max(-self.max_integral, min(self.max_integral, integral)) - - derivative = (error - self.prev_error) / timestep - - # derive output - output = self.kp * error + self.ki * integral + self.kd * derivative - self.prev_error = error - self.prev_integral = integral - - # Bound output by minimum - if output > 0: - output = max(self.min_output, output) - else: - output = min(-self.min_output, output) - - # Bound output by maximum - output = max(-self.max_output, min(self.max_output, output)) - - # Bound output by maximum acceleration - if self.max_derivative is not None: - lower_bound = self.prev_output - self.max_derivative * timestep - upper_bound = self.prev_output + self.max_derivative * timestep - output = max(lower_bound, min(upper_bound, output)) - - # cache output for next update - self.prev_output = output - - if debug: - print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})") - - return output - - def is_done(self) -> bool: - """ - :return: if error is within tolerance for numTimesInTolerance consecutive times, or timed out - :rtype: bool - """ - return self.times >= self.tolerance_count - - def clear_history(self): - self.prev_error = 0 - self.prev_integral = 0 - self.prev_output = 0 - self.prev_time = None - self.times = 0 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/puppet.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/puppet.py deleted file mode 100644 index a74f1db..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/puppet.py +++ /dev/null @@ -1,869 +0,0 @@ -""" -XRP Puppet Protocol (XPP) - Core Protocol Implementation - -A bidirectional protocol for communicating with the XRP robot remotely. -Uses a Network Tables-like architecture with variable ID mapping. -""" - -import select -import struct -import sys -import time -from machine import Timer -from micropython import const,kbd_intr - -# Message framing constants -MSG_START_1 = const(0xAA) -MSG_START_2 = const(0x55) -MSG_END_1 = const(0x55) -MSG_END_2 = const(0xAA) -MAX_PAYLOAD_SIZE = const(251) - -# Message type constants -MSG_TYPE_VAR_DEF = const(1) -MSG_TYPE_VAR_UPDATE = const(2) -MSG_TYPE_VAR_SUBSCRIBE = const(3) -MSG_TYPE_VAR_UNSUBSCRIBE = const(4) -MSG_TYPE_PROGRAM_START = const(5) -MSG_TYPE_PROGRAM_END = const(6) -MSG_TYPE_HEARTBEAT = const(7) - -# Variable type constants -VAR_TYPE_INT = const(1) -VAR_TYPE_FLOAT = const(2) -VAR_TYPE_BOOL = const(3) - -# Permission constants -PERM_READ_ONLY = const(1) -PERM_WRITE_ONLY = const(2) -PERM_READ_WRITE = const(3) - -# First custom variable ID -FIRST_CUSTOM_VAR_ID = const(38) - -# Mapping of standard variable names to IDs (1-37) -_STANDARD_VAR_IDS = { - # Gamepad variables (1-19) - '$gamepad.x1': 1, - '$gamepad.y1': 2, - '$gamepad.x2': 3, - '$gamepad.y2': 4, - '$gamepad.button_a': 5, - '$gamepad.button_b': 6, - '$gamepad.button_x': 7, - '$gamepad.button_y': 8, - '$gamepad.bumper_l': 9, - '$gamepad.bumper_r': 10, - '$gamepad.trigger_l': 11, - '$gamepad.trigger_r': 12, - '$gamepad.back': 13, - '$gamepad.start': 14, - '$gamepad.dpad_up': 15, - '$gamepad.dpad_dn': 16, - '$gamepad.dpad_l': 17, - '$gamepad.dpad_r': 18, - '$gamepad.enabled': 19, - # IMU variables (20-25) - '$imu.yaw': 20, - '$imu.roll': 21, - '$imu.pitch': 22, - '$imu.acc_x': 23, - '$imu.acc_y': 24, - '$imu.acc_z': 25, - # Encoder variables (26-29) - '$encoder.left': 26, - '$encoder.right': 27, - '$encoder.3': 28, - '$encoder.4': 29, - # Current sensor variables (30-33) - '$current.left': 30, - '$current.right': 31, - '$current.3': 32, - '$current.4': 33, - # Other sensor variables (34-37) - '$rangefinder.distance': 34, - '$reflectance.left': 35, - '$reflectance.right': 36, - '$voltage': 37, -} - - -class Puppet: - """ - Core XRP Puppet Protocol implementation. - Manages bidirectional communication, variable registry, and message handling. - """ - - _DEFAULT_PUPPET_INSTANCE = None - - @classmethod - def get_default_puppet(cls): - """ - Get the default XPP instance. This is a singleton. - """ - if cls._DEFAULT_PUPPET_INSTANCE is None: - cls._DEFAULT_PUPPET_INSTANCE = cls() - return cls._DEFAULT_PUPPET_INSTANCE - - def __init__(self): - """ - Initialize the XPP protocol handler. - """ - # Variable registry: name -> (id, type, permissions, value, update_rate, last_sent_time) - self._variables = {} - self._variable_ids = {} # id -> name (reverse mapping) - self._next_var_id = FIRST_CUSTOM_VAR_ID # Start at 38 for custom variables - - # Transport layer - self._transport = None - self._transport_type = None - self._rx_buffer = bytearray() - self._rx_state = 0 # 0=waiting for start, 1=reading length, 2=reading payload, 3=waiting for end - - # Packet tracking - self.packets_sent = 0 - self.packets_received = 0 - self.packets_dropped = 0 - self._sequence_number = 0 - - # Update rate management - self._update_timer = Timer(-1) - self._update_timer_running = False - - # STDIO polling (for USB_STDIO transport) - self._poll_timer = Timer(-1) - self._poll_timer_running = False - self._poll_stdin_poll = None - - # Program state - self._program_running = False - - # Initialize transport - self._init_transport() - - def _init_transport(self): - """ - Auto-detect and initialize transport (BLE or USB serial). - """ - # Try BLE first - try: - from ble.blerepl import uart - if len(uart._connections) > 0: - self._transport = uart - self._transport_type = 'BLE' - self._transport.set_data_callback(self._data_callback) - return - else: - self._transport_type = 'USB_STDIO' - self._start_poll_timer() - return - except ImportError: - self._transport_type = 'USB_STDIO' - self._start_poll_timer() - return - - - def _poll_stdio(self): - """ - Poll STDIO for incoming data using select.poll. - Reads raw bytes from the stdin buffer. - """ - data_read = False - while True: - events = self._stdin_poll.poll(0) - if not events: - if data_read: - self._process_rx_buffer() - break - data = sys.stdin.buffer.read(1) - self._rx_buffer.extend(data) - data_read = True - - #if data: - #print(f"Received data: {data}") - #self._data_callback(data) - - def _start_poll_timer(self): - """ - Start STDIO polling for USB_STDIO transport. - Uses select.poll on the raw stdin buffer and a timer to check it. - """ - if self._transport_type != 'USB_STDIO' or self._poll_timer_running: - return - self._stdin_poll = select.poll() - self._stdin_poll.register(sys.stdin.buffer, select.POLLIN) - - kbd_intr(-1) #the data will have 03 in it, don't do a ctrl-c for that data. - - self._poll_timer.init(period=20, mode=Timer.PERIODIC, - callback=lambda t: self._poll_stdio()) - self._poll_timer_running = True - - def _stop_poll_timer(self): - """ - Stop the STDIO polling timer and unregister from poll. - """ - if self._poll_timer_running: - self._poll_timer.deinit() - kbd_intr(3) #start watching for ctrl-c again - self._poll_timer_running = False - if self._stdin_poll is not None: - try: - self._stdin_poll.unregister(sys.stdin.buffer) - except (OSError, AttributeError): - pass - self._stdin_poll = None - def start(self): - """ - Start the STDIO polling. - """ - if self._transport_type == 'USB_STDIO': - self._start_poll_timer() - - def stop(self): - """ - Stop the STDIO polling. - """ - if self._transport_type == 'USB_STDIO': - self._stop_poll_timer() - - - def _data_callback(self, data): - """ - Handle incoming data from transport layer. - """ - if isinstance(data, (bytes, bytearray)): - self._rx_buffer.extend(data) - else: - self._rx_buffer.append(data) - - self._process_rx_buffer() - - def _process_rx_buffer(self): - """ - Process received data buffer, extracting complete messages. - """ - while len(self._rx_buffer) >= 2: - if self._rx_state == 0: # Waiting for start sequence - # Look for start sequence - idx = -1 - for i in range(len(self._rx_buffer) - 1): - if self._rx_buffer[i] == MSG_START_1 and self._rx_buffer[i+1] == MSG_START_2: - idx = i - break - - if idx == -1: - # No start sequence found, clear buffer except last byte - if len(self._rx_buffer) > 1: - #see if anything in the buffer is a ctrl-c - for i in range(len(self._rx_buffer) - 1): - if self._rx_buffer[i] == 0x03: - self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler - self._rx_buffer = self._rx_buffer[-1:] - return - - # Remove everything before start sequence - if idx > 0: - #check for a ctrl-c in the non packet parts - for i in range(idx - 1): - if self._rx_buffer[i] == 0x03: - self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler - self._rx_buffer = self._rx_buffer[idx:] - - # Found start, move to length - self._rx_state = 1 - continue - - elif self._rx_state == 1: # Reading type - if len(self._rx_buffer) < 3: # Need start(2) + type(1) - return - msg_type = self._rx_buffer[2] - self._rx_state = 2 - continue - - elif self._rx_state == 2: # Reading length - if len(self._rx_buffer) < 4: # Need start(2) + type(1) + length(1) - return - payload_len = self._rx_buffer[3] - if payload_len > MAX_PAYLOAD_SIZE: - # Invalid length, reset - self._rx_buffer = self._rx_buffer[4:] - self._rx_state = 0 - self.packets_dropped += 1 - continue - - self._rx_state = 3 - continue - - elif self._rx_state == 3: # Reading payload - payload_len = self._rx_buffer[3] - total_needed = 4 + payload_len + 2 # start(2) + type(1) + len(1) + payload + end(2) - - if len(self._rx_buffer) < total_needed: - return # Wait for more data - - # Check end sequence - end_idx = 4 + payload_len - if (self._rx_buffer[end_idx] != MSG_END_1 or - self._rx_buffer[end_idx + 1] != MSG_END_2): - # Invalid end sequence, reset - self._rx_buffer = self._rx_buffer[4:] - self._rx_state = 0 - self.packets_dropped += 1 - continue - - # Extract message type and payload data - msg_type = self._rx_buffer[2] - payload_data = bytes(self._rx_buffer[4:end_idx]) - self._rx_buffer = self._rx_buffer[total_needed:] - self._rx_state = 0 - - # Process message - self.packets_received += 1 - self._handle_message(msg_type, payload_data) - continue - - def _write_data(self, data): - """ - Write data to transport layer. - """ - if self._transport_type == 'BLE': - self._transport.write_data(data) - - elif self._transport_type == 'USB_STDIO': - sys.stdout.buffer.write(data) - - def _pack_message(self, msg_type, payload_data): - """ - Pack a message with framing. - Returns bytearray with complete message. - Format: [START] [TYPE] [LENGTH] [PAYLOAD] [END] - LENGTH includes payload_data length (not including TYPE byte) - """ - payload_len = len(payload_data) - if payload_len > MAX_PAYLOAD_SIZE: - raise ValueError(f"Payload too large: {payload_len} > {MAX_PAYLOAD_SIZE}") - - msg = bytearray() - msg.append(MSG_START_1) - msg.append(MSG_START_2) - msg.append(msg_type) - msg.append(payload_len) # Length of payload_data only - msg.extend(payload_data) - msg.append(MSG_END_1) - msg.append(MSG_END_2) - - return msg - - def _send_message(self, msg_type, payload_data): - """ - Send a message over the transport. - """ - msg = self._pack_message(msg_type, payload_data) - self._write_data(msg) - self.packets_sent += 1 - self._sequence_number = (self._sequence_number + 1) % 256 - - def _handle_message(self, msg_type, payload_data): - """ - Handle incoming message based on type. - - :param msg_type: Message type byte - :param payload_data: Message payload data (without type byte) - """ - if msg_type == MSG_TYPE_VAR_DEF: - self._handle_var_def(payload_data) - elif msg_type == MSG_TYPE_VAR_UPDATE: - self._handle_var_update(payload_data) - elif msg_type == MSG_TYPE_VAR_SUBSCRIBE: - self._handle_var_subscribe(payload_data) - elif msg_type == MSG_TYPE_VAR_UNSUBSCRIBE: - self._handle_var_unsubscribe(payload_data) - elif msg_type == MSG_TYPE_PROGRAM_START: - self._handle_program_start() - elif msg_type == MSG_TYPE_PROGRAM_END: - self._handle_program_end() - elif msg_type == MSG_TYPE_HEARTBEAT: - self._handle_heartbeat(payload_data) - - def _handle_var_def(self, payload): - """ - Handle variable definition message. - Format: name_len(1) name(name_len) type(1) permissions(1) var_id(1) - """ - if len(payload) < 3: - return - - name_len = payload[0] - if len(payload) < 1 + name_len + 3: # name_len + name + type + permissions + var_id - return - - name = payload[1:1+name_len].decode('utf-8') - var_type = payload[1+name_len] - permissions = payload[1+name_len+1] - var_id = payload[1+name_len+2] - - # If this is a standard variable, use the predefined ID instead - if name in _STANDARD_VAR_IDS: - var_id = _STANDARD_VAR_IDS[name] - - # Register the variable with the (corrected) ID - if name not in self._variables: - # Default value based on type - if var_type == VAR_TYPE_INT: - default_value = 0 - elif var_type == VAR_TYPE_FLOAT: - default_value = 0.0 - elif var_type == VAR_TYPE_BOOL: - default_value = False - else: - return - - self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) - self._variable_ids[var_id] = name - # Update next_var_id if needed (for custom variables only) - if var_id >= self._next_var_id and name not in _STANDARD_VAR_IDS: - self._next_var_id = var_id + 1 - if self._next_var_id > 255: - self._next_var_id = FIRST_CUSTOM_VAR_ID # Wrap to start of custom range - - def _handle_var_update(self, payload): - """ - Handle variable update message (batched format). - Format: count(1) [var_id(1) type(1) value(type-dependent)] * count - A count of 1 is equivalent to a single update. - """ - if len(payload) < 1: - return - - count = payload[0] - offset = 1 - - if count == 0 or count > 50: # Sanity check - return - - # Batched update format: count(1) [var_id(1) type(1) value] * count - for i in range(count): - if len(payload) < offset + 2: # Need at least var_id(1) + type(1) - break - - var_id = payload[offset] - offset += 1 - var_type = payload[offset] - offset += 1 - - if var_id not in self._variable_ids: - # Skip this update, but need to advance offset - if var_type == VAR_TYPE_INT: - offset += 4 - elif var_type == VAR_TYPE_FLOAT: - offset += 4 - elif var_type == VAR_TYPE_BOOL: - offset += 1 - continue - - name = self._variable_ids[var_id] - var_info = self._variables[name] - - # Unpack value based on type from message - if var_type == VAR_TYPE_INT: - if len(payload) < offset + 4: - break - value = struct.unpack(' 255: - raise RuntimeError("Maximum number of custom variables exceeded") - send_def = True # Send VAR_DEF for custom variables - - # Default value based on type - if var_type == VAR_TYPE_INT: - default_value = 0 - elif var_type == VAR_TYPE_FLOAT: - default_value = 0.0 - elif var_type == VAR_TYPE_BOOL: - default_value = False - else: - raise ValueError(f"Invalid variable type: {var_type}") - - self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) - self._variable_ids[var_id] = name - - # Only send variable definition for custom variables - if send_def: - self._send_var_def(name, var_type, permissions, var_id) - - return var_id - - def _send_var_def(self, name, var_type, permissions, var_id): - """ - Send variable definition message. - """ - name_bytes = name.encode('utf-8') - payload = bytearray() - payload.append(len(name_bytes)) - payload.extend(name_bytes) - payload.append(var_type) - payload.append(permissions) - payload.append(var_id) # 1 byte - - self._send_message(MSG_TYPE_VAR_DEF, payload) - - def set_variable(self, name, value): - """ - Set a variable value and send update if subscribed. - - :param name: Variable name - :param value: Variable value - """ - if name not in self._variables: - raise ValueError(f"Variable not defined: {name}") - - var_info = self._variables[name] - var_type = var_info[1] - - # Type check - if var_type == VAR_TYPE_INT and not isinstance(value, int): - raise TypeError(f"Variable {name} expects int, got {type(value)}") - elif var_type == VAR_TYPE_FLOAT and not isinstance(value, (int, float)): - raise TypeError(f"Variable {name} expects float, got {type(value)}") - elif var_type == VAR_TYPE_BOOL and not isinstance(value, bool): - raise TypeError(f"Variable {name} expects bool, got {type(value)}") - - # Update value - self._variables[name] = (var_info[0], var_info[1], var_info[2], - value, var_info[4], var_info[5]) - - # Send update if rate > 0 or if this is an on-demand update - # (on-demand updates are sent immediately when set) - if var_info[4] > 0 or var_info[4] == 0: - self._send_var_update(name) - - def get_variable(self, name): - """ - Get a variable value. - - :param name: Variable name - :return: Variable value - """ - if name not in self._variables: - raise ValueError(f"Variable not defined: {name}") - - return self._variables[name][3] - - def _send_var_update(self, name): - """ - Send single variable update message (uses batched format with count=1). - For multiple updates, use _send_batched_var_updates(). - """ - if name not in self._variables: - return - - var_info = self._variables[name] - var_id = var_info[0] - var_type = var_info[1] - value = var_info[3] - - # Pack as batched update with count=1 - payload = bytearray() - payload.append(1) # count = 1 - payload.append(var_id) # 1 byte - payload.append(var_type) # Include type byte - - if var_type == VAR_TYPE_INT: - payload.extend(struct.pack(' 0 and enough time has passed - if rate > 0: - period_ms = int(1000 / rate) - if time.ticks_diff(current_time, last_sent) < period_ms: - continue # Not ready yet - - updates.append((name, var_info)) - - if not updates: - return - - # Pack batched update: count(1) [var_id(1) type(1) value] * count - payload = bytearray() - payload.append(len(updates)) # count - - for name, var_info in updates: - var_id = var_info[0] - var_type = var_info[1] - value = var_info[3] - - payload.append(var_id) # 1 byte - payload.append(var_type) - - if var_type == VAR_TYPE_INT: - payload.extend(struct.pack(' max_rate: - max_rate = var_info[4] - - if max_rate > 0 and not self._update_timer_running: - # Start timer at max_rate Hz - period_ms = int(1000 / max_rate) - self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._update_timer_callback()) - self._update_timer_running = True - elif max_rate == 0 and self._update_timer_running: - # Stop timer - self._update_timer.deinit() - self._update_timer_running = False - elif max_rate > 0 and self._update_timer_running: - # Update timer period if rate changed - period_ms = int(1000 / max_rate) - self._update_timer.deinit() - self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._update_timer_callback()) - - def _update_timer_callback(self): - """ - Timer callback to send variable updates at their specified rates. - Batches all ready updates into a single message for efficiency. - """ - current_time = time.ticks_ms() - - # Collect all variables that are ready to send - ready_vars = [] - for name, var_info in self._variables.items(): - var_id, var_type, permissions, value, rate, last_sent = var_info - - # Only send if rate > 0 and enough time has passed - if rate > 0: - period_ms = int(1000 / rate) - if time.ticks_diff(current_time, last_sent) >= period_ms: - # Check if we have read permission - if permissions in (PERM_READ_ONLY, PERM_READ_WRITE): - ready_vars.append(name) - - # Send all ready updates in a single batched message - if ready_vars: - self._send_batched_var_updates(ready_vars) - - def send_program_start(self): - """ - Send program start message. - """ - self._send_message(MSG_TYPE_PROGRAM_START, b'') - self._program_running = True - - def send_program_end(self): - """ - Send program end message. - """ - self._send_message(MSG_TYPE_PROGRAM_END, b'') - self._program_running = False - - def send_heartbeat(self): - """ - Send heartbeat message. - """ - # Include stats - payload = struct.pack(' float: - """ - Get the distance in centimeters by measuring the echo pulse time - """ - if time.ticks_diff(time.ticks_us(), self.last_echo_time) < self.cache_time_us and not (self.cms == 65535 or self.cms == 0): - return self.cms - - try: - pulse_time = self._send_pulse_and_wait() - if pulse_time <= 0: - return self.MAX_VALUE - except OSError as exception: - # We don't want programs to crash if the HC-SR04 doesn't see anything in range - # So we catch those errors and return 65535 instead - if exception.args[0] == 110: # 110 = ETIMEDOUT - return self.MAX_VALUE - raise exception - - # To calculate the distance we get the pulse_time and divide it by 2 - # (the pulse walk the distance twice) and by 29.1 becasue - # the sound speed on air (343.2 m/s), that It's equivalent to - # 0.034320 cm/us that is 1cm each 29.1us - self.cms = (pulse_time / 2) / 29.1 - self.last_echo_time = time.ticks_us() - return self.cms - - def _delay_us(self, delay:int): - """ - Custom implementation of time.sleep_us(), used to get around the bug in MicroPython where time.sleep_us() - doesn't work properly and causes the IDE to hang when uploading the code - """ - start = time.ticks_us() - while time.ticks_diff(time.ticks_us(), start) < delay: - pass diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/reflectance.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/reflectance.py deleted file mode 100644 index c986952..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/reflectance.py +++ /dev/null @@ -1,49 +0,0 @@ -from machine import Pin, ADC - -class Reflectance: - - _DEFAULT_REFLECTANCE_INSTANCE = None - - @classmethod - def get_default_reflectance(cls): - """ - Get the default XRP reflectance sensor instance. This is a singleton, so only one instance of the reflectance sensor will ever exist. - """ - if cls._DEFAULT_REFLECTANCE_INSTANCE is None: - cls._DEFAULT_REFLECTANCE_INSTANCE = cls() - return cls._DEFAULT_REFLECTANCE_INSTANCE - - def __init__(self, leftPin: int|str = "LINE_L", rightPin: int|str = "LINE_R"): - """ - Implements for a reflectance sensor using the built in 12-bit ADC. - Reads from analog in and converts to a float from 0 (white) to 1 (black) - - :param leftPin: The pin the left reflectance sensor is connected to - :type leftPin: int - :param rightPin: The pin the right reflectance sensor is connected to - :type rightPin: int - """ - self._leftReflectance = ADC(Pin(leftPin)) - self._rightReflectance = ADC(Pin(rightPin)) - - self.MAX_ADC_VALUE: int = 65536 - - def _get_value(self, sensor: ADC) -> float: - - return sensor.read_u16() / self.MAX_ADC_VALUE - - def get_left(self) -> float: - """ - Gets the the reflectance of the left reflectance sensor - : return: The reflectance ranging from 0 (white) to 1 (black) - : rtype: float - """ - return self._get_value(self._leftReflectance) - - def get_right(self) -> float: - """ - Gets the the reflectance of the right reflectance sensor - : return: The reflectance ranging from 0 (white) to 1 (black) - : rtype: float - """ - return self._get_value(self._rightReflectance) diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/resetbot.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/resetbot.py deleted file mode 100644 index 5397560..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/resetbot.py +++ /dev/null @@ -1,76 +0,0 @@ -import sys -""" -A simple file for shutting off all of the motors after a program gets interrupted from the REPL. -Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL. -""" - -def reset_motors(): - from XRPLib.encoded_motor import EncodedMotor - # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init - for i in range(4): - motor = EncodedMotor.get_default_encoded_motor(i+1) - motor.set_speed(0) - motor.reset_encoder_position() - -def reset_led(): - from XRPLib.board import Board - # Turn off the on-board LED - Board.get_default_board().led_off() - try: - # Turn off the RGB LED for boards that have it - Board.get_default_board().set_rgb_led(0, 0, 0) - except: - pass - -def reset_servos(): - from XRPLib.servo import Servo - # Turn off both Servos - Servo.get_default_servo(1).free() - Servo.get_default_servo(2).free() - try: #if 2350 then there are 4 servos - Servo.get_default_servo(3).free() - Servo.get_default_servo(4).free() - except: - pass - -def reset_webserver(): - from XRPLib.webserver import Webserver - # Shut off the webserver and close network connections - Webserver.get_default_webserver().stop_server() - -def reset_gamepad(): - from XRPLib.gamepad import Gamepad - # Stop the browser from sending more gamepad data - Gamepad.get_default_gamepad().stop() - -def reset_dashboard(): - from XRPLib.dashboard import Dashboard - # Stop the dashboard from sending more data - Dashboard.get_default_dashboard().stop() - -def reset_hard(): - reset_gamepad() - reset_dashboard() - reset_motors() - reset_led() - reset_servos() - reset_webserver() - -if "XRPLib.gamepad" in sys.modules: - reset_gamepad() - -if "XRPLib.dashboard" in sys.modules: - reset_dashboard() - -if "XRPLib.encoded_motor" in sys.modules: - reset_motors() - -if "XRPLib.board" in sys.modules: - reset_led() - -if "XRPLib.servo" in sys.modules: - reset_servos() - -if "XRPLib.webserver" in sys.modules: - reset_webserver() - diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/servo.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/servo.py deleted file mode 100644 index e606dac..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/servo.py +++ /dev/null @@ -1,66 +0,0 @@ -from machine import Pin, PWM -import sys - -class Servo: - - _DEFAULT_SERVO_ONE_INSTANCE = None - _DEFAULT_SERVO_TWO_INSTANCE = None - _DEFAULT_SERVO_THREE_INSTANCE = None - _DEFAULT_SERVO_FOUR_INSTANCE = None - - @classmethod - def get_default_servo(cls, index:int): - """ - Gets one of the default XRP servo instances. These are singletons, so only one instance of each servo will ever exist. - Raises an exception if an invalid index is requested. - - :param index: The index of the servo to get (1-4; Beta only has 1 and 2) - :type index: int - """ - if index == 1: - if cls._DEFAULT_SERVO_ONE_INSTANCE is None: - cls._DEFAULT_SERVO_ONE_INSTANCE = cls("SERVO_1") - servo = cls._DEFAULT_SERVO_ONE_INSTANCE - elif index == 2: - if cls._DEFAULT_SERVO_TWO_INSTANCE is None: - cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2") - servo = cls._DEFAULT_SERVO_TWO_INSTANCE - elif index == 3 and hasattr(Pin.board, "SERVO_3"): - if cls._DEFAULT_SERVO_THREE_INSTANCE is None: - cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3") - servo = cls._DEFAULT_SERVO_THREE_INSTANCE - elif index == 4 and hasattr(Pin.board, "SERVO_4"): - if cls._DEFAULT_SERVO_FOUR_INSTANCE is None: - cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4") - servo = cls._DEFAULT_SERVO_FOUR_INSTANCE - else: - return Exception("Invalid servo index") - return servo - - def __init__(self, signal_pin: int|str): - """ - A simple class for interacting with a servo through PWM - - :param signal_pin: The pin the servo is connected to - :type signal_pin: int | str - """ - - self._servo = PWM(Pin(signal_pin, Pin.OUT)) - # Initialize base frequency for the PWM - self._servo.freq(50) - self.MICROSEC_PER_DEGREE: int = 10000 - self.LOW_ANGLE_OFFSET: int = 500000 - - def set_angle(self, degrees: float): - """ - Sets the angle of the servo - :param degrees: The angle to set the servo to [0,200] - :ptype degrees: float - """ - self._servo.duty_ns(int(degrees * self.MICROSEC_PER_DEGREE + self.LOW_ANGLE_OFFSET)) - - def free(self): - """ - Allows the servo to spin freely without holding position - """ - self._servo.duty_ns(0) diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/timeout.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/timeout.py deleted file mode 100644 index 7d7a669..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/timeout.py +++ /dev/null @@ -1,23 +0,0 @@ -import time - -class Timeout: - def __init__(self, timeout: float): - """ - Starts a timer that will expire after the given timeout. - - :param timeout: The timeout, in seconds - :type timeout: float - """ - self.timeout = timeout - if self.timeout != None: - self.timeout = timeout*1000 - - self.start_time = time.ticks_ms() - - def is_done(self): - """ - :return: True if the timeout has expired, False otherwise - """ - if self.timeout is None: - return False - return time.ticks_ms() - self.start_time > self.timeout \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/webserver.py b/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/webserver.py deleted file mode 100644 index bedbba6..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/XRPLib/webserver.py +++ /dev/null @@ -1,326 +0,0 @@ -from phew import server, template, logging, access_point, dns -from phew.template import render_template -from phew.server import redirect, stop, close -import gc -import network -import time -import json - -logging.log_file = "webserverLog.txt" - -class Webserver: - - @classmethod - def get_default_webserver(cls): - """ - Get the default webserver instance. This is a singleton, so only one instance of the webserver will ever exist. - """ - return webserver - - def __init__(self): - """ - Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below. - """ - - gc.threshold(50000) # garbage collection - self.logged_data = {} - self.buttons = {"forwardButton": lambda: logging.debug("Button not initialized"), - "backButton": lambda: logging.debug("Button not initialized"), - "leftButton": lambda: logging.debug("Button not initialized"), - "rightButton": lambda: logging.debug("Button not initialized"), - "stopButton": lambda: logging.debug("Button not initialized")} - self.FUNCTION_PREFIX = "startfunction" - self.FUNCTION_SUFFIX = "endfunction" - self.display_arrows = False - # Instantiate self.wlan now so that running stop before start doesn't cause an error - self.wlan = network.WLAN(network.STA_IF) - - def start_network(self, ssid:str=None, robot_id:int= None, password:str=None): - """ - Open an access point from the XRP board to be used as a captive host. The default network information can be set in secrets.json - - :param ssid: The ssid of the access point, defaults to value from secrets.json - :type ssid: str, optional - :param robot_id: Replaces "{robot_id}" in ssid, defaults to value from secrets.json - :type robot_id: int, optional - :param password: The password of the access point, defaults to value from secrets.json - :type password: str, optional - """ - if ssid is None: - try: - with open("../../secrets.json") as secrets_file: - secrets = json.load(secrets_file) - ssid = str(secrets["ap_ssid"]) - password = str(secrets["ap_password"]) - if robot_id is None: - robot_id = str(secrets["robot_id"]) - ssid = ssid.replace("{robot_id}", robot_id) - except (OSError, KeyError, ValueError): - if robot_id is None: - robot_id = 1 - ssid = f"XRP_{robot_id}" - password = "remote.xrp" - if password is not None and len(password) < 8: - logging.warn("Password is less than 8 characters, this may cause issues with some devices") - self.wlan = access_point(ssid, password) - logging.info(f"Starting Access Point \"{ssid}\"") - self.ip = self.wlan.ifconfig()[0] - - def connect_to_network(self, ssid:str=None, password:str=None, timeout = 10): - """ - Connect to a wifi network with the given ssid and password. - If the connection fails, the board will disconnect from the network and return. - - :param ssid: The ssid of the network, defaults to value from secrets.json - :type ssid: str, optional - :param password: The password of the network, defaults to value from secrets.json - :type password: str, optional - :param timeout: The amount of time to wait for the connection to succeed, defaults to 10 - :type timeout: int, optional - """ - self.wlan = network.WLAN(network.STA_IF) - self.wlan.active(True) # configure board to connect to wifi - if ssid is None: - try: - with open("../../secrets.json") as secrets_file: - secrets = json.load(secrets_file) - ssid = str(secrets["wifi_ssid"]) - password = str(secrets["wifi_password"]) - except (OSError, KeyError, ValueError): - print("secrets.json not found or improperly formatted") - return False - self.wlan.connect(ssid,password) - start_time = time.time() - while not self.wlan.isconnected(): - print("Connecting to network, may take a second") - if time.time() > start_time+timeout: - print("Failed to connect to network, please try again") - self.wlan.disconnect() - return False - time.sleep(0.25) - self.ip = self.wlan.ifconfig()[0] - - def start_server(self): - """ - Begin the webserver in either access point or bridge mode. The IP is printed to the console. - - Preconditions: Either start_network or connect_to_network must be called before this method. - """ - self.wlan.active(True) - logging.info(f"Starting DNS Server at {self.ip}") - dns.run_catchall(self.ip) - self.DOMAIN = self.ip - logging.disable_logging_types(logging.LOG_INFO) - server.run() - - def stop_server(self): - """ - Shuts off the webserver and network and stops handling requests - """ - if self.wlan.active(): - logging.enable_logging_types(logging.LOG_INFO) - logging.info("Stopping Webserver and Network Connections") - - stop() - self.wlan.active(False) - - def _index_page(self, request): - # Render index page and respond to form requests - if request.method == 'GET': - return self._generateHTML() - if request.method == 'POST': - if str(list(request.form.values())[0]).count(" ") == 0: - text = str(list(request.form.keys())[0]) - else: - text = str(list(request.form.values())[0]) - self._handleUserFunctionRequest(text) - return self._generateHTML() - - def _hotspot(self, request): - # Redirect to Index Page - return self._generateHTML() - - def _catch_all(self, request): - # Catch all requests and redirect if necessary - if request.headers.get("host") != self.DOMAIN: - return redirect("http://"+self.DOMAIN+"/") - return self._index_page(request=request) - - def log_data(self, label:str, data): - """ - Register a custom label to be displayed on the webserver - - :param label: The label as it will be displayed, must be unique - :type label: str - :param data: The data to be displayed - :type data: Any (converted to string) - """ - self.logged_data[label] = data - - def add_button(self, button_name:str, function): - """ - Register a custom button to be displayed on the webserver - - :param button_name: The label for the button as it will be displayed, must be unique - :type button_name: str - :param function: The function to be called when the button is pressed - :type function: function - """ - self.buttons[button_name] = function - - def registerForwardButton(self, function): - """ - Assign a function to the forward button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["forwardButton"] = function - - def registerBackwardButton(self, function): - """ - Assign a function to the backward button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["backButton"] = function - - def registerLeftButton(self, function): - """ - Assign a function to the left button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["leftButton"] = function - - def registerRightButton(self, function): - """ - Assign a function to the right button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["rightButton"] = function - - def registerStopButton(self, function): - """ - Assign a function to the stop - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["stopButton"] = function - - def _handleUserFunctionRequest(self, text) -> bool: - print(f"Running {text}") - try: - user_function = self.buttons[text] - if user_function is None: - logging.warning("User function "+text+" not found") - return False - user_function() - return True - except RuntimeError as xcpt: - logging.error("User function "+text+" caused an exception: "+str(xcpt)) - return False - - def _generateHTML(self): - - string = _HTML1 - - if self.display_arrows: - string += _HTML_ARROWS - - string += f'

Custom Function Bindings:

' - # add each button's href to html - for button in self.buttons.keys(): - if(["forwardButton","backButton","leftButton","rightButton","stopButton"].count(button) > 0): - # Slightly cursed solution to not display the arrow buttons as text buttons - continue - string += f'

' - string += "\n" - - string += f'

Logged Data:

' - # add logged data to the html - for data_label in self.logged_data.keys(): - string += f'

{data_label}: {str(self.logged_data[data_label])}

' - string += "\n" - - string += _HTML2 - - return string - -""" Use decorators to bind the wifi methods to the requests """ -webserver = Webserver() - -@server.route("/", methods=['GET','POST']) -def index(request): - return webserver._index_page(request) - -@server.route("/hotspot-detect.html", methods=["GET"]) -def hotspot(request): - return webserver._hotspot(request) - -@server.catchall() -def catch_all(request): - return webserver._catch_all(request) - -_HTML1 = """ - - - - - - - - - - -

XRP control page

- -

-""" - -_HTML_ARROWS = """ -

-
-
-    -
-    -
-
-
-""" - -_HTML2 = """ -

- - - - -""" \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/ble/__init__.py b/public/firmware-loader/boards/xrp-2350/micropython/ble/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/public/firmware-loader/boards/xrp-2350/micropython/ble/ble_uart_peripheral.py b/public/firmware-loader/boards/xrp-2350/micropython/ble/ble_uart_peripheral.py deleted file mode 100644 index d9da813..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/ble/ble_uart_peripheral.py +++ /dev/null @@ -1,158 +0,0 @@ -# This implements the Nordic UART Service (NUS). - -import bluetooth -#from .ble_advertising import advertising_payload -import struct -from micropython import const -from machine import Timer - -#Advertise info -# org.bluetooth.characteristic.gap.appearance.xml -_ADV_APPEARANCE_GENERIC_COMPUTER = const(128) -_ADV_TYPE_FLAGS = const(0x01) -_ADV_TYPE_APPEARANCE = const(0x19) -_ADV_TYPE_NAME = const(0x09) - -_IRQ_CENTRAL_CONNECT = const(1) -_IRQ_CENTRAL_DISCONNECT = const(2) -_IRQ_GATTS_WRITE = const(3) -_IRQ_GATTS_INDICATE_DONE = const(20) - -_FLAG_READ = const(0x0002) -_FLAG_WRITE = const(0x0008) -_FLAG_NOTIFY = const(0x0010) - -_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") -_UART_TX = ( - bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"), - _FLAG_NOTIFY, -) -_UART_RX = ( - bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E"), - _FLAG_WRITE, -) - -# Define a new UUID for the binary data characteristic. -_UART_DATA_RX = ( - bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36ff"), - _FLAG_WRITE, -) -# Define a new UUID for the binary data characteristic. -_UART_DATA_TX = ( - bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36fe"), - _FLAG_NOTIFY, -) - -_UART_SERVICE = ( - _UART_UUID, - (_UART_TX, _UART_RX, _UART_DATA_RX, _UART_DATA_TX,), -) - -_timer = Timer(-1) - -def delayedRestart(_arg): - import machine - machine.reset() - -class BLEUART: - def __init__(self, ble, name="mpy-uart", rxbuf=100): - self._ble = ble - self._ble.active(True) - self._ble.irq(self._irq) - ((self._tx_handle, self._rx_handle, self._data_rx_handle, self._data_tx_handle),) = self._ble.gatts_register_services((_UART_SERVICE,)) - # Increase the size of the rx buffer and enable append mode. - self._ble.gatts_set_buffer(self._rx_handle, rxbuf, True) - self._connections = set() - self._rx_buffer = bytearray() - self._handler = None - self._payload = self._advertising_payload(name, _ADV_APPEARANCE_GENERIC_COMPUTER) - self._data_callback = None - self._advertise() - - def irq(self, handler): - self._handler = handler - - def _irq(self, event, data): - # Track connections so we can send notifications. - if event == _IRQ_CENTRAL_CONNECT: - conn_handle, _, _ = data - self._connections.add(conn_handle) - elif event == _IRQ_CENTRAL_DISCONNECT: - conn_handle, _, _ = data - if conn_handle in self._connections: - self._connections.remove(conn_handle) - # Start advertising again to allow a new connection. - self._advertise() - elif event == _IRQ_GATTS_WRITE: - conn_handle, value_handle = data - if conn_handle in self._connections and value_handle == self._rx_handle: - self._rx_buffer += self._ble.gatts_read(self._rx_handle) - if(self._rx_buffer.find(b'##XRPSTOP#' + b'#') != -1): #WARNING: This is broken up so it won't restart during an update or this file. - self._rx_buffer = bytearray() - # set the bit in isrunning to tell main not to re-run the program so the IDE can connect - FILE_PATH = '/lib/ble/isrunning' - with open(FILE_PATH, 'r+b') as file: - file.write(b'\x01') - # slight delay to avoid errors on the browser side. - _timer.init(mode=Timer.PERIODIC, period=50, callback=delayedRestart) - elif conn_handle in self._connections and value_handle == self._data_rx_handle: - new_data = self._ble.gatts_read(self._data_rx_handle) - if self._data_callback: - self._data_callback(new_data) - #schedule(self._data_callback, new_data) - elif event == _IRQ_GATTS_INDICATE_DONE: - if self._handler: - self._handler() - #else: - #print("IRQ Event Code: " + str(event)) - - def any(self): - return len(self._rx_buffer) - - def read(self, sz=None): - if not sz: - sz = len(self._rx_buffer) - result = self._rx_buffer[0:sz] - self._rx_buffer = self._rx_buffer[sz:] - return result - - def write(self, data): - #print("write:" + data) - for conn_handle in self._connections: - self._ble.gatts_indicate(conn_handle, self._tx_handle, data) - - def write_data(self, data): - #print("write_data:" + data) - for conn_handle in self._connections: - self._ble.gatts_notify(conn_handle, self._data_tx_handle, data) - - def set_data_callback(self, callback): - self._data_callback = callback - - def clear_data_callback(self): - self._data_callback = None - - def close(self): - for conn_handle in self._connections: - self._ble.gap_disconnect(conn_handle) - self._connections.clear() - - def _advertise(self, interval_us=500000): - self._ble.gap_advertise(interval_us, adv_data=self._payload) - - # Generate a payload to be passed to gap_advertise(adv_data=...). - def _advertising_payload(self, name, appearance): - payload = bytearray() - - def _append(adv_type, value): - nonlocal payload - payload += struct.pack("BB", len(value) + 1, adv_type) + value - - _append( - _ADV_TYPE_FLAGS, - struct.pack("B", 0x02 + 0x04), - ) - _append(_ADV_TYPE_NAME, name) - _append(_ADV_TYPE_APPEARANCE, struct.pack("= len(self._tx_buf): - self._tx_buf = bytearray() - self._tx_buf_index = 0 - self._uart.write(data) - - def write(self, buf): - state = disable_irq() - empty = not self._tx_buf - self._tx_buf += buf - enable_irq(state) - - if empty: - waitingForTimer = True - schedule_in(self._timer_handler, 50) - -def background_task(): - global uart - ble = bluetooth.BLE() - x = (''.join(['{:02x}'.format(b) for b in unique_id()])) - uart = BLEUART(ble, name="XRP-" + x[11:], rxbuf = 250) - stream = BLEUARTStream(uart) - os.dupterm(stream,0) - -# Start the background task -background_task() - \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/ble/isrunning b/public/firmware-loader/boards/xrp-2350/micropython/ble/isrunning deleted file mode 100644 index f76dd238ade08917e6712764a16a22005a50573d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1 IcmZPo000310RR91 diff --git a/public/firmware-loader/boards/xrp-2350/micropython/firmware.uf2 b/public/firmware-loader/boards/xrp-2350/micropython/firmware.uf2 deleted file mode 100644 index 92bbd9d4b0817fe9775056e9425afe2c0a9cb626..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1725952 zcmd?Sd0Z4n-alT|-E)Hs;DLZT2P!Zg2%gc6!weLH*$_3i$+M#-yUnEU$B~OA(4imFkk7UCTO+>{pYVPdrw8ULJvcZ^53&f-m%rqd=-%oWz!mj&z{r>(5 zzS^GduBx7?ch%>vPu)Ut&9^PN`z5p;A*3i)gy9T-3>>#9o4@{knE!F-Z`-DJ$Tj$1 z&YF<JR)8|Lk~#?g0Fe&1kzDBWoHQI>oRVz7L`gjxe;#-(fgM~NAYU%=HlJ_;eHW+jE~lN 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a/public/firmware-loader/boards/xrp-2350/micropython/phew/logging.py +++ /dev/null @@ -1,111 +0,0 @@ -import machine, os, gc - -log_file = "log.txt" - -LOG_INFO = 0b00001 -LOG_WARNING = 0b00010 -LOG_ERROR = 0b00100 -LOG_DEBUG = 0b01000 -LOG_EXCEPTION = 0b10000 -LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION - -_logging_types = LOG_ALL - -# the log file will be truncated if it exceeds _log_truncate_at bytes in -# size. the defaults values are designed to limit the log to at most -# three blocks on the Pico -_log_truncate_at = 11 * 1024 -_log_truncate_to = 8 * 1024 - -def datetime_string(): - dt = machine.RTC().datetime() - return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) - -def file_size(file): - try: - return os.stat(file)[6] - except OSError: - return None - -def set_truncate_thresholds(truncate_at, truncate_to): - global _log_truncate_at - global _log_truncate_to - _log_truncate_at = truncate_at - _log_truncate_to = truncate_to - -def enable_logging_types(types): - global _logging_types - _logging_types = _logging_types | types - -def disable_logging_types(types): - global _logging_types - _logging_types = _logging_types & ~types - -# truncates the log file down to a target size while maintaining -# clean line breaks -def truncate(file, target_size): - # get the current size of the log file - size = file_size(file) - - # calculate how many bytes we're aiming to discard - discard = size - target_size - if discard <= 0: - return - - with open(file, "rb") as infile: - with open(file + ".tmp", "wb") as outfile: - # skip a bunch of the input file until we've discarded - # at least enough - while discard > 0: - chunk = infile.read(1024) - discard -= len(chunk) - - # try to find a line break nearby to split first chunk on - break_position = max( - chunk.find (b"\n", -discard), # search forward - chunk.rfind(b"\n", -discard) # search backwards - ) - if break_position != -1: # if we found a line break.. - outfile.write(chunk[break_position + 1:]) - - # now copy the rest of the file - while True: - chunk = infile.read(1024) - if not chunk: - break - outfile.write(chunk) - - # delete the old file and replace with the new - os.remove(file) - os.rename(file + ".tmp", file) - - -def log(level, text): - datetime = datetime_string() - log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) - print(log_entry) - with open(log_file, "a") as logfile: - logfile.write(log_entry + '\n') - - if _log_truncate_at and file_size(log_file) > _log_truncate_at: - truncate(log_file, _log_truncate_to) - -def info(*items): - if _logging_types & LOG_INFO: - log("info", " ".join(map(str, items))) - -def warn(*items): - if _logging_types & LOG_WARNING: - log("warning", " ".join(map(str, items))) - -def error(*items): - if _logging_types & LOG_ERROR: - log("error", " ".join(map(str, items))) - -def debug(*items): - if _logging_types & LOG_DEBUG: - log("debug", " ".join(map(str, items))) - -def exception(*items): - if _logging_types & LOG_EXCEPTION: - log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/phew/server.py b/public/firmware-loader/boards/xrp-2350/micropython/phew/server.py deleted file mode 100644 index 60a3113..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/phew/server.py +++ /dev/null @@ -1,358 +0,0 @@ -import uasyncio, os, time -from . import logging - -_routes = [] -catchall_handler = None -loop = uasyncio.get_event_loop() - - -def file_exists(filename): - try: - return (os.stat(filename)[0] & 0x4000) == 0 - except OSError: - return False - - -def urldecode(text): - text = text.replace("+", " ") - result = "" - token_caret = 0 - # decode any % encoded characters - while True: - start = text.find("%", token_caret) - if start == -1: - result += text[token_caret:] - break - result += text[token_caret:start] - code = int(text[start + 1:start + 3], 16) - result += chr(code) - token_caret = start + 3 - return result - -def _parse_query_string(query_string): - result = {} - for parameter in query_string.split("&"): - key, value = parameter.split("=", 1) - key = urldecode(key) - value = urldecode(value) - result[key] = value - return result - - -class Request: - def __init__(self, method, uri, protocol): - self.method = method - self.uri = uri - self.protocol = protocol - self.form = {} - self.data = {} - self.query = {} - query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) - self.path = uri[:query_string_start] - self.query_string = uri[query_string_start + 1:] - if self.query_string: - self.query = _parse_query_string(self.query_string) - - def __str__(self): - return f"""\ -request: {self.method} {self.path} {self.protocol} -headers: {self.headers} -form: {self.form} -data: {self.data}""" - - -class Response: - def __init__(self, body, status=200, headers={}): - self.status = status - self.headers = headers - self.body = body - - def add_header(self, name, value): - self.headers[name] = value - - def __str__(self): - return f"""\ -status: {self.status} -headers: {self.headers} -body: {self.body}""" - - -content_type_map = { - "html": "text/html", - "jpg": "image/jpeg", - "jpeg": "image/jpeg", - "svg": "image/svg+xml", - "json": "application/json", - "png": "image/png", - "css": "text/css", - "js": "text/javascript", - "csv": "text/csv", -} - - -class FileResponse(Response): - def __init__(self, file, status=200, headers={}): - self.status = 404 - self.headers = headers - self.file = file - - try: - if (os.stat(self.file)[0] & 0x4000) == 0: - self.status = 200 - - # auto set content type - extension = self.file.split(".")[-1].lower() - if extension in content_type_map: - headers["Content-Type"] = content_type_map[extension] - - headers["Content-Length"] = os.stat(self.file)[6] - except OSError: - return False - - -class Route: - def __init__(self, path, handler, methods=["GET"]): - self.path = path - self.methods = methods - self.handler = handler - self.path_parts = path.split("/") - - # returns True if the supplied request matches this route - def matches(self, request): - if request.method not in self.methods: - return False - compare_parts = request.path.split("/") - if len(compare_parts) != len(self.path_parts): - return False - for part, compare in zip(self.path_parts, compare_parts): - if not part.startswith("<") and part != compare: - return False - return True - - # call the route handler passing any named parameters in the path - def call_handler(self, request): - parameters = {} - for part, compare in zip(self.path_parts, request.path.split("/")): - if part.startswith("<"): - name = part[1:-1] - parameters[name] = compare - - return self.handler(request, **parameters) - - def __str__(self): - return f"""\ -path: {self.path} -methods: {self.methods} -""" - - def __repr__(self): - return f"" - - -# parses the headers for a http request (or the headers attached to -# each field in a multipart/form-data) -async def _parse_headers(reader): - headers = {} - while True: - header_line = await reader.readline() - if header_line == b"\r\n": # crlf denotes body start - break - name, value = header_line.decode().strip().split(": ", 1) - headers[name.lower()] = value - return headers - - -# returns the route matching the supplied path or None -def _match_route(request): - for route in _routes: - if route.matches(request): - return route - return None - - -# if the content type is multipart/form-data then parse the fields -async def _parse_form_data(reader, headers): - boundary = headers["content-type"].split("boundary=")[1] - # discard first boundary line - dummy = await reader.readline() - - form = {} - while True: - # get the field name - field_headers = await _parse_headers(reader) - if len(field_headers) == 0: - break - name = field_headers["content-disposition"].split("name=\"")[1][:-1] - # get the field value - value = "" - while True: - line = await reader.readline() - line = line.decode().strip() - # if we hit a boundary then save the value and move to next field - if line == "--" + boundary: - form[name] = value - break - # if we hit end of form data boundary then save value and return - if line == "--" + boundary + "--": - form[name] = value - return form - value += line - return None - - -# if the content type is application/json then parse the body -async def _parse_json_body(reader, headers): - import json - content_length_bytes = int(headers["content-length"]) - body = await reader.readexactly(content_length_bytes) - return json.loads(body.decode()) - - -status_message_map = { - 200: "OK", 201: "Created", 202: "Accepted", - 203: "Non-Authoritative Information", 204: "No Content", - 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", - 301: "Moved Permanently", 302: "Found", 303: "See Other", - 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", - 307: "Temporary Redirect", 308: "Permanent Redirect", - 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", - 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", - 408: "Request Timeout", 409: "Conflict", 410: "Gone", - 414: "URI Too Long", 415: "Unsupported Media Type", - 416: "Range Not Satisfiable", 418: "I'm a teapot", - 500: "Internal Server Error", 501: "Not Implemented" -} - - -# handle an incoming request to the web server -async def _handle_request(reader, writer): - response = None - - request_start_time = time.ticks_ms() - - request_line = await reader.readline() - try: - method, uri, protocol = request_line.decode().split() - except Exception as e: - logging.error(e) - return - - request = Request(method, uri, protocol) - request.headers = await _parse_headers(reader) - if "content-length" in request.headers and "content-type" in request.headers: - if request.headers["content-type"].startswith("multipart/form-data"): - request.form = await _parse_form_data(reader, request.headers) - if request.headers["content-type"].startswith("application/json"): - request.data = await _parse_json_body(reader, request.headers) - if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): - form_data = await reader.read(int(request.headers["content-length"])) - request.form = _parse_query_string(form_data.decode()) - - route = _match_route(request) - if route: - response = route.call_handler(request) - elif catchall_handler: - response = catchall_handler(request) - - # if shorthand body generator only notation used then convert to tuple - if type(response).__name__ == "generator": - response = (response,) - - # if shorthand body text only notation used then convert to tuple - if isinstance(response, str): - response = (response,) - - # if shorthand tuple notation used then build full response object - if isinstance(response, tuple): - body = response[0] - status = response[1] if len(response) >= 2 else 200 - content_type = response[2] if len(response) >= 3 else "text/html" - response = Response(body, status=status) - response.add_header("Content-Type", content_type) - if hasattr(body, '__len__'): - response.add_header("Content-Length", len(body)) - - # write status line - status_message = status_message_map.get(response.status, "Unknown") - writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) - - # write headers - for key, value in response.headers.items(): - writer.write(f"{key}: {value}\r\n".encode("ascii")) - - # blank line to denote end of headers - writer.write("\r\n".encode("ascii")) - - if isinstance(response, FileResponse): - # file - with open(response.file, "rb") as f: - while True: - chunk = f.read(1024) - if not chunk: - break - writer.write(chunk) - await writer.drain() - elif type(response.body).__name__ == "generator": - # generator - for chunk in response.body: - writer.write(chunk) - await writer.drain() - else: - # string/bytes - writer.write(response.body) - await writer.drain() - - writer.close() - await writer.wait_closed() - - processing_time = time.ticks_ms() - request_start_time - logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") - - -# adds a new route to the routing table -def add_route(path, handler, methods=["GET"]): - global _routes - _routes.append(Route(path, handler, methods)) - # descending complexity order so most complex routes matched first - _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) - - -def set_callback(handler): - global catchall_handler - catchall_handler = handler - - -# decorator shorthand for adding a route -def route(path, methods=["GET"]): - def _route(f): - add_route(path, f, methods=methods) - return f - return _route - - -# decorator for adding catchall route -def catchall(): - def _catchall(f): - set_callback(f) - return f - return _catchall - - -def redirect(url, status = 301): - return Response("", status, {"Location": url}) - - -def serve_file(file): - return FileResponse(file) - - -def run(host = "0.0.0.0", port = 80): - logging.info("> starting web server on port {}".format(port)) - loop.create_task(uasyncio.start_server(_handle_request, host, port)) - loop.run_forever() - -def stop(): - loop.stop() - -def close(): - loop.close() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/phew/template.py b/public/firmware-loader/boards/xrp-2350/micropython/phew/template.py deleted file mode 100644 index d1d1df4..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/phew/template.py +++ /dev/null @@ -1,65 +0,0 @@ -from . import logging - -async def render_template(template, **kwargs): - import time - start_time = time.ticks_ms() - - with open(template, "rb") as f: - # read the whole template file, we could work on single lines but - # the performance is much worse - so long as our templates are - # just a handful of kB it's ok to do this - data = f.read() - token_caret = 0 - - while True: - # find the next tag that needs evaluating - start = data.find(b"{{", token_caret) - end = data.find(b"}}", start) - - match = start != -1 and end != -1 - - # no more magic to handle, just return what's left - if not match: - yield data[token_caret:] - break - - expression = data[start + 2:end].strip() - - # output the bit before the tag - yield data[token_caret:start] - - # merge locals with the supplied named arguments and - # the response object - params = {} - params.update(locals()) - params.update(kwargs) - #params["response"] = response - - # parse the expression - try: - if expression.decode("utf-8") in params: - result = params[expression.decode("utf-8")] - result = result.replace("&", "&") - result = result.replace('"', """) - result = result.replace("'", "'") - result = result.replace(">", ">") - result = result.replace("<", "<") - else: - result = eval(expression, globals(), params) - - if type(result).__name__ == "generator": - # if expression returned a generator then iterate it fully - # and yield each result - for chunk in result: - yield chunk - else: - # yield the result of the expression - if result is not None: - yield str(result) - except: - pass - - # discard the parsed bit - token_caret = end + 2 - - logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/micropython/project.json b/public/firmware-loader/boards/xrp-2350/micropython/project.json deleted file mode 100644 index d33b376..0000000 --- a/public/firmware-loader/boards/xrp-2350/micropython/project.json +++ /dev/null @@ -1,45 +0,0 @@ -{ - "title": "MicroPython", - "description": "Flash MicroPython firmware, then copy the listed XRPLib, XRPExamples, ble and phew files to your robot.", - "uf2Path": "firmware.uf2", - "version": "2.2.1", - "urls": [ - ["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], - ["/lib/XRPLib/board.py", "XRPLib/board.py"], - ["/lib/XRPLib/controller.py", "XRPLib/controller.py"], - ["/lib/XRPLib/dashboard.py", "XRPLib/dashboard.py"], - ["/lib/XRPLib/defaults.py", "XRPLib/defaults.py"], - ["/lib/XRPLib/differential_drive.py", "XRPLib/differential_drive.py"], - ["/lib/XRPLib/encoded_motor.py", "XRPLib/encoded_motor.py"], - ["/lib/XRPLib/encoder.py", "XRPLib/encoder.py"], - ["/lib/XRPLib/gamepad.py", "XRPLib/gamepad.py"], - ["/lib/XRPLib/imu.py", "XRPLib/imu.py"], - ["/lib/XRPLib/imu_defs.py", "XRPLib/imu_defs.py"], - ["/lib/XRPLib/motor.py", "XRPLib/motor.py"], - ["/lib/XRPLib/motor_group.py", "XRPLib/motor_group.py"], - ["/lib/XRPLib/pid.py", "XRPLib/pid.py"], - ["/lib/XRPLib/puppet.py", "XRPLib/puppet.py"], - ["/lib/XRPLib/rangefinder.py", "XRPLib/rangefinder.py"], - ["/lib/XRPLib/reflectance.py", "XRPLib/reflectance.py"], - ["/lib/XRPLib/resetbot.py", "XRPLib/resetbot.py"], - ["/lib/XRPLib/servo.py", "XRPLib/servo.py"], - ["/lib/XRPLib/timeout.py", "XRPLib/timeout.py"], - ["/lib/XRPLib/webserver.py", "XRPLib/webserver.py"], - ["/XRPExamples/__init__.py", "XRPExamples/__init__.py"], - ["/XRPExamples/drive_examples.py", "XRPExamples/drive_examples.py"], - ["/XRPExamples/gamepad_example.blocks", "XRPExamples/gamepad_example.blocks"], - ["/XRPExamples/installation_verification.py", "XRPExamples/installation_verification.py"], - ["/XRPExamples/led_example.py", "XRPExamples/led_example.py"], - ["/XRPExamples/sensor_examples.py", "XRPExamples/sensor_examples.py"], - ["/XRPExamples/webserver_example.py", "XRPExamples/webserver_example.py"], - ["/lib/ble/__init__.py", "ble/__init__.py"], - ["/lib/ble/ble_uart_peripheral.py", "ble/ble_uart_peripheral.py"], - ["/lib/ble/blerepl.py", "ble/blerepl.py"], - ["/lib/ble/isrunning", "ble/isrunning"], - ["/lib/phew/__init__.py", "phew/__init__.py"], - ["/lib/phew/dns.py", "phew/dns.py"], - ["/lib/phew/logging.py", "phew/logging.py"], - ["/lib/phew/server.py", "phew/server.py"], - ["/lib/phew/template.py", "phew/template.py"] - ] -} diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/__init__.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/dashboard sample.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/dashboard sample.py deleted file mode 100644 index 87ab311..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/dashboard sample.py +++ /dev/null @@ -1,65 +0,0 @@ -from XRPLib.defaults import * -from ble.blerepl import uart -from time import sleep -from micropython import const -import time -import struct - -YAW = const(0) -ROLL = const(1) -PTICH = const(2) -ACCX = const(3) -ACCY = const(4) -ACCZ = const(5) -ENCL = const(6) -ENCR = const(7) -ENC3 = const(8) -ENC4 = const(9) -CURRL = const(10) -CURRR = const(11) -CURR3 = const(12) -CURR4 = const(13) -DIST = const(14) -REFLECTANCEL = const(15) -REFLECTANCER = const(16) -VOLTAGE = const(17) - -def startDashboard(): - data = bytearray([0x46, 0]) - uart.write_data(data) - -def sendIntValue(index, value): - data = bytearray([0x45, 3, 0, 0, 0]) - data[3] = index - data[4] = value - uart.write_data(data) - -def sendFloatValue(index, value): - data = bytearray([0x45, 6, 1, 0, 0, 0, 0 ,0]) - data[3] = index - data[4:] = struct.pack(' timeout: - break - -print("done") - -print("done") - - diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/drive_examples.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/drive_examples.py deleted file mode 100644 index c9719fa..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/drive_examples.py +++ /dev/null @@ -1,72 +0,0 @@ -from XRPLib.defaults import * -import time - -""" - By the end of this file students will learn how to control the drivetrain, - both by setting effort values directly to the motors and by using go_straight and go_turn -""" - -# drive straight for a set time period (defualt 1 second) -def drive_straight(drive_time: float = 1): - drivetrain.set_effort(0.8, 0.8) - time.sleep(drive_time) - drivetrain.stop() - -# drive at a slight counter clockwise arc for a set time period (default 1 second) -def arc_turn(turn_time: float = 1): - drivetrain.set_effort(0.5, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# turn CCW at a point for a set time period (default 1 second) -def point_turn(turn_time: float = 1): - drivetrain.set_effort(-0.8, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# pivot turn around the left wheel for a set time period (default 1 second) -def swing_turn(turn_time: float = 1): - drivetrain.set_effort(0, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# Driving in a circle by setting a difference in motor efforts -def circle(): - while True: - drivetrain.set_effort(0.8, 1) - -# Follow the perimeter of a square with variable sidelength -def square(sidelength): - for sides in range(4): - drivetrain.straight(sidelength, 0.8) - drivetrain.turn(90) - # Alternatively: - # polygon(sidelength, 4) - -# Follow the perimeter of an arbitrary polygon with variable side length and number of sides -# Side length in centimeters -def polygon(side_length, number_of_sides): - for s in range(number_of_sides): - drivetrain.straight(side_length) - drivetrain.turn(360/number_of_sides) - -# A slightly longer example program showing how a robot may follow a simple path -def test_drive(): - print("Driving forward 25cm") - drivetrain.straight(25, 0.8) - - time.sleep(1) - - print("turn 90 degrees right") - drivetrain.turn(90,0.8) - - time.sleep(1) - - print("turn 90 degrees left by setting speed negative") - drivetrain.turn(90, -0.8) - - time.sleep(1) - - print("drive backwards 25 cm by setting distance negative") - # There is no difference between setting speed or distance negative, both work - drivetrain.straight(-25,0.8) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/gamepad_example.blocks b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/gamepad_example.blocks deleted file mode 100644 index d5e3795..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/gamepad_example.blocks +++ /dev/null @@ -1,15 +0,0 @@ -from XRPLib.gamepad import * -from XRPLib.differential_drive import DifferentialDrive - -gp = Gamepad.get_default_gamepad() - -differentialDrive = DifferentialDrive.get_default_differential_drive() - - -while not (gp.is_button_pressed(gp.BACK)): - differentialDrive.arcade((gp.get_value(gp.Y1)), (gp.get_value(gp.X1))) - - - -## [2025-07-13 01:36:24] -##XRPBLOCKS {"blocks":{"languageVersion":0,"blocks":[{"type":"controls_whileUntil","id":"#/DDnbE2JxVsLQo`C`e^","x":-363,"y":16,"fields":{"MODE":"UNTIL"},"inputs":{"BOOL":{"block":{"type":"xrp_gp_button_pressed","id":"DtLypJc;SU2xT4A~S3nV","fields":{"GPBUTTON":"BACK"}}},"DO":{"block":{"type":"xrp_arcade","id":"(|]Iln#JYa9hzgEz+(4g","inputs":{"STRAIGHT":{"shadow":{"type":"math_number","id":"FOj1uvC$:~x/+cX}d(:|","fields":{"NUM":0.8}},"block":{"type":"xrp_gp_get_value","id":"s#GS_Dt)B8Cb9+4ctpwk","fields":{"GPVALUE":"Y1"}}},"TURN":{"shadow":{"type":"math_number","id":"n1jAKrjST!+3#bfChh$d","fields":{"NUM":0.2}},"block":{"type":"xrp_gp_get_value","id":"*]`U9XHyYnA?Gp%U;$NF","fields":{"GPVALUE":"X1"}}}}}}}}]}} \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/installation_verification.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/installation_verification.py deleted file mode 100644 index 8f33c4e..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/installation_verification.py +++ /dev/null @@ -1,84 +0,0 @@ -from XRPLib.defaults import * -import time - -# Installation Verification Program -def ivp(): - # Print welcome message - print("------------------------------------------") - print("Running Installation Verification Program!") - print("------------------------------------------") - print() - print("Welcome to the XRP! This example code will help") - print("you verify that everything is working on your robot.") - print("After each test, press the user button to continue.") - print() - - # Flash LED at 5Hz - print("Flashing LED") - board.led_blink(5) - - # Wait for user to press button - print("Press user button to test reflectance sensor") - board.wait_for_button() - - # Stop blinking LED - board.led_off() - - # Print reflectance values until button is pressed - while not board.is_button_pressed(): - print(f"Reflectance Left: {reflectance.get_left():.3f} Right: {reflectance.get_right():.3f} Press user button to test range sensor") - time.sleep(0.1) - - # Wait until button is released - while board.is_button_pressed(): - time.sleep(0.1) - - # Print range values until button is pressed - while not board.is_button_pressed(): - print(f"Range Distance: {rangefinder.distance():.1f} Press user button to test servo") - time.sleep(0.1) - - # Wait until button is released - while board.is_button_pressed(): - time.sleep(0.1) - - # Print warning and wait for button press - print() - print("The next test will move the servo, so keep your hands clear!") - print("Also please make sure the power switch is turned on!") - print("Press user button to test servo") - board.wait_for_button() - - # Test servo - print("Testing servo") - time.sleep(1) - servo_one.set_angle(90) - time.sleep(1) - servo_one.set_angle(0) - time.sleep(1) - servo_one.set_angle(180) - - # Print warning and wait for button press - print() - print("The next test will drive the motors, so place the robot on a flat surface!") - print("Also please make sure the power switch is turned on!") - print("Press user button to test drivetrain") - board.wait_for_button() - - # Test drivetrain - print("Testing drivetrain") - time.sleep(1) - drivetrain.straight(25, 0.8) - time.sleep(1) - drivetrain.turn(90,0.8) - time.sleep(1) - drivetrain.turn(90, -0.8) - time.sleep(1) - drivetrain.straight(-25,0.8) - - print() - print("-----------------------------------") - print("All tests complete! Happy roboting!") - print("-----------------------------------") - -ivp() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/led_example.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/led_example.py deleted file mode 100644 index bb1286e..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/led_example.py +++ /dev/null @@ -1,79 +0,0 @@ -from XRPLib.board import Board -from machine import Timer, Pin -import time - -# Get a reference to the board -board = Board.get_default_board() - -# Create a timer for the RGB LED, assuming it's present on this board -rgb_led_timer = Timer(-1) - -# Conversion from hue to RGB -def hue_to_rgb(hue): - # Initialize RGB values - r = 0 - g = 0 - b = 0 - - # Ensure hue is in range of [0,360) - hue %= 360 - - if(hue < 120): - # Red to green region - r = (120 - hue) / 120 * 255 - g = (hue - 0) / 120 * 255 - b = 0 - elif(hue < 240): - # Green to blue region - hue -= 120 - r = 0 - g = (120 - hue) / 120 * 255 - b = (hue - 0) / 120 * 255 - else: - # Blue to red region - hue -= 240 - r = (hue - 0) / 120 * 255 - g = 0 - b = (120 - hue) / 120 * 255 - - # Return RGB as tuple of integers in range of [0,255] - return (int(r), int(g), int(b)) - -def update_rgb_led_rainbow(timer): - # Set hue based on current time. Hue is an angle up to 360 degrees, - # so using the milliseconds divided by 10 creates a rainbow that - # repeats every 3.6 seconds - hue = time.ticks_ms() / 10 - - # Compute RGB values - rgb = hue_to_rgb(hue) - - # Max brightness is blinding, so recompute RGB values with 10% brightness - brightness = 0.1 - r = int(rgb[0] * brightness) - g = int(rgb[1] * brightness) - b = int(rgb[2] * brightness) - - # Set the RGB LED color - board.set_rgb_led(r, g, b) - -def start_led_demo(): - # Make the monochrome LED start blinking - board.led_blink(1) - - # If this board has an RGB LED, make it start changing colors - if hasattr(Pin.board, "BOARD_NEOPIXEL"): - # Set up timer to update the RGB LED at 100Hz for smooth color changes - rgb_led_timer.init(freq = 100, callback = update_rgb_led_rainbow) - -def stop_led_demo(): - # Make the monochrome LED stop blinking and turn off the LED - board.led_blink(0) - board.led_off() - - # If this board has an RGB LED, stop the timer and turn off the LED - if hasattr(Pin.board, "BOARD_NEOPIXEL"): - rgb_led_timer.deinit() - board.set_rgb_led(0, 0, 0) - -start_led_demo() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/sensor_examples.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/sensor_examples.py deleted file mode 100644 index 69b280a..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/sensor_examples.py +++ /dev/null @@ -1,75 +0,0 @@ -from XRPLib.defaults import * -import time - -""" - By the end of this file students will learn how to read and use data from - both the ultrasonic sensors and the line followers. - They will also have a chance to learn the basics of proportional control. -""" - -# Polling data from the ultrasonic sensor -def ultrasonic_test(): - while True: - print(rangefinder.distance()) - time.sleep(0.1) - -# Approaches a wall at a set speed and then stops -def drive_till_close(target_distance: float = 10.0): - speed = 0.6 - while rangefinder.distance() > target_distance: - drivetrain.set_effort(speed, speed) - time.sleep(0.01) - drivetrain.set_effort(0, 0) - -# Maintains a certain distance from the wall using proportional control -def standoff(target_distance: float = 10.0): - KP = 0.2 - while True: - distance = rangefinder.distance() - error = distance - target_distance - drivetrain.set_effort(error * KP, error*KP) - time.sleep(0.01) - -# Maintains a certain distance from the wall while driving -# using proportional control (sensor on right side of robot this time) -def wall_follow(target_distance: float = 10.0): - KP = 0.1 - base_speed = 0.5 - while True: - distance = rangefinder.distance() - error = distance - target_distance - print(error) - drivetrain.set_effort(base_speed + error * KP, base_speed - error*KP) - time.sleep(0.01) - -# Follows a line using the line followers -def line_track(): - base_effort = 0.6 - KP = 0.6 - while True: - # You always want to take the difference of the sensors because the raw value isn't always consistent. - error = reflectance.get_left() - reflectance.get_right() - print(error) - drivetrain.set_effort(base_effort - error * KP, base_effort + error * KP) - time.sleep(0.01) - -# Polling data from the IMU -def imu_test(): - while True: - print(f"Pitch: {imu.get_pitch()}, Heading: {imu.get_heading()}, Roll: {imu.get_yaw()}, Accelerometer output: {imu.get_acc_rates()}") - time.sleep(0.1) - -def climb_ramp(ramp_angle, angle_tolerance=3.5): - speed = 0.6 - # Find ramp by driving forward - while imu.get_pitch() < ramp_angle-angle_tolerance: - drivetrain.set_effort(speed, speed) - time.sleep(0.05) - # Drive up ramp until angle levels out again - while imu.get_pitch() >= ramp_angle-angle_tolerance: - drivetrain.set_effort(speed, speed) - time.sleep(0.05) - # Then stop - drivetrain.set_effort(0, 0) - -ultrasonic_test() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/webserver_example.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/webserver_example.py deleted file mode 100644 index 695697d..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/webserver_example.py +++ /dev/null @@ -1,48 +0,0 @@ -from XRPLib.defaults import * -import time -from machine import Timer - -# Binding functions to the arrow buttons -webserver.registerForwardButton(lambda: drivetrain.set_effort(0.5, 0.5)) -webserver.registerLeftButton(lambda: drivetrain.set_effort(-0.5, 0.5)) -webserver.registerRightButton(lambda: drivetrain.set_effort(0.5, -0.5)) -webserver.registerBackwardButton(lambda: drivetrain.set_effort(-0.5, -0.5)) -webserver.registerStopButton(lambda: drivetrain.set_effort(0, 0)) - -# Binding functions to custom buttons -webserver.add_button("Close Server", lambda: webserver.stop_server()) -webserver.add_button("Blink", lambda: board.led_blink(2)) -webserver.add_button("LED Off", lambda: board.led_off()) -webserver.add_button("Servo Up", lambda: servo_one.set_angle(90)) -webserver.add_button("Servo Down", lambda: servo_one.set_angle(0)) - -# Logging static data to the webserver -# webserver.log_data("test", "test") -# webserver.log_data("List", [1,2,3]) -# webserver.log_data("Dict", {"a":1,"b":2,"c":3}) -# webserver.log_data("Tuple", (1,2,3)) - -def log_time_and_range(): - # This function is called every second to update the data on the webserver - webserver.log_data("Time", time.time()) - webserver.log_data("Range", rangefinder.distance()) - webserver.log_data("Left Motor", left_motor.get_position()) - webserver.log_data("Right Motor", right_motor.get_position()) - webserver.log_data("Button State", board.is_button_pressed()) - -timer = Timer(-1) -timer.init(freq=4, mode=Timer.PERIODIC, callback=lambda t: log_time_and_range()) - -def connect_and_start_webserver(): - # Connect to the network and start the webserver in bridge mode - # Network ssid and password are stored in root/secrets.json - webserver.connect_to_network() - webserver.start_server() - -def start_network_and_webserver(): - # Start the webserver in access point mode - # Network ssid and password are stored in root/secrets.json - webserver.start_network() - webserver.start_server() - -start_network_and_webserver() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/xrp_test.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/xrp_test.py deleted file mode 100644 index 4455401..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPExamples/xrp_test.py +++ /dev/null @@ -1,76 +0,0 @@ -from XRPLib.defaults import * -from machine import Pin -import time - -imu.reset_pitch() -imu.reset_yaw() -imu.reset_roll() - -def log_imu_heading(): - # Set to true to log the IMU heading forever - while True: - print(imu.get_yaw()) - time.sleep(0.1) - -def log_encoder_position(): - while True: - print(left_motor.get_position(), right_motor.get_position()) - time.sleep(0.1) - -def benchmark_encoder_isr(): - print("start benchmark") - N = 100000 - a = time.time() - for i in range(N): - drivetrain.left_motor._encoder.isr() - b = time.time() - - # Print benchmark - print(f"Time for {N} calls: {b-a}s") - print(f"Time per call: {(b-a)/N}s") # ~0.06 ms per call - -def test_turns(): - drivetrain.turn(45, 0.5) - time.sleep(1) - drivetrain.turn(-45, 0.75) - time.sleep(1) - - drivetrain.turn(90, 0.5) - time.sleep(1) - drivetrain.turn(-90, 0.75) - time.sleep(1) - - - # Turns 360 slow and fast, then turns 180 slow and fast - drivetrain.turn(360, 0.5) - time.sleep(1) - drivetrain.turn(-360, 0.75) - time.sleep(1) - -def test_straight(): - drivetrain.straight(30, 0.2) - -def test_set_effort(): - drivetrain.set_effort(0.3, 0.3) - time.sleep(2) - drivetrain.stop() - -def test_led(): - board.led_blink(5) - time.sleep(3) - board.led_off() - -def test_button(): - board.set_button_callback(trigger=Pin.IRQ_RISING, callback=lambda p: board.led.toggle()) - -def test_rangefinder(): - while not board.is_button_pressed(): - print(f"{rangefinder.distance()}, {rangefinder.distance()}") - time.sleep(0.5) - -def encoder_test(): - while not board.is_button_pressed(): - print(f"Left: {left_motor.get_position()}\tRight:{right_motor.get_position()}") - time.sleep(0.1) - -test_rangefinder() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/__init__.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/__init__.py deleted file mode 100644 index 6759c04..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/__init__.py +++ /dev/null @@ -1,10 +0,0 @@ -""" - THIS LIBRARY WAS MADE FOR THE SPARKFUN XRP CONTROL BOARD. - PLEASE USE THE ASSOCIATED MICROPYTHON UF2 FILE. -""" - -import sys -if not "XRP" in sys.implementation._machine: - raise NotImplementedError("This library does not support your version of MicroPython. " - + "Please update your UF2 File for the Beta XRP Controller here: " - + "https://github.com/Open-STEM/XRP_MicroPython/releases/tag/v2.0.0") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/board.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/board.py deleted file mode 100644 index 8039f77..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/board.py +++ /dev/null @@ -1,127 +0,0 @@ -from machine import Pin, ADC, Timer -from neopixel import NeoPixel -import time -import sys - -class Board: - - _DEFAULT_BOARD_INSTANCE = None - - @classmethod - def get_default_board(cls): - """ - Get the default board instance. This is a singleton, so only one instance of the board will ever exist. - """ - if cls._DEFAULT_BOARD_INSTANCE is None: - cls._DEFAULT_BOARD_INSTANCE = cls() - return cls._DEFAULT_BOARD_INSTANCE - - def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON", - rgb_led_pin = "BOARD_NEOPIXEL", led_pin = "LED"): - """ - Implements for extra features on the XRP board. Handles the on/off switch, button, and LED. - - :param vin_pin: The pin the on/off switch is connected to - :type vin_pin: int - :param button_pin: The pin the button is connected to - :type button_pin: int - """ - - self.on_switch = ADC(Pin(vin_pin)) - - self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP) - - self.led = Pin(led_pin, Pin.OUT) - - if hasattr(Pin.board, rgb_led_pin): - self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1) - # A timer ID of -1 is a virtual timer. - # Leaves the hardware timers for more important uses - self._virt_timer = Timer(-1) - self.is_led_blinking = False - - - def are_motors_powered(self) -> bool: - """ - :return: Returns true if the batteries are connected and powering the motors, false otherwise - :rytpe: bool - """ - return self.on_switch.read_u16() > 20000 - - def is_button_pressed(self) -> bool: - """ - Returns the state of the button - - :return: True if the button is pressed, False otherwise - :rtype: bool - """ - return not self.button.value() - - def wait_for_button(self): - """ - Halts the program until the button is pressed - """ - - # Wait until user command before running - while not self.is_button_pressed(): - time.sleep(.01) - - # Wait until user to release button before running - while self.is_button_pressed(): - time.sleep(.01) - - - def led_on(self): - """ - Turns the LED on - Stops the blinking timer if it is running - """ - self.is_led_blinking = False - self.led.on() - self._virt_timer.deinit() - - def led_off(self): - """ - Turns the LED off - Stops the blinking timer if it is running - """ - self.is_led_blinking = False - self.led.off() - self._virt_timer.deinit() - - def led_blink(self, frequency: int=0): - """ - Blinks the LED at a given frequency. If the frequency is 0, the LED will stop blinking. - - :param frequency: The frequency to blink the LED at (in Hz) - :type frequency: int - """ - if self.is_led_blinking: - # disable the old timer so we can reinitialize it - self._virt_timer.deinit() - # We set it to twice in input frequency so that - # the led flashes on and off frequency times per second - if frequency != 0: - self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC, - callback=lambda t:self.led.toggle()) - self.is_led_blinking = True - else: - self._virt_timer.deinit() - self.is_led_blinking = False - - def set_rgb_led(self, r:int, g:int, b:int): - """ - Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta - - :param r: The amount of red in the desired color - :type r: int - :param g: The amount of green in the desired color - :type g: int - :param b: The amount of blue in the desired color - :type b: int - """ - if "rgb_led" in self.__dict__: - self.rgb_led[0] = (r, g, b) - self.rgb_led.write() - else: - raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta") diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/controller.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/controller.py deleted file mode 100644 index 8d14a60..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/controller.py +++ /dev/null @@ -1,30 +0,0 @@ -class Controller: - """ - An abstract class to be entended to demonstrate different types of control. A PID subclass has also been provided - """ - - def update(self, input) -> float: - """ - Handle a new update of this control loop given an effected input. - - :param error: The input to this controller for a given update. Usually an error or some other correctable value - :type error: float - - :return: The system output from the controller, to be used as an effort value or for any other purpose - :rtype: float - """ - pass - - def is_done(self) -> bool: - - """ - :return: If the controller has reached or settled at its desired value - :rtype: bool - """ - pass - - def clear_history(self): - """ - Clears all past data, such as integral sums or any other previous data - """ - pass \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/dashboard.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/dashboard.py deleted file mode 100644 index 385e14e..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/dashboard.py +++ /dev/null @@ -1,257 +0,0 @@ -from .encoded_motor import EncodedMotor -from .rangefinder import Rangefinder -from .imu import IMU -from .reflectance import Reflectance -from .puppet import Puppet, VAR_TYPE_INT, VAR_TYPE_FLOAT, PERM_READ_ONLY - -from machine import Timer, ADC, Pin -from micropython import const -import time - - -class Dashboard: - - _DEFAULT_DASHBOARD_INSTANCE = None - - # Variable type constants - VAR_TYPE_FLOAT = const(2) - - # Permission constants - PERM_READ_ONLY = const(1) - PERM_WRITE_ONLY = const(2) - - # Backward compatibility constants - YAW = const(0) - ROLL = const(1) - PTICH = const(2) - ACCX = const(3) - ACCY = const(4) - ACCZ = const(5) - ENCL = const(6) - ENCR = const(7) - ENC3 = const(8) - ENC4 = const(9) - CURRR = const(10) - CURRL = const(11) - CURR3 = const(12) - CURR4 = const(13) - DIST = const(14) - REFL = const(15) - REFR = const(16) - VOLTAGE = const(17) - - # Mapping from old index to XPP variable names - _VAR_NAMES = { - YAW: '$imu.yaw', - ROLL: '$imu.roll', - PTICH: '$imu.pitch', - ACCX: '$imu.acc_x', - ACCY: '$imu.acc_y', - ACCZ: '$imu.acc_z', - ENCL: '$encoder.left', - ENCR: '$encoder.right', - ENC3: '$encoder.3', - ENC4: '$encoder.4', - CURRL: '$current.left', - CURRR: '$current.right', - CURR3: '$current.3', - CURR4: '$current.4', - DIST: '$rangefinder.distance', - REFL: '$reflectance.left', - REFR: '$reflectance.right', - VOLTAGE: '$voltage', - } - - @classmethod - def get_default_dashboard(cls): - """ - Get the default XRP dashboard instance. This is a singleton, so only one instance of the dashboard sensor will ever exist. - """ - if cls._DEFAULT_DASHBOARD_INSTANCE is None: - cls._DEFAULT_DASHBOARD_INSTANCE = cls() - return cls._DEFAULT_DASHBOARD_INSTANCE - - def __init__(self): - """ - Manages communication with dashboard data going to a remote computer via XPP protocol. - """ - self.left_motor = EncodedMotor.get_default_encoded_motor(index=1) - self.right_motor = EncodedMotor.get_default_encoded_motor(index=2) - self.motor_three = EncodedMotor.get_default_encoded_motor(index=3) - self.motor_four = EncodedMotor.get_default_encoded_motor(index=4) - self.imu = IMU.get_default_imu() - self.rangefinder = Rangefinder.get_default_rangefinder() - self.reflectance = Reflectance.get_default_reflectance() - self.VoltageADC = ADC(Pin('BOARD_VIN_MEASURE')) - #self.CurrLADC = ADC(Pin('ML_CUR')) - #self.CurrRADC = ADC(Pin('MR_CUR')) - #self.Curr3ADC = ADC(Pin('M3_CUR')) - #self.Curr4ADC = ADC(Pin('M4_CUR')) - - # Get XPP instance - self._puppet = Puppet.get_default_puppet() - - # Register all sensor variables - self._register_variables() - - # Create timer for periodic updates - self.update_timer = Timer(-1) - self._update_rate = 3 # Default 3 Hz - - def _register_variables(self): - """ - Register all sensor variables with XPP. - """ - # IMU variables (float) - for var_name in ['$imu.yaw', '$imu.roll', '$imu.pitch', - '$imu.acc_x', '$imu.acc_y', '$imu.acc_z']: - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - - # Encoder variables (int) - for var_name in ['$encoder.left', '$encoder.right', '$encoder.3', '$encoder.4']: - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) - - # Current sensor variables (int) - for var_name in ['$current.left', '$current.right', '$current.3', '$current.4']: - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) - - # Other sensor variables (float) - for var_name in ['$rangefinder.distance', '$reflectance.left', - '$reflectance.right', '$voltage']: - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - - def sendIntValue(self, index, value): - """ - Send an integer value (backward compatibility method). - Now uses XPP protocol. - - :param index: Variable index constant - :type index: int - :param value: Integer value to send - :type value: int - """ - if index not in self._VAR_NAMES: - return - - var_name = self._VAR_NAMES[index] - try: - self._puppet.set_variable(var_name, value) - except: - pass # Variable might not be registered yet - - def sendFloatValue(self, index, value): - """ - Send a float value (backward compatibility method). - Now uses XPP protocol. - - :param index: Variable index constant - :type index: int - :param value: Float value to send - :type value: float - """ - if index not in self._VAR_NAMES: - return - - var_name = self._VAR_NAMES[index] - try: - self._puppet.set_variable(var_name, value) - except: - pass # Variable might not be registered yet - - def _dashboard_update(self): - """ - Update all sensor variables with current readings. - """ - # IMU data - self._puppet.set_variable('$imu.yaw', self.imu.get_yaw()) - self._puppet.set_variable('$imu.roll', self.imu.get_roll()) - self._puppet.set_variable('$imu.pitch', self.imu.get_pitch()) - self._puppet.set_variable('$imu.acc_x', self.imu.get_acc_x()) - self._puppet.set_variable('$imu.acc_y', self.imu.get_acc_y()) - self._puppet.set_variable('$imu.acc_z', self.imu.get_acc_z()) - - # Encoder data - self._puppet.set_variable('$encoder.left', self.left_motor.get_position_counts()) - self._puppet.set_variable('$encoder.right', self.right_motor.get_position_counts()) - self._puppet.set_variable('$encoder.3', self.motor_three.get_position_counts()) - self._puppet.set_variable('$encoder.4', self.motor_four.get_position_counts()) - - # Current sensor data - #self._puppet.set_variable('$current.left', self.CurrLADC.read_u16()) - #self._puppet.set_variable('$current.right', self.CurrRADC.read_u16()) - #self._puppet.set_variable('$current.3', self.Curr3ADC.read_u16()) - #self._puppet.set_variable('$current.4', self.Curr4ADC.read_u16()) - - # Other sensors - self._puppet.set_variable('$rangefinder.distance', self.rangefinder.distance()) - self._puppet.set_variable('$reflectance.left', self.reflectance.get_left()) - self._puppet.set_variable('$reflectance.right', self.reflectance.get_right()) - - # Voltage - voltage = self.VoltageADC.read_u16() / (1024*64/14) - self._puppet.set_variable('$voltage', voltage) - - def start(self, rate_hz=3): - """ - Start sending dashboard packets to the remote computer at the specified rate. - - :param rate_hz: Update rate in Hz (default: 3) - :type rate_hz: int - """ - self._update_rate = rate_hz - - # Subscribe all variables at the specified rate - for var_name in self._VAR_NAMES.values(): - try: - self._puppet.subscribe_variable(var_name, rate_hz) - except: - pass # Variable might not be registered yet - - # Also use timer for backward compatibility - period_ms = int(1000 / rate_hz) - self.update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._dashboard_update()) - self._puppet.start() - - def stop(self): - """ - Stop sending dashboard data packets. - """ - # Unsubscribe from all variables - for var_name in self._VAR_NAMES.values(): - try: - self._puppet.subscribe_variable(var_name, 0) - except: - pass - - # Stop timer - self.update_timer.deinit() - self._puppet.stop() - - def set_value(self, name, value, rate_hz=3): - """ - Define a variable and subscribe to it at the specified rate. - - :param name: The variable name - :type name: str - :param value: The value to set - :type value: float - :param rate_hz: The update rate in Hz (default: 3) - :type rate_hz: int - """ - self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - try: - self._puppet.subscribe_variable(name, rate_hz) - except: - pass - self._puppet.set_variable(name, value) - - def get_value(self, name): - """ - Get the value of a variable. - - :param name: The variable name - :type name: str - """ - self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) - return self._puppet.get_variable(name) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/defaults.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/defaults.py deleted file mode 100644 index 38216c8..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/defaults.py +++ /dev/null @@ -1,34 +0,0 @@ -from .board import Board -from .differential_drive import DifferentialDrive -from .motor import SinglePWMMotor, DualPWMMotor -from .encoder import Encoder -from .encoded_motor import EncodedMotor -from .rangefinder import Rangefinder -from .imu import IMU -from .reflectance import Reflectance -from .servo import Servo -from .webserver import Webserver -from machine import Pin - -""" -A simple file that constructs all of the default objects for the XRP robot -Run "from XRPLib.defaults import *" to use -""" - -left_motor = EncodedMotor.get_default_encoded_motor(index=1) -right_motor = EncodedMotor.get_default_encoded_motor(index=2) -motor_three = EncodedMotor.get_default_encoded_motor(index=3) -motor_four = EncodedMotor.get_default_encoded_motor(index=4) -imu = IMU.get_default_imu() -drivetrain = DifferentialDrive.get_default_differential_drive() -rangefinder = Rangefinder.get_default_rangefinder() -reflectance = Reflectance.get_default_reflectance() -servo_one = Servo.get_default_servo(index=1) -servo_two = Servo.get_default_servo(index=2) -webserver = Webserver.get_default_webserver() -board = Board.get_default_board() - -if hasattr(Pin.board, "SERVO_3"): - servo_three = Servo.get_default_servo(index=3) -if hasattr(Pin.board, "SERVO_4"): - servo_four = Servo.get_default_servo(index=4) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/differential_drive.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/differential_drive.py deleted file mode 100644 index e3fbd5f..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/differential_drive.py +++ /dev/null @@ -1,340 +0,0 @@ -from .encoded_motor import EncodedMotor -from .imu import IMU -from .controller import Controller -from .pid import PID -from .timeout import Timeout -import time -import math - -class DifferentialDrive: - - _DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE =None - - @classmethod - def get_default_differential_drive(cls): - - """ - Get the default XRP differential drive instance. This is a singleton, so only one instance of the drivetrain will ever exist. - """ - - if cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE is None: - cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE = cls( - EncodedMotor.get_default_encoded_motor(index=1), - EncodedMotor.get_default_encoded_motor(index=2), - IMU.get_default_imu() - ) - - return cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE - - def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU = None, wheel_diam:float = 6.0, wheel_track:float = 15.5): - """ - A Differential Drive class designed for the XRP two-wheeled drive robot. - - :param leftMotor: The left motor of the drivetrain - :type leftMotor: EncodedMotor - :param rightMotor: The right motor of the drivetrain - :type rightMotor: EncodedMotor - :param imu: The IMU of the robot. If None, the robot will not use the IMU for turning or maintaining heading. - :type imu: IMU - :param wheelDiam: The diameter of the wheels in inches. Defaults to 6 cm. - :type wheelDiam: float - :param wheelTrack: The distance between the wheels in inches. Defaults to 15.5 cm. - :type wheelTrack: float - """ - - self.left_motor = left_motor - self.right_motor = right_motor - self.imu = imu - - self.brake_at_zero_power = False - self.wheel_diam = wheel_diam - self.track_width = wheel_track - - self.heading_pid = None - self.current_heading = None - self.reset_heading = True - self.turning = False - - if self.imu: - # if the IMU is initialized, then create a PID controller that can be used - # to maintain a constant heading when driving - self.heading_pid = PID( kp = 0.075, kd=0.001, ) - - def set_effort(self, left_effort: float, right_effort: float) -> None: - """ - Set the raw effort of both motors individually - - :param leftEffort: The power (Bounded from -1 to 1) to set the left motor to. - :type leftEffort: float - :param rightEffort: The power (Bounded from -1 to 1) to set the right motor to. - :type rightEffort: float - """ - - self.left_motor.set_effort(left_effort) - self.right_motor.set_effort(right_effort) - - def set_speed(self, left_speed: float, right_speed: float) -> None: - """ - Set the speed of both motors individually - - :param leftSpeed: The speed (In Centimeters per Second) to set the left motor to. - :type leftSpeed: float - :param rightSpeed: The speed (In Centimeters per Second) to set the right motor to. - :type rightSpeed: float - """ - # Convert from cm/s to RPM - cmpsToRPM = 60 / (math.pi * self.wheel_diam) - self.left_motor.set_speed(left_speed*cmpsToRPM) - self.right_motor.set_speed(right_speed*cmpsToRPM) - - def set_zero_effort_behavior(self, brake_at_zero_effort): - - """ - Sets the behavior of both motor at 0 effort to either brake (hold position) or coast (free spin) - :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. - :type brake_at_zero_effort: bool - """ - self.left_motor.set_zero_effort_behavior(brake_at_zero_effort) - self.right_motor.set_zero_effort_behavior(brake_at_zero_effort) - - def stop(self) -> None: - """ - Stops both drivetrain motors by setting power to zero. - """ - self.left_motor.set_speed() - self.right_motor.set_speed() - self.set_effort(0,0) - - def arcade(self, straight:float, turn:float): - """ - Sets the raw effort of both motors based on the arcade drive scheme - - :param straight: The base effort (Bounded from -1 to 1) used to drive forwards or backwards. - :type straight: float - :param turn: The modifier effort (Bounded from -1 to 1) used to skew robot left (positive) or right (negative). - :type turn: float - """ - if straight == 0 and turn == 0: - self.set_effort(0, 0) - else: - scale = max(abs(straight), abs(turn))/(abs(straight) + abs(turn)) - left_speed = (straight - turn)*scale - right_speed = (straight + turn)*scale - - if not self.heading_pid: - # if not using IMU assist to maintain heading, just pass down the left and right motor - # speeds to control movement - self.set_effort(left_speed, right_speed) - else: - # else if IMU assist is enabled, then use the IMU with PID to - # maintain a constant heading while driving. - if turn == 0: - # straight drive requested, then maintain the current heading - if self.turning: - # if previously turning, then clear the turn indicator and reset the course heading - self.reset_heading = True - self.turning = False - - if self.reset_heading: - self.reset_heading = False - self.current_heading = self.imu.get_yaw() - - # use the PID to set the heading correction based on the current heading - heading_correction = self.heading_pid.update(self.current_heading - self.imu.get_yaw()) - - self.set_effort(left_speed - heading_correction, right_speed + heading_correction) - else: - # set the turning indicator and apply the left and right speeds - self.turning = True - self.set_effort(left_speed, right_speed) - - def reset_encoder_position(self) -> None: - """ - Resets the position of both motors' encoders to 0 - """ - - self.left_motor.reset_encoder_position() - self.right_motor.reset_encoder_position() - - def get_left_encoder_position(self) -> float: - """ - :return: the current position of the left motor's encoder in cm. - :rtype: float - """ - return self.left_motor.get_position()*math.pi*self.wheel_diam - - def get_right_encoder_position(self) -> float: - """ - :return: the current position of the right motor's encoder in cm. - :rtype: float - """ - return self.right_motor.get_position()*math.pi*self.wheel_diam - - - def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: - """ - Go forward the specified distance in centimeters, and exit function when distance has been reached. - Max_effort is bounded from -1 (reverse at full speed) to 1 (forward at full speed) - - :param distance: The distance for the robot to travel (In Centimeters) - :type distance: float - :param max_effort: The max effort for which the robot to travel (Bounded from -1 to 1). Default is half effort forward - :type max_effort: float - :param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds) - :type timeout: float - :param main_controller: The main controller, for handling the distance driven forwards - :type main_controller: Controller - :param secondary_controller: The secondary controller, for correcting heading error that may result during the drive. - :type secondary_controller: Controller - :return: if the distance was reached before the timeout - :rtype: bool - """ - # ensure effort is always positive while distance could be either positive or negative - if max_effort < 0: - max_effort *= -1 - distance *= -1 - - time_out = Timeout(timeout) - starting_left = self.get_left_encoder_position() - starting_right = self.get_right_encoder_position() - - - if main_controller is None: - main_controller = PID( - kp = 0.1, - ki = 0.04, - kd = 0.04, - min_output = 0.3, - max_output = max_effort, - max_integral = 10, - tolerance = 0.25, - tolerance_count = 3, - ) - - # Secondary controller to keep encoder values in sync - if secondary_controller is None: - secondary_controller = PID( - kp = 0.075, kd=0.001, - ) - - if self.imu is not None: - # record current heading to maintain it - initial_heading = self.imu.get_yaw() - else: - initial_heading = 0 - - while True: - - # calculate the distance traveled - left_delta = self.get_left_encoder_position() - starting_left - right_delta = self.get_right_encoder_position() - starting_right - dist_traveled = (left_delta + right_delta) / 2 - - # PID for distance - distance_error = distance - dist_traveled - effort = main_controller.update(distance_error) - - if main_controller.is_done() or time_out.is_done(): - break - - # calculate heading correction - if self.imu is not None: - # record current heading to maintain it - current_heading = self.imu.get_yaw() - else: - current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) - - headingCorrection = secondary_controller.update(initial_heading - current_heading) - - self.set_effort(effort - headingCorrection, effort + headingCorrection) - - time.sleep(0.01) - - self.stop() - - return not time_out.is_done() - - - def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool: - """ - Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading. - effort is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed) - Uses the IMU to determine the heading of the robot and P control for the motor controller. - - :param turnDegrees: The number of angle for the robot to turn (In Degrees) - :type turnDegrees: float - :param max_effort: The max speed for which the robot to travel (Bounded from -1 to 1) - :type max_effort: float - :param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds) - :type timeout: float - :param main_controller: The main controller, for handling the angle turned - :type main_controller: Controller - :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference - :type secondary_controller: Controller - :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False) - :type use_imu: bool - :return: if the distance was reached before the timeout - :rtype: bool - """ - - if max_effort < 0: - max_effort = -max_effort - turn_degrees = -turn_degrees - - time_out = Timeout(timeout) - starting_left = self.get_left_encoder_position() - starting_right = self.get_right_encoder_position() - - if main_controller is None: - main_controller = PID( - # kp = 0.2, - # ki = 0.004, - # kd = 0.0036, - kd = 0.0036 + 0.0034 * (max(max_effort, 0.5) - 0.5) * 2, - kp = 0.2, - ki = 0.004, - #kd = 0.007, - min_output = 0.1, - max_output = max_effort, - max_integral = 30, - tolerance = 1, - tolerance_count = 3 - ) - - # Secondary controller to keep encoder values in sync - if secondary_controller is None: - secondary_controller = PID( - kp = 0.25, - ) - - if use_imu and (self.imu is not None): - turn_degrees += self.imu.get_yaw() - - while True: - - # calculate encoder correction to minimize drift - left_delta = self.get_left_encoder_position() - starting_left - right_delta = self.get_right_encoder_position() - starting_right - encoder_correction = secondary_controller.update(left_delta + right_delta) - - if use_imu and (self.imu is not None): - # calculate turn error (in degrees) from the imu - turn_error = turn_degrees - self.imu.get_yaw() - else: - # calculate turn error (in degrees) from the encoder counts - turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) - - # Pass the turn error to the main controller to get a turn speed - turn_speed = main_controller.update(turn_error) - - # exit if timeout or tolerance reached - if main_controller.is_done() or time_out.is_done(): - break - - self.set_effort(-turn_speed - encoder_correction, turn_speed - encoder_correction) - - time.sleep(0.01) - - self.stop() - - return not time_out.is_done() diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoded_motor.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoded_motor.py deleted file mode 100644 index de2fa6f..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoded_motor.py +++ /dev/null @@ -1,191 +0,0 @@ -from .motor import SinglePWMMotor, DualPWMMotor -from .encoder import Encoder -from machine import Timer -from .controller import Controller -from .pid import PID -import sys - -class EncodedMotor: - - ZERO_EFFORT_BREAK = True - ZERO_EFFORT_COAST = False - - _DEFAULT_LEFT_MOTOR_INSTANCE = None - _DEFAULT_RIGHT_MOTOR_INSTANCE = None - _DEFAULT_MOTOR_THREE_INSTANCE = None - _DEFAULT_MOTOR_FOUR_INSTANCE = None - - @classmethod - def get_default_encoded_motor(cls, index:int = 1): - """ - Get one of the default XRP motor instances. These are singletons, so only one instance of each of these will ever exist. - Raises an exception if an invalid index is requested. - - :param index: The index of the motor to get; 1 for left, 2 for right, 3 for motor 3, 4 for motor 4 - :type index: int - """ - - if "RP2350" in sys.implementation._machine: - MotorImplementation = DualPWMMotor - else: - MotorImplementation = SinglePWMMotor - - if index == 1: - if cls._DEFAULT_LEFT_MOTOR_INSTANCE is None: - cls._DEFAULT_LEFT_MOTOR_INSTANCE = cls( - MotorImplementation("MOTOR_L_IN_1", "MOTOR_L_IN_2", flip_dir=True), - Encoder(0, "MOTOR_L_ENCODER_A", "MOTOR_L_ENCODER_B") - ) - motor = cls._DEFAULT_LEFT_MOTOR_INSTANCE - elif index == 2: - if cls._DEFAULT_RIGHT_MOTOR_INSTANCE is None: - cls._DEFAULT_RIGHT_MOTOR_INSTANCE = cls( - MotorImplementation("MOTOR_R_IN_1", "MOTOR_R_IN_2"), - Encoder(1, "MOTOR_R_ENCODER_A", "MOTOR_R_ENCODER_B") - ) - motor = cls._DEFAULT_RIGHT_MOTOR_INSTANCE - elif index == 3: - if cls._DEFAULT_MOTOR_THREE_INSTANCE is None: - cls._DEFAULT_MOTOR_THREE_INSTANCE = cls( - MotorImplementation("MOTOR_3_IN_1", "MOTOR_3_IN_2", flip_dir=True), - Encoder(2, "MOTOR_3_ENCODER_A", "MOTOR_3_ENCODER_B") - ) - motor = cls._DEFAULT_MOTOR_THREE_INSTANCE - elif index == 4: - if cls._DEFAULT_MOTOR_FOUR_INSTANCE is None: - cls._DEFAULT_MOTOR_FOUR_INSTANCE = cls( - MotorImplementation("MOTOR_4_IN_1", "MOTOR_4_IN_2"), - Encoder(3, "MOTOR_4_ENCODER_A", "MOTOR_4_ENCODER_B") - ) - motor = cls._DEFAULT_MOTOR_FOUR_INSTANCE - else: - return Exception("Invalid motor index") - return motor - - def __init__(self, motor, encoder: Encoder): - - self._motor = motor - self._encoder = encoder - - self.brake_at_zero = False - - self.target_speed = None - self.DEFAULT_SPEED_CONTROLLER = PID( - kp=0.035, - ki=0.03, - kd=0, - max_integral=50 - ) - self.speedController = self.DEFAULT_SPEED_CONTROLLER - self.prev_position = 0 - self.speed = 0 - # Use a virtual timer so we can leave the hardware timers up for the user - self.updateTimer = Timer(-1) - # If the update timer is not running, start it at 50 Hz (20ms updates) - self.updateTimer.init(period=20, callback=lambda t:self._update()) - - - def set_effort(self, effort: float): - """ - :param effort: The effort to set this motor to, from -1 to 1 - :type effort: float - """ - if self.brake_at_zero and effort == 0: - self.brake() - else: - self._motor.set_effort(effort) - - # EncodedMotor.set_zero_effort_behavior(EncodedMotor.ZERO_POWER_BRAKE) - def set_zero_effort_behavior(self, brake_at_zero_effort): - """ - Sets the behavior of the motor at 0 effort to either brake (hold position) or coast (free spin) - :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. - :type brake_at_zero_effort: bool - """ - self.brake_at_zero = brake_at_zero_effort - - def brake(self): - """ - Causes the motor to resist rotation. - """ - # Exact impl of brake depends on which board is being used. - self._motor.brake() - - def coast(self): - """ - Allows the motor to spin freely. - """ - self._motor.coast() - - def get_position(self) -> float: - """ - :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. - :rtype: float - """ - if self._motor.flip_dir: - invert = -1 - else: - invert = 1 - return self._encoder.get_position()*invert - - def get_position_counts(self) -> int: - """ - :return: The position of the encoded motor, in encoder counts, relative to the last time reset was called. - :rtype: int - """ - if self._motor.flip_dir: - invert = -1 - else: - invert = 1 - return self._encoder.get_position_counts()*invert - - def reset_encoder_position(self): - """ - Resets the encoder position back to zero. - """ - self._encoder.reset_encoder_position() - - def get_speed(self) -> float: - """ - :return: The speed of the motor, in rpm - :rtype: float - """ - # Convert from counts per 20ms to rpm (60 sec/min, 50 Hz) - return self.speed*(60*50)/self._encoder.resolution - - def set_speed(self, speed_rpm: float = None): - """ - Sets target speed (in rpm) to be maintained passively - Call with no parameters or 0 to turn off speed control - - :param target_speed_rpm: The target speed for the motor in rpm, or None - :type target_speed_rpm: float, or None - """ - if speed_rpm is None or speed_rpm == 0: - self.target_speed = None - self.set_effort(0) - return - # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) - self.target_speed = speed_rpm*self._encoder.resolution/(60*50) - - def set_speed_controller(self, new_controller: Controller): - """ - Sets a new controller for speed control - - :param new_controller: The new Controller for speed control - :type new_controller: Controller - """ - self.speedController = new_controller - self.speedController.clear_history() - - def _update(self): - """ - Non-api method; used for updating motor efforts for speed control - """ - current_position = self.get_position_counts() - self.speed = current_position - self.prev_position - if self.target_speed is not None: - error = self.target_speed - self.speed - effort = self.speedController.update(error) - self._motor.set_effort(effort) - self.prev_position = current_position \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoder.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoder.py deleted file mode 100644 index 414b973..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/encoder.py +++ /dev/null @@ -1,119 +0,0 @@ -# Modified from https://forum.micropython.org/viewtopic.php?t=12277&p=66659 - -import machine -import rp2 -import time - -class Encoder: - _gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75 - _counts_per_motor_shaft_revolution = 12 - resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585 - - def __init__(self, index, encAPin: int|str, encBPin: int|str): - """ - Uses the on board PIO State Machine to keep track of encoder positions. - Only 4 encoders can be instantiated this way. - - :param index: The index of the state machine to be used, indexed 0-3. - :type index: int - :param encAPin: The pin the left reflectance sensor is connected to - :type encAPin: int - :param encBPin: The pin the right reflectance sensor is connected to - :type encBPin: int - """ - # if(abs(encAPin - encBPin) != 1): - # raise Exception("Encoder pins must be successive!") - basePin = machine.Pin(min(encAPin, encBPin), machine.Pin.IN) - nextPin = machine.Pin(max(encAPin, encBPin), machine.Pin.IN) - self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin) - self.reset_encoder_position() - self.sm.active(1) - - def reset_encoder_position(self): - """ - Resets the encoder position to 0 - """ - # It's possible for this to cause issues if in the middle of inrementing - # or decrementing, but the result should only be off by 1. If that's a - # problem, an alternative solution is to stop the state machine, then - # reset both x and the program counter. But that's excessive. - self.sm.exec("set(x, 0)") - - def get_position_counts(self): - """ - :return: The position of the encoded motor, in counts, relative to the last time reset was called. - :rtype: int - """ - # Read 5 times for it to get past the buffer - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - if(counts > 2**31): - counts -= 2**32 - return counts - - def get_position(self): - """ - :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. - :rtype: float - """ - return self.get_position_counts() / self.resolution - - @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT) - def _encoder(): - # Register descriptions: - # X - Encoder count, as a 32-bit number - # OSR - Previous pin values, only last 2 bits are used - # ISR - Push encoder count, and combine pin states together - - # Jump table - # The program counter is moved to memory address 0000 - 1111, based - # on the previous (left 2 bits) and current (right bits) pin states - jmp("read") # 00 -> 00 No change, continue - jmp("decr") # 00 -> 01 Reverse, decrement count - jmp("incr") # 00 -> 10 Forward, increment count - jmp("read") # 00 -> 11 Impossible, continue - - jmp("incr") # 01 -> 00 Forward, increment count - jmp("read") # 01 -> 01 No change, continue - jmp("read") # 01 -> 10 Impossible, continue - jmp("decr") # 01 -> 11 Reverse, decrement count - - jmp("decr") # 10 -> 00 Reverse, decrement count - jmp("read") # 10 -> 01 Impossible, continue - jmp("read") # 10 -> 10 No change, continue - jmp("incr") # 10 -> 11 Forward, increment count - - jmp("read") # 11 -> 00 Impossible, continue - jmp("incr") # 11 -> 01 Forward, increment count - jmp("decr") # 11 -> 10 Reverse, decrement count - jmp("read") # 11 -> 11 No change, continue - - label("read") - mov(osr, isr) # Store previous pin states in OSR - mov(isr, x) # Copy encoder count to ISR - push(noblock) # Push count to RX buffer, and reset ISR to 0 - out(isr, 2) # Shift previous pin states into ISR - in_(pins, 2) # Shift current pin states into ISR - mov(pc, isr) # Move PC to jump table to determine what to do next - - label("decr") # There is no explicite increment intruction, but X can be - jmp(x_dec, "decr_nop") # decremented in the jump instruction. So we use that and jump - label("decr_nop") # to the next instruction, which is equivalent to just decrementing - jmp("read") - - label("incr") # There is no explicite increment intruction, but X can be - mov(x, invert(x)) # decremented in the jump instruction. So we invert X, decrement, - jmp(x_dec, "incr_nop") # then invert again - this is equivalent to incrementing. - label("incr_nop") - mov(x, invert(x)) - jmp("read") - - # Fill remaining instruction memory with jumps to ensure nothing bad happens - # For some reason, weird behavior happens if the instruction memory isn't full - jmp("read") - jmp("read") - jmp("read") - jmp("read") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/gamepad.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/gamepad.py deleted file mode 100644 index f3f08de..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/gamepad.py +++ /dev/null @@ -1,169 +0,0 @@ -from .puppet import Puppet, VAR_TYPE_FLOAT, VAR_TYPE_INT, VAR_TYPE_BOOL, PERM_WRITE_ONLY, PERM_READ_ONLY -from micropython import const - -class Gamepad: - - _DEFAULT_GAMEPAD_INSTANCE = None - - X1 = const(0) - Y1 = const(1) - X2 = const(2) - Y2 = const(3) - BUTTON_A = const(4) - BUTTON_B = const(5) - BUTTON_X = const(6) - BUTTON_Y = const(7) - BUMPER_L = const(8) - BUMPER_R = const(9) - TRIGGER_L = const(10) - TRIGGER_R = const(11) - BACK = const(12) - START = const(13) - DPAD_UP = const(14) - DPAD_DN = const(15) - DPAD_L = const(16) - DPAD_R = const(17) - - # Mapping from index to variable name - _VAR_NAMES = { - 0: '$gamepad.x1', - 1: '$gamepad.y1', - 2: '$gamepad.x2', - 3: '$gamepad.y2', - 4: '$gamepad.button_a', - 5: '$gamepad.button_b', - 6: '$gamepad.button_x', - 7: '$gamepad.button_y', - 8: '$gamepad.bumper_l', - 9: '$gamepad.bumper_r', - 10: '$gamepad.trigger_l', - 11: '$gamepad.trigger_r', - 12: '$gamepad.back', - 13: '$gamepad.start', - 14: '$gamepad.dpad_up', - 15: '$gamepad.dpad_dn', - 16: '$gamepad.dpad_l', - 17: '$gamepad.dpad_r', - } - - @classmethod - def get_default_gamepad(cls): - """ - Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist. - """ - if cls._DEFAULT_GAMEPAD_INSTANCE is None: - cls._DEFAULT_GAMEPAD_INSTANCE = cls() - cls._DEFAULT_GAMEPAD_INSTANCE.start() - return cls._DEFAULT_GAMEPAD_INSTANCE - - def __init__(self): - """ - Manages communication with gamepad data coming from a remote computer via XPP protocol. - """ - self._puppet = Puppet.get_default_puppet() - self._started = False - - # Register all gamepad variables - self._register_variables() - - def _register_variables(self): - """ - Register all gamepad variables with the XPP protocol. - """ - # Joystick axes are floats - for idx in [self.X1, self.Y1, self.X2, self.Y2]: - var_name = self._VAR_NAMES[idx] - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) - - # Buttons are integers (1 or 0) - for idx in range(4, 18): - var_name = self._VAR_NAMES[idx] - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_WRITE_ONLY) - - # Register gamepad enabled variable (read-only from XRP side) - self._puppet.define_variable('$gamepad.enabled', VAR_TYPE_BOOL, PERM_READ_ONLY) - - def start(self): - """ - Signals the remote computer to begin sending gamepad data packets. - Subscribes to all gamepad variables at a high rate (50 Hz). - """ - self._puppet.start() - self._puppet.send_program_start() - - # Enable gamepad - signal to client to start sending - self._puppet.set_variable('$gamepad.enabled', True) - - if self._started: - return - - # Subscribe to all gamepad variables at 50 Hz - for var_name in self._VAR_NAMES.values(): - self._puppet.subscribe_variable(var_name, 50) - - self._started = True - - def stop(self): - """ - Signals the remote computer to stop sending gamepad data packets. - Unsubscribes from all gamepad variables. - """ - - self._puppet.send_program_end() - - if not self._started: - return - - # Disable gamepad - signal to client to stop sending - self._puppet.set_variable('$gamepad.enabled', False) - - # Unsubscribe from all gamepad variables - for var_name in self._VAR_NAMES.values(): - self._puppet.subscribe_variable(var_name, 0) - - self._puppet.stop() - self._started = False - - def get_value(self, index: int) -> float: - """ - Get the current value of a joystick axis - - :param index: The joystick axis index - Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2 - :type int - :returns: The value of the joystick between -1 and 1 - :rtype: float - """ - if index not in self._VAR_NAMES: - return 0.0 - - var_name = self._VAR_NAMES[index] - try: - value = self._puppet.get_variable(var_name) - # Return negative to make normal for user (backward compatibility) - return -value - except: - # Return default if variable not available - return 0.0 - - def is_button_pressed(self, index: int) -> bool: - """ - Checks if a specific button is currently pressed. - - :param index: The button index - Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc - :type int - :returns: The value of the button 1 or 0 - :rtype: bool - """ - if index not in self._VAR_NAMES: - return False - - var_name = self._VAR_NAMES[index] - try: - value = self._puppet.get_variable(var_name) - # Works for both int and float - return value > 0 - except: - # Return default if variable not available - return False diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu.py deleted file mode 100644 index cd7acbf..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu.py +++ /dev/null @@ -1,559 +0,0 @@ -# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive -# ver: 1.0 -# License: MIT -# Author: shaoziyang (shaoziyang@micropython.org.cn) -# v1.0 2019.7 -try: - from .imu_defs import * - from uctypes import struct, addressof -except (TypeError, ModuleNotFoundError): - LSM_ADDR_PRIMARY = 0x6A - # Import wrapped in a try/except so that autodoc generation can process properly - pass -from machine import I2C, Pin, Timer, disable_irq, enable_irq -import time, math - -class IMU(): - - _DEFAULT_IMU_INSTANCE = None - - @classmethod - def get_default_imu(cls): - """ - Get the default XRP IMU instance. This is a singleton, so only one instance of the drivetrain will ever exist. - """ - - if cls._DEFAULT_IMU_INSTANCE is None: - cls._DEFAULT_IMU_INSTANCE = cls() - cls._DEFAULT_IMU_INSTANCE.calibrate() - return cls._DEFAULT_IMU_INSTANCE - - def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY): - # I2C values - self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000) - self.addr = addr - - # Initialize member variables - self._reset_member_variables() - - # Transmit and recieve buffers - self.tb = bytearray(1) - self.rb = bytearray(1) - - # Copies of registers. Bytes and structs share the same memory - # addresses, so changing one changes the other - self.reg_ctrl1_xl_byte = bytearray(1) - self.reg_ctrl2_g_byte = bytearray(1) - self.reg_ctrl3_c_byte = bytearray(1) - self.reg_ctrl1_xl_bits = struct(addressof(self.reg_ctrl1_xl_byte), LSM_REG_LAYOUT_CTRL1_XL) - self.reg_ctrl2_g_bits = struct(addressof(self.reg_ctrl2_g_byte), LSM_REG_LAYOUT_CTRL2_G) - self.reg_ctrl3_c_bits = struct(addressof(self.reg_ctrl3_c_byte), LSM_REG_LAYOUT_CTRL3_C) - - # Create timer - self.update_timer = Timer(-1) - - # Check if the IMU is connected - if not self.is_connected(): - # TODO - do somehting intelligent here - pass - - # Reset sensor to clear any previous configuration - # reset() also sets the board to the default config - self.reset() - - def _default_config(self): - # Enable block data update - self._set_bdu() - - # Set default scale for each sensor - self.acc_scale('16g') - self.gyro_scale('2000dps') - - # Set default rate for each sensor - self.acc_rate('208Hz') - self.gyro_rate('208Hz') - - """ - The following are private helper methods to read and write registers, as well as to convert the read values to the correct unit. - """ - - def _reset_member_variables(self): - # Vector of IMU measurements - self.irq_v = [[0, 0, 0], [0, 0, 0]] - - # Sensor offsets - self.gyro_offsets = [0,0,0] - self.acc_offsets = [0,0,0] - - # Scale factors when ranges are changed - self._acc_scale_factor = 1 - self._gyro_scale_factor = 1 - - # Angle integrators - self.running_pitch = 0 - self.running_yaw = 0 - self.running_roll = 0 - - def _int16(self, d): - return d if d < 0x8000 else d - 0x10000 - - def _setreg(self, reg, dat): - self.tb[0] = dat - self.i2c.writeto_mem(self.addr, reg, self.tb) - - def _getreg(self, reg): - self.i2c.readfrom_mem_into(self.addr, reg, self.rb) - return self.rb[0] - - def _getregs(self, reg, num_bytes): - rx_buf = bytearray(num_bytes) - self.i2c.readfrom_mem_into(self.addr, reg, rx_buf) - return rx_buf - - def _get2reg(self, reg): - return self._getreg(reg) + self._getreg(reg+1) * 256 - - def _r_w_reg(self, reg, dat, mask): - self._getreg(reg) - self.rb[0] = (self.rb[0] & mask) | dat - self._setreg(reg, self.rb[0]) - - def _set_bdu(self, bdu = True): - """ - Sets Block Data Update bit - """ - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.BDU = bdu - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - def _set_if_inc(self, if_inc = True): - """ - Sets InterFace INCrement bit - """ - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.IF_INC = if_inc - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - def _raw_to_mg(self, raw): - return self._int16((raw[1] << 8) | raw[0]) * LSM_MG_PER_LSB_2G * self._acc_scale_factor - - def _raw_to_mdps(self, raw): - return self._int16((raw[1] << 8) | raw[0]) * LSM_MDPS_PER_LSB_125DPS * self._gyro_scale_factor - - """ - Public facing API Methods - """ - - def is_connected(self): - """ - Checks whether the IMU is connected - - :return: True if WHO_AM_I value is correct, otherwise False - :rtype: bool - """ - who_am_i = self._getreg(LSM_REG_WHO_AM_I) - return who_am_i == LSM_WHO_AM_I_VALUE - - def reset(self, wait_for_reset = True, wait_timeout_ms = 100): - """ - Resets the IMU, and restores all registers to their default values - - :param wait_for_reset: Whether to wait for reset to complete - :type wait_for_reset: bool - :param wait_timeout_ms: Timeout in milliseconds when waiting for reset - :type wait_timeout_ms: int - :return: False if timeout occurred, otherwise True - :rtype: bool - """ - # Stop timer - self._stop_timer() - - # Reset member variables - self._reset_member_variables() - - # Set BOOT and SW_RESET bits - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.BOOT = 1 - self.reg_ctrl3_c_bits.SW_RESET = 1 - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - # Wait for reset to complete, if requested - if wait_for_reset: - # Loop with timeout - t0 = time.ticks_ms() - while time.ticks_ms() < (t0 + wait_timeout_ms): - # Check if register has returned to default value (0x04) - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - if self.reg_ctrl3_c_byte[0] == 0x04: - self._default_config() - self._start_timer() - return True - # Timeout occurred - # Attempt to set default config anyways - self._default_config() - self._start_timer() - return False - else: - self._default_config() - self._start_timer() - return True - - def get_acc_x(self): - """ - :return: The current reading for the accelerometer's X-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] - - def get_acc_y(self): - """ - :return: The current reading for the accelerometer's Y-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTY_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[1] - - def get_acc_z(self): - """ - :return: The current reading for the accelerometer's Z-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTZ_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[2] - - def get_acc_rates(self): - """ - :return: the list of readings from the Accelerometer, in mg. The order of the values is x, y, z. - :rtype: list - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 6) - - # Convert raw data to mg's - self.irq_v[0][0] = self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] - self.irq_v[0][1] = self._raw_to_mg(raw_bytes[2:4]) - self.acc_offsets[1] - self.irq_v[0][2] = self._raw_to_mg(raw_bytes[4:6]) - self.acc_offsets[2] - - return self.irq_v[0] - - def get_gyro_x_rate(self): - """ - Individual axis read for the Gyroscope's X-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - - def get_gyro_y_rate(self): - """ - Individual axis read for the Gyroscope's Y-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTY_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[1] - - def get_gyro_z_rate(self): - """ - Individual axis read for the Gyroscope's Z-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTZ_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[2] - - def get_gyro_rates(self): - """ - Retrieves the array of readings from the Gyroscope, in mdps - The order of the values is x, y, z. - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 6) - - # Convert raw data to mdps - self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] - self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] - - return self.irq_v[1] - - def get_acc_gyro_rates(self): - """ - Get the accelerometer and gyroscope values in mg and mdps in the form of a 2D array. - The first row is the acceleration values, the second row is the gyro values. - The order of the values is x, y, z. - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 12) - - # Convert raw data to mg's and mdps - self.irq_v[0][0] = self._raw_to_mg(raw_bytes[6:8]) - self.acc_offsets[0] - self.irq_v[0][1] = self._raw_to_mg(raw_bytes[8:10]) - self.acc_offsets[1] - self.irq_v[0][2] = self._raw_to_mg(raw_bytes[10:12]) - self.acc_offsets[2] - self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] - self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] - - return self.irq_v - - def get_pitch(self): - """ - Get the pitch of the IMU in degrees. Unbounded in range - - :return: The pitch of the IMU in degrees - :rtype: float - """ - return self.running_pitch - - def get_yaw(self): - """ - Get the yaw (heading) of the IMU in degrees. Unbounded in range - - :return: The yaw (heading) of the IMU in degrees - :rtype: float - """ - return self.running_yaw - - def get_heading(self): - """ - Get's the heading of the IMU, but bounded between [0, 360) - - :return: The heading of the IMU in degrees, bound between [0, 360) - :rtype: float - """ - return self.running_yaw % 360 - - def get_roll(self): - """ - Get the roll of the IMU in degrees. Unbounded in range - - :return: The roll of the IMU in degrees - :rtype: float - """ - return self.running_roll - - def reset_pitch(self): - """ - Reset the pitch to 0 - """ - self.running_pitch = 0 - - def reset_yaw(self): - """ - Reset the yaw (heading) to 0 - """ - self.running_yaw = 0 - - def reset_roll(self): - """ - Reset the roll to 0 - """ - self.running_roll = 0 - - def set_pitch(self, pitch): - """ - Set the pitch to a specific angle in degrees - - :param pitch: The pitch to set the IMU to - :type pitch: float - """ - self.running_pitch = pitch - - def set_yaw(self, yaw): - """ - Set the yaw (heading) to a specific angle in degrees - - :param yaw: The yaw (heading) to set the IMU to - :type yaw: float - """ - self.running_yaw = yaw - - def set_roll(self, roll): - """ - Set the roll to a specific angle in degrees - - :param roll: The roll to set the IMU to - :type roll: float - """ - self.running_roll = roll - - def temperature(self): - """ - Read the temperature of the LSM6DSO in degrees Celsius - - :return: The temperature of the LSM6DSO in degrees Celsius - :rtype: float - """ - # The LSM6DSO's temperature can be read from the OUT_TEMP_L register - # We use OUT_TEMP_L+1 if OUT_TEMP_L cannot be read - try: - return self._int16(self._get2reg(LSM_REG_OUT_TEMP_L))/256 + 25 - except MemoryError: - return self._temperature_irq() - - def _temperature_irq(self): - # Helper function for temperature() to read the alternate temperature register - self._getreg(LSM_REG_OUT_TEMP_L+1) - if self.rb[0] & 0x80: - self.rb[0] -= 256 - return self.rb[0] + 25 - - def acc_scale(self, value=None): - """ - Set the accelerometer scale in g. The scale can be: - '2g', '4g', '8g', or '16g' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) - # Check if the provided value is in the dictionary - if value not in LSM_ACCEL_FS: - # Return string representation of this value - index = list(LSM_ACCEL_FS.values()).index(self.reg_ctrl1_xl_bits.FS_XL) - return list(LSM_ACCEL_FS.keys())[index] - else: - # Set value as requested - self.reg_ctrl1_xl_bits.FS_XL = LSM_ACCEL_FS[value] - self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) - # Update scale factor for converting raw data - self._acc_scale_factor = int(value.rstrip('g')) // 2 - - def gyro_scale(self, value=None): - """ - Set the gyroscope scale in dps. The scale can be: - '125', '250', '500', '1000', or '2000' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) - # Check if the provided value is in the dictionary - if value not in LSM_GYRO_FS: - # Return string representation of this value - index = list(LSM_GYRO_FS.values()).index(self.reg_ctrl2_g_bits.FS_G) - return list(LSM_GYRO_FS.keys())[index] - else: - # Set value as requested - self.reg_ctrl2_g_bits.FS_G = LSM_GYRO_FS[value] - self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) - # Update scale factor for converting raw data - self._gyro_scale_factor = int(value.rstrip('dps')) // 125 - - def acc_rate(self, value=None): - """ - Set the accelerometer rate in Hz. The rate can be: - '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) - # Check if the provided value is in the dictionary - if value not in LSM_ODR: - # Return string representation of this value - index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_XL) - return list(LSM_ODR.keys())[index] - else: - # Set value as requested - self.reg_ctrl1_xl_bits.ODR_XL = LSM_ODR[value] - self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) - - def gyro_rate(self, value=None): - """ - Set the gyroscope rate in Hz. The rate can be: - '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) - # Check if the provided value is in the dictionary - if value not in LSM_ODR: - # Return string representation of this value - index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_G) - return list(LSM_ODR.keys())[index] - else: - # Set value as requested - self.reg_ctrl2_g_bits.ODR_G = LSM_ODR[value] - self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) - - # Update timer frequency - self.timer_frequency = int(value.rstrip('Hz')) - self._start_timer() - - def calibrate(self, calibration_time:float=1, vertical_axis:int= 2): - """ - Collect readings for [calibration_time] seconds and calibrate the IMU based on those readings - Do not move the robot during this time - Assumes the board to be parallel to the ground. Please use the vertical_axis parameter if that is not correct - - :param calibration_time: The time in seconds to collect readings for - :type calibration_time: float - :param vertical_axis: The axis that is vertical. 0 for X, 1 for Y, 2 for Z - :type vertical_axis: int - """ - self._stop_timer() - self.acc_offsets = [0,0,0] - self.gyro_offsets = [0,0,0] - avg_vals = [[0,0,0],[0,0,0]] - num_vals = 0 - # Wait a bit for sensor to start measuring (data registers may default to something nonsensical) - time.sleep(.1) - start_time = time.ticks_ms() - while time.ticks_ms() < start_time + calibration_time*1000: - cur_vals = self.get_acc_gyro_rates() - # Accelerometer averages - avg_vals[0][0] += cur_vals[0][0] - avg_vals[0][1] += cur_vals[0][1] - avg_vals[0][2] += cur_vals[0][2] - # Gyroscope averages - avg_vals[1][0] += cur_vals[1][0] - avg_vals[1][1] += cur_vals[1][1] - avg_vals[1][2] += cur_vals[1][2] - # Increment counter and wait for next loop - num_vals += 1 - time.sleep(1 / self.timer_frequency) - - # Compute averages - avg_vals[0][0] /= num_vals - avg_vals[0][1] /= num_vals - avg_vals[0][2] /= num_vals - avg_vals[1][0] /= num_vals - avg_vals[1][1] /= num_vals - avg_vals[1][2] /= num_vals - - avg_vals[0][vertical_axis] -= 1000 #in mg - - self.acc_offsets = avg_vals[0] - self.gyro_offsets = avg_vals[1] - self._start_timer() - - def _start_timer(self): - self.update_timer.init(freq=self.timer_frequency, callback=lambda t:self._update_imu_readings()) - - def _stop_timer(self): - self.update_timer.deinit() - - def _update_imu_readings(self): - # Called every tick through a callback timer - self.get_gyro_rates() - delta_pitch = self.irq_v[1][0] / 1000 / self.timer_frequency - delta_roll = self.irq_v[1][1] / 1000 / self.timer_frequency - delta_yaw = self.irq_v[1][2] / 1000 / self.timer_frequency - - state = disable_irq() - self.running_pitch += delta_pitch - self.running_roll += delta_roll - self.running_yaw += delta_yaw - enable_irq(state) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu_defs.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu_defs.py deleted file mode 100644 index c8732de..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/imu_defs.py +++ /dev/null @@ -1,83 +0,0 @@ -from uctypes import BFUINT8, BF_POS, BF_LEN -from micropython import const - -""" - Possible I2C addresses -""" -LSM_ADDR_PRIMARY = const(0x6B) -LSM_ADDR_SECONDARY = const(0x6A) - -""" - Register addresses -""" -LSM_REG_WHO_AM_I = const(0x0F) -LSM_REG_CTRL1_XL = const(0x10) -LSM_REG_CTRL2_G = const(0x11) -LSM_REG_CTRL3_C = const(0x12) -LSM_REG_OUT_TEMP_L = const(0x20) -LSM_REG_OUT_TEMP_H = const(0x21) -LSM_REG_OUTX_L_G = const(0x22) -LSM_REG_OUTY_L_G = const(0x24) -LSM_REG_OUTZ_L_G = const(0x26) -LSM_REG_OUTX_L_A = const(0x28) -LSM_REG_OUTY_L_A = const(0x2A) -LSM_REG_OUTZ_L_A = const(0x2C) - -""" - Bit field struct definitions of registers -""" -LSM_REG_LAYOUT_CTRL1_XL = { - "ODR_XL" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, - "FS_XL" : BFUINT8 | 2 << BF_POS | 2 << BF_LEN, - "LPF2_XL_EN" : BFUINT8 | 1 << BF_POS | 1 << BF_LEN, -} -LSM_REG_LAYOUT_CTRL2_G = { - "ODR_G" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, - "FS_G" : BFUINT8 | 1 << BF_POS | 3 << BF_LEN, -} -LSM_REG_LAYOUT_CTRL3_C = { - "BOOT" : BFUINT8 | 7 << BF_POS | 1 << BF_LEN, - "BDU" : BFUINT8 | 6 << BF_POS | 1 << BF_LEN, - "H_LACTIVE" : BFUINT8 | 5 << BF_POS | 1 << BF_LEN, - "PP_OD" : BFUINT8 | 4 << BF_POS | 1 << BF_LEN, - "SIM" : BFUINT8 | 3 << BF_POS | 1 << BF_LEN, - "IF_INC" : BFUINT8 | 2 << BF_POS | 1 << BF_LEN, - "SW_RESET" : BFUINT8 | 0 << BF_POS | 1 << BF_LEN, -} - -""" - Dictionaries for possible register settings -""" -LSM_ODR = { - "0Hz" : 0x0, - "12.5Hz" : 0x1, - "26Hz" : 0x2, - "52Hz" : 0x3, - "104Hz" : 0x4, - "208Hz" : 0x5, - "416Hz" : 0x6, - "833Hz" : 0x7, - "1660Hz" : 0x8, - "3330Hz" : 0x9, - "6660Hz" : 0xA, -} -LSM_ACCEL_FS = { - "2g" : 0x0, - "4g" : 0x2, - "8g" : 0x3, - "16g" : 0x1, -} -LSM_GYRO_FS = { - "125dps" : 0x1, - "250dps" : 0x0, - "500dps" : 0x2, - "1000dps" : 0x4, - "2000dps" : 0x6, -} - -""" - Other contants -""" -LSM_WHO_AM_I_VALUE = 0x6C -LSM_MG_PER_LSB_2G = 0.061 -LSM_MDPS_PER_LSB_125DPS = 4.375 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor.py deleted file mode 100644 index 2c5d479..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor.py +++ /dev/null @@ -1,96 +0,0 @@ -from machine import Pin, PWM - -class SinglePWMMotor: - - """ - A simple class handling direction and power sets for DC motors on the XRP robots - - This version is used for the XRP Beta, which uses the rp2040 processor - """ - - def __init__(self, in1_direction_pin: int|str, in2_speed_pin: int|str, flip_dir:bool=False): - self.flip_dir = flip_dir - self._MAX_PWM = 65534 # Motor holds when actually at full power - - self._in1DirPin = Pin(in1_direction_pin, Pin.OUT) - self._in2SpeedPin = PWM(Pin(in2_speed_pin, Pin.OUT)) - self._in2SpeedPin.freq(50) - - def set_effort(self, effort: float): - """ - Sets the effort value of the motor (corresponds to power) - - :param effort: The effort to set the motor to, between -1 and 1 - :type effort: float - """ - - if effort < 0: - # Change direction if negative power - effort *= -1 - self._set_direction(1) - else: - self._set_direction(0) - # Cap power to [0,1] - effort = max(0,min(effort,1)) - self._in2SpeedPin.duty_u16(int(effort*self._MAX_PWM)) - - def _set_direction(self, direction: int): - if self.flip_dir: - self._in1DirPin.value(not direction) - else: - self._in1DirPin.value(direction) - - def brake(self): - # Motor holds with the real max duty cycle (65535) - self._in2SpeedPin.duty_u16(self._MAX_PWM+1) - - def coast(self): - self.set_effort(0) - -class DualPWMMotor: - """ - A simple class handling effort setting for DC motors on the XRP robots - - This version of the Motor class is used for the official release of the XRP - """ - - def __init__(self, in1_pwm_forward: int|str, in2_pwm_backward: int|str, flip_dir:bool=False): - self.flip_dir = flip_dir - self._MAX_PWM = 65535 # Motor holds when actually at full power - - self._in1ForwardPin = PWM(Pin(in1_pwm_forward, Pin.OUT)) - self._in2BackwardPin = PWM(Pin(in2_pwm_backward, Pin.OUT)) - self._in1ForwardPin.freq(50) - self._in2BackwardPin.freq(50) - - def set_effort(self, effort: float): - """ - Sets the effort value of the motor (corresponds to power) - - :param effort: The effort to set the motor to, between -1 and 1 - :type effort: float - """ - - in1Pwm = (effort < 0) ^ (self.flip_dir) - if in1Pwm: - self._in1ForwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) - self._in2BackwardPin.duty_u16(int(0)) - else: - self._in1ForwardPin.duty_u16(int(0)) - self._in2BackwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) - - def brake(self): - """ - Powers the motor in both directions at the same time, enabling it to hold position - """ - self._in1ForwardPin.duty_u16(int(self._MAX_PWM)) - self._in2BackwardPin.duty_u16(int(self._MAX_PWM)) - - def coast(self): - """ - Disables the motor in both directions at the same time, enabling it to spin freely - """ - self._in1ForwardPin.duty_u16(int(0)) - self._in2BackwardPin.duty_u16(int(0)) - - diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor_group.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor_group.py deleted file mode 100644 index ecfe4f0..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/motor_group.py +++ /dev/null @@ -1,94 +0,0 @@ -from .encoded_motor import EncodedMotor -class MotorGroup(EncodedMotor): - def __init__(self, *motors: EncodedMotor): - """ - A wrapper class for multiple motors, allowing them to be treated as one motor. - - :param motors: The motors to add to this group - :type motors: tuple - """ - self.motors = [] - for motor in motors: - self.add_motor(motor) - - def add_motor(self, motor:EncodedMotor): - """ - :param motor: The motor to add to this group - :type motor: EncodedMotor - """ - self.motors.append(motor) - - def remove_motor(self, motor:EncodedMotor): - """ - :param motor: The motor to remove from this group - :type motor: EncodedMotor - """ - try: - self.motors.remove(motor) - except: - print("Failed to remove motor from Motor Group") - - def set_effort(self, effort: float): - """ - :param effort: The effort to set all motors in this group to, from -1 to 1 - :type effort: float - """ - for motor in self.motors: - motor.set_effort(effort) - - def get_position(self) -> float: - """ - :return: The average position of all motors in this group, in revolutions, relative to the last time reset was called. - :rtype: float - """ - avg = 0 - for motor in self.motors: - avg += motor.get_position() - return avg / len(self.motors) - - def get_position_counts(self) -> int: - """ - :return: The average position of all motors in this group, in encoder counts, relative to the last time reset was called. - :rtype: int - """ - avg = 0 - for motor in self.motors: - avg += motor.get_position_counts() - return round(avg / len(self.motors)) - - def reset_encoder_position(self): - """ - Resets the encoder position of all motors in this group back to zero. - """ - for motor in self.motors: - motor.reset_encoder_position() - - def get_speed(self) -> float: - """ - :return: The average speed of the motors, in rpm - :rtype: float - """ - avg = 0 - for motor in self.motors: - avg += motor.get_speed() - return avg / len(self.motors) - - - def set_speed(self, target_speed_rpm: float = None): - """ - Sets target speed (in rpm) to be maintained passively by all motors in this group - Call with no parameters to turn off speed control - - :param target_speed_rpm: The target speed for these motors in rpm, or None - :type target_speed_rpm: float, or None - """ - for motor in self.motors: - motor.set_speed(target_speed_rpm) - - def set_speed_controller(self, new_controller): - """ - :param new_controller: The new Controller for speed control - :type new_controller: Controller - """ - for motor in self.motors: - motor.set_speed_controller(new_controller) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/pid.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/pid.py deleted file mode 100644 index e9c0491..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/pid.py +++ /dev/null @@ -1,129 +0,0 @@ -import time -from .controller import Controller - -""" -PID controller with exit condition -""" - -class PID(Controller): - - def __init__(self, - kp = 1.0, - ki = 0.0, - kd = 0.0, - min_output = 0.0, - max_output = 1.0, - max_derivative = None, - max_integral = None, - tolerance = 0.1, - tolerance_count = 1 - ): - """ - :param kp: proportional gain - :param ki: integral gain - :param kd: derivative gain - :param min_output: minimum output - :param max_output: maximum output - :param max_derivative: maximum derivative (change per second) - :param max_integral: maximum integral windup allowed (will cap integral at this value) - :param tolerance: tolerance for exit condition - :param tolerance_count: number of times the error needs to be within tolerance for is_done to return True - """ - self.kp = kp - self.ki = ki - self.kd = kd - self.min_output = min_output - self.max_output = max_output - self.max_derivative = max_derivative - self.max_integral = max_integral - self.tolerance = tolerance - self.tolerance_count = tolerance_count - - self.prev_error = 0 - self.prev_integral = 0 - self.prev_output = 0 - - self.start_time = None - self.prev_time = None - - # number of actual times in tolerance - self.times = 0 - - def _handle_exit_condition(self, error: float): - if abs(error) < self.tolerance: - # if error is within tolerance, increment times in tolerance - self.times += 1 - else: - # otherwise, reset times in tolerance, because we need to be in tolerance for numTimesInTolerance consecutive times - self.times = 0 - - def update(self, error: float, debug: bool = False) -> float: - """ - Handle a new update of this PID loop given an error. - - :param error: The error of the system being controlled by this PID controller - :type error: float - - :return: The system output from the controller, to be used as an effort value or for any other purpose - :rtype: float - """ - current_time = time.ticks_ms() - if self.prev_time is None: - # First update after instantiation - self.start_time = current_time - timestep = 0.01 - else: - # get time delta in seconds - timestep = time.ticks_diff(current_time, self.prev_time) / 1000 - self.prev_time = current_time # cache time for next update - - self._handle_exit_condition(error) - - integral = self.prev_integral + error * timestep - - if self.max_integral is not None: - integral = max(-self.max_integral, min(self.max_integral, integral)) - - derivative = (error - self.prev_error) / timestep - - # derive output - output = self.kp * error + self.ki * integral + self.kd * derivative - self.prev_error = error - self.prev_integral = integral - - # Bound output by minimum - if output > 0: - output = max(self.min_output, output) - else: - output = min(-self.min_output, output) - - # Bound output by maximum - output = max(-self.max_output, min(self.max_output, output)) - - # Bound output by maximum acceleration - if self.max_derivative is not None: - lower_bound = self.prev_output - self.max_derivative * timestep - upper_bound = self.prev_output + self.max_derivative * timestep - output = max(lower_bound, min(upper_bound, output)) - - # cache output for next update - self.prev_output = output - - if debug: - print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})") - - return output - - def is_done(self) -> bool: - """ - :return: if error is within tolerance for numTimesInTolerance consecutive times, or timed out - :rtype: bool - """ - return self.times >= self.tolerance_count - - def clear_history(self): - self.prev_error = 0 - self.prev_integral = 0 - self.prev_output = 0 - self.prev_time = None - self.times = 0 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/puppet.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/puppet.py deleted file mode 100644 index a74f1db..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/puppet.py +++ /dev/null @@ -1,869 +0,0 @@ -""" -XRP Puppet Protocol (XPP) - Core Protocol Implementation - -A bidirectional protocol for communicating with the XRP robot remotely. -Uses a Network Tables-like architecture with variable ID mapping. -""" - -import select -import struct -import sys -import time -from machine import Timer -from micropython import const,kbd_intr - -# Message framing constants -MSG_START_1 = const(0xAA) -MSG_START_2 = const(0x55) -MSG_END_1 = const(0x55) -MSG_END_2 = const(0xAA) -MAX_PAYLOAD_SIZE = const(251) - -# Message type constants -MSG_TYPE_VAR_DEF = const(1) -MSG_TYPE_VAR_UPDATE = const(2) -MSG_TYPE_VAR_SUBSCRIBE = const(3) -MSG_TYPE_VAR_UNSUBSCRIBE = const(4) -MSG_TYPE_PROGRAM_START = const(5) -MSG_TYPE_PROGRAM_END = const(6) -MSG_TYPE_HEARTBEAT = const(7) - -# Variable type constants -VAR_TYPE_INT = const(1) -VAR_TYPE_FLOAT = const(2) -VAR_TYPE_BOOL = const(3) - -# Permission constants -PERM_READ_ONLY = const(1) -PERM_WRITE_ONLY = const(2) -PERM_READ_WRITE = const(3) - -# First custom variable ID -FIRST_CUSTOM_VAR_ID = const(38) - -# Mapping of standard variable names to IDs (1-37) -_STANDARD_VAR_IDS = { - # Gamepad variables (1-19) - '$gamepad.x1': 1, - '$gamepad.y1': 2, - '$gamepad.x2': 3, - '$gamepad.y2': 4, - '$gamepad.button_a': 5, - '$gamepad.button_b': 6, - '$gamepad.button_x': 7, - '$gamepad.button_y': 8, - '$gamepad.bumper_l': 9, - '$gamepad.bumper_r': 10, - '$gamepad.trigger_l': 11, - '$gamepad.trigger_r': 12, - '$gamepad.back': 13, - '$gamepad.start': 14, - '$gamepad.dpad_up': 15, - '$gamepad.dpad_dn': 16, - '$gamepad.dpad_l': 17, - '$gamepad.dpad_r': 18, - '$gamepad.enabled': 19, - # IMU variables (20-25) - '$imu.yaw': 20, - '$imu.roll': 21, - '$imu.pitch': 22, - '$imu.acc_x': 23, - '$imu.acc_y': 24, - '$imu.acc_z': 25, - # Encoder variables (26-29) - '$encoder.left': 26, - '$encoder.right': 27, - '$encoder.3': 28, - '$encoder.4': 29, - # Current sensor variables (30-33) - '$current.left': 30, - '$current.right': 31, - '$current.3': 32, - '$current.4': 33, - # Other sensor variables (34-37) - '$rangefinder.distance': 34, - '$reflectance.left': 35, - '$reflectance.right': 36, - '$voltage': 37, -} - - -class Puppet: - """ - Core XRP Puppet Protocol implementation. - Manages bidirectional communication, variable registry, and message handling. - """ - - _DEFAULT_PUPPET_INSTANCE = None - - @classmethod - def get_default_puppet(cls): - """ - Get the default XPP instance. This is a singleton. - """ - if cls._DEFAULT_PUPPET_INSTANCE is None: - cls._DEFAULT_PUPPET_INSTANCE = cls() - return cls._DEFAULT_PUPPET_INSTANCE - - def __init__(self): - """ - Initialize the XPP protocol handler. - """ - # Variable registry: name -> (id, type, permissions, value, update_rate, last_sent_time) - self._variables = {} - self._variable_ids = {} # id -> name (reverse mapping) - self._next_var_id = FIRST_CUSTOM_VAR_ID # Start at 38 for custom variables - - # Transport layer - self._transport = None - self._transport_type = None - self._rx_buffer = bytearray() - self._rx_state = 0 # 0=waiting for start, 1=reading length, 2=reading payload, 3=waiting for end - - # Packet tracking - self.packets_sent = 0 - self.packets_received = 0 - self.packets_dropped = 0 - self._sequence_number = 0 - - # Update rate management - self._update_timer = Timer(-1) - self._update_timer_running = False - - # STDIO polling (for USB_STDIO transport) - self._poll_timer = Timer(-1) - self._poll_timer_running = False - self._poll_stdin_poll = None - - # Program state - self._program_running = False - - # Initialize transport - self._init_transport() - - def _init_transport(self): - """ - Auto-detect and initialize transport (BLE or USB serial). - """ - # Try BLE first - try: - from ble.blerepl import uart - if len(uart._connections) > 0: - self._transport = uart - self._transport_type = 'BLE' - self._transport.set_data_callback(self._data_callback) - return - else: - self._transport_type = 'USB_STDIO' - self._start_poll_timer() - return - except ImportError: - self._transport_type = 'USB_STDIO' - self._start_poll_timer() - return - - - def _poll_stdio(self): - """ - Poll STDIO for incoming data using select.poll. - Reads raw bytes from the stdin buffer. - """ - data_read = False - while True: - events = self._stdin_poll.poll(0) - if not events: - if data_read: - self._process_rx_buffer() - break - data = sys.stdin.buffer.read(1) - self._rx_buffer.extend(data) - data_read = True - - #if data: - #print(f"Received data: {data}") - #self._data_callback(data) - - def _start_poll_timer(self): - """ - Start STDIO polling for USB_STDIO transport. - Uses select.poll on the raw stdin buffer and a timer to check it. - """ - if self._transport_type != 'USB_STDIO' or self._poll_timer_running: - return - self._stdin_poll = select.poll() - self._stdin_poll.register(sys.stdin.buffer, select.POLLIN) - - kbd_intr(-1) #the data will have 03 in it, don't do a ctrl-c for that data. - - self._poll_timer.init(period=20, mode=Timer.PERIODIC, - callback=lambda t: self._poll_stdio()) - self._poll_timer_running = True - - def _stop_poll_timer(self): - """ - Stop the STDIO polling timer and unregister from poll. - """ - if self._poll_timer_running: - self._poll_timer.deinit() - kbd_intr(3) #start watching for ctrl-c again - self._poll_timer_running = False - if self._stdin_poll is not None: - try: - self._stdin_poll.unregister(sys.stdin.buffer) - except (OSError, AttributeError): - pass - self._stdin_poll = None - def start(self): - """ - Start the STDIO polling. - """ - if self._transport_type == 'USB_STDIO': - self._start_poll_timer() - - def stop(self): - """ - Stop the STDIO polling. - """ - if self._transport_type == 'USB_STDIO': - self._stop_poll_timer() - - - def _data_callback(self, data): - """ - Handle incoming data from transport layer. - """ - if isinstance(data, (bytes, bytearray)): - self._rx_buffer.extend(data) - else: - self._rx_buffer.append(data) - - self._process_rx_buffer() - - def _process_rx_buffer(self): - """ - Process received data buffer, extracting complete messages. - """ - while len(self._rx_buffer) >= 2: - if self._rx_state == 0: # Waiting for start sequence - # Look for start sequence - idx = -1 - for i in range(len(self._rx_buffer) - 1): - if self._rx_buffer[i] == MSG_START_1 and self._rx_buffer[i+1] == MSG_START_2: - idx = i - break - - if idx == -1: - # No start sequence found, clear buffer except last byte - if len(self._rx_buffer) > 1: - #see if anything in the buffer is a ctrl-c - for i in range(len(self._rx_buffer) - 1): - if self._rx_buffer[i] == 0x03: - self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler - self._rx_buffer = self._rx_buffer[-1:] - return - - # Remove everything before start sequence - if idx > 0: - #check for a ctrl-c in the non packet parts - for i in range(idx - 1): - if self._rx_buffer[i] == 0x03: - self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler - self._rx_buffer = self._rx_buffer[idx:] - - # Found start, move to length - self._rx_state = 1 - continue - - elif self._rx_state == 1: # Reading type - if len(self._rx_buffer) < 3: # Need start(2) + type(1) - return - msg_type = self._rx_buffer[2] - self._rx_state = 2 - continue - - elif self._rx_state == 2: # Reading length - if len(self._rx_buffer) < 4: # Need start(2) + type(1) + length(1) - return - payload_len = self._rx_buffer[3] - if payload_len > MAX_PAYLOAD_SIZE: - # Invalid length, reset - self._rx_buffer = self._rx_buffer[4:] - self._rx_state = 0 - self.packets_dropped += 1 - continue - - self._rx_state = 3 - continue - - elif self._rx_state == 3: # Reading payload - payload_len = self._rx_buffer[3] - total_needed = 4 + payload_len + 2 # start(2) + type(1) + len(1) + payload + end(2) - - if len(self._rx_buffer) < total_needed: - return # Wait for more data - - # Check end sequence - end_idx = 4 + payload_len - if (self._rx_buffer[end_idx] != MSG_END_1 or - self._rx_buffer[end_idx + 1] != MSG_END_2): - # Invalid end sequence, reset - self._rx_buffer = self._rx_buffer[4:] - self._rx_state = 0 - self.packets_dropped += 1 - continue - - # Extract message type and payload data - msg_type = self._rx_buffer[2] - payload_data = bytes(self._rx_buffer[4:end_idx]) - self._rx_buffer = self._rx_buffer[total_needed:] - self._rx_state = 0 - - # Process message - self.packets_received += 1 - self._handle_message(msg_type, payload_data) - continue - - def _write_data(self, data): - """ - Write data to transport layer. - """ - if self._transport_type == 'BLE': - self._transport.write_data(data) - - elif self._transport_type == 'USB_STDIO': - sys.stdout.buffer.write(data) - - def _pack_message(self, msg_type, payload_data): - """ - Pack a message with framing. - Returns bytearray with complete message. - Format: [START] [TYPE] [LENGTH] [PAYLOAD] [END] - LENGTH includes payload_data length (not including TYPE byte) - """ - payload_len = len(payload_data) - if payload_len > MAX_PAYLOAD_SIZE: - raise ValueError(f"Payload too large: {payload_len} > {MAX_PAYLOAD_SIZE}") - - msg = bytearray() - msg.append(MSG_START_1) - msg.append(MSG_START_2) - msg.append(msg_type) - msg.append(payload_len) # Length of payload_data only - msg.extend(payload_data) - msg.append(MSG_END_1) - msg.append(MSG_END_2) - - return msg - - def _send_message(self, msg_type, payload_data): - """ - Send a message over the transport. - """ - msg = self._pack_message(msg_type, payload_data) - self._write_data(msg) - self.packets_sent += 1 - self._sequence_number = (self._sequence_number + 1) % 256 - - def _handle_message(self, msg_type, payload_data): - """ - Handle incoming message based on type. - - :param msg_type: Message type byte - :param payload_data: Message payload data (without type byte) - """ - if msg_type == MSG_TYPE_VAR_DEF: - self._handle_var_def(payload_data) - elif msg_type == MSG_TYPE_VAR_UPDATE: - self._handle_var_update(payload_data) - elif msg_type == MSG_TYPE_VAR_SUBSCRIBE: - self._handle_var_subscribe(payload_data) - elif msg_type == MSG_TYPE_VAR_UNSUBSCRIBE: - self._handle_var_unsubscribe(payload_data) - elif msg_type == MSG_TYPE_PROGRAM_START: - self._handle_program_start() - elif msg_type == MSG_TYPE_PROGRAM_END: - self._handle_program_end() - elif msg_type == MSG_TYPE_HEARTBEAT: - self._handle_heartbeat(payload_data) - - def _handle_var_def(self, payload): - """ - Handle variable definition message. - Format: name_len(1) name(name_len) type(1) permissions(1) var_id(1) - """ - if len(payload) < 3: - return - - name_len = payload[0] - if len(payload) < 1 + name_len + 3: # name_len + name + type + permissions + var_id - return - - name = payload[1:1+name_len].decode('utf-8') - var_type = payload[1+name_len] - permissions = payload[1+name_len+1] - var_id = payload[1+name_len+2] - - # If this is a standard variable, use the predefined ID instead - if name in _STANDARD_VAR_IDS: - var_id = _STANDARD_VAR_IDS[name] - - # Register the variable with the (corrected) ID - if name not in self._variables: - # Default value based on type - if var_type == VAR_TYPE_INT: - default_value = 0 - elif var_type == VAR_TYPE_FLOAT: - default_value = 0.0 - elif var_type == VAR_TYPE_BOOL: - default_value = False - else: - return - - self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) - self._variable_ids[var_id] = name - # Update next_var_id if needed (for custom variables only) - if var_id >= self._next_var_id and name not in _STANDARD_VAR_IDS: - self._next_var_id = var_id + 1 - if self._next_var_id > 255: - self._next_var_id = FIRST_CUSTOM_VAR_ID # Wrap to start of custom range - - def _handle_var_update(self, payload): - """ - Handle variable update message (batched format). - Format: count(1) [var_id(1) type(1) value(type-dependent)] * count - A count of 1 is equivalent to a single update. - """ - if len(payload) < 1: - return - - count = payload[0] - offset = 1 - - if count == 0 or count > 50: # Sanity check - return - - # Batched update format: count(1) [var_id(1) type(1) value] * count - for i in range(count): - if len(payload) < offset + 2: # Need at least var_id(1) + type(1) - break - - var_id = payload[offset] - offset += 1 - var_type = payload[offset] - offset += 1 - - if var_id not in self._variable_ids: - # Skip this update, but need to advance offset - if var_type == VAR_TYPE_INT: - offset += 4 - elif var_type == VAR_TYPE_FLOAT: - offset += 4 - elif var_type == VAR_TYPE_BOOL: - offset += 1 - continue - - name = self._variable_ids[var_id] - var_info = self._variables[name] - - # Unpack value based on type from message - if var_type == VAR_TYPE_INT: - if len(payload) < offset + 4: - break - value = struct.unpack(' 255: - raise RuntimeError("Maximum number of custom variables exceeded") - send_def = True # Send VAR_DEF for custom variables - - # Default value based on type - if var_type == VAR_TYPE_INT: - default_value = 0 - elif var_type == VAR_TYPE_FLOAT: - default_value = 0.0 - elif var_type == VAR_TYPE_BOOL: - default_value = False - else: - raise ValueError(f"Invalid variable type: {var_type}") - - self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) - self._variable_ids[var_id] = name - - # Only send variable definition for custom variables - if send_def: - self._send_var_def(name, var_type, permissions, var_id) - - return var_id - - def _send_var_def(self, name, var_type, permissions, var_id): - """ - Send variable definition message. - """ - name_bytes = name.encode('utf-8') - payload = bytearray() - payload.append(len(name_bytes)) - payload.extend(name_bytes) - payload.append(var_type) - payload.append(permissions) - payload.append(var_id) # 1 byte - - self._send_message(MSG_TYPE_VAR_DEF, payload) - - def set_variable(self, name, value): - """ - Set a variable value and send update if subscribed. - - :param name: Variable name - :param value: Variable value - """ - if name not in self._variables: - raise ValueError(f"Variable not defined: {name}") - - var_info = self._variables[name] - var_type = var_info[1] - - # Type check - if var_type == VAR_TYPE_INT and not isinstance(value, int): - raise TypeError(f"Variable {name} expects int, got {type(value)}") - elif var_type == VAR_TYPE_FLOAT and not isinstance(value, (int, float)): - raise TypeError(f"Variable {name} expects float, got {type(value)}") - elif var_type == VAR_TYPE_BOOL and not isinstance(value, bool): - raise TypeError(f"Variable {name} expects bool, got {type(value)}") - - # Update value - self._variables[name] = (var_info[0], var_info[1], var_info[2], - value, var_info[4], var_info[5]) - - # Send update if rate > 0 or if this is an on-demand update - # (on-demand updates are sent immediately when set) - if var_info[4] > 0 or var_info[4] == 0: - self._send_var_update(name) - - def get_variable(self, name): - """ - Get a variable value. - - :param name: Variable name - :return: Variable value - """ - if name not in self._variables: - raise ValueError(f"Variable not defined: {name}") - - return self._variables[name][3] - - def _send_var_update(self, name): - """ - Send single variable update message (uses batched format with count=1). - For multiple updates, use _send_batched_var_updates(). - """ - if name not in self._variables: - return - - var_info = self._variables[name] - var_id = var_info[0] - var_type = var_info[1] - value = var_info[3] - - # Pack as batched update with count=1 - payload = bytearray() - payload.append(1) # count = 1 - payload.append(var_id) # 1 byte - payload.append(var_type) # Include type byte - - if var_type == VAR_TYPE_INT: - payload.extend(struct.pack(' 0 and enough time has passed - if rate > 0: - period_ms = int(1000 / rate) - if time.ticks_diff(current_time, last_sent) < period_ms: - continue # Not ready yet - - updates.append((name, var_info)) - - if not updates: - return - - # Pack batched update: count(1) [var_id(1) type(1) value] * count - payload = bytearray() - payload.append(len(updates)) # count - - for name, var_info in updates: - var_id = var_info[0] - var_type = var_info[1] - value = var_info[3] - - payload.append(var_id) # 1 byte - payload.append(var_type) - - if var_type == VAR_TYPE_INT: - payload.extend(struct.pack(' max_rate: - max_rate = var_info[4] - - if max_rate > 0 and not self._update_timer_running: - # Start timer at max_rate Hz - period_ms = int(1000 / max_rate) - self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._update_timer_callback()) - self._update_timer_running = True - elif max_rate == 0 and self._update_timer_running: - # Stop timer - self._update_timer.deinit() - self._update_timer_running = False - elif max_rate > 0 and self._update_timer_running: - # Update timer period if rate changed - period_ms = int(1000 / max_rate) - self._update_timer.deinit() - self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._update_timer_callback()) - - def _update_timer_callback(self): - """ - Timer callback to send variable updates at their specified rates. - Batches all ready updates into a single message for efficiency. - """ - current_time = time.ticks_ms() - - # Collect all variables that are ready to send - ready_vars = [] - for name, var_info in self._variables.items(): - var_id, var_type, permissions, value, rate, last_sent = var_info - - # Only send if rate > 0 and enough time has passed - if rate > 0: - period_ms = int(1000 / rate) - if time.ticks_diff(current_time, last_sent) >= period_ms: - # Check if we have read permission - if permissions in (PERM_READ_ONLY, PERM_READ_WRITE): - ready_vars.append(name) - - # Send all ready updates in a single batched message - if ready_vars: - self._send_batched_var_updates(ready_vars) - - def send_program_start(self): - """ - Send program start message. - """ - self._send_message(MSG_TYPE_PROGRAM_START, b'') - self._program_running = True - - def send_program_end(self): - """ - Send program end message. - """ - self._send_message(MSG_TYPE_PROGRAM_END, b'') - self._program_running = False - - def send_heartbeat(self): - """ - Send heartbeat message. - """ - # Include stats - payload = struct.pack(' float: - """ - Get the distance in centimeters by measuring the echo pulse time - """ - if time.ticks_diff(time.ticks_us(), self.last_echo_time) < self.cache_time_us and not (self.cms == 65535 or self.cms == 0): - return self.cms - - try: - pulse_time = self._send_pulse_and_wait() - if pulse_time <= 0: - return self.MAX_VALUE - except OSError as exception: - # We don't want programs to crash if the HC-SR04 doesn't see anything in range - # So we catch those errors and return 65535 instead - if exception.args[0] == 110: # 110 = ETIMEDOUT - return self.MAX_VALUE - raise exception - - # To calculate the distance we get the pulse_time and divide it by 2 - # (the pulse walk the distance twice) and by 29.1 becasue - # the sound speed on air (343.2 m/s), that It's equivalent to - # 0.034320 cm/us that is 1cm each 29.1us - self.cms = (pulse_time / 2) / 29.1 - self.last_echo_time = time.ticks_us() - return self.cms - - def _delay_us(self, delay:int): - """ - Custom implementation of time.sleep_us(), used to get around the bug in MicroPython where time.sleep_us() - doesn't work properly and causes the IDE to hang when uploading the code - """ - start = time.ticks_us() - while time.ticks_diff(time.ticks_us(), start) < delay: - pass diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/reflectance.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/reflectance.py deleted file mode 100644 index c986952..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/reflectance.py +++ /dev/null @@ -1,49 +0,0 @@ -from machine import Pin, ADC - -class Reflectance: - - _DEFAULT_REFLECTANCE_INSTANCE = None - - @classmethod - def get_default_reflectance(cls): - """ - Get the default XRP reflectance sensor instance. This is a singleton, so only one instance of the reflectance sensor will ever exist. - """ - if cls._DEFAULT_REFLECTANCE_INSTANCE is None: - cls._DEFAULT_REFLECTANCE_INSTANCE = cls() - return cls._DEFAULT_REFLECTANCE_INSTANCE - - def __init__(self, leftPin: int|str = "LINE_L", rightPin: int|str = "LINE_R"): - """ - Implements for a reflectance sensor using the built in 12-bit ADC. - Reads from analog in and converts to a float from 0 (white) to 1 (black) - - :param leftPin: The pin the left reflectance sensor is connected to - :type leftPin: int - :param rightPin: The pin the right reflectance sensor is connected to - :type rightPin: int - """ - self._leftReflectance = ADC(Pin(leftPin)) - self._rightReflectance = ADC(Pin(rightPin)) - - self.MAX_ADC_VALUE: int = 65536 - - def _get_value(self, sensor: ADC) -> float: - - return sensor.read_u16() / self.MAX_ADC_VALUE - - def get_left(self) -> float: - """ - Gets the the reflectance of the left reflectance sensor - : return: The reflectance ranging from 0 (white) to 1 (black) - : rtype: float - """ - return self._get_value(self._leftReflectance) - - def get_right(self) -> float: - """ - Gets the the reflectance of the right reflectance sensor - : return: The reflectance ranging from 0 (white) to 1 (black) - : rtype: float - """ - return self._get_value(self._rightReflectance) diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/resetbot.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/resetbot.py deleted file mode 100644 index 5397560..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/resetbot.py +++ /dev/null @@ -1,76 +0,0 @@ -import sys -""" -A simple file for shutting off all of the motors after a program gets interrupted from the REPL. -Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL. -""" - -def reset_motors(): - from XRPLib.encoded_motor import EncodedMotor - # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init - for i in range(4): - motor = EncodedMotor.get_default_encoded_motor(i+1) - motor.set_speed(0) - motor.reset_encoder_position() - -def reset_led(): - from XRPLib.board import Board - # Turn off the on-board LED - Board.get_default_board().led_off() - try: - # Turn off the RGB LED for boards that have it - Board.get_default_board().set_rgb_led(0, 0, 0) - except: - pass - -def reset_servos(): - from XRPLib.servo import Servo - # Turn off both Servos - Servo.get_default_servo(1).free() - Servo.get_default_servo(2).free() - try: #if 2350 then there are 4 servos - Servo.get_default_servo(3).free() - Servo.get_default_servo(4).free() - except: - pass - -def reset_webserver(): - from XRPLib.webserver import Webserver - # Shut off the webserver and close network connections - Webserver.get_default_webserver().stop_server() - -def reset_gamepad(): - from XRPLib.gamepad import Gamepad - # Stop the browser from sending more gamepad data - Gamepad.get_default_gamepad().stop() - -def reset_dashboard(): - from XRPLib.dashboard import Dashboard - # Stop the dashboard from sending more data - Dashboard.get_default_dashboard().stop() - -def reset_hard(): - reset_gamepad() - reset_dashboard() - reset_motors() - reset_led() - reset_servos() - reset_webserver() - -if "XRPLib.gamepad" in sys.modules: - reset_gamepad() - -if "XRPLib.dashboard" in sys.modules: - reset_dashboard() - -if "XRPLib.encoded_motor" in sys.modules: - reset_motors() - -if "XRPLib.board" in sys.modules: - reset_led() - -if "XRPLib.servo" in sys.modules: - reset_servos() - -if "XRPLib.webserver" in sys.modules: - reset_webserver() - diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/servo.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/servo.py deleted file mode 100644 index e606dac..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/servo.py +++ /dev/null @@ -1,66 +0,0 @@ -from machine import Pin, PWM -import sys - -class Servo: - - _DEFAULT_SERVO_ONE_INSTANCE = None - _DEFAULT_SERVO_TWO_INSTANCE = None - _DEFAULT_SERVO_THREE_INSTANCE = None - _DEFAULT_SERVO_FOUR_INSTANCE = None - - @classmethod - def get_default_servo(cls, index:int): - """ - Gets one of the default XRP servo instances. These are singletons, so only one instance of each servo will ever exist. - Raises an exception if an invalid index is requested. - - :param index: The index of the servo to get (1-4; Beta only has 1 and 2) - :type index: int - """ - if index == 1: - if cls._DEFAULT_SERVO_ONE_INSTANCE is None: - cls._DEFAULT_SERVO_ONE_INSTANCE = cls("SERVO_1") - servo = cls._DEFAULT_SERVO_ONE_INSTANCE - elif index == 2: - if cls._DEFAULT_SERVO_TWO_INSTANCE is None: - cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2") - servo = cls._DEFAULT_SERVO_TWO_INSTANCE - elif index == 3 and hasattr(Pin.board, "SERVO_3"): - if cls._DEFAULT_SERVO_THREE_INSTANCE is None: - cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3") - servo = cls._DEFAULT_SERVO_THREE_INSTANCE - elif index == 4 and hasattr(Pin.board, "SERVO_4"): - if cls._DEFAULT_SERVO_FOUR_INSTANCE is None: - cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4") - servo = cls._DEFAULT_SERVO_FOUR_INSTANCE - else: - return Exception("Invalid servo index") - return servo - - def __init__(self, signal_pin: int|str): - """ - A simple class for interacting with a servo through PWM - - :param signal_pin: The pin the servo is connected to - :type signal_pin: int | str - """ - - self._servo = PWM(Pin(signal_pin, Pin.OUT)) - # Initialize base frequency for the PWM - self._servo.freq(50) - self.MICROSEC_PER_DEGREE: int = 10000 - self.LOW_ANGLE_OFFSET: int = 500000 - - def set_angle(self, degrees: float): - """ - Sets the angle of the servo - :param degrees: The angle to set the servo to [0,200] - :ptype degrees: float - """ - self._servo.duty_ns(int(degrees * self.MICROSEC_PER_DEGREE + self.LOW_ANGLE_OFFSET)) - - def free(self): - """ - Allows the servo to spin freely without holding position - """ - self._servo.duty_ns(0) diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/timeout.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/timeout.py deleted file mode 100644 index 7d7a669..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/timeout.py +++ /dev/null @@ -1,23 +0,0 @@ -import time - -class Timeout: - def __init__(self, timeout: float): - """ - Starts a timer that will expire after the given timeout. - - :param timeout: The timeout, in seconds - :type timeout: float - """ - self.timeout = timeout - if self.timeout != None: - self.timeout = timeout*1000 - - self.start_time = time.ticks_ms() - - def is_done(self): - """ - :return: True if the timeout has expired, False otherwise - """ - if self.timeout is None: - return False - return time.ticks_ms() - self.start_time > self.timeout \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/webserver.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/webserver.py deleted file mode 100644 index bedbba6..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/XRPLib/webserver.py +++ /dev/null @@ -1,326 +0,0 @@ -from phew import server, template, logging, access_point, dns -from phew.template import render_template -from phew.server import redirect, stop, close -import gc -import network -import time -import json - -logging.log_file = "webserverLog.txt" - -class Webserver: - - @classmethod - def get_default_webserver(cls): - """ - Get the default webserver instance. This is a singleton, so only one instance of the webserver will ever exist. - """ - return webserver - - def __init__(self): - """ - Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below. - """ - - gc.threshold(50000) # garbage collection - self.logged_data = {} - self.buttons = {"forwardButton": lambda: logging.debug("Button not initialized"), - "backButton": lambda: logging.debug("Button not initialized"), - "leftButton": lambda: logging.debug("Button not initialized"), - "rightButton": lambda: logging.debug("Button not initialized"), - "stopButton": lambda: logging.debug("Button not initialized")} - self.FUNCTION_PREFIX = "startfunction" - self.FUNCTION_SUFFIX = "endfunction" - self.display_arrows = False - # Instantiate self.wlan now so that running stop before start doesn't cause an error - self.wlan = network.WLAN(network.STA_IF) - - def start_network(self, ssid:str=None, robot_id:int= None, password:str=None): - """ - Open an access point from the XRP board to be used as a captive host. The default network information can be set in secrets.json - - :param ssid: The ssid of the access point, defaults to value from secrets.json - :type ssid: str, optional - :param robot_id: Replaces "{robot_id}" in ssid, defaults to value from secrets.json - :type robot_id: int, optional - :param password: The password of the access point, defaults to value from secrets.json - :type password: str, optional - """ - if ssid is None: - try: - with open("../../secrets.json") as secrets_file: - secrets = json.load(secrets_file) - ssid = str(secrets["ap_ssid"]) - password = str(secrets["ap_password"]) - if robot_id is None: - robot_id = str(secrets["robot_id"]) - ssid = ssid.replace("{robot_id}", robot_id) - except (OSError, KeyError, ValueError): - if robot_id is None: - robot_id = 1 - ssid = f"XRP_{robot_id}" - password = "remote.xrp" - if password is not None and len(password) < 8: - logging.warn("Password is less than 8 characters, this may cause issues with some devices") - self.wlan = access_point(ssid, password) - logging.info(f"Starting Access Point \"{ssid}\"") - self.ip = self.wlan.ifconfig()[0] - - def connect_to_network(self, ssid:str=None, password:str=None, timeout = 10): - """ - Connect to a wifi network with the given ssid and password. - If the connection fails, the board will disconnect from the network and return. - - :param ssid: The ssid of the network, defaults to value from secrets.json - :type ssid: str, optional - :param password: The password of the network, defaults to value from secrets.json - :type password: str, optional - :param timeout: The amount of time to wait for the connection to succeed, defaults to 10 - :type timeout: int, optional - """ - self.wlan = network.WLAN(network.STA_IF) - self.wlan.active(True) # configure board to connect to wifi - if ssid is None: - try: - with open("../../secrets.json") as secrets_file: - secrets = json.load(secrets_file) - ssid = str(secrets["wifi_ssid"]) - password = str(secrets["wifi_password"]) - except (OSError, KeyError, ValueError): - print("secrets.json not found or improperly formatted") - return False - self.wlan.connect(ssid,password) - start_time = time.time() - while not self.wlan.isconnected(): - print("Connecting to network, may take a second") - if time.time() > start_time+timeout: - print("Failed to connect to network, please try again") - self.wlan.disconnect() - return False - time.sleep(0.25) - self.ip = self.wlan.ifconfig()[0] - - def start_server(self): - """ - Begin the webserver in either access point or bridge mode. The IP is printed to the console. - - Preconditions: Either start_network or connect_to_network must be called before this method. - """ - self.wlan.active(True) - logging.info(f"Starting DNS Server at {self.ip}") - dns.run_catchall(self.ip) - self.DOMAIN = self.ip - logging.disable_logging_types(logging.LOG_INFO) - server.run() - - def stop_server(self): - """ - Shuts off the webserver and network and stops handling requests - """ - if self.wlan.active(): - logging.enable_logging_types(logging.LOG_INFO) - logging.info("Stopping Webserver and Network Connections") - - stop() - self.wlan.active(False) - - def _index_page(self, request): - # Render index page and respond to form requests - if request.method == 'GET': - return self._generateHTML() - if request.method == 'POST': - if str(list(request.form.values())[0]).count(" ") == 0: - text = str(list(request.form.keys())[0]) - else: - text = str(list(request.form.values())[0]) - self._handleUserFunctionRequest(text) - return self._generateHTML() - - def _hotspot(self, request): - # Redirect to Index Page - return self._generateHTML() - - def _catch_all(self, request): - # Catch all requests and redirect if necessary - if request.headers.get("host") != self.DOMAIN: - return redirect("http://"+self.DOMAIN+"/") - return self._index_page(request=request) - - def log_data(self, label:str, data): - """ - Register a custom label to be displayed on the webserver - - :param label: The label as it will be displayed, must be unique - :type label: str - :param data: The data to be displayed - :type data: Any (converted to string) - """ - self.logged_data[label] = data - - def add_button(self, button_name:str, function): - """ - Register a custom button to be displayed on the webserver - - :param button_name: The label for the button as it will be displayed, must be unique - :type button_name: str - :param function: The function to be called when the button is pressed - :type function: function - """ - self.buttons[button_name] = function - - def registerForwardButton(self, function): - """ - Assign a function to the forward button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["forwardButton"] = function - - def registerBackwardButton(self, function): - """ - Assign a function to the backward button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["backButton"] = function - - def registerLeftButton(self, function): - """ - Assign a function to the left button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["leftButton"] = function - - def registerRightButton(self, function): - """ - Assign a function to the right button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["rightButton"] = function - - def registerStopButton(self, function): - """ - Assign a function to the stop - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["stopButton"] = function - - def _handleUserFunctionRequest(self, text) -> bool: - print(f"Running {text}") - try: - user_function = self.buttons[text] - if user_function is None: - logging.warning("User function "+text+" not found") - return False - user_function() - return True - except RuntimeError as xcpt: - logging.error("User function "+text+" caused an exception: "+str(xcpt)) - return False - - def _generateHTML(self): - - string = _HTML1 - - if self.display_arrows: - string += _HTML_ARROWS - - string += f'

Custom Function Bindings:

' - # add each button's href to html - for button in self.buttons.keys(): - if(["forwardButton","backButton","leftButton","rightButton","stopButton"].count(button) > 0): - # Slightly cursed solution to not display the arrow buttons as text buttons - continue - string += f'

' - string += "\n" - - string += f'

Logged Data:

' - # add logged data to the html - for data_label in self.logged_data.keys(): - string += f'

{data_label}: {str(self.logged_data[data_label])}

' - string += "\n" - - string += _HTML2 - - return string - -""" Use decorators to bind the wifi methods to the requests """ -webserver = Webserver() - -@server.route("/", methods=['GET','POST']) -def index(request): - return webserver._index_page(request) - -@server.route("/hotspot-detect.html", methods=["GET"]) -def hotspot(request): - return webserver._hotspot(request) - -@server.catchall() -def catch_all(request): - return webserver._catch_all(request) - -_HTML1 = """ - - - - - - - - - - -

XRP control page

- -

-""" - -_HTML_ARROWS = """ -

-
-
-    -
-    -
-
-
-""" - -_HTML2 = """ -

- - - - -""" \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/__init__.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/ble_uart_peripheral.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/ble_uart_peripheral.py deleted file mode 100644 index d9da813..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/ble_uart_peripheral.py +++ /dev/null @@ -1,158 +0,0 @@ -# This implements the Nordic UART Service (NUS). - -import bluetooth -#from .ble_advertising import advertising_payload -import struct -from micropython import const -from machine import Timer - -#Advertise info -# org.bluetooth.characteristic.gap.appearance.xml -_ADV_APPEARANCE_GENERIC_COMPUTER = const(128) -_ADV_TYPE_FLAGS = const(0x01) -_ADV_TYPE_APPEARANCE = const(0x19) -_ADV_TYPE_NAME = const(0x09) - -_IRQ_CENTRAL_CONNECT = const(1) -_IRQ_CENTRAL_DISCONNECT = const(2) -_IRQ_GATTS_WRITE = const(3) -_IRQ_GATTS_INDICATE_DONE = const(20) - -_FLAG_READ = const(0x0002) -_FLAG_WRITE = const(0x0008) -_FLAG_NOTIFY = const(0x0010) - -_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") -_UART_TX = ( - bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"), - _FLAG_NOTIFY, -) -_UART_RX = ( - bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E"), - _FLAG_WRITE, -) - -# Define a new UUID for the binary data characteristic. -_UART_DATA_RX = ( - bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36ff"), - _FLAG_WRITE, -) -# Define a new UUID for the binary data characteristic. -_UART_DATA_TX = ( - bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36fe"), - _FLAG_NOTIFY, -) - -_UART_SERVICE = ( - _UART_UUID, - (_UART_TX, _UART_RX, _UART_DATA_RX, _UART_DATA_TX,), -) - -_timer = Timer(-1) - -def delayedRestart(_arg): - import machine - machine.reset() - -class BLEUART: - def __init__(self, ble, name="mpy-uart", rxbuf=100): - self._ble = ble - self._ble.active(True) - self._ble.irq(self._irq) - ((self._tx_handle, self._rx_handle, self._data_rx_handle, self._data_tx_handle),) = self._ble.gatts_register_services((_UART_SERVICE,)) - # Increase the size of the rx buffer and enable append mode. - self._ble.gatts_set_buffer(self._rx_handle, rxbuf, True) - self._connections = set() - self._rx_buffer = bytearray() - self._handler = None - self._payload = self._advertising_payload(name, _ADV_APPEARANCE_GENERIC_COMPUTER) - self._data_callback = None - self._advertise() - - def irq(self, handler): - self._handler = handler - - def _irq(self, event, data): - # Track connections so we can send notifications. - if event == _IRQ_CENTRAL_CONNECT: - conn_handle, _, _ = data - self._connections.add(conn_handle) - elif event == _IRQ_CENTRAL_DISCONNECT: - conn_handle, _, _ = data - if conn_handle in self._connections: - self._connections.remove(conn_handle) - # Start advertising again to allow a new connection. - self._advertise() - elif event == _IRQ_GATTS_WRITE: - conn_handle, value_handle = data - if conn_handle in self._connections and value_handle == self._rx_handle: - self._rx_buffer += self._ble.gatts_read(self._rx_handle) - if(self._rx_buffer.find(b'##XRPSTOP#' + b'#') != -1): #WARNING: This is broken up so it won't restart during an update or this file. - self._rx_buffer = bytearray() - # set the bit in isrunning to tell main not to re-run the program so the IDE can connect - FILE_PATH = '/lib/ble/isrunning' - with open(FILE_PATH, 'r+b') as file: - file.write(b'\x01') - # slight delay to avoid errors on the browser side. - _timer.init(mode=Timer.PERIODIC, period=50, callback=delayedRestart) - elif conn_handle in self._connections and value_handle == self._data_rx_handle: - new_data = self._ble.gatts_read(self._data_rx_handle) - if self._data_callback: - self._data_callback(new_data) - #schedule(self._data_callback, new_data) - elif event == _IRQ_GATTS_INDICATE_DONE: - if self._handler: - self._handler() - #else: - #print("IRQ Event Code: " + str(event)) - - def any(self): - return len(self._rx_buffer) - - def read(self, sz=None): - if not sz: - sz = len(self._rx_buffer) - result = self._rx_buffer[0:sz] - self._rx_buffer = self._rx_buffer[sz:] - return result - - def write(self, data): - #print("write:" + data) - for conn_handle in self._connections: - self._ble.gatts_indicate(conn_handle, self._tx_handle, data) - - def write_data(self, data): - #print("write_data:" + data) - for conn_handle in self._connections: - self._ble.gatts_notify(conn_handle, self._data_tx_handle, data) - - def set_data_callback(self, callback): - self._data_callback = callback - - def clear_data_callback(self): - self._data_callback = None - - def close(self): - for conn_handle in self._connections: - self._ble.gap_disconnect(conn_handle) - self._connections.clear() - - def _advertise(self, interval_us=500000): - self._ble.gap_advertise(interval_us, adv_data=self._payload) - - # Generate a payload to be passed to gap_advertise(adv_data=...). - def _advertising_payload(self, name, appearance): - payload = bytearray() - - def _append(adv_type, value): - nonlocal payload - payload += struct.pack("BB", len(value) + 1, adv_type) + value - - _append( - _ADV_TYPE_FLAGS, - struct.pack("B", 0x02 + 0x04), - ) - _append(_ADV_TYPE_NAME, name) - _append(_ADV_TYPE_APPEARANCE, struct.pack("= len(self._tx_buf): - self._tx_buf = bytearray() - self._tx_buf_index = 0 - self._uart.write(data) - - def write(self, buf): - state = disable_irq() - empty = not self._tx_buf - self._tx_buf += buf - enable_irq(state) - - if empty: - waitingForTimer = True - schedule_in(self._timer_handler, 50) - -def background_task(): - global uart - ble = bluetooth.BLE() - x = (''.join(['{:02x}'.format(b) for b in unique_id()])) - uart = BLEUART(ble, name="XRP-" + x[11:], rxbuf = 250) - stream = BLEUARTStream(uart) - os.dupterm(stream,0) - -# Start the background task -background_task() - \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/isrunning b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/ble/isrunning deleted file mode 100644 index f76dd238ade08917e6712764a16a22005a50573d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1 IcmZPo000310RR91 diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/firmware.uf2 b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/firmware.uf2 deleted file mode 100644 index 7a61158eee0f279d4214198c3ad534a4a2fd98fa..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 8610816 zcmd@7d3+Q_-Up6%b@$u}nH)e!IOgC;G8`e{24ymnR4&(WsT{fvpu3$xmneILb@$6a zM1gn&;<_PG7X^1Ybj?Ii0)#<8#cOvu5jO!`qo{2X!5$KvPC}-?pXyFD&%^Wj{r>)v 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a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/__init__.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/__init__.py deleted file mode 100644 index 4131b0f..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/__init__.py +++ /dev/null @@ -1,77 +0,0 @@ -__version__ = "0.0.2" - -# highly recommended to set a lowish garbage collection threshold -# to minimise memory fragmentation as we sometimes want to -# allocate relatively large blocks of ram. -import gc, os, machine -gc.threshold(50000) - -# phew! the Pico (or Python) HTTP Endpoint Wrangler -from . import logging - -# determine if remotely mounted or not, changes some behaviours like -# logging truncation -remote_mount = False -try: - os.statvfs(".") # causes exception if remotely mounted (mpremote/pyboard.py) -except: - remote_mount = True - -def get_ip_address(): - import network - try: - return network.WLAN(network.STA_IF).ifconfig()[0] - except: - return None - -def is_connected_to_wifi(): - import network, time - wlan = network.WLAN(network.STA_IF) - return wlan.isconnected() - -# helper method to quickly get connected to wifi -def connect_to_wifi(ssid, password, timeout_seconds=30): - import network, time - - statuses = { - network.STAT_IDLE: "idle", - network.STAT_CONNECTING: "connecting", - network.STAT_WRONG_PASSWORD: "wrong password", - network.STAT_NO_AP_FOUND: "access point not found", - network.STAT_CONNECT_FAIL: "connection failed", - network.STAT_GOT_IP: "got ip address" - } - - wlan = network.WLAN(network.STA_IF) - wlan.active(True) - wlan.connect(ssid, password) - start = time.ticks_ms() - status = wlan.status() - - logging.debug(f" - {statuses[status]}") - while not wlan.isconnected() and (time.ticks_ms() - start) < (timeout_seconds * 1000): - new_status = wlan.status() - if status != new_status: - logging.debug(f" - {statuses[status]}") - status = new_status - time.sleep(0.25) - - if wlan.status() == network.STAT_GOT_IP: - return wlan.ifconfig()[0] - return None - - -# helper method to put the pico into access point mode -def access_point(ssid, password = None): - import network - - # start up network in access point mode - wlan = network.WLAN(network.AP_IF) - wlan.config(essid=ssid) - if password: - wlan.config(password=password) - else: - wlan.config(security=0) # disable password - wlan.active(True) - - return wlan diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/dns.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/dns.py deleted file mode 100644 index 2a1a4b3..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/dns.py +++ /dev/null @@ -1,32 +0,0 @@ -import uasyncio, usocket -from . import logging - -async def _handler(socket, ip_address): - while True: - try: - yield uasyncio.core._io_queue.queue_read(socket) - request, client = socket.recvfrom(256) - response = request[:2] # request id - response += b"\x81\x80" # response flags - response += request[4:6] + request[4:6] # qd/an count - response += b"\x00\x00\x00\x00" # ns/ar count - response += request[12:] # origional request body - response += b"\xC0\x0C" # pointer to domain name at byte 12 - response += b"\x00\x01\x00\x01" # type and class (A record / IN class) - response += b"\x00\x00\x00\x3C" # time to live 60 seconds - response += b"\x00\x04" # response length (4 bytes = 1 ipv4 address) - response += bytes(map(int, ip_address.split("."))) # ip address parts - socket.sendto(response, client) - except Exception as e: - logging.error(e) - -def run_catchall(ip_address, port=53): - logging.info("> starting catch all dns server on port {}".format(port)) - - _socket = usocket.socket(usocket.AF_INET, usocket.SOCK_DGRAM) - _socket.setblocking(False) - _socket.setsockopt(usocket.SOL_SOCKET, usocket.SO_REUSEADDR, 1) - _socket.bind(usocket.getaddrinfo(ip_address, port, 0, usocket.SOCK_DGRAM)[0][-1]) - - loop = uasyncio.get_event_loop() - loop.create_task(_handler(_socket, ip_address)) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/logging.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/logging.py deleted file mode 100644 index dd70394..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/logging.py +++ /dev/null @@ -1,111 +0,0 @@ -import machine, os, gc - -log_file = "log.txt" - -LOG_INFO = 0b00001 -LOG_WARNING = 0b00010 -LOG_ERROR = 0b00100 -LOG_DEBUG = 0b01000 -LOG_EXCEPTION = 0b10000 -LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION - -_logging_types = LOG_ALL - -# the log file will be truncated if it exceeds _log_truncate_at bytes in -# size. the defaults values are designed to limit the log to at most -# three blocks on the Pico -_log_truncate_at = 11 * 1024 -_log_truncate_to = 8 * 1024 - -def datetime_string(): - dt = machine.RTC().datetime() - return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) - -def file_size(file): - try: - return os.stat(file)[6] - except OSError: - return None - -def set_truncate_thresholds(truncate_at, truncate_to): - global _log_truncate_at - global _log_truncate_to - _log_truncate_at = truncate_at - _log_truncate_to = truncate_to - -def enable_logging_types(types): - global _logging_types - _logging_types = _logging_types | types - -def disable_logging_types(types): - global _logging_types - _logging_types = _logging_types & ~types - -# truncates the log file down to a target size while maintaining -# clean line breaks -def truncate(file, target_size): - # get the current size of the log file - size = file_size(file) - - # calculate how many bytes we're aiming to discard - discard = size - target_size - if discard <= 0: - return - - with open(file, "rb") as infile: - with open(file + ".tmp", "wb") as outfile: - # skip a bunch of the input file until we've discarded - # at least enough - while discard > 0: - chunk = infile.read(1024) - discard -= len(chunk) - - # try to find a line break nearby to split first chunk on - break_position = max( - chunk.find (b"\n", -discard), # search forward - chunk.rfind(b"\n", -discard) # search backwards - ) - if break_position != -1: # if we found a line break.. - outfile.write(chunk[break_position + 1:]) - - # now copy the rest of the file - while True: - chunk = infile.read(1024) - if not chunk: - break - outfile.write(chunk) - - # delete the old file and replace with the new - os.remove(file) - os.rename(file + ".tmp", file) - - -def log(level, text): - datetime = datetime_string() - log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) - print(log_entry) - with open(log_file, "a") as logfile: - logfile.write(log_entry + '\n') - - if _log_truncate_at and file_size(log_file) > _log_truncate_at: - truncate(log_file, _log_truncate_to) - -def info(*items): - if _logging_types & LOG_INFO: - log("info", " ".join(map(str, items))) - -def warn(*items): - if _logging_types & LOG_WARNING: - log("warning", " ".join(map(str, items))) - -def error(*items): - if _logging_types & LOG_ERROR: - log("error", " ".join(map(str, items))) - -def debug(*items): - if _logging_types & LOG_DEBUG: - log("debug", " ".join(map(str, items))) - -def exception(*items): - if _logging_types & LOG_EXCEPTION: - log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/server.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/server.py deleted file mode 100644 index 60a3113..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/server.py +++ /dev/null @@ -1,358 +0,0 @@ -import uasyncio, os, time -from . import logging - -_routes = [] -catchall_handler = None -loop = uasyncio.get_event_loop() - - -def file_exists(filename): - try: - return (os.stat(filename)[0] & 0x4000) == 0 - except OSError: - return False - - -def urldecode(text): - text = text.replace("+", " ") - result = "" - token_caret = 0 - # decode any % encoded characters - while True: - start = text.find("%", token_caret) - if start == -1: - result += text[token_caret:] - break - result += text[token_caret:start] - code = int(text[start + 1:start + 3], 16) - result += chr(code) - token_caret = start + 3 - return result - -def _parse_query_string(query_string): - result = {} - for parameter in query_string.split("&"): - key, value = parameter.split("=", 1) - key = urldecode(key) - value = urldecode(value) - result[key] = value - return result - - -class Request: - def __init__(self, method, uri, protocol): - self.method = method - self.uri = uri - self.protocol = protocol - self.form = {} - self.data = {} - self.query = {} - query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) - self.path = uri[:query_string_start] - self.query_string = uri[query_string_start + 1:] - if self.query_string: - self.query = _parse_query_string(self.query_string) - - def __str__(self): - return f"""\ -request: {self.method} {self.path} {self.protocol} -headers: {self.headers} -form: {self.form} -data: {self.data}""" - - -class Response: - def __init__(self, body, status=200, headers={}): - self.status = status - self.headers = headers - self.body = body - - def add_header(self, name, value): - self.headers[name] = value - - def __str__(self): - return f"""\ -status: {self.status} -headers: {self.headers} -body: {self.body}""" - - -content_type_map = { - "html": "text/html", - "jpg": "image/jpeg", - "jpeg": "image/jpeg", - "svg": "image/svg+xml", - "json": "application/json", - "png": "image/png", - "css": "text/css", - "js": "text/javascript", - "csv": "text/csv", -} - - -class FileResponse(Response): - def __init__(self, file, status=200, headers={}): - self.status = 404 - self.headers = headers - self.file = file - - try: - if (os.stat(self.file)[0] & 0x4000) == 0: - self.status = 200 - - # auto set content type - extension = self.file.split(".")[-1].lower() - if extension in content_type_map: - headers["Content-Type"] = content_type_map[extension] - - headers["Content-Length"] = os.stat(self.file)[6] - except OSError: - return False - - -class Route: - def __init__(self, path, handler, methods=["GET"]): - self.path = path - self.methods = methods - self.handler = handler - self.path_parts = path.split("/") - - # returns True if the supplied request matches this route - def matches(self, request): - if request.method not in self.methods: - return False - compare_parts = request.path.split("/") - if len(compare_parts) != len(self.path_parts): - return False - for part, compare in zip(self.path_parts, compare_parts): - if not part.startswith("<") and part != compare: - return False - return True - - # call the route handler passing any named parameters in the path - def call_handler(self, request): - parameters = {} - for part, compare in zip(self.path_parts, request.path.split("/")): - if part.startswith("<"): - name = part[1:-1] - parameters[name] = compare - - return self.handler(request, **parameters) - - def __str__(self): - return f"""\ -path: {self.path} -methods: {self.methods} -""" - - def __repr__(self): - return f"" - - -# parses the headers for a http request (or the headers attached to -# each field in a multipart/form-data) -async def _parse_headers(reader): - headers = {} - while True: - header_line = await reader.readline() - if header_line == b"\r\n": # crlf denotes body start - break - name, value = header_line.decode().strip().split(": ", 1) - headers[name.lower()] = value - return headers - - -# returns the route matching the supplied path or None -def _match_route(request): - for route in _routes: - if route.matches(request): - return route - return None - - -# if the content type is multipart/form-data then parse the fields -async def _parse_form_data(reader, headers): - boundary = headers["content-type"].split("boundary=")[1] - # discard first boundary line - dummy = await reader.readline() - - form = {} - while True: - # get the field name - field_headers = await _parse_headers(reader) - if len(field_headers) == 0: - break - name = field_headers["content-disposition"].split("name=\"")[1][:-1] - # get the field value - value = "" - while True: - line = await reader.readline() - line = line.decode().strip() - # if we hit a boundary then save the value and move to next field - if line == "--" + boundary: - form[name] = value - break - # if we hit end of form data boundary then save value and return - if line == "--" + boundary + "--": - form[name] = value - return form - value += line - return None - - -# if the content type is application/json then parse the body -async def _parse_json_body(reader, headers): - import json - content_length_bytes = int(headers["content-length"]) - body = await reader.readexactly(content_length_bytes) - return json.loads(body.decode()) - - -status_message_map = { - 200: "OK", 201: "Created", 202: "Accepted", - 203: "Non-Authoritative Information", 204: "No Content", - 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", - 301: "Moved Permanently", 302: "Found", 303: "See Other", - 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", - 307: "Temporary Redirect", 308: "Permanent Redirect", - 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", - 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", - 408: "Request Timeout", 409: "Conflict", 410: "Gone", - 414: "URI Too Long", 415: "Unsupported Media Type", - 416: "Range Not Satisfiable", 418: "I'm a teapot", - 500: "Internal Server Error", 501: "Not Implemented" -} - - -# handle an incoming request to the web server -async def _handle_request(reader, writer): - response = None - - request_start_time = time.ticks_ms() - - request_line = await reader.readline() - try: - method, uri, protocol = request_line.decode().split() - except Exception as e: - logging.error(e) - return - - request = Request(method, uri, protocol) - request.headers = await _parse_headers(reader) - if "content-length" in request.headers and "content-type" in request.headers: - if request.headers["content-type"].startswith("multipart/form-data"): - request.form = await _parse_form_data(reader, request.headers) - if request.headers["content-type"].startswith("application/json"): - request.data = await _parse_json_body(reader, request.headers) - if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): - form_data = await reader.read(int(request.headers["content-length"])) - request.form = _parse_query_string(form_data.decode()) - - route = _match_route(request) - if route: - response = route.call_handler(request) - elif catchall_handler: - response = catchall_handler(request) - - # if shorthand body generator only notation used then convert to tuple - if type(response).__name__ == "generator": - response = (response,) - - # if shorthand body text only notation used then convert to tuple - if isinstance(response, str): - response = (response,) - - # if shorthand tuple notation used then build full response object - if isinstance(response, tuple): - body = response[0] - status = response[1] if len(response) >= 2 else 200 - content_type = response[2] if len(response) >= 3 else "text/html" - response = Response(body, status=status) - response.add_header("Content-Type", content_type) - if hasattr(body, '__len__'): - response.add_header("Content-Length", len(body)) - - # write status line - status_message = status_message_map.get(response.status, "Unknown") - writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) - - # write headers - for key, value in response.headers.items(): - writer.write(f"{key}: {value}\r\n".encode("ascii")) - - # blank line to denote end of headers - writer.write("\r\n".encode("ascii")) - - if isinstance(response, FileResponse): - # file - with open(response.file, "rb") as f: - while True: - chunk = f.read(1024) - if not chunk: - break - writer.write(chunk) - await writer.drain() - elif type(response.body).__name__ == "generator": - # generator - for chunk in response.body: - writer.write(chunk) - await writer.drain() - else: - # string/bytes - writer.write(response.body) - await writer.drain() - - writer.close() - await writer.wait_closed() - - processing_time = time.ticks_ms() - request_start_time - logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") - - -# adds a new route to the routing table -def add_route(path, handler, methods=["GET"]): - global _routes - _routes.append(Route(path, handler, methods)) - # descending complexity order so most complex routes matched first - _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) - - -def set_callback(handler): - global catchall_handler - catchall_handler = handler - - -# decorator shorthand for adding a route -def route(path, methods=["GET"]): - def _route(f): - add_route(path, f, methods=methods) - return f - return _route - - -# decorator for adding catchall route -def catchall(): - def _catchall(f): - set_callback(f) - return f - return _catchall - - -def redirect(url, status = 301): - return Response("", status, {"Location": url}) - - -def serve_file(file): - return FileResponse(file) - - -def run(host = "0.0.0.0", port = 80): - logging.info("> starting web server on port {}".format(port)) - loop.create_task(uasyncio.start_server(_handle_request, host, port)) - loop.run_forever() - -def stop(): - loop.stop() - -def close(): - loop.close() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/template.py b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/template.py deleted file mode 100644 index d1d1df4..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/phew/template.py +++ /dev/null @@ -1,65 +0,0 @@ -from . import logging - -async def render_template(template, **kwargs): - import time - start_time = time.ticks_ms() - - with open(template, "rb") as f: - # read the whole template file, we could work on single lines but - # the performance is much worse - so long as our templates are - # just a handful of kB it's ok to do this - data = f.read() - token_caret = 0 - - while True: - # find the next tag that needs evaluating - start = data.find(b"{{", token_caret) - end = data.find(b"}}", start) - - match = start != -1 and end != -1 - - # no more magic to handle, just return what's left - if not match: - yield data[token_caret:] - break - - expression = data[start + 2:end].strip() - - # output the bit before the tag - yield data[token_caret:start] - - # merge locals with the supplied named arguments and - # the response object - params = {} - params.update(locals()) - params.update(kwargs) - #params["response"] = response - - # parse the expression - try: - if expression.decode("utf-8") in params: - result = params[expression.decode("utf-8")] - result = result.replace("&", "&") - result = result.replace('"', """) - result = result.replace("'", "'") - result = result.replace(">", ">") - result = result.replace("<", "<") - else: - result = eval(expression, globals(), params) - - if type(result).__name__ == "generator": - # if expression returned a generator then iterate it fully - # and yield each result - for chunk in result: - yield chunk - else: - # yield the result of the expression - if result is not None: - yield str(result) - except: - pass - - # discard the parsed bit - token_caret = end + 2 - - logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/project.json b/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/project.json deleted file mode 100644 index d33b376..0000000 --- a/public/firmware-loader/boards/xrp-2350/sparkfun-red-vision/project.json +++ /dev/null @@ -1,45 +0,0 @@ -{ - "title": "MicroPython", - "description": "Flash MicroPython firmware, then copy the listed XRPLib, XRPExamples, ble and phew files to your robot.", - "uf2Path": "firmware.uf2", - "version": "2.2.1", - "urls": [ - ["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], - ["/lib/XRPLib/board.py", "XRPLib/board.py"], - ["/lib/XRPLib/controller.py", "XRPLib/controller.py"], - ["/lib/XRPLib/dashboard.py", "XRPLib/dashboard.py"], - ["/lib/XRPLib/defaults.py", "XRPLib/defaults.py"], - ["/lib/XRPLib/differential_drive.py", "XRPLib/differential_drive.py"], - ["/lib/XRPLib/encoded_motor.py", "XRPLib/encoded_motor.py"], - ["/lib/XRPLib/encoder.py", "XRPLib/encoder.py"], - ["/lib/XRPLib/gamepad.py", "XRPLib/gamepad.py"], - ["/lib/XRPLib/imu.py", "XRPLib/imu.py"], - ["/lib/XRPLib/imu_defs.py", "XRPLib/imu_defs.py"], - ["/lib/XRPLib/motor.py", "XRPLib/motor.py"], - ["/lib/XRPLib/motor_group.py", "XRPLib/motor_group.py"], - ["/lib/XRPLib/pid.py", "XRPLib/pid.py"], - ["/lib/XRPLib/puppet.py", "XRPLib/puppet.py"], - ["/lib/XRPLib/rangefinder.py", "XRPLib/rangefinder.py"], - ["/lib/XRPLib/reflectance.py", "XRPLib/reflectance.py"], - ["/lib/XRPLib/resetbot.py", "XRPLib/resetbot.py"], - ["/lib/XRPLib/servo.py", "XRPLib/servo.py"], - ["/lib/XRPLib/timeout.py", "XRPLib/timeout.py"], - ["/lib/XRPLib/webserver.py", "XRPLib/webserver.py"], - ["/XRPExamples/__init__.py", "XRPExamples/__init__.py"], - ["/XRPExamples/drive_examples.py", "XRPExamples/drive_examples.py"], - ["/XRPExamples/gamepad_example.blocks", "XRPExamples/gamepad_example.blocks"], - ["/XRPExamples/installation_verification.py", "XRPExamples/installation_verification.py"], - ["/XRPExamples/led_example.py", "XRPExamples/led_example.py"], - ["/XRPExamples/sensor_examples.py", "XRPExamples/sensor_examples.py"], - ["/XRPExamples/webserver_example.py", "XRPExamples/webserver_example.py"], - ["/lib/ble/__init__.py", "ble/__init__.py"], - ["/lib/ble/ble_uart_peripheral.py", "ble/ble_uart_peripheral.py"], - ["/lib/ble/blerepl.py", "ble/blerepl.py"], - ["/lib/ble/isrunning", "ble/isrunning"], - ["/lib/phew/__init__.py", "phew/__init__.py"], - ["/lib/phew/dns.py", "phew/dns.py"], - ["/lib/phew/logging.py", "phew/logging.py"], - ["/lib/phew/server.py", "phew/server.py"], - ["/lib/phew/template.py", "phew/template.py"] - ] -} diff --git a/public/firmware-loader/boards/xrp-2350/wpilib/firmware.uf2 b/public/firmware-loader/boards/xrp-2350/wpilib/firmware.uf2 deleted file mode 100644 index 0732fb256982d673c6b0909ed32c429df0b9b8ce..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 956416 zcmeFad3;nwx<6cJ=`HCbodw87IO!9hvq3{Z1E_R5Ns*+%gl%L~ngr!Q5CZ7jpyQ<> zh>>MPf(nUfBhcpUO 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zFw4wAi423AafNU(J}41j6ev-})Io`QMuig1Ogoh5V7j104-Uq1R6#QC}$Yq+xB ztH(}!ig|YLdgNE%vz5h`mFIt(>3`ci{!2fypseLAwN_)LzpI~on$2Fu#4H&7B9q;7 Qv;Ua2%+LDMOMv|U4`2K&`Tzg` diff --git a/public/firmware-loader/boards/xrp-2350/wpilib/project.json b/public/firmware-loader/boards/xrp-2350/wpilib/project.json deleted file mode 100644 index 655f71d..0000000 --- a/public/firmware-loader/boards/xrp-2350/wpilib/project.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "title": "WPILib", - "description": "WPILib files for the XRP 2350", - "uf2Path": "firmware.uf2", - "version": "2.2.1" -} diff --git a/public/firmware-loader/boards/xrp-beta.json b/public/firmware-loader/boards/xrp-beta.json deleted file mode 100644 index 32b6c3d..0000000 --- a/public/firmware-loader/boards/xrp-beta.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "title": "XRP Beta — choose a project", - "description": "Each project bundles firmware and library files to load onto your robot. Pick one to continue.", - "projects": [ - { - "id": "micropython", - "name": "MicroPython", - "description": "MicroPython runtime and XRP libraries for the XRP Beta board.", - "image": "/firmware-loader/images/project-micropython.svg", - "nextLevel": "boards/xrp-beta/micropython/project.json" - }, - { - "id": "wpilib", - "name": "WPILib", - "description": "WPILib-based firmware and tools for the XRP Beta board.", - "image": "/firmware-loader/images/project-wpilib.svg", - "nextLevel": "boards/xrp-beta/wpilib/project.json" - } - ] -} diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/__init__.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/dashboard sample.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/dashboard sample.py deleted file mode 100644 index 87ab311..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/dashboard sample.py +++ /dev/null @@ -1,65 +0,0 @@ -from XRPLib.defaults import * -from ble.blerepl import uart -from time import sleep -from micropython import const -import time -import struct - -YAW = const(0) -ROLL = const(1) -PTICH = const(2) -ACCX = const(3) -ACCY = const(4) -ACCZ = const(5) -ENCL = const(6) -ENCR = const(7) -ENC3 = const(8) -ENC4 = const(9) -CURRL = const(10) -CURRR = const(11) -CURR3 = const(12) -CURR4 = const(13) -DIST = const(14) -REFLECTANCEL = const(15) -REFLECTANCER = const(16) -VOLTAGE = const(17) - -def startDashboard(): - data = bytearray([0x46, 0]) - uart.write_data(data) - -def sendIntValue(index, value): - data = bytearray([0x45, 3, 0, 0, 0]) - data[3] = index - data[4] = value - uart.write_data(data) - -def sendFloatValue(index, value): - data = bytearray([0x45, 6, 1, 0, 0, 0, 0 ,0]) - data[3] = index - data[4:] = struct.pack(' timeout: - break - -print("done") - -print("done") - - diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/drive_examples.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/drive_examples.py deleted file mode 100644 index c9719fa..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/drive_examples.py +++ /dev/null @@ -1,72 +0,0 @@ -from XRPLib.defaults import * -import time - -""" - By the end of this file students will learn how to control the drivetrain, - both by setting effort values directly to the motors and by using go_straight and go_turn -""" - -# drive straight for a set time period (defualt 1 second) -def drive_straight(drive_time: float = 1): - drivetrain.set_effort(0.8, 0.8) - time.sleep(drive_time) - drivetrain.stop() - -# drive at a slight counter clockwise arc for a set time period (default 1 second) -def arc_turn(turn_time: float = 1): - drivetrain.set_effort(0.5, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# turn CCW at a point for a set time period (default 1 second) -def point_turn(turn_time: float = 1): - drivetrain.set_effort(-0.8, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# pivot turn around the left wheel for a set time period (default 1 second) -def swing_turn(turn_time: float = 1): - drivetrain.set_effort(0, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# Driving in a circle by setting a difference in motor efforts -def circle(): - while True: - drivetrain.set_effort(0.8, 1) - -# Follow the perimeter of a square with variable sidelength -def square(sidelength): - for sides in range(4): - drivetrain.straight(sidelength, 0.8) - drivetrain.turn(90) - # Alternatively: - # polygon(sidelength, 4) - -# Follow the perimeter of an arbitrary polygon with variable side length and number of sides -# Side length in centimeters -def polygon(side_length, number_of_sides): - for s in range(number_of_sides): - drivetrain.straight(side_length) - drivetrain.turn(360/number_of_sides) - -# A slightly longer example program showing how a robot may follow a simple path -def test_drive(): - print("Driving forward 25cm") - drivetrain.straight(25, 0.8) - - time.sleep(1) - - print("turn 90 degrees right") - drivetrain.turn(90,0.8) - - time.sleep(1) - - print("turn 90 degrees left by setting speed negative") - drivetrain.turn(90, -0.8) - - time.sleep(1) - - print("drive backwards 25 cm by setting distance negative") - # There is no difference between setting speed or distance negative, both work - drivetrain.straight(-25,0.8) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/gamepad_example.blocks b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/gamepad_example.blocks deleted file mode 100644 index d5e3795..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/gamepad_example.blocks +++ /dev/null @@ -1,15 +0,0 @@ -from XRPLib.gamepad import * -from XRPLib.differential_drive import DifferentialDrive - -gp = Gamepad.get_default_gamepad() - -differentialDrive = DifferentialDrive.get_default_differential_drive() - - -while not (gp.is_button_pressed(gp.BACK)): - differentialDrive.arcade((gp.get_value(gp.Y1)), (gp.get_value(gp.X1))) - - - -## [2025-07-13 01:36:24] -##XRPBLOCKS {"blocks":{"languageVersion":0,"blocks":[{"type":"controls_whileUntil","id":"#/DDnbE2JxVsLQo`C`e^","x":-363,"y":16,"fields":{"MODE":"UNTIL"},"inputs":{"BOOL":{"block":{"type":"xrp_gp_button_pressed","id":"DtLypJc;SU2xT4A~S3nV","fields":{"GPBUTTON":"BACK"}}},"DO":{"block":{"type":"xrp_arcade","id":"(|]Iln#JYa9hzgEz+(4g","inputs":{"STRAIGHT":{"shadow":{"type":"math_number","id":"FOj1uvC$:~x/+cX}d(:|","fields":{"NUM":0.8}},"block":{"type":"xrp_gp_get_value","id":"s#GS_Dt)B8Cb9+4ctpwk","fields":{"GPVALUE":"Y1"}}},"TURN":{"shadow":{"type":"math_number","id":"n1jAKrjST!+3#bfChh$d","fields":{"NUM":0.2}},"block":{"type":"xrp_gp_get_value","id":"*]`U9XHyYnA?Gp%U;$NF","fields":{"GPVALUE":"X1"}}}}}}}}]}} \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/installation_verification.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/installation_verification.py deleted file mode 100644 index 8f33c4e..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/installation_verification.py +++ /dev/null @@ -1,84 +0,0 @@ -from XRPLib.defaults import * -import time - -# Installation Verification Program -def ivp(): - # Print welcome message - print("------------------------------------------") - print("Running Installation Verification Program!") - print("------------------------------------------") - print() - print("Welcome to the XRP! This example code will help") - print("you verify that everything is working on your robot.") - print("After each test, press the user button to continue.") - print() - - # Flash LED at 5Hz - print("Flashing LED") - board.led_blink(5) - - # Wait for user to press button - print("Press user button to test reflectance sensor") - board.wait_for_button() - - # Stop blinking LED - board.led_off() - - # Print reflectance values until button is pressed - while not board.is_button_pressed(): - print(f"Reflectance Left: {reflectance.get_left():.3f} Right: {reflectance.get_right():.3f} Press user button to test range sensor") - time.sleep(0.1) - - # Wait until button is released - while board.is_button_pressed(): - time.sleep(0.1) - - # Print range values until button is pressed - while not board.is_button_pressed(): - print(f"Range Distance: {rangefinder.distance():.1f} Press user button to test servo") - time.sleep(0.1) - - # Wait until button is released - while board.is_button_pressed(): - time.sleep(0.1) - - # Print warning and wait for button press - print() - print("The next test will move the servo, so keep your hands clear!") - print("Also please make sure the power switch is turned on!") - print("Press user button to test servo") - board.wait_for_button() - - # Test servo - print("Testing servo") - time.sleep(1) - servo_one.set_angle(90) - time.sleep(1) - servo_one.set_angle(0) - time.sleep(1) - servo_one.set_angle(180) - - # Print warning and wait for button press - print() - print("The next test will drive the motors, so place the robot on a flat surface!") - print("Also please make sure the power switch is turned on!") - print("Press user button to test drivetrain") - board.wait_for_button() - - # Test drivetrain - print("Testing drivetrain") - time.sleep(1) - drivetrain.straight(25, 0.8) - time.sleep(1) - drivetrain.turn(90,0.8) - time.sleep(1) - drivetrain.turn(90, -0.8) - time.sleep(1) - drivetrain.straight(-25,0.8) - - print() - print("-----------------------------------") - print("All tests complete! Happy roboting!") - print("-----------------------------------") - -ivp() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/led_example.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/led_example.py deleted file mode 100644 index bb1286e..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/led_example.py +++ /dev/null @@ -1,79 +0,0 @@ -from XRPLib.board import Board -from machine import Timer, Pin -import time - -# Get a reference to the board -board = Board.get_default_board() - -# Create a timer for the RGB LED, assuming it's present on this board -rgb_led_timer = Timer(-1) - -# Conversion from hue to RGB -def hue_to_rgb(hue): - # Initialize RGB values - r = 0 - g = 0 - b = 0 - - # Ensure hue is in range of [0,360) - hue %= 360 - - if(hue < 120): - # Red to green region - r = (120 - hue) / 120 * 255 - g = (hue - 0) / 120 * 255 - b = 0 - elif(hue < 240): - # Green to blue region - hue -= 120 - r = 0 - g = (120 - hue) / 120 * 255 - b = (hue - 0) / 120 * 255 - else: - # Blue to red region - hue -= 240 - r = (hue - 0) / 120 * 255 - g = 0 - b = (120 - hue) / 120 * 255 - - # Return RGB as tuple of integers in range of [0,255] - return (int(r), int(g), int(b)) - -def update_rgb_led_rainbow(timer): - # Set hue based on current time. Hue is an angle up to 360 degrees, - # so using the milliseconds divided by 10 creates a rainbow that - # repeats every 3.6 seconds - hue = time.ticks_ms() / 10 - - # Compute RGB values - rgb = hue_to_rgb(hue) - - # Max brightness is blinding, so recompute RGB values with 10% brightness - brightness = 0.1 - r = int(rgb[0] * brightness) - g = int(rgb[1] * brightness) - b = int(rgb[2] * brightness) - - # Set the RGB LED color - board.set_rgb_led(r, g, b) - -def start_led_demo(): - # Make the monochrome LED start blinking - board.led_blink(1) - - # If this board has an RGB LED, make it start changing colors - if hasattr(Pin.board, "BOARD_NEOPIXEL"): - # Set up timer to update the RGB LED at 100Hz for smooth color changes - rgb_led_timer.init(freq = 100, callback = update_rgb_led_rainbow) - -def stop_led_demo(): - # Make the monochrome LED stop blinking and turn off the LED - board.led_blink(0) - board.led_off() - - # If this board has an RGB LED, stop the timer and turn off the LED - if hasattr(Pin.board, "BOARD_NEOPIXEL"): - rgb_led_timer.deinit() - board.set_rgb_led(0, 0, 0) - -start_led_demo() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/sensor_examples.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/sensor_examples.py deleted file mode 100644 index 69b280a..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/sensor_examples.py +++ /dev/null @@ -1,75 +0,0 @@ -from XRPLib.defaults import * -import time - -""" - By the end of this file students will learn how to read and use data from - both the ultrasonic sensors and the line followers. - They will also have a chance to learn the basics of proportional control. -""" - -# Polling data from the ultrasonic sensor -def ultrasonic_test(): - while True: - print(rangefinder.distance()) - time.sleep(0.1) - -# Approaches a wall at a set speed and then stops -def drive_till_close(target_distance: float = 10.0): - speed = 0.6 - while rangefinder.distance() > target_distance: - drivetrain.set_effort(speed, speed) - time.sleep(0.01) - drivetrain.set_effort(0, 0) - -# Maintains a certain distance from the wall using proportional control -def standoff(target_distance: float = 10.0): - KP = 0.2 - while True: - distance = rangefinder.distance() - error = distance - target_distance - drivetrain.set_effort(error * KP, error*KP) - time.sleep(0.01) - -# Maintains a certain distance from the wall while driving -# using proportional control (sensor on right side of robot this time) -def wall_follow(target_distance: float = 10.0): - KP = 0.1 - base_speed = 0.5 - while True: - distance = rangefinder.distance() - error = distance - target_distance - print(error) - drivetrain.set_effort(base_speed + error * KP, base_speed - error*KP) - time.sleep(0.01) - -# Follows a line using the line followers -def line_track(): - base_effort = 0.6 - KP = 0.6 - while True: - # You always want to take the difference of the sensors because the raw value isn't always consistent. - error = reflectance.get_left() - reflectance.get_right() - print(error) - drivetrain.set_effort(base_effort - error * KP, base_effort + error * KP) - time.sleep(0.01) - -# Polling data from the IMU -def imu_test(): - while True: - print(f"Pitch: {imu.get_pitch()}, Heading: {imu.get_heading()}, Roll: {imu.get_yaw()}, Accelerometer output: {imu.get_acc_rates()}") - time.sleep(0.1) - -def climb_ramp(ramp_angle, angle_tolerance=3.5): - speed = 0.6 - # Find ramp by driving forward - while imu.get_pitch() < ramp_angle-angle_tolerance: - drivetrain.set_effort(speed, speed) - time.sleep(0.05) - # Drive up ramp until angle levels out again - while imu.get_pitch() >= ramp_angle-angle_tolerance: - drivetrain.set_effort(speed, speed) - time.sleep(0.05) - # Then stop - drivetrain.set_effort(0, 0) - -ultrasonic_test() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/webserver_example.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/webserver_example.py deleted file mode 100644 index 695697d..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/webserver_example.py +++ /dev/null @@ -1,48 +0,0 @@ -from XRPLib.defaults import * -import time -from machine import Timer - -# Binding functions to the arrow buttons -webserver.registerForwardButton(lambda: drivetrain.set_effort(0.5, 0.5)) -webserver.registerLeftButton(lambda: drivetrain.set_effort(-0.5, 0.5)) -webserver.registerRightButton(lambda: drivetrain.set_effort(0.5, -0.5)) -webserver.registerBackwardButton(lambda: drivetrain.set_effort(-0.5, -0.5)) -webserver.registerStopButton(lambda: drivetrain.set_effort(0, 0)) - -# Binding functions to custom buttons -webserver.add_button("Close Server", lambda: webserver.stop_server()) -webserver.add_button("Blink", lambda: board.led_blink(2)) -webserver.add_button("LED Off", lambda: board.led_off()) -webserver.add_button("Servo Up", lambda: servo_one.set_angle(90)) -webserver.add_button("Servo Down", lambda: servo_one.set_angle(0)) - -# Logging static data to the webserver -# webserver.log_data("test", "test") -# webserver.log_data("List", [1,2,3]) -# webserver.log_data("Dict", {"a":1,"b":2,"c":3}) -# webserver.log_data("Tuple", (1,2,3)) - -def log_time_and_range(): - # This function is called every second to update the data on the webserver - webserver.log_data("Time", time.time()) - webserver.log_data("Range", rangefinder.distance()) - webserver.log_data("Left Motor", left_motor.get_position()) - webserver.log_data("Right Motor", right_motor.get_position()) - webserver.log_data("Button State", board.is_button_pressed()) - -timer = Timer(-1) -timer.init(freq=4, mode=Timer.PERIODIC, callback=lambda t: log_time_and_range()) - -def connect_and_start_webserver(): - # Connect to the network and start the webserver in bridge mode - # Network ssid and password are stored in root/secrets.json - webserver.connect_to_network() - webserver.start_server() - -def start_network_and_webserver(): - # Start the webserver in access point mode - # Network ssid and password are stored in root/secrets.json - webserver.start_network() - webserver.start_server() - -start_network_and_webserver() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/xrp_test.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/xrp_test.py deleted file mode 100644 index 4455401..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPExamples/xrp_test.py +++ /dev/null @@ -1,76 +0,0 @@ -from XRPLib.defaults import * -from machine import Pin -import time - -imu.reset_pitch() -imu.reset_yaw() -imu.reset_roll() - -def log_imu_heading(): - # Set to true to log the IMU heading forever - while True: - print(imu.get_yaw()) - time.sleep(0.1) - -def log_encoder_position(): - while True: - print(left_motor.get_position(), right_motor.get_position()) - time.sleep(0.1) - -def benchmark_encoder_isr(): - print("start benchmark") - N = 100000 - a = time.time() - for i in range(N): - drivetrain.left_motor._encoder.isr() - b = time.time() - - # Print benchmark - print(f"Time for {N} calls: {b-a}s") - print(f"Time per call: {(b-a)/N}s") # ~0.06 ms per call - -def test_turns(): - drivetrain.turn(45, 0.5) - time.sleep(1) - drivetrain.turn(-45, 0.75) - time.sleep(1) - - drivetrain.turn(90, 0.5) - time.sleep(1) - drivetrain.turn(-90, 0.75) - time.sleep(1) - - - # Turns 360 slow and fast, then turns 180 slow and fast - drivetrain.turn(360, 0.5) - time.sleep(1) - drivetrain.turn(-360, 0.75) - time.sleep(1) - -def test_straight(): - drivetrain.straight(30, 0.2) - -def test_set_effort(): - drivetrain.set_effort(0.3, 0.3) - time.sleep(2) - drivetrain.stop() - -def test_led(): - board.led_blink(5) - time.sleep(3) - board.led_off() - -def test_button(): - board.set_button_callback(trigger=Pin.IRQ_RISING, callback=lambda p: board.led.toggle()) - -def test_rangefinder(): - while not board.is_button_pressed(): - print(f"{rangefinder.distance()}, {rangefinder.distance()}") - time.sleep(0.5) - -def encoder_test(): - while not board.is_button_pressed(): - print(f"Left: {left_motor.get_position()}\tRight:{right_motor.get_position()}") - time.sleep(0.1) - -test_rangefinder() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/__init__.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/__init__.py deleted file mode 100644 index 6759c04..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/__init__.py +++ /dev/null @@ -1,10 +0,0 @@ -""" - THIS LIBRARY WAS MADE FOR THE SPARKFUN XRP CONTROL BOARD. - PLEASE USE THE ASSOCIATED MICROPYTHON UF2 FILE. -""" - -import sys -if not "XRP" in sys.implementation._machine: - raise NotImplementedError("This library does not support your version of MicroPython. " - + "Please update your UF2 File for the Beta XRP Controller here: " - + "https://github.com/Open-STEM/XRP_MicroPython/releases/tag/v2.0.0") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/board.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/board.py deleted file mode 100644 index 8039f77..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/board.py +++ /dev/null @@ -1,127 +0,0 @@ -from machine import Pin, ADC, Timer -from neopixel import NeoPixel -import time -import sys - -class Board: - - _DEFAULT_BOARD_INSTANCE = None - - @classmethod - def get_default_board(cls): - """ - Get the default board instance. This is a singleton, so only one instance of the board will ever exist. - """ - if cls._DEFAULT_BOARD_INSTANCE is None: - cls._DEFAULT_BOARD_INSTANCE = cls() - return cls._DEFAULT_BOARD_INSTANCE - - def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON", - rgb_led_pin = "BOARD_NEOPIXEL", led_pin = "LED"): - """ - Implements for extra features on the XRP board. Handles the on/off switch, button, and LED. - - :param vin_pin: The pin the on/off switch is connected to - :type vin_pin: int - :param button_pin: The pin the button is connected to - :type button_pin: int - """ - - self.on_switch = ADC(Pin(vin_pin)) - - self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP) - - self.led = Pin(led_pin, Pin.OUT) - - if hasattr(Pin.board, rgb_led_pin): - self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1) - # A timer ID of -1 is a virtual timer. - # Leaves the hardware timers for more important uses - self._virt_timer = Timer(-1) - self.is_led_blinking = False - - - def are_motors_powered(self) -> bool: - """ - :return: Returns true if the batteries are connected and powering the motors, false otherwise - :rytpe: bool - """ - return self.on_switch.read_u16() > 20000 - - def is_button_pressed(self) -> bool: - """ - Returns the state of the button - - :return: True if the button is pressed, False otherwise - :rtype: bool - """ - return not self.button.value() - - def wait_for_button(self): - """ - Halts the program until the button is pressed - """ - - # Wait until user command before running - while not self.is_button_pressed(): - time.sleep(.01) - - # Wait until user to release button before running - while self.is_button_pressed(): - time.sleep(.01) - - - def led_on(self): - """ - Turns the LED on - Stops the blinking timer if it is running - """ - self.is_led_blinking = False - self.led.on() - self._virt_timer.deinit() - - def led_off(self): - """ - Turns the LED off - Stops the blinking timer if it is running - """ - self.is_led_blinking = False - self.led.off() - self._virt_timer.deinit() - - def led_blink(self, frequency: int=0): - """ - Blinks the LED at a given frequency. If the frequency is 0, the LED will stop blinking. - - :param frequency: The frequency to blink the LED at (in Hz) - :type frequency: int - """ - if self.is_led_blinking: - # disable the old timer so we can reinitialize it - self._virt_timer.deinit() - # We set it to twice in input frequency so that - # the led flashes on and off frequency times per second - if frequency != 0: - self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC, - callback=lambda t:self.led.toggle()) - self.is_led_blinking = True - else: - self._virt_timer.deinit() - self.is_led_blinking = False - - def set_rgb_led(self, r:int, g:int, b:int): - """ - Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta - - :param r: The amount of red in the desired color - :type r: int - :param g: The amount of green in the desired color - :type g: int - :param b: The amount of blue in the desired color - :type b: int - """ - if "rgb_led" in self.__dict__: - self.rgb_led[0] = (r, g, b) - self.rgb_led.write() - else: - raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta") diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/controller.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/controller.py deleted file mode 100644 index 8d14a60..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/controller.py +++ /dev/null @@ -1,30 +0,0 @@ -class Controller: - """ - An abstract class to be entended to demonstrate different types of control. A PID subclass has also been provided - """ - - def update(self, input) -> float: - """ - Handle a new update of this control loop given an effected input. - - :param error: The input to this controller for a given update. Usually an error or some other correctable value - :type error: float - - :return: The system output from the controller, to be used as an effort value or for any other purpose - :rtype: float - """ - pass - - def is_done(self) -> bool: - - """ - :return: If the controller has reached or settled at its desired value - :rtype: bool - """ - pass - - def clear_history(self): - """ - Clears all past data, such as integral sums or any other previous data - """ - pass \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/dashboard.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/dashboard.py deleted file mode 100644 index 385e14e..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/dashboard.py +++ /dev/null @@ -1,257 +0,0 @@ -from .encoded_motor import EncodedMotor -from .rangefinder import Rangefinder -from .imu import IMU -from .reflectance import Reflectance -from .puppet import Puppet, VAR_TYPE_INT, VAR_TYPE_FLOAT, PERM_READ_ONLY - -from machine import Timer, ADC, Pin -from micropython import const -import time - - -class Dashboard: - - _DEFAULT_DASHBOARD_INSTANCE = None - - # Variable type constants - VAR_TYPE_FLOAT = const(2) - - # Permission constants - PERM_READ_ONLY = const(1) - PERM_WRITE_ONLY = const(2) - - # Backward compatibility constants - YAW = const(0) - ROLL = const(1) - PTICH = const(2) - ACCX = const(3) - ACCY = const(4) - ACCZ = const(5) - ENCL = const(6) - ENCR = const(7) - ENC3 = const(8) - ENC4 = const(9) - CURRR = const(10) - CURRL = const(11) - CURR3 = const(12) - CURR4 = const(13) - DIST = const(14) - REFL = const(15) - REFR = const(16) - VOLTAGE = const(17) - - # Mapping from old index to XPP variable names - _VAR_NAMES = { - YAW: '$imu.yaw', - ROLL: '$imu.roll', - PTICH: '$imu.pitch', - ACCX: '$imu.acc_x', - ACCY: '$imu.acc_y', - ACCZ: '$imu.acc_z', - ENCL: '$encoder.left', - ENCR: '$encoder.right', - ENC3: '$encoder.3', - ENC4: '$encoder.4', - CURRL: '$current.left', - CURRR: '$current.right', - CURR3: '$current.3', - CURR4: '$current.4', - DIST: '$rangefinder.distance', - REFL: '$reflectance.left', - REFR: '$reflectance.right', - VOLTAGE: '$voltage', - } - - @classmethod - def get_default_dashboard(cls): - """ - Get the default XRP dashboard instance. This is a singleton, so only one instance of the dashboard sensor will ever exist. - """ - if cls._DEFAULT_DASHBOARD_INSTANCE is None: - cls._DEFAULT_DASHBOARD_INSTANCE = cls() - return cls._DEFAULT_DASHBOARD_INSTANCE - - def __init__(self): - """ - Manages communication with dashboard data going to a remote computer via XPP protocol. - """ - self.left_motor = EncodedMotor.get_default_encoded_motor(index=1) - self.right_motor = EncodedMotor.get_default_encoded_motor(index=2) - self.motor_three = EncodedMotor.get_default_encoded_motor(index=3) - self.motor_four = EncodedMotor.get_default_encoded_motor(index=4) - self.imu = IMU.get_default_imu() - self.rangefinder = Rangefinder.get_default_rangefinder() - self.reflectance = Reflectance.get_default_reflectance() - self.VoltageADC = ADC(Pin('BOARD_VIN_MEASURE')) - #self.CurrLADC = ADC(Pin('ML_CUR')) - #self.CurrRADC = ADC(Pin('MR_CUR')) - #self.Curr3ADC = ADC(Pin('M3_CUR')) - #self.Curr4ADC = ADC(Pin('M4_CUR')) - - # Get XPP instance - self._puppet = Puppet.get_default_puppet() - - # Register all sensor variables - self._register_variables() - - # Create timer for periodic updates - self.update_timer = Timer(-1) - self._update_rate = 3 # Default 3 Hz - - def _register_variables(self): - """ - Register all sensor variables with XPP. - """ - # IMU variables (float) - for var_name in ['$imu.yaw', '$imu.roll', '$imu.pitch', - '$imu.acc_x', '$imu.acc_y', '$imu.acc_z']: - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - - # Encoder variables (int) - for var_name in ['$encoder.left', '$encoder.right', '$encoder.3', '$encoder.4']: - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) - - # Current sensor variables (int) - for var_name in ['$current.left', '$current.right', '$current.3', '$current.4']: - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) - - # Other sensor variables (float) - for var_name in ['$rangefinder.distance', '$reflectance.left', - '$reflectance.right', '$voltage']: - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - - def sendIntValue(self, index, value): - """ - Send an integer value (backward compatibility method). - Now uses XPP protocol. - - :param index: Variable index constant - :type index: int - :param value: Integer value to send - :type value: int - """ - if index not in self._VAR_NAMES: - return - - var_name = self._VAR_NAMES[index] - try: - self._puppet.set_variable(var_name, value) - except: - pass # Variable might not be registered yet - - def sendFloatValue(self, index, value): - """ - Send a float value (backward compatibility method). - Now uses XPP protocol. - - :param index: Variable index constant - :type index: int - :param value: Float value to send - :type value: float - """ - if index not in self._VAR_NAMES: - return - - var_name = self._VAR_NAMES[index] - try: - self._puppet.set_variable(var_name, value) - except: - pass # Variable might not be registered yet - - def _dashboard_update(self): - """ - Update all sensor variables with current readings. - """ - # IMU data - self._puppet.set_variable('$imu.yaw', self.imu.get_yaw()) - self._puppet.set_variable('$imu.roll', self.imu.get_roll()) - self._puppet.set_variable('$imu.pitch', self.imu.get_pitch()) - self._puppet.set_variable('$imu.acc_x', self.imu.get_acc_x()) - self._puppet.set_variable('$imu.acc_y', self.imu.get_acc_y()) - self._puppet.set_variable('$imu.acc_z', self.imu.get_acc_z()) - - # Encoder data - self._puppet.set_variable('$encoder.left', self.left_motor.get_position_counts()) - self._puppet.set_variable('$encoder.right', self.right_motor.get_position_counts()) - self._puppet.set_variable('$encoder.3', self.motor_three.get_position_counts()) - self._puppet.set_variable('$encoder.4', self.motor_four.get_position_counts()) - - # Current sensor data - #self._puppet.set_variable('$current.left', self.CurrLADC.read_u16()) - #self._puppet.set_variable('$current.right', self.CurrRADC.read_u16()) - #self._puppet.set_variable('$current.3', self.Curr3ADC.read_u16()) - #self._puppet.set_variable('$current.4', self.Curr4ADC.read_u16()) - - # Other sensors - self._puppet.set_variable('$rangefinder.distance', self.rangefinder.distance()) - self._puppet.set_variable('$reflectance.left', self.reflectance.get_left()) - self._puppet.set_variable('$reflectance.right', self.reflectance.get_right()) - - # Voltage - voltage = self.VoltageADC.read_u16() / (1024*64/14) - self._puppet.set_variable('$voltage', voltage) - - def start(self, rate_hz=3): - """ - Start sending dashboard packets to the remote computer at the specified rate. - - :param rate_hz: Update rate in Hz (default: 3) - :type rate_hz: int - """ - self._update_rate = rate_hz - - # Subscribe all variables at the specified rate - for var_name in self._VAR_NAMES.values(): - try: - self._puppet.subscribe_variable(var_name, rate_hz) - except: - pass # Variable might not be registered yet - - # Also use timer for backward compatibility - period_ms = int(1000 / rate_hz) - self.update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._dashboard_update()) - self._puppet.start() - - def stop(self): - """ - Stop sending dashboard data packets. - """ - # Unsubscribe from all variables - for var_name in self._VAR_NAMES.values(): - try: - self._puppet.subscribe_variable(var_name, 0) - except: - pass - - # Stop timer - self.update_timer.deinit() - self._puppet.stop() - - def set_value(self, name, value, rate_hz=3): - """ - Define a variable and subscribe to it at the specified rate. - - :param name: The variable name - :type name: str - :param value: The value to set - :type value: float - :param rate_hz: The update rate in Hz (default: 3) - :type rate_hz: int - """ - self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - try: - self._puppet.subscribe_variable(name, rate_hz) - except: - pass - self._puppet.set_variable(name, value) - - def get_value(self, name): - """ - Get the value of a variable. - - :param name: The variable name - :type name: str - """ - self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) - return self._puppet.get_variable(name) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/defaults.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/defaults.py deleted file mode 100644 index 38216c8..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/defaults.py +++ /dev/null @@ -1,34 +0,0 @@ -from .board import Board -from .differential_drive import DifferentialDrive -from .motor import SinglePWMMotor, DualPWMMotor -from .encoder import Encoder -from .encoded_motor import EncodedMotor -from .rangefinder import Rangefinder -from .imu import IMU -from .reflectance import Reflectance -from .servo import Servo -from .webserver import Webserver -from machine import Pin - -""" -A simple file that constructs all of the default objects for the XRP robot -Run "from XRPLib.defaults import *" to use -""" - -left_motor = EncodedMotor.get_default_encoded_motor(index=1) -right_motor = EncodedMotor.get_default_encoded_motor(index=2) -motor_three = EncodedMotor.get_default_encoded_motor(index=3) -motor_four = EncodedMotor.get_default_encoded_motor(index=4) -imu = IMU.get_default_imu() -drivetrain = DifferentialDrive.get_default_differential_drive() -rangefinder = Rangefinder.get_default_rangefinder() -reflectance = Reflectance.get_default_reflectance() -servo_one = Servo.get_default_servo(index=1) -servo_two = Servo.get_default_servo(index=2) -webserver = Webserver.get_default_webserver() -board = Board.get_default_board() - -if hasattr(Pin.board, "SERVO_3"): - servo_three = Servo.get_default_servo(index=3) -if hasattr(Pin.board, "SERVO_4"): - servo_four = Servo.get_default_servo(index=4) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/differential_drive.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/differential_drive.py deleted file mode 100644 index e3fbd5f..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/differential_drive.py +++ /dev/null @@ -1,340 +0,0 @@ -from .encoded_motor import EncodedMotor -from .imu import IMU -from .controller import Controller -from .pid import PID -from .timeout import Timeout -import time -import math - -class DifferentialDrive: - - _DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE =None - - @classmethod - def get_default_differential_drive(cls): - - """ - Get the default XRP differential drive instance. This is a singleton, so only one instance of the drivetrain will ever exist. - """ - - if cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE is None: - cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE = cls( - EncodedMotor.get_default_encoded_motor(index=1), - EncodedMotor.get_default_encoded_motor(index=2), - IMU.get_default_imu() - ) - - return cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE - - def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU = None, wheel_diam:float = 6.0, wheel_track:float = 15.5): - """ - A Differential Drive class designed for the XRP two-wheeled drive robot. - - :param leftMotor: The left motor of the drivetrain - :type leftMotor: EncodedMotor - :param rightMotor: The right motor of the drivetrain - :type rightMotor: EncodedMotor - :param imu: The IMU of the robot. If None, the robot will not use the IMU for turning or maintaining heading. - :type imu: IMU - :param wheelDiam: The diameter of the wheels in inches. Defaults to 6 cm. - :type wheelDiam: float - :param wheelTrack: The distance between the wheels in inches. Defaults to 15.5 cm. - :type wheelTrack: float - """ - - self.left_motor = left_motor - self.right_motor = right_motor - self.imu = imu - - self.brake_at_zero_power = False - self.wheel_diam = wheel_diam - self.track_width = wheel_track - - self.heading_pid = None - self.current_heading = None - self.reset_heading = True - self.turning = False - - if self.imu: - # if the IMU is initialized, then create a PID controller that can be used - # to maintain a constant heading when driving - self.heading_pid = PID( kp = 0.075, kd=0.001, ) - - def set_effort(self, left_effort: float, right_effort: float) -> None: - """ - Set the raw effort of both motors individually - - :param leftEffort: The power (Bounded from -1 to 1) to set the left motor to. - :type leftEffort: float - :param rightEffort: The power (Bounded from -1 to 1) to set the right motor to. - :type rightEffort: float - """ - - self.left_motor.set_effort(left_effort) - self.right_motor.set_effort(right_effort) - - def set_speed(self, left_speed: float, right_speed: float) -> None: - """ - Set the speed of both motors individually - - :param leftSpeed: The speed (In Centimeters per Second) to set the left motor to. - :type leftSpeed: float - :param rightSpeed: The speed (In Centimeters per Second) to set the right motor to. - :type rightSpeed: float - """ - # Convert from cm/s to RPM - cmpsToRPM = 60 / (math.pi * self.wheel_diam) - self.left_motor.set_speed(left_speed*cmpsToRPM) - self.right_motor.set_speed(right_speed*cmpsToRPM) - - def set_zero_effort_behavior(self, brake_at_zero_effort): - - """ - Sets the behavior of both motor at 0 effort to either brake (hold position) or coast (free spin) - :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. - :type brake_at_zero_effort: bool - """ - self.left_motor.set_zero_effort_behavior(brake_at_zero_effort) - self.right_motor.set_zero_effort_behavior(brake_at_zero_effort) - - def stop(self) -> None: - """ - Stops both drivetrain motors by setting power to zero. - """ - self.left_motor.set_speed() - self.right_motor.set_speed() - self.set_effort(0,0) - - def arcade(self, straight:float, turn:float): - """ - Sets the raw effort of both motors based on the arcade drive scheme - - :param straight: The base effort (Bounded from -1 to 1) used to drive forwards or backwards. - :type straight: float - :param turn: The modifier effort (Bounded from -1 to 1) used to skew robot left (positive) or right (negative). - :type turn: float - """ - if straight == 0 and turn == 0: - self.set_effort(0, 0) - else: - scale = max(abs(straight), abs(turn))/(abs(straight) + abs(turn)) - left_speed = (straight - turn)*scale - right_speed = (straight + turn)*scale - - if not self.heading_pid: - # if not using IMU assist to maintain heading, just pass down the left and right motor - # speeds to control movement - self.set_effort(left_speed, right_speed) - else: - # else if IMU assist is enabled, then use the IMU with PID to - # maintain a constant heading while driving. - if turn == 0: - # straight drive requested, then maintain the current heading - if self.turning: - # if previously turning, then clear the turn indicator and reset the course heading - self.reset_heading = True - self.turning = False - - if self.reset_heading: - self.reset_heading = False - self.current_heading = self.imu.get_yaw() - - # use the PID to set the heading correction based on the current heading - heading_correction = self.heading_pid.update(self.current_heading - self.imu.get_yaw()) - - self.set_effort(left_speed - heading_correction, right_speed + heading_correction) - else: - # set the turning indicator and apply the left and right speeds - self.turning = True - self.set_effort(left_speed, right_speed) - - def reset_encoder_position(self) -> None: - """ - Resets the position of both motors' encoders to 0 - """ - - self.left_motor.reset_encoder_position() - self.right_motor.reset_encoder_position() - - def get_left_encoder_position(self) -> float: - """ - :return: the current position of the left motor's encoder in cm. - :rtype: float - """ - return self.left_motor.get_position()*math.pi*self.wheel_diam - - def get_right_encoder_position(self) -> float: - """ - :return: the current position of the right motor's encoder in cm. - :rtype: float - """ - return self.right_motor.get_position()*math.pi*self.wheel_diam - - - def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: - """ - Go forward the specified distance in centimeters, and exit function when distance has been reached. - Max_effort is bounded from -1 (reverse at full speed) to 1 (forward at full speed) - - :param distance: The distance for the robot to travel (In Centimeters) - :type distance: float - :param max_effort: The max effort for which the robot to travel (Bounded from -1 to 1). Default is half effort forward - :type max_effort: float - :param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds) - :type timeout: float - :param main_controller: The main controller, for handling the distance driven forwards - :type main_controller: Controller - :param secondary_controller: The secondary controller, for correcting heading error that may result during the drive. - :type secondary_controller: Controller - :return: if the distance was reached before the timeout - :rtype: bool - """ - # ensure effort is always positive while distance could be either positive or negative - if max_effort < 0: - max_effort *= -1 - distance *= -1 - - time_out = Timeout(timeout) - starting_left = self.get_left_encoder_position() - starting_right = self.get_right_encoder_position() - - - if main_controller is None: - main_controller = PID( - kp = 0.1, - ki = 0.04, - kd = 0.04, - min_output = 0.3, - max_output = max_effort, - max_integral = 10, - tolerance = 0.25, - tolerance_count = 3, - ) - - # Secondary controller to keep encoder values in sync - if secondary_controller is None: - secondary_controller = PID( - kp = 0.075, kd=0.001, - ) - - if self.imu is not None: - # record current heading to maintain it - initial_heading = self.imu.get_yaw() - else: - initial_heading = 0 - - while True: - - # calculate the distance traveled - left_delta = self.get_left_encoder_position() - starting_left - right_delta = self.get_right_encoder_position() - starting_right - dist_traveled = (left_delta + right_delta) / 2 - - # PID for distance - distance_error = distance - dist_traveled - effort = main_controller.update(distance_error) - - if main_controller.is_done() or time_out.is_done(): - break - - # calculate heading correction - if self.imu is not None: - # record current heading to maintain it - current_heading = self.imu.get_yaw() - else: - current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) - - headingCorrection = secondary_controller.update(initial_heading - current_heading) - - self.set_effort(effort - headingCorrection, effort + headingCorrection) - - time.sleep(0.01) - - self.stop() - - return not time_out.is_done() - - - def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool: - """ - Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading. - effort is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed) - Uses the IMU to determine the heading of the robot and P control for the motor controller. - - :param turnDegrees: The number of angle for the robot to turn (In Degrees) - :type turnDegrees: float - :param max_effort: The max speed for which the robot to travel (Bounded from -1 to 1) - :type max_effort: float - :param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds) - :type timeout: float - :param main_controller: The main controller, for handling the angle turned - :type main_controller: Controller - :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference - :type secondary_controller: Controller - :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False) - :type use_imu: bool - :return: if the distance was reached before the timeout - :rtype: bool - """ - - if max_effort < 0: - max_effort = -max_effort - turn_degrees = -turn_degrees - - time_out = Timeout(timeout) - starting_left = self.get_left_encoder_position() - starting_right = self.get_right_encoder_position() - - if main_controller is None: - main_controller = PID( - # kp = 0.2, - # ki = 0.004, - # kd = 0.0036, - kd = 0.0036 + 0.0034 * (max(max_effort, 0.5) - 0.5) * 2, - kp = 0.2, - ki = 0.004, - #kd = 0.007, - min_output = 0.1, - max_output = max_effort, - max_integral = 30, - tolerance = 1, - tolerance_count = 3 - ) - - # Secondary controller to keep encoder values in sync - if secondary_controller is None: - secondary_controller = PID( - kp = 0.25, - ) - - if use_imu and (self.imu is not None): - turn_degrees += self.imu.get_yaw() - - while True: - - # calculate encoder correction to minimize drift - left_delta = self.get_left_encoder_position() - starting_left - right_delta = self.get_right_encoder_position() - starting_right - encoder_correction = secondary_controller.update(left_delta + right_delta) - - if use_imu and (self.imu is not None): - # calculate turn error (in degrees) from the imu - turn_error = turn_degrees - self.imu.get_yaw() - else: - # calculate turn error (in degrees) from the encoder counts - turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) - - # Pass the turn error to the main controller to get a turn speed - turn_speed = main_controller.update(turn_error) - - # exit if timeout or tolerance reached - if main_controller.is_done() or time_out.is_done(): - break - - self.set_effort(-turn_speed - encoder_correction, turn_speed - encoder_correction) - - time.sleep(0.01) - - self.stop() - - return not time_out.is_done() diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoded_motor.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoded_motor.py deleted file mode 100644 index de2fa6f..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoded_motor.py +++ /dev/null @@ -1,191 +0,0 @@ -from .motor import SinglePWMMotor, DualPWMMotor -from .encoder import Encoder -from machine import Timer -from .controller import Controller -from .pid import PID -import sys - -class EncodedMotor: - - ZERO_EFFORT_BREAK = True - ZERO_EFFORT_COAST = False - - _DEFAULT_LEFT_MOTOR_INSTANCE = None - _DEFAULT_RIGHT_MOTOR_INSTANCE = None - _DEFAULT_MOTOR_THREE_INSTANCE = None - _DEFAULT_MOTOR_FOUR_INSTANCE = None - - @classmethod - def get_default_encoded_motor(cls, index:int = 1): - """ - Get one of the default XRP motor instances. These are singletons, so only one instance of each of these will ever exist. - Raises an exception if an invalid index is requested. - - :param index: The index of the motor to get; 1 for left, 2 for right, 3 for motor 3, 4 for motor 4 - :type index: int - """ - - if "RP2350" in sys.implementation._machine: - MotorImplementation = DualPWMMotor - else: - MotorImplementation = SinglePWMMotor - - if index == 1: - if cls._DEFAULT_LEFT_MOTOR_INSTANCE is None: - cls._DEFAULT_LEFT_MOTOR_INSTANCE = cls( - MotorImplementation("MOTOR_L_IN_1", "MOTOR_L_IN_2", flip_dir=True), - Encoder(0, "MOTOR_L_ENCODER_A", "MOTOR_L_ENCODER_B") - ) - motor = cls._DEFAULT_LEFT_MOTOR_INSTANCE - elif index == 2: - if cls._DEFAULT_RIGHT_MOTOR_INSTANCE is None: - cls._DEFAULT_RIGHT_MOTOR_INSTANCE = cls( - MotorImplementation("MOTOR_R_IN_1", "MOTOR_R_IN_2"), - Encoder(1, "MOTOR_R_ENCODER_A", "MOTOR_R_ENCODER_B") - ) - motor = cls._DEFAULT_RIGHT_MOTOR_INSTANCE - elif index == 3: - if cls._DEFAULT_MOTOR_THREE_INSTANCE is None: - cls._DEFAULT_MOTOR_THREE_INSTANCE = cls( - MotorImplementation("MOTOR_3_IN_1", "MOTOR_3_IN_2", flip_dir=True), - Encoder(2, "MOTOR_3_ENCODER_A", "MOTOR_3_ENCODER_B") - ) - motor = cls._DEFAULT_MOTOR_THREE_INSTANCE - elif index == 4: - if cls._DEFAULT_MOTOR_FOUR_INSTANCE is None: - cls._DEFAULT_MOTOR_FOUR_INSTANCE = cls( - MotorImplementation("MOTOR_4_IN_1", "MOTOR_4_IN_2"), - Encoder(3, "MOTOR_4_ENCODER_A", "MOTOR_4_ENCODER_B") - ) - motor = cls._DEFAULT_MOTOR_FOUR_INSTANCE - else: - return Exception("Invalid motor index") - return motor - - def __init__(self, motor, encoder: Encoder): - - self._motor = motor - self._encoder = encoder - - self.brake_at_zero = False - - self.target_speed = None - self.DEFAULT_SPEED_CONTROLLER = PID( - kp=0.035, - ki=0.03, - kd=0, - max_integral=50 - ) - self.speedController = self.DEFAULT_SPEED_CONTROLLER - self.prev_position = 0 - self.speed = 0 - # Use a virtual timer so we can leave the hardware timers up for the user - self.updateTimer = Timer(-1) - # If the update timer is not running, start it at 50 Hz (20ms updates) - self.updateTimer.init(period=20, callback=lambda t:self._update()) - - - def set_effort(self, effort: float): - """ - :param effort: The effort to set this motor to, from -1 to 1 - :type effort: float - """ - if self.brake_at_zero and effort == 0: - self.brake() - else: - self._motor.set_effort(effort) - - # EncodedMotor.set_zero_effort_behavior(EncodedMotor.ZERO_POWER_BRAKE) - def set_zero_effort_behavior(self, brake_at_zero_effort): - """ - Sets the behavior of the motor at 0 effort to either brake (hold position) or coast (free spin) - :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. - :type brake_at_zero_effort: bool - """ - self.brake_at_zero = brake_at_zero_effort - - def brake(self): - """ - Causes the motor to resist rotation. - """ - # Exact impl of brake depends on which board is being used. - self._motor.brake() - - def coast(self): - """ - Allows the motor to spin freely. - """ - self._motor.coast() - - def get_position(self) -> float: - """ - :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. - :rtype: float - """ - if self._motor.flip_dir: - invert = -1 - else: - invert = 1 - return self._encoder.get_position()*invert - - def get_position_counts(self) -> int: - """ - :return: The position of the encoded motor, in encoder counts, relative to the last time reset was called. - :rtype: int - """ - if self._motor.flip_dir: - invert = -1 - else: - invert = 1 - return self._encoder.get_position_counts()*invert - - def reset_encoder_position(self): - """ - Resets the encoder position back to zero. - """ - self._encoder.reset_encoder_position() - - def get_speed(self) -> float: - """ - :return: The speed of the motor, in rpm - :rtype: float - """ - # Convert from counts per 20ms to rpm (60 sec/min, 50 Hz) - return self.speed*(60*50)/self._encoder.resolution - - def set_speed(self, speed_rpm: float = None): - """ - Sets target speed (in rpm) to be maintained passively - Call with no parameters or 0 to turn off speed control - - :param target_speed_rpm: The target speed for the motor in rpm, or None - :type target_speed_rpm: float, or None - """ - if speed_rpm is None or speed_rpm == 0: - self.target_speed = None - self.set_effort(0) - return - # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) - self.target_speed = speed_rpm*self._encoder.resolution/(60*50) - - def set_speed_controller(self, new_controller: Controller): - """ - Sets a new controller for speed control - - :param new_controller: The new Controller for speed control - :type new_controller: Controller - """ - self.speedController = new_controller - self.speedController.clear_history() - - def _update(self): - """ - Non-api method; used for updating motor efforts for speed control - """ - current_position = self.get_position_counts() - self.speed = current_position - self.prev_position - if self.target_speed is not None: - error = self.target_speed - self.speed - effort = self.speedController.update(error) - self._motor.set_effort(effort) - self.prev_position = current_position \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoder.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoder.py deleted file mode 100644 index 414b973..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/encoder.py +++ /dev/null @@ -1,119 +0,0 @@ -# Modified from https://forum.micropython.org/viewtopic.php?t=12277&p=66659 - -import machine -import rp2 -import time - -class Encoder: - _gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75 - _counts_per_motor_shaft_revolution = 12 - resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585 - - def __init__(self, index, encAPin: int|str, encBPin: int|str): - """ - Uses the on board PIO State Machine to keep track of encoder positions. - Only 4 encoders can be instantiated this way. - - :param index: The index of the state machine to be used, indexed 0-3. - :type index: int - :param encAPin: The pin the left reflectance sensor is connected to - :type encAPin: int - :param encBPin: The pin the right reflectance sensor is connected to - :type encBPin: int - """ - # if(abs(encAPin - encBPin) != 1): - # raise Exception("Encoder pins must be successive!") - basePin = machine.Pin(min(encAPin, encBPin), machine.Pin.IN) - nextPin = machine.Pin(max(encAPin, encBPin), machine.Pin.IN) - self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin) - self.reset_encoder_position() - self.sm.active(1) - - def reset_encoder_position(self): - """ - Resets the encoder position to 0 - """ - # It's possible for this to cause issues if in the middle of inrementing - # or decrementing, but the result should only be off by 1. If that's a - # problem, an alternative solution is to stop the state machine, then - # reset both x and the program counter. But that's excessive. - self.sm.exec("set(x, 0)") - - def get_position_counts(self): - """ - :return: The position of the encoded motor, in counts, relative to the last time reset was called. - :rtype: int - """ - # Read 5 times for it to get past the buffer - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - if(counts > 2**31): - counts -= 2**32 - return counts - - def get_position(self): - """ - :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. - :rtype: float - """ - return self.get_position_counts() / self.resolution - - @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT) - def _encoder(): - # Register descriptions: - # X - Encoder count, as a 32-bit number - # OSR - Previous pin values, only last 2 bits are used - # ISR - Push encoder count, and combine pin states together - - # Jump table - # The program counter is moved to memory address 0000 - 1111, based - # on the previous (left 2 bits) and current (right bits) pin states - jmp("read") # 00 -> 00 No change, continue - jmp("decr") # 00 -> 01 Reverse, decrement count - jmp("incr") # 00 -> 10 Forward, increment count - jmp("read") # 00 -> 11 Impossible, continue - - jmp("incr") # 01 -> 00 Forward, increment count - jmp("read") # 01 -> 01 No change, continue - jmp("read") # 01 -> 10 Impossible, continue - jmp("decr") # 01 -> 11 Reverse, decrement count - - jmp("decr") # 10 -> 00 Reverse, decrement count - jmp("read") # 10 -> 01 Impossible, continue - jmp("read") # 10 -> 10 No change, continue - jmp("incr") # 10 -> 11 Forward, increment count - - jmp("read") # 11 -> 00 Impossible, continue - jmp("incr") # 11 -> 01 Forward, increment count - jmp("decr") # 11 -> 10 Reverse, decrement count - jmp("read") # 11 -> 11 No change, continue - - label("read") - mov(osr, isr) # Store previous pin states in OSR - mov(isr, x) # Copy encoder count to ISR - push(noblock) # Push count to RX buffer, and reset ISR to 0 - out(isr, 2) # Shift previous pin states into ISR - in_(pins, 2) # Shift current pin states into ISR - mov(pc, isr) # Move PC to jump table to determine what to do next - - label("decr") # There is no explicite increment intruction, but X can be - jmp(x_dec, "decr_nop") # decremented in the jump instruction. So we use that and jump - label("decr_nop") # to the next instruction, which is equivalent to just decrementing - jmp("read") - - label("incr") # There is no explicite increment intruction, but X can be - mov(x, invert(x)) # decremented in the jump instruction. So we invert X, decrement, - jmp(x_dec, "incr_nop") # then invert again - this is equivalent to incrementing. - label("incr_nop") - mov(x, invert(x)) - jmp("read") - - # Fill remaining instruction memory with jumps to ensure nothing bad happens - # For some reason, weird behavior happens if the instruction memory isn't full - jmp("read") - jmp("read") - jmp("read") - jmp("read") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/gamepad.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/gamepad.py deleted file mode 100644 index f3f08de..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/gamepad.py +++ /dev/null @@ -1,169 +0,0 @@ -from .puppet import Puppet, VAR_TYPE_FLOAT, VAR_TYPE_INT, VAR_TYPE_BOOL, PERM_WRITE_ONLY, PERM_READ_ONLY -from micropython import const - -class Gamepad: - - _DEFAULT_GAMEPAD_INSTANCE = None - - X1 = const(0) - Y1 = const(1) - X2 = const(2) - Y2 = const(3) - BUTTON_A = const(4) - BUTTON_B = const(5) - BUTTON_X = const(6) - BUTTON_Y = const(7) - BUMPER_L = const(8) - BUMPER_R = const(9) - TRIGGER_L = const(10) - TRIGGER_R = const(11) - BACK = const(12) - START = const(13) - DPAD_UP = const(14) - DPAD_DN = const(15) - DPAD_L = const(16) - DPAD_R = const(17) - - # Mapping from index to variable name - _VAR_NAMES = { - 0: '$gamepad.x1', - 1: '$gamepad.y1', - 2: '$gamepad.x2', - 3: '$gamepad.y2', - 4: '$gamepad.button_a', - 5: '$gamepad.button_b', - 6: '$gamepad.button_x', - 7: '$gamepad.button_y', - 8: '$gamepad.bumper_l', - 9: '$gamepad.bumper_r', - 10: '$gamepad.trigger_l', - 11: '$gamepad.trigger_r', - 12: '$gamepad.back', - 13: '$gamepad.start', - 14: '$gamepad.dpad_up', - 15: '$gamepad.dpad_dn', - 16: '$gamepad.dpad_l', - 17: '$gamepad.dpad_r', - } - - @classmethod - def get_default_gamepad(cls): - """ - Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist. - """ - if cls._DEFAULT_GAMEPAD_INSTANCE is None: - cls._DEFAULT_GAMEPAD_INSTANCE = cls() - cls._DEFAULT_GAMEPAD_INSTANCE.start() - return cls._DEFAULT_GAMEPAD_INSTANCE - - def __init__(self): - """ - Manages communication with gamepad data coming from a remote computer via XPP protocol. - """ - self._puppet = Puppet.get_default_puppet() - self._started = False - - # Register all gamepad variables - self._register_variables() - - def _register_variables(self): - """ - Register all gamepad variables with the XPP protocol. - """ - # Joystick axes are floats - for idx in [self.X1, self.Y1, self.X2, self.Y2]: - var_name = self._VAR_NAMES[idx] - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) - - # Buttons are integers (1 or 0) - for idx in range(4, 18): - var_name = self._VAR_NAMES[idx] - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_WRITE_ONLY) - - # Register gamepad enabled variable (read-only from XRP side) - self._puppet.define_variable('$gamepad.enabled', VAR_TYPE_BOOL, PERM_READ_ONLY) - - def start(self): - """ - Signals the remote computer to begin sending gamepad data packets. - Subscribes to all gamepad variables at a high rate (50 Hz). - """ - self._puppet.start() - self._puppet.send_program_start() - - # Enable gamepad - signal to client to start sending - self._puppet.set_variable('$gamepad.enabled', True) - - if self._started: - return - - # Subscribe to all gamepad variables at 50 Hz - for var_name in self._VAR_NAMES.values(): - self._puppet.subscribe_variable(var_name, 50) - - self._started = True - - def stop(self): - """ - Signals the remote computer to stop sending gamepad data packets. - Unsubscribes from all gamepad variables. - """ - - self._puppet.send_program_end() - - if not self._started: - return - - # Disable gamepad - signal to client to stop sending - self._puppet.set_variable('$gamepad.enabled', False) - - # Unsubscribe from all gamepad variables - for var_name in self._VAR_NAMES.values(): - self._puppet.subscribe_variable(var_name, 0) - - self._puppet.stop() - self._started = False - - def get_value(self, index: int) -> float: - """ - Get the current value of a joystick axis - - :param index: The joystick axis index - Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2 - :type int - :returns: The value of the joystick between -1 and 1 - :rtype: float - """ - if index not in self._VAR_NAMES: - return 0.0 - - var_name = self._VAR_NAMES[index] - try: - value = self._puppet.get_variable(var_name) - # Return negative to make normal for user (backward compatibility) - return -value - except: - # Return default if variable not available - return 0.0 - - def is_button_pressed(self, index: int) -> bool: - """ - Checks if a specific button is currently pressed. - - :param index: The button index - Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc - :type int - :returns: The value of the button 1 or 0 - :rtype: bool - """ - if index not in self._VAR_NAMES: - return False - - var_name = self._VAR_NAMES[index] - try: - value = self._puppet.get_variable(var_name) - # Works for both int and float - return value > 0 - except: - # Return default if variable not available - return False diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu.py deleted file mode 100644 index cd7acbf..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu.py +++ /dev/null @@ -1,559 +0,0 @@ -# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive -# ver: 1.0 -# License: MIT -# Author: shaoziyang (shaoziyang@micropython.org.cn) -# v1.0 2019.7 -try: - from .imu_defs import * - from uctypes import struct, addressof -except (TypeError, ModuleNotFoundError): - LSM_ADDR_PRIMARY = 0x6A - # Import wrapped in a try/except so that autodoc generation can process properly - pass -from machine import I2C, Pin, Timer, disable_irq, enable_irq -import time, math - -class IMU(): - - _DEFAULT_IMU_INSTANCE = None - - @classmethod - def get_default_imu(cls): - """ - Get the default XRP IMU instance. This is a singleton, so only one instance of the drivetrain will ever exist. - """ - - if cls._DEFAULT_IMU_INSTANCE is None: - cls._DEFAULT_IMU_INSTANCE = cls() - cls._DEFAULT_IMU_INSTANCE.calibrate() - return cls._DEFAULT_IMU_INSTANCE - - def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY): - # I2C values - self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000) - self.addr = addr - - # Initialize member variables - self._reset_member_variables() - - # Transmit and recieve buffers - self.tb = bytearray(1) - self.rb = bytearray(1) - - # Copies of registers. Bytes and structs share the same memory - # addresses, so changing one changes the other - self.reg_ctrl1_xl_byte = bytearray(1) - self.reg_ctrl2_g_byte = bytearray(1) - self.reg_ctrl3_c_byte = bytearray(1) - self.reg_ctrl1_xl_bits = struct(addressof(self.reg_ctrl1_xl_byte), LSM_REG_LAYOUT_CTRL1_XL) - self.reg_ctrl2_g_bits = struct(addressof(self.reg_ctrl2_g_byte), LSM_REG_LAYOUT_CTRL2_G) - self.reg_ctrl3_c_bits = struct(addressof(self.reg_ctrl3_c_byte), LSM_REG_LAYOUT_CTRL3_C) - - # Create timer - self.update_timer = Timer(-1) - - # Check if the IMU is connected - if not self.is_connected(): - # TODO - do somehting intelligent here - pass - - # Reset sensor to clear any previous configuration - # reset() also sets the board to the default config - self.reset() - - def _default_config(self): - # Enable block data update - self._set_bdu() - - # Set default scale for each sensor - self.acc_scale('16g') - self.gyro_scale('2000dps') - - # Set default rate for each sensor - self.acc_rate('208Hz') - self.gyro_rate('208Hz') - - """ - The following are private helper methods to read and write registers, as well as to convert the read values to the correct unit. - """ - - def _reset_member_variables(self): - # Vector of IMU measurements - self.irq_v = [[0, 0, 0], [0, 0, 0]] - - # Sensor offsets - self.gyro_offsets = [0,0,0] - self.acc_offsets = [0,0,0] - - # Scale factors when ranges are changed - self._acc_scale_factor = 1 - self._gyro_scale_factor = 1 - - # Angle integrators - self.running_pitch = 0 - self.running_yaw = 0 - self.running_roll = 0 - - def _int16(self, d): - return d if d < 0x8000 else d - 0x10000 - - def _setreg(self, reg, dat): - self.tb[0] = dat - self.i2c.writeto_mem(self.addr, reg, self.tb) - - def _getreg(self, reg): - self.i2c.readfrom_mem_into(self.addr, reg, self.rb) - return self.rb[0] - - def _getregs(self, reg, num_bytes): - rx_buf = bytearray(num_bytes) - self.i2c.readfrom_mem_into(self.addr, reg, rx_buf) - return rx_buf - - def _get2reg(self, reg): - return self._getreg(reg) + self._getreg(reg+1) * 256 - - def _r_w_reg(self, reg, dat, mask): - self._getreg(reg) - self.rb[0] = (self.rb[0] & mask) | dat - self._setreg(reg, self.rb[0]) - - def _set_bdu(self, bdu = True): - """ - Sets Block Data Update bit - """ - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.BDU = bdu - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - def _set_if_inc(self, if_inc = True): - """ - Sets InterFace INCrement bit - """ - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.IF_INC = if_inc - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - def _raw_to_mg(self, raw): - return self._int16((raw[1] << 8) | raw[0]) * LSM_MG_PER_LSB_2G * self._acc_scale_factor - - def _raw_to_mdps(self, raw): - return self._int16((raw[1] << 8) | raw[0]) * LSM_MDPS_PER_LSB_125DPS * self._gyro_scale_factor - - """ - Public facing API Methods - """ - - def is_connected(self): - """ - Checks whether the IMU is connected - - :return: True if WHO_AM_I value is correct, otherwise False - :rtype: bool - """ - who_am_i = self._getreg(LSM_REG_WHO_AM_I) - return who_am_i == LSM_WHO_AM_I_VALUE - - def reset(self, wait_for_reset = True, wait_timeout_ms = 100): - """ - Resets the IMU, and restores all registers to their default values - - :param wait_for_reset: Whether to wait for reset to complete - :type wait_for_reset: bool - :param wait_timeout_ms: Timeout in milliseconds when waiting for reset - :type wait_timeout_ms: int - :return: False if timeout occurred, otherwise True - :rtype: bool - """ - # Stop timer - self._stop_timer() - - # Reset member variables - self._reset_member_variables() - - # Set BOOT and SW_RESET bits - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.BOOT = 1 - self.reg_ctrl3_c_bits.SW_RESET = 1 - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - # Wait for reset to complete, if requested - if wait_for_reset: - # Loop with timeout - t0 = time.ticks_ms() - while time.ticks_ms() < (t0 + wait_timeout_ms): - # Check if register has returned to default value (0x04) - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - if self.reg_ctrl3_c_byte[0] == 0x04: - self._default_config() - self._start_timer() - return True - # Timeout occurred - # Attempt to set default config anyways - self._default_config() - self._start_timer() - return False - else: - self._default_config() - self._start_timer() - return True - - def get_acc_x(self): - """ - :return: The current reading for the accelerometer's X-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] - - def get_acc_y(self): - """ - :return: The current reading for the accelerometer's Y-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTY_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[1] - - def get_acc_z(self): - """ - :return: The current reading for the accelerometer's Z-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTZ_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[2] - - def get_acc_rates(self): - """ - :return: the list of readings from the Accelerometer, in mg. The order of the values is x, y, z. - :rtype: list - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 6) - - # Convert raw data to mg's - self.irq_v[0][0] = self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] - self.irq_v[0][1] = self._raw_to_mg(raw_bytes[2:4]) - self.acc_offsets[1] - self.irq_v[0][2] = self._raw_to_mg(raw_bytes[4:6]) - self.acc_offsets[2] - - return self.irq_v[0] - - def get_gyro_x_rate(self): - """ - Individual axis read for the Gyroscope's X-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - - def get_gyro_y_rate(self): - """ - Individual axis read for the Gyroscope's Y-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTY_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[1] - - def get_gyro_z_rate(self): - """ - Individual axis read for the Gyroscope's Z-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTZ_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[2] - - def get_gyro_rates(self): - """ - Retrieves the array of readings from the Gyroscope, in mdps - The order of the values is x, y, z. - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 6) - - # Convert raw data to mdps - self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] - self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] - - return self.irq_v[1] - - def get_acc_gyro_rates(self): - """ - Get the accelerometer and gyroscope values in mg and mdps in the form of a 2D array. - The first row is the acceleration values, the second row is the gyro values. - The order of the values is x, y, z. - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 12) - - # Convert raw data to mg's and mdps - self.irq_v[0][0] = self._raw_to_mg(raw_bytes[6:8]) - self.acc_offsets[0] - self.irq_v[0][1] = self._raw_to_mg(raw_bytes[8:10]) - self.acc_offsets[1] - self.irq_v[0][2] = self._raw_to_mg(raw_bytes[10:12]) - self.acc_offsets[2] - self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] - self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] - - return self.irq_v - - def get_pitch(self): - """ - Get the pitch of the IMU in degrees. Unbounded in range - - :return: The pitch of the IMU in degrees - :rtype: float - """ - return self.running_pitch - - def get_yaw(self): - """ - Get the yaw (heading) of the IMU in degrees. Unbounded in range - - :return: The yaw (heading) of the IMU in degrees - :rtype: float - """ - return self.running_yaw - - def get_heading(self): - """ - Get's the heading of the IMU, but bounded between [0, 360) - - :return: The heading of the IMU in degrees, bound between [0, 360) - :rtype: float - """ - return self.running_yaw % 360 - - def get_roll(self): - """ - Get the roll of the IMU in degrees. Unbounded in range - - :return: The roll of the IMU in degrees - :rtype: float - """ - return self.running_roll - - def reset_pitch(self): - """ - Reset the pitch to 0 - """ - self.running_pitch = 0 - - def reset_yaw(self): - """ - Reset the yaw (heading) to 0 - """ - self.running_yaw = 0 - - def reset_roll(self): - """ - Reset the roll to 0 - """ - self.running_roll = 0 - - def set_pitch(self, pitch): - """ - Set the pitch to a specific angle in degrees - - :param pitch: The pitch to set the IMU to - :type pitch: float - """ - self.running_pitch = pitch - - def set_yaw(self, yaw): - """ - Set the yaw (heading) to a specific angle in degrees - - :param yaw: The yaw (heading) to set the IMU to - :type yaw: float - """ - self.running_yaw = yaw - - def set_roll(self, roll): - """ - Set the roll to a specific angle in degrees - - :param roll: The roll to set the IMU to - :type roll: float - """ - self.running_roll = roll - - def temperature(self): - """ - Read the temperature of the LSM6DSO in degrees Celsius - - :return: The temperature of the LSM6DSO in degrees Celsius - :rtype: float - """ - # The LSM6DSO's temperature can be read from the OUT_TEMP_L register - # We use OUT_TEMP_L+1 if OUT_TEMP_L cannot be read - try: - return self._int16(self._get2reg(LSM_REG_OUT_TEMP_L))/256 + 25 - except MemoryError: - return self._temperature_irq() - - def _temperature_irq(self): - # Helper function for temperature() to read the alternate temperature register - self._getreg(LSM_REG_OUT_TEMP_L+1) - if self.rb[0] & 0x80: - self.rb[0] -= 256 - return self.rb[0] + 25 - - def acc_scale(self, value=None): - """ - Set the accelerometer scale in g. The scale can be: - '2g', '4g', '8g', or '16g' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) - # Check if the provided value is in the dictionary - if value not in LSM_ACCEL_FS: - # Return string representation of this value - index = list(LSM_ACCEL_FS.values()).index(self.reg_ctrl1_xl_bits.FS_XL) - return list(LSM_ACCEL_FS.keys())[index] - else: - # Set value as requested - self.reg_ctrl1_xl_bits.FS_XL = LSM_ACCEL_FS[value] - self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) - # Update scale factor for converting raw data - self._acc_scale_factor = int(value.rstrip('g')) // 2 - - def gyro_scale(self, value=None): - """ - Set the gyroscope scale in dps. The scale can be: - '125', '250', '500', '1000', or '2000' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) - # Check if the provided value is in the dictionary - if value not in LSM_GYRO_FS: - # Return string representation of this value - index = list(LSM_GYRO_FS.values()).index(self.reg_ctrl2_g_bits.FS_G) - return list(LSM_GYRO_FS.keys())[index] - else: - # Set value as requested - self.reg_ctrl2_g_bits.FS_G = LSM_GYRO_FS[value] - self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) - # Update scale factor for converting raw data - self._gyro_scale_factor = int(value.rstrip('dps')) // 125 - - def acc_rate(self, value=None): - """ - Set the accelerometer rate in Hz. The rate can be: - '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) - # Check if the provided value is in the dictionary - if value not in LSM_ODR: - # Return string representation of this value - index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_XL) - return list(LSM_ODR.keys())[index] - else: - # Set value as requested - self.reg_ctrl1_xl_bits.ODR_XL = LSM_ODR[value] - self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) - - def gyro_rate(self, value=None): - """ - Set the gyroscope rate in Hz. The rate can be: - '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) - # Check if the provided value is in the dictionary - if value not in LSM_ODR: - # Return string representation of this value - index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_G) - return list(LSM_ODR.keys())[index] - else: - # Set value as requested - self.reg_ctrl2_g_bits.ODR_G = LSM_ODR[value] - self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) - - # Update timer frequency - self.timer_frequency = int(value.rstrip('Hz')) - self._start_timer() - - def calibrate(self, calibration_time:float=1, vertical_axis:int= 2): - """ - Collect readings for [calibration_time] seconds and calibrate the IMU based on those readings - Do not move the robot during this time - Assumes the board to be parallel to the ground. Please use the vertical_axis parameter if that is not correct - - :param calibration_time: The time in seconds to collect readings for - :type calibration_time: float - :param vertical_axis: The axis that is vertical. 0 for X, 1 for Y, 2 for Z - :type vertical_axis: int - """ - self._stop_timer() - self.acc_offsets = [0,0,0] - self.gyro_offsets = [0,0,0] - avg_vals = [[0,0,0],[0,0,0]] - num_vals = 0 - # Wait a bit for sensor to start measuring (data registers may default to something nonsensical) - time.sleep(.1) - start_time = time.ticks_ms() - while time.ticks_ms() < start_time + calibration_time*1000: - cur_vals = self.get_acc_gyro_rates() - # Accelerometer averages - avg_vals[0][0] += cur_vals[0][0] - avg_vals[0][1] += cur_vals[0][1] - avg_vals[0][2] += cur_vals[0][2] - # Gyroscope averages - avg_vals[1][0] += cur_vals[1][0] - avg_vals[1][1] += cur_vals[1][1] - avg_vals[1][2] += cur_vals[1][2] - # Increment counter and wait for next loop - num_vals += 1 - time.sleep(1 / self.timer_frequency) - - # Compute averages - avg_vals[0][0] /= num_vals - avg_vals[0][1] /= num_vals - avg_vals[0][2] /= num_vals - avg_vals[1][0] /= num_vals - avg_vals[1][1] /= num_vals - avg_vals[1][2] /= num_vals - - avg_vals[0][vertical_axis] -= 1000 #in mg - - self.acc_offsets = avg_vals[0] - self.gyro_offsets = avg_vals[1] - self._start_timer() - - def _start_timer(self): - self.update_timer.init(freq=self.timer_frequency, callback=lambda t:self._update_imu_readings()) - - def _stop_timer(self): - self.update_timer.deinit() - - def _update_imu_readings(self): - # Called every tick through a callback timer - self.get_gyro_rates() - delta_pitch = self.irq_v[1][0] / 1000 / self.timer_frequency - delta_roll = self.irq_v[1][1] / 1000 / self.timer_frequency - delta_yaw = self.irq_v[1][2] / 1000 / self.timer_frequency - - state = disable_irq() - self.running_pitch += delta_pitch - self.running_roll += delta_roll - self.running_yaw += delta_yaw - enable_irq(state) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu_defs.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu_defs.py deleted file mode 100644 index c8732de..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/imu_defs.py +++ /dev/null @@ -1,83 +0,0 @@ -from uctypes import BFUINT8, BF_POS, BF_LEN -from micropython import const - -""" - Possible I2C addresses -""" -LSM_ADDR_PRIMARY = const(0x6B) -LSM_ADDR_SECONDARY = const(0x6A) - -""" - Register addresses -""" -LSM_REG_WHO_AM_I = const(0x0F) -LSM_REG_CTRL1_XL = const(0x10) -LSM_REG_CTRL2_G = const(0x11) -LSM_REG_CTRL3_C = const(0x12) -LSM_REG_OUT_TEMP_L = const(0x20) -LSM_REG_OUT_TEMP_H = const(0x21) -LSM_REG_OUTX_L_G = const(0x22) -LSM_REG_OUTY_L_G = const(0x24) -LSM_REG_OUTZ_L_G = const(0x26) -LSM_REG_OUTX_L_A = const(0x28) -LSM_REG_OUTY_L_A = const(0x2A) -LSM_REG_OUTZ_L_A = const(0x2C) - -""" - Bit field struct definitions of registers -""" -LSM_REG_LAYOUT_CTRL1_XL = { - "ODR_XL" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, - "FS_XL" : BFUINT8 | 2 << BF_POS | 2 << BF_LEN, - "LPF2_XL_EN" : BFUINT8 | 1 << BF_POS | 1 << BF_LEN, -} -LSM_REG_LAYOUT_CTRL2_G = { - "ODR_G" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, - "FS_G" : BFUINT8 | 1 << BF_POS | 3 << BF_LEN, -} -LSM_REG_LAYOUT_CTRL3_C = { - "BOOT" : BFUINT8 | 7 << BF_POS | 1 << BF_LEN, - "BDU" : BFUINT8 | 6 << BF_POS | 1 << BF_LEN, - "H_LACTIVE" : BFUINT8 | 5 << BF_POS | 1 << BF_LEN, - "PP_OD" : BFUINT8 | 4 << BF_POS | 1 << BF_LEN, - "SIM" : BFUINT8 | 3 << BF_POS | 1 << BF_LEN, - "IF_INC" : BFUINT8 | 2 << BF_POS | 1 << BF_LEN, - "SW_RESET" : BFUINT8 | 0 << BF_POS | 1 << BF_LEN, -} - -""" - Dictionaries for possible register settings -""" -LSM_ODR = { - "0Hz" : 0x0, - "12.5Hz" : 0x1, - "26Hz" : 0x2, - "52Hz" : 0x3, - "104Hz" : 0x4, - "208Hz" : 0x5, - "416Hz" : 0x6, - "833Hz" : 0x7, - "1660Hz" : 0x8, - "3330Hz" : 0x9, - "6660Hz" : 0xA, -} -LSM_ACCEL_FS = { - "2g" : 0x0, - "4g" : 0x2, - "8g" : 0x3, - "16g" : 0x1, -} -LSM_GYRO_FS = { - "125dps" : 0x1, - "250dps" : 0x0, - "500dps" : 0x2, - "1000dps" : 0x4, - "2000dps" : 0x6, -} - -""" - Other contants -""" -LSM_WHO_AM_I_VALUE = 0x6C -LSM_MG_PER_LSB_2G = 0.061 -LSM_MDPS_PER_LSB_125DPS = 4.375 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor.py deleted file mode 100644 index 2c5d479..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor.py +++ /dev/null @@ -1,96 +0,0 @@ -from machine import Pin, PWM - -class SinglePWMMotor: - - """ - A simple class handling direction and power sets for DC motors on the XRP robots - - This version is used for the XRP Beta, which uses the rp2040 processor - """ - - def __init__(self, in1_direction_pin: int|str, in2_speed_pin: int|str, flip_dir:bool=False): - self.flip_dir = flip_dir - self._MAX_PWM = 65534 # Motor holds when actually at full power - - self._in1DirPin = Pin(in1_direction_pin, Pin.OUT) - self._in2SpeedPin = PWM(Pin(in2_speed_pin, Pin.OUT)) - self._in2SpeedPin.freq(50) - - def set_effort(self, effort: float): - """ - Sets the effort value of the motor (corresponds to power) - - :param effort: The effort to set the motor to, between -1 and 1 - :type effort: float - """ - - if effort < 0: - # Change direction if negative power - effort *= -1 - self._set_direction(1) - else: - self._set_direction(0) - # Cap power to [0,1] - effort = max(0,min(effort,1)) - self._in2SpeedPin.duty_u16(int(effort*self._MAX_PWM)) - - def _set_direction(self, direction: int): - if self.flip_dir: - self._in1DirPin.value(not direction) - else: - self._in1DirPin.value(direction) - - def brake(self): - # Motor holds with the real max duty cycle (65535) - self._in2SpeedPin.duty_u16(self._MAX_PWM+1) - - def coast(self): - self.set_effort(0) - -class DualPWMMotor: - """ - A simple class handling effort setting for DC motors on the XRP robots - - This version of the Motor class is used for the official release of the XRP - """ - - def __init__(self, in1_pwm_forward: int|str, in2_pwm_backward: int|str, flip_dir:bool=False): - self.flip_dir = flip_dir - self._MAX_PWM = 65535 # Motor holds when actually at full power - - self._in1ForwardPin = PWM(Pin(in1_pwm_forward, Pin.OUT)) - self._in2BackwardPin = PWM(Pin(in2_pwm_backward, Pin.OUT)) - self._in1ForwardPin.freq(50) - self._in2BackwardPin.freq(50) - - def set_effort(self, effort: float): - """ - Sets the effort value of the motor (corresponds to power) - - :param effort: The effort to set the motor to, between -1 and 1 - :type effort: float - """ - - in1Pwm = (effort < 0) ^ (self.flip_dir) - if in1Pwm: - self._in1ForwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) - self._in2BackwardPin.duty_u16(int(0)) - else: - self._in1ForwardPin.duty_u16(int(0)) - self._in2BackwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) - - def brake(self): - """ - Powers the motor in both directions at the same time, enabling it to hold position - """ - self._in1ForwardPin.duty_u16(int(self._MAX_PWM)) - self._in2BackwardPin.duty_u16(int(self._MAX_PWM)) - - def coast(self): - """ - Disables the motor in both directions at the same time, enabling it to spin freely - """ - self._in1ForwardPin.duty_u16(int(0)) - self._in2BackwardPin.duty_u16(int(0)) - - diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor_group.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor_group.py deleted file mode 100644 index ecfe4f0..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/motor_group.py +++ /dev/null @@ -1,94 +0,0 @@ -from .encoded_motor import EncodedMotor -class MotorGroup(EncodedMotor): - def __init__(self, *motors: EncodedMotor): - """ - A wrapper class for multiple motors, allowing them to be treated as one motor. - - :param motors: The motors to add to this group - :type motors: tuple - """ - self.motors = [] - for motor in motors: - self.add_motor(motor) - - def add_motor(self, motor:EncodedMotor): - """ - :param motor: The motor to add to this group - :type motor: EncodedMotor - """ - self.motors.append(motor) - - def remove_motor(self, motor:EncodedMotor): - """ - :param motor: The motor to remove from this group - :type motor: EncodedMotor - """ - try: - self.motors.remove(motor) - except: - print("Failed to remove motor from Motor Group") - - def set_effort(self, effort: float): - """ - :param effort: The effort to set all motors in this group to, from -1 to 1 - :type effort: float - """ - for motor in self.motors: - motor.set_effort(effort) - - def get_position(self) -> float: - """ - :return: The average position of all motors in this group, in revolutions, relative to the last time reset was called. - :rtype: float - """ - avg = 0 - for motor in self.motors: - avg += motor.get_position() - return avg / len(self.motors) - - def get_position_counts(self) -> int: - """ - :return: The average position of all motors in this group, in encoder counts, relative to the last time reset was called. - :rtype: int - """ - avg = 0 - for motor in self.motors: - avg += motor.get_position_counts() - return round(avg / len(self.motors)) - - def reset_encoder_position(self): - """ - Resets the encoder position of all motors in this group back to zero. - """ - for motor in self.motors: - motor.reset_encoder_position() - - def get_speed(self) -> float: - """ - :return: The average speed of the motors, in rpm - :rtype: float - """ - avg = 0 - for motor in self.motors: - avg += motor.get_speed() - return avg / len(self.motors) - - - def set_speed(self, target_speed_rpm: float = None): - """ - Sets target speed (in rpm) to be maintained passively by all motors in this group - Call with no parameters to turn off speed control - - :param target_speed_rpm: The target speed for these motors in rpm, or None - :type target_speed_rpm: float, or None - """ - for motor in self.motors: - motor.set_speed(target_speed_rpm) - - def set_speed_controller(self, new_controller): - """ - :param new_controller: The new Controller for speed control - :type new_controller: Controller - """ - for motor in self.motors: - motor.set_speed_controller(new_controller) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/pid.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/pid.py deleted file mode 100644 index e9c0491..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/pid.py +++ /dev/null @@ -1,129 +0,0 @@ -import time -from .controller import Controller - -""" -PID controller with exit condition -""" - -class PID(Controller): - - def __init__(self, - kp = 1.0, - ki = 0.0, - kd = 0.0, - min_output = 0.0, - max_output = 1.0, - max_derivative = None, - max_integral = None, - tolerance = 0.1, - tolerance_count = 1 - ): - """ - :param kp: proportional gain - :param ki: integral gain - :param kd: derivative gain - :param min_output: minimum output - :param max_output: maximum output - :param max_derivative: maximum derivative (change per second) - :param max_integral: maximum integral windup allowed (will cap integral at this value) - :param tolerance: tolerance for exit condition - :param tolerance_count: number of times the error needs to be within tolerance for is_done to return True - """ - self.kp = kp - self.ki = ki - self.kd = kd - self.min_output = min_output - self.max_output = max_output - self.max_derivative = max_derivative - self.max_integral = max_integral - self.tolerance = tolerance - self.tolerance_count = tolerance_count - - self.prev_error = 0 - self.prev_integral = 0 - self.prev_output = 0 - - self.start_time = None - self.prev_time = None - - # number of actual times in tolerance - self.times = 0 - - def _handle_exit_condition(self, error: float): - if abs(error) < self.tolerance: - # if error is within tolerance, increment times in tolerance - self.times += 1 - else: - # otherwise, reset times in tolerance, because we need to be in tolerance for numTimesInTolerance consecutive times - self.times = 0 - - def update(self, error: float, debug: bool = False) -> float: - """ - Handle a new update of this PID loop given an error. - - :param error: The error of the system being controlled by this PID controller - :type error: float - - :return: The system output from the controller, to be used as an effort value or for any other purpose - :rtype: float - """ - current_time = time.ticks_ms() - if self.prev_time is None: - # First update after instantiation - self.start_time = current_time - timestep = 0.01 - else: - # get time delta in seconds - timestep = time.ticks_diff(current_time, self.prev_time) / 1000 - self.prev_time = current_time # cache time for next update - - self._handle_exit_condition(error) - - integral = self.prev_integral + error * timestep - - if self.max_integral is not None: - integral = max(-self.max_integral, min(self.max_integral, integral)) - - derivative = (error - self.prev_error) / timestep - - # derive output - output = self.kp * error + self.ki * integral + self.kd * derivative - self.prev_error = error - self.prev_integral = integral - - # Bound output by minimum - if output > 0: - output = max(self.min_output, output) - else: - output = min(-self.min_output, output) - - # Bound output by maximum - output = max(-self.max_output, min(self.max_output, output)) - - # Bound output by maximum acceleration - if self.max_derivative is not None: - lower_bound = self.prev_output - self.max_derivative * timestep - upper_bound = self.prev_output + self.max_derivative * timestep - output = max(lower_bound, min(upper_bound, output)) - - # cache output for next update - self.prev_output = output - - if debug: - print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})") - - return output - - def is_done(self) -> bool: - """ - :return: if error is within tolerance for numTimesInTolerance consecutive times, or timed out - :rtype: bool - """ - return self.times >= self.tolerance_count - - def clear_history(self): - self.prev_error = 0 - self.prev_integral = 0 - self.prev_output = 0 - self.prev_time = None - self.times = 0 \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/puppet.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/puppet.py deleted file mode 100644 index b2788aa..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/puppet.py +++ /dev/null @@ -1,869 +0,0 @@ -""" -XRP Puppet Protocol (XPP) - Core Protocol Implementation - -A bidirectional protocol for communicating with the XRP robot remotely. -Uses a Network Tables-like architecture with variable ID mapping. -""" - -import select -import struct -import sys -import time -from machine import Timer -from micropython import const,kbd_intr - -# Message framing constants -MSG_START_1 = const(0xAA) -MSG_START_2 = const(0x55) -MSG_END_1 = const(0x55) -MSG_END_2 = const(0xAA) -MAX_PAYLOAD_SIZE = const(251) - -# Message type constants -MSG_TYPE_VAR_DEF = const(1) -MSG_TYPE_VAR_UPDATE = const(2) -MSG_TYPE_VAR_SUBSCRIBE = const(3) -MSG_TYPE_VAR_UNSUBSCRIBE = const(4) -MSG_TYPE_PROGRAM_START = const(5) -MSG_TYPE_PROGRAM_END = const(6) -MSG_TYPE_HEARTBEAT = const(7) - -# Variable type constants -VAR_TYPE_INT = const(1) -VAR_TYPE_FLOAT = const(2) -VAR_TYPE_BOOL = const(3) - -# Permission constants -PERM_READ_ONLY = const(1) -PERM_WRITE_ONLY = const(2) -PERM_READ_WRITE = const(3) - -# First custom variable ID -FIRST_CUSTOM_VAR_ID = const(38) - -# Mapping of standard variable names to IDs (1-37) -_STANDARD_VAR_IDS = { - # Gamepad variables (1-19) - '$gamepad.x1': 1, - '$gamepad.y1': 2, - '$gamepad.x2': 3, - '$gamepad.y2': 4, - '$gamepad.button_a': 5, - '$gamepad.button_b': 6, - '$gamepad.button_x': 7, - '$gamepad.button_y': 8, - '$gamepad.bumper_l': 9, - '$gamepad.bumper_r': 10, - '$gamepad.trigger_l': 11, - '$gamepad.trigger_r': 12, - '$gamepad.back': 13, - '$gamepad.start': 14, - '$gamepad.dpad_up': 15, - '$gamepad.dpad_dn': 16, - '$gamepad.dpad_l': 17, - '$gamepad.dpad_r': 18, - '$gamepad.enabled': 19, - # IMU variables (20-25) - '$imu.yaw': 20, - '$imu.roll': 21, - '$imu.pitch': 22, - '$imu.acc_x': 23, - '$imu.acc_y': 24, - '$imu.acc_z': 25, - # Encoder variables (26-29) - '$encoder.left': 26, - '$encoder.right': 27, - '$encoder.3': 28, - '$encoder.4': 29, - # Current sensor variables (30-33) - '$current.left': 30, - '$current.right': 31, - '$current.3': 32, - '$current.4': 33, - # Other sensor variables (34-37) - '$rangefinder.distance': 34, - '$reflectance.left': 35, - '$reflectance.right': 36, - '$voltage': 37, -} - - -class Puppet: - """ - Core XRP Puppet Protocol implementation. - Manages bidirectional communication, variable registry, and message handling. - """ - - _DEFAULT_PUPPET_INSTANCE = None - - @classmethod - def get_default_puppet(cls): - """ - Get the default XPP instance. This is a singleton. - """ - if cls._DEFAULT_PUPPET_INSTANCE is None: - cls._DEFAULT_PUPPET_INSTANCE = cls() - return cls._DEFAULT_PUPPET_INSTANCE - - def __init__(self): - """ - Initialize the XPP protocol handler. - """ - # Variable registry: name -> (id, type, permissions, value, update_rate, last_sent_time) - self._variables = {} - self._variable_ids = {} # id -> name (reverse mapping) - self._next_var_id = FIRST_CUSTOM_VAR_ID # Start at 38 for custom variables - - # Transport layer - self._transport = None - self._transport_type = None - self._rx_buffer = bytearray() - self._rx_state = 0 # 0=waiting for start, 1=reading length, 2=reading payload, 3=waiting for end - - # Packet tracking - self.packets_sent = 0 - self.packets_received = 0 - self.packets_dropped = 0 - self._sequence_number = 0 - - # Update rate management - self._update_timer = Timer(-1) - self._update_timer_running = False - - # STDIO polling (for USB_STDIO transport) - self._poll_timer = Timer(-1) - self._poll_timer_running = False - self._poll_stdin_poll = None - - # Program state - self._program_running = False - - # Initialize transport - self._init_transport() - - def _init_transport(self): - """ - Auto-detect and initialize transport (BLE or USB serial). - """ - # Try BLE first - try: - from ble.blerepl import uart - if len(uart._connections) > 0: - self._transport = uart - self._transport_type = 'BLE' - self._transport.set_data_callback(self._data_callback) - return - else: - self._transport_type = 'USB_STDIO' - self._start_poll_timer() - return - except ImportError: - self._transport_type = 'USB_STDIO' - self._start_poll_timer() - return - - - def _poll_stdio(self): - """ - Poll STDIO for incoming data using select.poll. - Reads raw bytes from the stdin buffer. - """ - data_read = False - while True: - events = self._stdin_poll.poll(0) - if not events: - if data_read: - self._process_rx_buffer() - break - data = sys.stdin.buffer.read(1) - self._rx_buffer.extend(data) - data_read = True - - #if data: - #print(f"Received data: {data}") - #self._data_callback(data) - - def _start_poll_timer(self): - """ - Start STDIO polling for USB_STDIO transport. - Uses select.poll on the raw stdin buffer and a timer to check it. - """ - if self._transport_type != 'USB_STDIO' or self._poll_timer_running: - return - self._stdin_poll = select.poll() - self._stdin_poll.register(sys.stdin.buffer, select.POLLIN) - - kbd_intr(-1) #the data will have 03 in it, don't do a ctrl-c for that data. - - self._poll_timer.init(period=20, mode=Timer.PERIODIC, - callback=lambda t: self._poll_stdio()) - self._poll_timer_running = True - - def _stop_poll_timer(self): - """ - Stop the STDIO polling timer and unregister from poll. - """ - if self._poll_timer_running: - self._poll_timer.deinit() - kbd_intr(03) #start watching for ctrl-c again - self._poll_timer_running = False - if self._stdin_poll is not None: - try: - self._stdin_poll.unregister(sys.stdin.buffer) - except (OSError, AttributeError): - pass - self._stdin_poll = None - def start(self): - """ - Start the STDIO polling. - """ - if self._transport_type == 'USB_STDIO': - self._start_poll_timer() - - def stop(self): - """ - Stop the STDIO polling. - """ - if self._transport_type == 'USB_STDIO': - self._stop_poll_timer() - - - def _data_callback(self, data): - """ - Handle incoming data from transport layer. - """ - if isinstance(data, (bytes, bytearray)): - self._rx_buffer.extend(data) - else: - self._rx_buffer.append(data) - - self._process_rx_buffer() - - def _process_rx_buffer(self): - """ - Process received data buffer, extracting complete messages. - """ - while len(self._rx_buffer) >= 2: - if self._rx_state == 0: # Waiting for start sequence - # Look for start sequence - idx = -1 - for i in range(len(self._rx_buffer) - 1): - if self._rx_buffer[i] == MSG_START_1 and self._rx_buffer[i+1] == MSG_START_2: - idx = i - break - - if idx == -1: - # No start sequence found, clear buffer except last byte - if len(self._rx_buffer) > 1: - #see if anything in the buffer is a ctrl-c - for i in range(len(self._rx_buffer) - 1): - if self._rx_buffer[i] == 0x03: - self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler - self._rx_buffer = self._rx_buffer[-1:] - return - - # Remove everything before start sequence - if idx > 0: - #check for a ctrl-c in the non packet parts - for i in range(idx - 1): - if self._rx_buffer[i] == 0x03: - self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler - self._rx_buffer = self._rx_buffer[idx:] - - # Found start, move to length - self._rx_state = 1 - continue - - elif self._rx_state == 1: # Reading type - if len(self._rx_buffer) < 3: # Need start(2) + type(1) - return - msg_type = self._rx_buffer[2] - self._rx_state = 2 - continue - - elif self._rx_state == 2: # Reading length - if len(self._rx_buffer) < 4: # Need start(2) + type(1) + length(1) - return - payload_len = self._rx_buffer[3] - if payload_len > MAX_PAYLOAD_SIZE: - # Invalid length, reset - self._rx_buffer = self._rx_buffer[4:] - self._rx_state = 0 - self.packets_dropped += 1 - continue - - self._rx_state = 3 - continue - - elif self._rx_state == 3: # Reading payload - payload_len = self._rx_buffer[3] - total_needed = 4 + payload_len + 2 # start(2) + type(1) + len(1) + payload + end(2) - - if len(self._rx_buffer) < total_needed: - return # Wait for more data - - # Check end sequence - end_idx = 4 + payload_len - if (self._rx_buffer[end_idx] != MSG_END_1 or - self._rx_buffer[end_idx + 1] != MSG_END_2): - # Invalid end sequence, reset - self._rx_buffer = self._rx_buffer[4:] - self._rx_state = 0 - self.packets_dropped += 1 - continue - - # Extract message type and payload data - msg_type = self._rx_buffer[2] - payload_data = bytes(self._rx_buffer[4:end_idx]) - self._rx_buffer = self._rx_buffer[total_needed:] - self._rx_state = 0 - - # Process message - self.packets_received += 1 - self._handle_message(msg_type, payload_data) - continue - - def _write_data(self, data): - """ - Write data to transport layer. - """ - if self._transport_type == 'BLE': - self._transport.write_data(data) - - elif self._transport_type == 'USB_STDIO': - sys.stdout.buffer.write(data) - - def _pack_message(self, msg_type, payload_data): - """ - Pack a message with framing. - Returns bytearray with complete message. - Format: [START] [TYPE] [LENGTH] [PAYLOAD] [END] - LENGTH includes payload_data length (not including TYPE byte) - """ - payload_len = len(payload_data) - if payload_len > MAX_PAYLOAD_SIZE: - raise ValueError(f"Payload too large: {payload_len} > {MAX_PAYLOAD_SIZE}") - - msg = bytearray() - msg.append(MSG_START_1) - msg.append(MSG_START_2) - msg.append(msg_type) - msg.append(payload_len) # Length of payload_data only - msg.extend(payload_data) - msg.append(MSG_END_1) - msg.append(MSG_END_2) - - return msg - - def _send_message(self, msg_type, payload_data): - """ - Send a message over the transport. - """ - msg = self._pack_message(msg_type, payload_data) - self._write_data(msg) - self.packets_sent += 1 - self._sequence_number = (self._sequence_number + 1) % 256 - - def _handle_message(self, msg_type, payload_data): - """ - Handle incoming message based on type. - - :param msg_type: Message type byte - :param payload_data: Message payload data (without type byte) - """ - if msg_type == MSG_TYPE_VAR_DEF: - self._handle_var_def(payload_data) - elif msg_type == MSG_TYPE_VAR_UPDATE: - self._handle_var_update(payload_data) - elif msg_type == MSG_TYPE_VAR_SUBSCRIBE: - self._handle_var_subscribe(payload_data) - elif msg_type == MSG_TYPE_VAR_UNSUBSCRIBE: - self._handle_var_unsubscribe(payload_data) - elif msg_type == MSG_TYPE_PROGRAM_START: - self._handle_program_start() - elif msg_type == MSG_TYPE_PROGRAM_END: - self._handle_program_end() - elif msg_type == MSG_TYPE_HEARTBEAT: - self._handle_heartbeat(payload_data) - - def _handle_var_def(self, payload): - """ - Handle variable definition message. - Format: name_len(1) name(name_len) type(1) permissions(1) var_id(1) - """ - if len(payload) < 3: - return - - name_len = payload[0] - if len(payload) < 1 + name_len + 3: # name_len + name + type + permissions + var_id - return - - name = payload[1:1+name_len].decode('utf-8') - var_type = payload[1+name_len] - permissions = payload[1+name_len+1] - var_id = payload[1+name_len+2] - - # If this is a standard variable, use the predefined ID instead - if name in _STANDARD_VAR_IDS: - var_id = _STANDARD_VAR_IDS[name] - - # Register the variable with the (corrected) ID - if name not in self._variables: - # Default value based on type - if var_type == VAR_TYPE_INT: - default_value = 0 - elif var_type == VAR_TYPE_FLOAT: - default_value = 0.0 - elif var_type == VAR_TYPE_BOOL: - default_value = False - else: - return - - self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) - self._variable_ids[var_id] = name - # Update next_var_id if needed (for custom variables only) - if var_id >= self._next_var_id and name not in _STANDARD_VAR_IDS: - self._next_var_id = var_id + 1 - if self._next_var_id > 255: - self._next_var_id = FIRST_CUSTOM_VAR_ID # Wrap to start of custom range - - def _handle_var_update(self, payload): - """ - Handle variable update message (batched format). - Format: count(1) [var_id(1) type(1) value(type-dependent)] * count - A count of 1 is equivalent to a single update. - """ - if len(payload) < 1: - return - - count = payload[0] - offset = 1 - - if count == 0 or count > 50: # Sanity check - return - - # Batched update format: count(1) [var_id(1) type(1) value] * count - for i in range(count): - if len(payload) < offset + 2: # Need at least var_id(1) + type(1) - break - - var_id = payload[offset] - offset += 1 - var_type = payload[offset] - offset += 1 - - if var_id not in self._variable_ids: - # Skip this update, but need to advance offset - if var_type == VAR_TYPE_INT: - offset += 4 - elif var_type == VAR_TYPE_FLOAT: - offset += 4 - elif var_type == VAR_TYPE_BOOL: - offset += 1 - continue - - name = self._variable_ids[var_id] - var_info = self._variables[name] - - # Unpack value based on type from message - if var_type == VAR_TYPE_INT: - if len(payload) < offset + 4: - break - value = struct.unpack(' 255: - raise RuntimeError("Maximum number of custom variables exceeded") - send_def = True # Send VAR_DEF for custom variables - - # Default value based on type - if var_type == VAR_TYPE_INT: - default_value = 0 - elif var_type == VAR_TYPE_FLOAT: - default_value = 0.0 - elif var_type == VAR_TYPE_BOOL: - default_value = False - else: - raise ValueError(f"Invalid variable type: {var_type}") - - self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) - self._variable_ids[var_id] = name - - # Only send variable definition for custom variables - if send_def: - self._send_var_def(name, var_type, permissions, var_id) - - return var_id - - def _send_var_def(self, name, var_type, permissions, var_id): - """ - Send variable definition message. - """ - name_bytes = name.encode('utf-8') - payload = bytearray() - payload.append(len(name_bytes)) - payload.extend(name_bytes) - payload.append(var_type) - payload.append(permissions) - payload.append(var_id) # 1 byte - - self._send_message(MSG_TYPE_VAR_DEF, payload) - - def set_variable(self, name, value): - """ - Set a variable value and send update if subscribed. - - :param name: Variable name - :param value: Variable value - """ - if name not in self._variables: - raise ValueError(f"Variable not defined: {name}") - - var_info = self._variables[name] - var_type = var_info[1] - - # Type check - if var_type == VAR_TYPE_INT and not isinstance(value, int): - raise TypeError(f"Variable {name} expects int, got {type(value)}") - elif var_type == VAR_TYPE_FLOAT and not isinstance(value, (int, float)): - raise TypeError(f"Variable {name} expects float, got {type(value)}") - elif var_type == VAR_TYPE_BOOL and not isinstance(value, bool): - raise TypeError(f"Variable {name} expects bool, got {type(value)}") - - # Update value - self._variables[name] = (var_info[0], var_info[1], var_info[2], - value, var_info[4], var_info[5]) - - # Send update if rate > 0 or if this is an on-demand update - # (on-demand updates are sent immediately when set) - if var_info[4] > 0 or var_info[4] == 0: - self._send_var_update(name) - - def get_variable(self, name): - """ - Get a variable value. - - :param name: Variable name - :return: Variable value - """ - if name not in self._variables: - raise ValueError(f"Variable not defined: {name}") - - return self._variables[name][3] - - def _send_var_update(self, name): - """ - Send single variable update message (uses batched format with count=1). - For multiple updates, use _send_batched_var_updates(). - """ - if name not in self._variables: - return - - var_info = self._variables[name] - var_id = var_info[0] - var_type = var_info[1] - value = var_info[3] - - # Pack as batched update with count=1 - payload = bytearray() - payload.append(1) # count = 1 - payload.append(var_id) # 1 byte - payload.append(var_type) # Include type byte - - if var_type == VAR_TYPE_INT: - payload.extend(struct.pack(' 0 and enough time has passed - if rate > 0: - period_ms = int(1000 / rate) - if time.ticks_diff(current_time, last_sent) < period_ms: - continue # Not ready yet - - updates.append((name, var_info)) - - if not updates: - return - - # Pack batched update: count(1) [var_id(1) type(1) value] * count - payload = bytearray() - payload.append(len(updates)) # count - - for name, var_info in updates: - var_id = var_info[0] - var_type = var_info[1] - value = var_info[3] - - payload.append(var_id) # 1 byte - payload.append(var_type) - - if var_type == VAR_TYPE_INT: - payload.extend(struct.pack(' max_rate: - max_rate = var_info[4] - - if max_rate > 0 and not self._update_timer_running: - # Start timer at max_rate Hz - period_ms = int(1000 / max_rate) - self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._update_timer_callback()) - self._update_timer_running = True - elif max_rate == 0 and self._update_timer_running: - # Stop timer - self._update_timer.deinit() - self._update_timer_running = False - elif max_rate > 0 and self._update_timer_running: - # Update timer period if rate changed - period_ms = int(1000 / max_rate) - self._update_timer.deinit() - self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._update_timer_callback()) - - def _update_timer_callback(self): - """ - Timer callback to send variable updates at their specified rates. - Batches all ready updates into a single message for efficiency. - """ - current_time = time.ticks_ms() - - # Collect all variables that are ready to send - ready_vars = [] - for name, var_info in self._variables.items(): - var_id, var_type, permissions, value, rate, last_sent = var_info - - # Only send if rate > 0 and enough time has passed - if rate > 0: - period_ms = int(1000 / rate) - if time.ticks_diff(current_time, last_sent) >= period_ms: - # Check if we have read permission - if permissions in (PERM_READ_ONLY, PERM_READ_WRITE): - ready_vars.append(name) - - # Send all ready updates in a single batched message - if ready_vars: - self._send_batched_var_updates(ready_vars) - - def send_program_start(self): - """ - Send program start message. - """ - self._send_message(MSG_TYPE_PROGRAM_START, b'') - self._program_running = True - - def send_program_end(self): - """ - Send program end message. - """ - self._send_message(MSG_TYPE_PROGRAM_END, b'') - self._program_running = False - - def send_heartbeat(self): - """ - Send heartbeat message. - """ - # Include stats - payload = struct.pack(' float: - """ - Get the distance in centimeters by measuring the echo pulse time - """ - if time.ticks_diff(time.ticks_us(), self.last_echo_time) < self.cache_time_us and not (self.cms == 65535 or self.cms == 0): - return self.cms - - try: - pulse_time = self._send_pulse_and_wait() - if pulse_time <= 0: - return self.MAX_VALUE - except OSError as exception: - # We don't want programs to crash if the HC-SR04 doesn't see anything in range - # So we catch those errors and return 65535 instead - if exception.args[0] == 110: # 110 = ETIMEDOUT - return self.MAX_VALUE - raise exception - - # To calculate the distance we get the pulse_time and divide it by 2 - # (the pulse walk the distance twice) and by 29.1 becasue - # the sound speed on air (343.2 m/s), that It's equivalent to - # 0.034320 cm/us that is 1cm each 29.1us - self.cms = (pulse_time / 2) / 29.1 - self.last_echo_time = time.ticks_us() - return self.cms - - def _delay_us(self, delay:int): - """ - Custom implementation of time.sleep_us(), used to get around the bug in MicroPython where time.sleep_us() - doesn't work properly and causes the IDE to hang when uploading the code - """ - start = time.ticks_us() - while time.ticks_diff(time.ticks_us(), start) < delay: - pass diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/reflectance.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/reflectance.py deleted file mode 100644 index c986952..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/reflectance.py +++ /dev/null @@ -1,49 +0,0 @@ -from machine import Pin, ADC - -class Reflectance: - - _DEFAULT_REFLECTANCE_INSTANCE = None - - @classmethod - def get_default_reflectance(cls): - """ - Get the default XRP reflectance sensor instance. This is a singleton, so only one instance of the reflectance sensor will ever exist. - """ - if cls._DEFAULT_REFLECTANCE_INSTANCE is None: - cls._DEFAULT_REFLECTANCE_INSTANCE = cls() - return cls._DEFAULT_REFLECTANCE_INSTANCE - - def __init__(self, leftPin: int|str = "LINE_L", rightPin: int|str = "LINE_R"): - """ - Implements for a reflectance sensor using the built in 12-bit ADC. - Reads from analog in and converts to a float from 0 (white) to 1 (black) - - :param leftPin: The pin the left reflectance sensor is connected to - :type leftPin: int - :param rightPin: The pin the right reflectance sensor is connected to - :type rightPin: int - """ - self._leftReflectance = ADC(Pin(leftPin)) - self._rightReflectance = ADC(Pin(rightPin)) - - self.MAX_ADC_VALUE: int = 65536 - - def _get_value(self, sensor: ADC) -> float: - - return sensor.read_u16() / self.MAX_ADC_VALUE - - def get_left(self) -> float: - """ - Gets the the reflectance of the left reflectance sensor - : return: The reflectance ranging from 0 (white) to 1 (black) - : rtype: float - """ - return self._get_value(self._leftReflectance) - - def get_right(self) -> float: - """ - Gets the the reflectance of the right reflectance sensor - : return: The reflectance ranging from 0 (white) to 1 (black) - : rtype: float - """ - return self._get_value(self._rightReflectance) diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/resetbot.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/resetbot.py deleted file mode 100644 index 5397560..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/resetbot.py +++ /dev/null @@ -1,76 +0,0 @@ -import sys -""" -A simple file for shutting off all of the motors after a program gets interrupted from the REPL. -Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL. -""" - -def reset_motors(): - from XRPLib.encoded_motor import EncodedMotor - # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init - for i in range(4): - motor = EncodedMotor.get_default_encoded_motor(i+1) - motor.set_speed(0) - motor.reset_encoder_position() - -def reset_led(): - from XRPLib.board import Board - # Turn off the on-board LED - Board.get_default_board().led_off() - try: - # Turn off the RGB LED for boards that have it - Board.get_default_board().set_rgb_led(0, 0, 0) - except: - pass - -def reset_servos(): - from XRPLib.servo import Servo - # Turn off both Servos - Servo.get_default_servo(1).free() - Servo.get_default_servo(2).free() - try: #if 2350 then there are 4 servos - Servo.get_default_servo(3).free() - Servo.get_default_servo(4).free() - except: - pass - -def reset_webserver(): - from XRPLib.webserver import Webserver - # Shut off the webserver and close network connections - Webserver.get_default_webserver().stop_server() - -def reset_gamepad(): - from XRPLib.gamepad import Gamepad - # Stop the browser from sending more gamepad data - Gamepad.get_default_gamepad().stop() - -def reset_dashboard(): - from XRPLib.dashboard import Dashboard - # Stop the dashboard from sending more data - Dashboard.get_default_dashboard().stop() - -def reset_hard(): - reset_gamepad() - reset_dashboard() - reset_motors() - reset_led() - reset_servos() - reset_webserver() - -if "XRPLib.gamepad" in sys.modules: - reset_gamepad() - -if "XRPLib.dashboard" in sys.modules: - reset_dashboard() - -if "XRPLib.encoded_motor" in sys.modules: - reset_motors() - -if "XRPLib.board" in sys.modules: - reset_led() - -if "XRPLib.servo" in sys.modules: - reset_servos() - -if "XRPLib.webserver" in sys.modules: - reset_webserver() - diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/servo.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/servo.py deleted file mode 100644 index e606dac..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/servo.py +++ /dev/null @@ -1,66 +0,0 @@ -from machine import Pin, PWM -import sys - -class Servo: - - _DEFAULT_SERVO_ONE_INSTANCE = None - _DEFAULT_SERVO_TWO_INSTANCE = None - _DEFAULT_SERVO_THREE_INSTANCE = None - _DEFAULT_SERVO_FOUR_INSTANCE = None - - @classmethod - def get_default_servo(cls, index:int): - """ - Gets one of the default XRP servo instances. These are singletons, so only one instance of each servo will ever exist. - Raises an exception if an invalid index is requested. - - :param index: The index of the servo to get (1-4; Beta only has 1 and 2) - :type index: int - """ - if index == 1: - if cls._DEFAULT_SERVO_ONE_INSTANCE is None: - cls._DEFAULT_SERVO_ONE_INSTANCE = cls("SERVO_1") - servo = cls._DEFAULT_SERVO_ONE_INSTANCE - elif index == 2: - if cls._DEFAULT_SERVO_TWO_INSTANCE is None: - cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2") - servo = cls._DEFAULT_SERVO_TWO_INSTANCE - elif index == 3 and hasattr(Pin.board, "SERVO_3"): - if cls._DEFAULT_SERVO_THREE_INSTANCE is None: - cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3") - servo = cls._DEFAULT_SERVO_THREE_INSTANCE - elif index == 4 and hasattr(Pin.board, "SERVO_4"): - if cls._DEFAULT_SERVO_FOUR_INSTANCE is None: - cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4") - servo = cls._DEFAULT_SERVO_FOUR_INSTANCE - else: - return Exception("Invalid servo index") - return servo - - def __init__(self, signal_pin: int|str): - """ - A simple class for interacting with a servo through PWM - - :param signal_pin: The pin the servo is connected to - :type signal_pin: int | str - """ - - self._servo = PWM(Pin(signal_pin, Pin.OUT)) - # Initialize base frequency for the PWM - self._servo.freq(50) - self.MICROSEC_PER_DEGREE: int = 10000 - self.LOW_ANGLE_OFFSET: int = 500000 - - def set_angle(self, degrees: float): - """ - Sets the angle of the servo - :param degrees: The angle to set the servo to [0,200] - :ptype degrees: float - """ - self._servo.duty_ns(int(degrees * self.MICROSEC_PER_DEGREE + self.LOW_ANGLE_OFFSET)) - - def free(self): - """ - Allows the servo to spin freely without holding position - """ - self._servo.duty_ns(0) diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/timeout.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/timeout.py deleted file mode 100644 index 7d7a669..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/timeout.py +++ /dev/null @@ -1,23 +0,0 @@ -import time - -class Timeout: - def __init__(self, timeout: float): - """ - Starts a timer that will expire after the given timeout. - - :param timeout: The timeout, in seconds - :type timeout: float - """ - self.timeout = timeout - if self.timeout != None: - self.timeout = timeout*1000 - - self.start_time = time.ticks_ms() - - def is_done(self): - """ - :return: True if the timeout has expired, False otherwise - """ - if self.timeout is None: - return False - return time.ticks_ms() - self.start_time > self.timeout \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/webserver.py b/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/webserver.py deleted file mode 100644 index bedbba6..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/XRPLib/webserver.py +++ /dev/null @@ -1,326 +0,0 @@ -from phew import server, template, logging, access_point, dns -from phew.template import render_template -from phew.server import redirect, stop, close -import gc -import network -import time -import json - -logging.log_file = "webserverLog.txt" - -class Webserver: - - @classmethod - def get_default_webserver(cls): - """ - Get the default webserver instance. This is a singleton, so only one instance of the webserver will ever exist. - """ - return webserver - - def __init__(self): - """ - Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below. - """ - - gc.threshold(50000) # garbage collection - self.logged_data = {} - self.buttons = {"forwardButton": lambda: logging.debug("Button not initialized"), - "backButton": lambda: logging.debug("Button not initialized"), - "leftButton": lambda: logging.debug("Button not initialized"), - "rightButton": lambda: logging.debug("Button not initialized"), - "stopButton": lambda: logging.debug("Button not initialized")} - self.FUNCTION_PREFIX = "startfunction" - self.FUNCTION_SUFFIX = "endfunction" - self.display_arrows = False - # Instantiate self.wlan now so that running stop before start doesn't cause an error - self.wlan = network.WLAN(network.STA_IF) - - def start_network(self, ssid:str=None, robot_id:int= None, password:str=None): - """ - Open an access point from the XRP board to be used as a captive host. The default network information can be set in secrets.json - - :param ssid: The ssid of the access point, defaults to value from secrets.json - :type ssid: str, optional - :param robot_id: Replaces "{robot_id}" in ssid, defaults to value from secrets.json - :type robot_id: int, optional - :param password: The password of the access point, defaults to value from secrets.json - :type password: str, optional - """ - if ssid is None: - try: - with open("../../secrets.json") as secrets_file: - secrets = json.load(secrets_file) - ssid = str(secrets["ap_ssid"]) - password = str(secrets["ap_password"]) - if robot_id is None: - robot_id = str(secrets["robot_id"]) - ssid = ssid.replace("{robot_id}", robot_id) - except (OSError, KeyError, ValueError): - if robot_id is None: - robot_id = 1 - ssid = f"XRP_{robot_id}" - password = "remote.xrp" - if password is not None and len(password) < 8: - logging.warn("Password is less than 8 characters, this may cause issues with some devices") - self.wlan = access_point(ssid, password) - logging.info(f"Starting Access Point \"{ssid}\"") - self.ip = self.wlan.ifconfig()[0] - - def connect_to_network(self, ssid:str=None, password:str=None, timeout = 10): - """ - Connect to a wifi network with the given ssid and password. - If the connection fails, the board will disconnect from the network and return. - - :param ssid: The ssid of the network, defaults to value from secrets.json - :type ssid: str, optional - :param password: The password of the network, defaults to value from secrets.json - :type password: str, optional - :param timeout: The amount of time to wait for the connection to succeed, defaults to 10 - :type timeout: int, optional - """ - self.wlan = network.WLAN(network.STA_IF) - self.wlan.active(True) # configure board to connect to wifi - if ssid is None: - try: - with open("../../secrets.json") as secrets_file: - secrets = json.load(secrets_file) - ssid = str(secrets["wifi_ssid"]) - password = str(secrets["wifi_password"]) - except (OSError, KeyError, ValueError): - print("secrets.json not found or improperly formatted") - return False - self.wlan.connect(ssid,password) - start_time = time.time() - while not self.wlan.isconnected(): - print("Connecting to network, may take a second") - if time.time() > start_time+timeout: - print("Failed to connect to network, please try again") - self.wlan.disconnect() - return False - time.sleep(0.25) - self.ip = self.wlan.ifconfig()[0] - - def start_server(self): - """ - Begin the webserver in either access point or bridge mode. The IP is printed to the console. - - Preconditions: Either start_network or connect_to_network must be called before this method. - """ - self.wlan.active(True) - logging.info(f"Starting DNS Server at {self.ip}") - dns.run_catchall(self.ip) - self.DOMAIN = self.ip - logging.disable_logging_types(logging.LOG_INFO) - server.run() - - def stop_server(self): - """ - Shuts off the webserver and network and stops handling requests - """ - if self.wlan.active(): - logging.enable_logging_types(logging.LOG_INFO) - logging.info("Stopping Webserver and Network Connections") - - stop() - self.wlan.active(False) - - def _index_page(self, request): - # Render index page and respond to form requests - if request.method == 'GET': - return self._generateHTML() - if request.method == 'POST': - if str(list(request.form.values())[0]).count(" ") == 0: - text = str(list(request.form.keys())[0]) - else: - text = str(list(request.form.values())[0]) - self._handleUserFunctionRequest(text) - return self._generateHTML() - - def _hotspot(self, request): - # Redirect to Index Page - return self._generateHTML() - - def _catch_all(self, request): - # Catch all requests and redirect if necessary - if request.headers.get("host") != self.DOMAIN: - return redirect("http://"+self.DOMAIN+"/") - return self._index_page(request=request) - - def log_data(self, label:str, data): - """ - Register a custom label to be displayed on the webserver - - :param label: The label as it will be displayed, must be unique - :type label: str - :param data: The data to be displayed - :type data: Any (converted to string) - """ - self.logged_data[label] = data - - def add_button(self, button_name:str, function): - """ - Register a custom button to be displayed on the webserver - - :param button_name: The label for the button as it will be displayed, must be unique - :type button_name: str - :param function: The function to be called when the button is pressed - :type function: function - """ - self.buttons[button_name] = function - - def registerForwardButton(self, function): - """ - Assign a function to the forward button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["forwardButton"] = function - - def registerBackwardButton(self, function): - """ - Assign a function to the backward button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["backButton"] = function - - def registerLeftButton(self, function): - """ - Assign a function to the left button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["leftButton"] = function - - def registerRightButton(self, function): - """ - Assign a function to the right button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["rightButton"] = function - - def registerStopButton(self, function): - """ - Assign a function to the stop - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["stopButton"] = function - - def _handleUserFunctionRequest(self, text) -> bool: - print(f"Running {text}") - try: - user_function = self.buttons[text] - if user_function is None: - logging.warning("User function "+text+" not found") - return False - user_function() - return True - except RuntimeError as xcpt: - logging.error("User function "+text+" caused an exception: "+str(xcpt)) - return False - - def _generateHTML(self): - - string = _HTML1 - - if self.display_arrows: - string += _HTML_ARROWS - - string += f'

Custom Function Bindings:

' - # add each button's href to html - for button in self.buttons.keys(): - if(["forwardButton","backButton","leftButton","rightButton","stopButton"].count(button) > 0): - # Slightly cursed solution to not display the arrow buttons as text buttons - continue - string += f'

' - string += "\n" - - string += f'

Logged Data:

' - # add logged data to the html - for data_label in self.logged_data.keys(): - string += f'

{data_label}: {str(self.logged_data[data_label])}

' - string += "\n" - - string += _HTML2 - - return string - -""" Use decorators to bind the wifi methods to the requests """ -webserver = Webserver() - -@server.route("/", methods=['GET','POST']) -def index(request): - return webserver._index_page(request) - -@server.route("/hotspot-detect.html", methods=["GET"]) -def hotspot(request): - return webserver._hotspot(request) - -@server.catchall() -def catch_all(request): - return webserver._catch_all(request) - -_HTML1 = """ - - - - - - - - - - -

XRP control page

- -

-""" - -_HTML_ARROWS = """ -

-
-
-    -
-    -
-
-
-""" - -_HTML2 = """ -

- - - - -""" \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/ble/__init__.py b/public/firmware-loader/boards/xrp-beta/micropython/ble/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/public/firmware-loader/boards/xrp-beta/micropython/ble/ble_uart_peripheral.py b/public/firmware-loader/boards/xrp-beta/micropython/ble/ble_uart_peripheral.py deleted file mode 100644 index d9da813..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/ble/ble_uart_peripheral.py +++ /dev/null @@ -1,158 +0,0 @@ -# This implements the Nordic UART Service (NUS). - -import bluetooth -#from .ble_advertising import advertising_payload -import struct -from micropython import const -from machine import Timer - -#Advertise info -# org.bluetooth.characteristic.gap.appearance.xml -_ADV_APPEARANCE_GENERIC_COMPUTER = const(128) -_ADV_TYPE_FLAGS = const(0x01) -_ADV_TYPE_APPEARANCE = const(0x19) -_ADV_TYPE_NAME = const(0x09) - -_IRQ_CENTRAL_CONNECT = const(1) -_IRQ_CENTRAL_DISCONNECT = const(2) -_IRQ_GATTS_WRITE = const(3) -_IRQ_GATTS_INDICATE_DONE = const(20) - -_FLAG_READ = const(0x0002) -_FLAG_WRITE = const(0x0008) -_FLAG_NOTIFY = const(0x0010) - -_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") -_UART_TX = ( - bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"), - _FLAG_NOTIFY, -) -_UART_RX = ( - bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E"), - _FLAG_WRITE, -) - -# Define a new UUID for the binary data characteristic. -_UART_DATA_RX = ( - bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36ff"), - _FLAG_WRITE, -) -# Define a new UUID for the binary data characteristic. -_UART_DATA_TX = ( - bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36fe"), - _FLAG_NOTIFY, -) - -_UART_SERVICE = ( - _UART_UUID, - (_UART_TX, _UART_RX, _UART_DATA_RX, _UART_DATA_TX,), -) - -_timer = Timer(-1) - -def delayedRestart(_arg): - import machine - machine.reset() - -class BLEUART: - def __init__(self, ble, name="mpy-uart", rxbuf=100): - self._ble = ble - self._ble.active(True) - self._ble.irq(self._irq) - ((self._tx_handle, self._rx_handle, self._data_rx_handle, self._data_tx_handle),) = self._ble.gatts_register_services((_UART_SERVICE,)) - # Increase the size of the rx buffer and enable append mode. - self._ble.gatts_set_buffer(self._rx_handle, rxbuf, True) - self._connections = set() - self._rx_buffer = bytearray() - self._handler = None - self._payload = self._advertising_payload(name, _ADV_APPEARANCE_GENERIC_COMPUTER) - self._data_callback = None - self._advertise() - - def irq(self, handler): - self._handler = handler - - def _irq(self, event, data): - # Track connections so we can send notifications. - if event == _IRQ_CENTRAL_CONNECT: - conn_handle, _, _ = data - self._connections.add(conn_handle) - elif event == _IRQ_CENTRAL_DISCONNECT: - conn_handle, _, _ = data - if conn_handle in self._connections: - self._connections.remove(conn_handle) - # Start advertising again to allow a new connection. - self._advertise() - elif event == _IRQ_GATTS_WRITE: - conn_handle, value_handle = data - if conn_handle in self._connections and value_handle == self._rx_handle: - self._rx_buffer += self._ble.gatts_read(self._rx_handle) - if(self._rx_buffer.find(b'##XRPSTOP#' + b'#') != -1): #WARNING: This is broken up so it won't restart during an update or this file. - self._rx_buffer = bytearray() - # set the bit in isrunning to tell main not to re-run the program so the IDE can connect - FILE_PATH = '/lib/ble/isrunning' - with open(FILE_PATH, 'r+b') as file: - file.write(b'\x01') - # slight delay to avoid errors on the browser side. - _timer.init(mode=Timer.PERIODIC, period=50, callback=delayedRestart) - elif conn_handle in self._connections and value_handle == self._data_rx_handle: - new_data = self._ble.gatts_read(self._data_rx_handle) - if self._data_callback: - self._data_callback(new_data) - #schedule(self._data_callback, new_data) - elif event == _IRQ_GATTS_INDICATE_DONE: - if self._handler: - self._handler() - #else: - #print("IRQ Event Code: " + str(event)) - - def any(self): - return len(self._rx_buffer) - - def read(self, sz=None): - if not sz: - sz = len(self._rx_buffer) - result = self._rx_buffer[0:sz] - self._rx_buffer = self._rx_buffer[sz:] - return result - - def write(self, data): - #print("write:" + data) - for conn_handle in self._connections: - self._ble.gatts_indicate(conn_handle, self._tx_handle, data) - - def write_data(self, data): - #print("write_data:" + data) - for conn_handle in self._connections: - self._ble.gatts_notify(conn_handle, self._data_tx_handle, data) - - def set_data_callback(self, callback): - self._data_callback = callback - - def clear_data_callback(self): - self._data_callback = None - - def close(self): - for conn_handle in self._connections: - self._ble.gap_disconnect(conn_handle) - self._connections.clear() - - def _advertise(self, interval_us=500000): - self._ble.gap_advertise(interval_us, adv_data=self._payload) - - # Generate a payload to be passed to gap_advertise(adv_data=...). - def _advertising_payload(self, name, appearance): - payload = bytearray() - - def _append(adv_type, value): - nonlocal payload - payload += struct.pack("BB", len(value) + 1, adv_type) + value - - _append( - _ADV_TYPE_FLAGS, - struct.pack("B", 0x02 + 0x04), - ) - _append(_ADV_TYPE_NAME, name) - _append(_ADV_TYPE_APPEARANCE, struct.pack("= len(self._tx_buf): - self._tx_buf = bytearray() - self._tx_buf_index = 0 - self._uart.write(data) - - def write(self, buf): - state = disable_irq() - empty = not self._tx_buf - self._tx_buf += buf - enable_irq(state) - - if empty: - waitingForTimer = True - schedule_in(self._timer_handler, 50) - -def background_task(): - global uart - ble = bluetooth.BLE() - x = (''.join(['{:02x}'.format(b) for b in unique_id()])) - uart = BLEUART(ble, name="XRP-" + x[11:], rxbuf = 250) - stream = BLEUARTStream(uart) - os.dupterm(stream,0) - -# Start the background task -background_task() - \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/ble/isrunning b/public/firmware-loader/boards/xrp-beta/micropython/ble/isrunning deleted file mode 100644 index f76dd238ade08917e6712764a16a22005a50573d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1 IcmZPo000310RR91 diff --git a/public/firmware-loader/boards/xrp-beta/micropython/firmware.uf2 b/public/firmware-loader/boards/xrp-beta/micropython/firmware.uf2 deleted file mode 100644 index 82b0a1f59814aaea520cc73e7ef508fab0564f21..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1736704 zcmd?Sdwdkt{WpHj%-)lb4GFNh5cWbslI4J3e*u19mTr2?auQ)GYRJVjc zVY9PyIWv3S=X~y;&$+R(-1gmTZ+?QdY-%e++N&NpT0V``JPBgn%&_| zv(M#-eaD_0Ie*C{j3v`s4`M9Y7f)P51X4uB>?NZR_KQDh1pep?20k|o{|j>3-ZAfz zVooH=*q&Z_LX~4FagrE)ZD(LW8eg?}@z9(6DIwEi^!3(2|B1+A*0)CpaekIXoQtkV 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blocks of ram. -import gc, os, machine -gc.threshold(50000) - -# phew! the Pico (or Python) HTTP Endpoint Wrangler -from . import logging - -# determine if remotely mounted or not, changes some behaviours like -# logging truncation -remote_mount = False -try: - os.statvfs(".") # causes exception if remotely mounted (mpremote/pyboard.py) -except: - remote_mount = True - -def get_ip_address(): - import network - try: - return network.WLAN(network.STA_IF).ifconfig()[0] - except: - return None - -def is_connected_to_wifi(): - import network, time - wlan = network.WLAN(network.STA_IF) - return wlan.isconnected() - -# helper method to quickly get connected to wifi -def connect_to_wifi(ssid, password, timeout_seconds=30): - import network, time - - statuses = { - network.STAT_IDLE: "idle", - network.STAT_CONNECTING: "connecting", - network.STAT_WRONG_PASSWORD: "wrong password", - network.STAT_NO_AP_FOUND: "access point not found", - network.STAT_CONNECT_FAIL: "connection failed", - network.STAT_GOT_IP: "got ip address" - } - - wlan = network.WLAN(network.STA_IF) - wlan.active(True) - wlan.connect(ssid, password) - start = time.ticks_ms() - status = wlan.status() - - logging.debug(f" - {statuses[status]}") - while not wlan.isconnected() and (time.ticks_ms() - start) < (timeout_seconds * 1000): - new_status = wlan.status() - if status != new_status: - logging.debug(f" - {statuses[status]}") - status = new_status - time.sleep(0.25) - - if wlan.status() == network.STAT_GOT_IP: - return wlan.ifconfig()[0] - return None - - -# helper method to put the pico into access point mode -def access_point(ssid, password = None): - import network - - # start up network in access point mode - wlan = network.WLAN(network.AP_IF) - wlan.config(essid=ssid) - if password: - wlan.config(password=password) - else: - wlan.config(security=0) # disable password - wlan.active(True) - - return wlan diff --git a/public/firmware-loader/boards/xrp-beta/micropython/phew/dns.py b/public/firmware-loader/boards/xrp-beta/micropython/phew/dns.py deleted file mode 100644 index 2a1a4b3..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/phew/dns.py +++ /dev/null @@ -1,32 +0,0 @@ -import uasyncio, usocket -from . import logging - -async def _handler(socket, ip_address): - while True: - try: - yield uasyncio.core._io_queue.queue_read(socket) - request, client = socket.recvfrom(256) - response = request[:2] # request id - response += b"\x81\x80" # response flags - response += request[4:6] + request[4:6] # qd/an count - response += b"\x00\x00\x00\x00" # ns/ar count - response += request[12:] # origional request body - response += b"\xC0\x0C" # pointer to domain name at byte 12 - response += b"\x00\x01\x00\x01" # type and class (A record / IN class) - response += b"\x00\x00\x00\x3C" # time to live 60 seconds - response += b"\x00\x04" # response length (4 bytes = 1 ipv4 address) - response += bytes(map(int, ip_address.split("."))) # ip address parts - socket.sendto(response, client) - except Exception as e: - logging.error(e) - -def run_catchall(ip_address, port=53): - logging.info("> starting catch all dns server on port {}".format(port)) - - _socket = usocket.socket(usocket.AF_INET, usocket.SOCK_DGRAM) - _socket.setblocking(False) - _socket.setsockopt(usocket.SOL_SOCKET, usocket.SO_REUSEADDR, 1) - _socket.bind(usocket.getaddrinfo(ip_address, port, 0, usocket.SOCK_DGRAM)[0][-1]) - - loop = uasyncio.get_event_loop() - loop.create_task(_handler(_socket, ip_address)) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/phew/logging.py b/public/firmware-loader/boards/xrp-beta/micropython/phew/logging.py deleted file mode 100644 index dd70394..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/phew/logging.py +++ /dev/null @@ -1,111 +0,0 @@ -import machine, os, gc - -log_file = "log.txt" - -LOG_INFO = 0b00001 -LOG_WARNING = 0b00010 -LOG_ERROR = 0b00100 -LOG_DEBUG = 0b01000 -LOG_EXCEPTION = 0b10000 -LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION - -_logging_types = LOG_ALL - -# the log file will be truncated if it exceeds _log_truncate_at bytes in -# size. the defaults values are designed to limit the log to at most -# three blocks on the Pico -_log_truncate_at = 11 * 1024 -_log_truncate_to = 8 * 1024 - -def datetime_string(): - dt = machine.RTC().datetime() - return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) - -def file_size(file): - try: - return os.stat(file)[6] - except OSError: - return None - -def set_truncate_thresholds(truncate_at, truncate_to): - global _log_truncate_at - global _log_truncate_to - _log_truncate_at = truncate_at - _log_truncate_to = truncate_to - -def enable_logging_types(types): - global _logging_types - _logging_types = _logging_types | types - -def disable_logging_types(types): - global _logging_types - _logging_types = _logging_types & ~types - -# truncates the log file down to a target size while maintaining -# clean line breaks -def truncate(file, target_size): - # get the current size of the log file - size = file_size(file) - - # calculate how many bytes we're aiming to discard - discard = size - target_size - if discard <= 0: - return - - with open(file, "rb") as infile: - with open(file + ".tmp", "wb") as outfile: - # skip a bunch of the input file until we've discarded - # at least enough - while discard > 0: - chunk = infile.read(1024) - discard -= len(chunk) - - # try to find a line break nearby to split first chunk on - break_position = max( - chunk.find (b"\n", -discard), # search forward - chunk.rfind(b"\n", -discard) # search backwards - ) - if break_position != -1: # if we found a line break.. - outfile.write(chunk[break_position + 1:]) - - # now copy the rest of the file - while True: - chunk = infile.read(1024) - if not chunk: - break - outfile.write(chunk) - - # delete the old file and replace with the new - os.remove(file) - os.rename(file + ".tmp", file) - - -def log(level, text): - datetime = datetime_string() - log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) - print(log_entry) - with open(log_file, "a") as logfile: - logfile.write(log_entry + '\n') - - if _log_truncate_at and file_size(log_file) > _log_truncate_at: - truncate(log_file, _log_truncate_to) - -def info(*items): - if _logging_types & LOG_INFO: - log("info", " ".join(map(str, items))) - -def warn(*items): - if _logging_types & LOG_WARNING: - log("warning", " ".join(map(str, items))) - -def error(*items): - if _logging_types & LOG_ERROR: - log("error", " ".join(map(str, items))) - -def debug(*items): - if _logging_types & LOG_DEBUG: - log("debug", " ".join(map(str, items))) - -def exception(*items): - if _logging_types & LOG_EXCEPTION: - log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/phew/server.py b/public/firmware-loader/boards/xrp-beta/micropython/phew/server.py deleted file mode 100644 index 60a3113..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/phew/server.py +++ /dev/null @@ -1,358 +0,0 @@ -import uasyncio, os, time -from . import logging - -_routes = [] -catchall_handler = None -loop = uasyncio.get_event_loop() - - -def file_exists(filename): - try: - return (os.stat(filename)[0] & 0x4000) == 0 - except OSError: - return False - - -def urldecode(text): - text = text.replace("+", " ") - result = "" - token_caret = 0 - # decode any % encoded characters - while True: - start = text.find("%", token_caret) - if start == -1: - result += text[token_caret:] - break - result += text[token_caret:start] - code = int(text[start + 1:start + 3], 16) - result += chr(code) - token_caret = start + 3 - return result - -def _parse_query_string(query_string): - result = {} - for parameter in query_string.split("&"): - key, value = parameter.split("=", 1) - key = urldecode(key) - value = urldecode(value) - result[key] = value - return result - - -class Request: - def __init__(self, method, uri, protocol): - self.method = method - self.uri = uri - self.protocol = protocol - self.form = {} - self.data = {} - self.query = {} - query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) - self.path = uri[:query_string_start] - self.query_string = uri[query_string_start + 1:] - if self.query_string: - self.query = _parse_query_string(self.query_string) - - def __str__(self): - return f"""\ -request: {self.method} {self.path} {self.protocol} -headers: {self.headers} -form: {self.form} -data: {self.data}""" - - -class Response: - def __init__(self, body, status=200, headers={}): - self.status = status - self.headers = headers - self.body = body - - def add_header(self, name, value): - self.headers[name] = value - - def __str__(self): - return f"""\ -status: {self.status} -headers: {self.headers} -body: {self.body}""" - - -content_type_map = { - "html": "text/html", - "jpg": "image/jpeg", - "jpeg": "image/jpeg", - "svg": "image/svg+xml", - "json": "application/json", - "png": "image/png", - "css": "text/css", - "js": "text/javascript", - "csv": "text/csv", -} - - -class FileResponse(Response): - def __init__(self, file, status=200, headers={}): - self.status = 404 - self.headers = headers - self.file = file - - try: - if (os.stat(self.file)[0] & 0x4000) == 0: - self.status = 200 - - # auto set content type - extension = self.file.split(".")[-1].lower() - if extension in content_type_map: - headers["Content-Type"] = content_type_map[extension] - - headers["Content-Length"] = os.stat(self.file)[6] - except OSError: - return False - - -class Route: - def __init__(self, path, handler, methods=["GET"]): - self.path = path - self.methods = methods - self.handler = handler - self.path_parts = path.split("/") - - # returns True if the supplied request matches this route - def matches(self, request): - if request.method not in self.methods: - return False - compare_parts = request.path.split("/") - if len(compare_parts) != len(self.path_parts): - return False - for part, compare in zip(self.path_parts, compare_parts): - if not part.startswith("<") and part != compare: - return False - return True - - # call the route handler passing any named parameters in the path - def call_handler(self, request): - parameters = {} - for part, compare in zip(self.path_parts, request.path.split("/")): - if part.startswith("<"): - name = part[1:-1] - parameters[name] = compare - - return self.handler(request, **parameters) - - def __str__(self): - return f"""\ -path: {self.path} -methods: {self.methods} -""" - - def __repr__(self): - return f"" - - -# parses the headers for a http request (or the headers attached to -# each field in a multipart/form-data) -async def _parse_headers(reader): - headers = {} - while True: - header_line = await reader.readline() - if header_line == b"\r\n": # crlf denotes body start - break - name, value = header_line.decode().strip().split(": ", 1) - headers[name.lower()] = value - return headers - - -# returns the route matching the supplied path or None -def _match_route(request): - for route in _routes: - if route.matches(request): - return route - return None - - -# if the content type is multipart/form-data then parse the fields -async def _parse_form_data(reader, headers): - boundary = headers["content-type"].split("boundary=")[1] - # discard first boundary line - dummy = await reader.readline() - - form = {} - while True: - # get the field name - field_headers = await _parse_headers(reader) - if len(field_headers) == 0: - break - name = field_headers["content-disposition"].split("name=\"")[1][:-1] - # get the field value - value = "" - while True: - line = await reader.readline() - line = line.decode().strip() - # if we hit a boundary then save the value and move to next field - if line == "--" + boundary: - form[name] = value - break - # if we hit end of form data boundary then save value and return - if line == "--" + boundary + "--": - form[name] = value - return form - value += line - return None - - -# if the content type is application/json then parse the body -async def _parse_json_body(reader, headers): - import json - content_length_bytes = int(headers["content-length"]) - body = await reader.readexactly(content_length_bytes) - return json.loads(body.decode()) - - -status_message_map = { - 200: "OK", 201: "Created", 202: "Accepted", - 203: "Non-Authoritative Information", 204: "No Content", - 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", - 301: "Moved Permanently", 302: "Found", 303: "See Other", - 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", - 307: "Temporary Redirect", 308: "Permanent Redirect", - 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", - 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", - 408: "Request Timeout", 409: "Conflict", 410: "Gone", - 414: "URI Too Long", 415: "Unsupported Media Type", - 416: "Range Not Satisfiable", 418: "I'm a teapot", - 500: "Internal Server Error", 501: "Not Implemented" -} - - -# handle an incoming request to the web server -async def _handle_request(reader, writer): - response = None - - request_start_time = time.ticks_ms() - - request_line = await reader.readline() - try: - method, uri, protocol = request_line.decode().split() - except Exception as e: - logging.error(e) - return - - request = Request(method, uri, protocol) - request.headers = await _parse_headers(reader) - if "content-length" in request.headers and "content-type" in request.headers: - if request.headers["content-type"].startswith("multipart/form-data"): - request.form = await _parse_form_data(reader, request.headers) - if request.headers["content-type"].startswith("application/json"): - request.data = await _parse_json_body(reader, request.headers) - if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): - form_data = await reader.read(int(request.headers["content-length"])) - request.form = _parse_query_string(form_data.decode()) - - route = _match_route(request) - if route: - response = route.call_handler(request) - elif catchall_handler: - response = catchall_handler(request) - - # if shorthand body generator only notation used then convert to tuple - if type(response).__name__ == "generator": - response = (response,) - - # if shorthand body text only notation used then convert to tuple - if isinstance(response, str): - response = (response,) - - # if shorthand tuple notation used then build full response object - if isinstance(response, tuple): - body = response[0] - status = response[1] if len(response) >= 2 else 200 - content_type = response[2] if len(response) >= 3 else "text/html" - response = Response(body, status=status) - response.add_header("Content-Type", content_type) - if hasattr(body, '__len__'): - response.add_header("Content-Length", len(body)) - - # write status line - status_message = status_message_map.get(response.status, "Unknown") - writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) - - # write headers - for key, value in response.headers.items(): - writer.write(f"{key}: {value}\r\n".encode("ascii")) - - # blank line to denote end of headers - writer.write("\r\n".encode("ascii")) - - if isinstance(response, FileResponse): - # file - with open(response.file, "rb") as f: - while True: - chunk = f.read(1024) - if not chunk: - break - writer.write(chunk) - await writer.drain() - elif type(response.body).__name__ == "generator": - # generator - for chunk in response.body: - writer.write(chunk) - await writer.drain() - else: - # string/bytes - writer.write(response.body) - await writer.drain() - - writer.close() - await writer.wait_closed() - - processing_time = time.ticks_ms() - request_start_time - logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") - - -# adds a new route to the routing table -def add_route(path, handler, methods=["GET"]): - global _routes - _routes.append(Route(path, handler, methods)) - # descending complexity order so most complex routes matched first - _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) - - -def set_callback(handler): - global catchall_handler - catchall_handler = handler - - -# decorator shorthand for adding a route -def route(path, methods=["GET"]): - def _route(f): - add_route(path, f, methods=methods) - return f - return _route - - -# decorator for adding catchall route -def catchall(): - def _catchall(f): - set_callback(f) - return f - return _catchall - - -def redirect(url, status = 301): - return Response("", status, {"Location": url}) - - -def serve_file(file): - return FileResponse(file) - - -def run(host = "0.0.0.0", port = 80): - logging.info("> starting web server on port {}".format(port)) - loop.create_task(uasyncio.start_server(_handle_request, host, port)) - loop.run_forever() - -def stop(): - loop.stop() - -def close(): - loop.close() \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/phew/template.py b/public/firmware-loader/boards/xrp-beta/micropython/phew/template.py deleted file mode 100644 index d1d1df4..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/phew/template.py +++ /dev/null @@ -1,65 +0,0 @@ -from . import logging - -async def render_template(template, **kwargs): - import time - start_time = time.ticks_ms() - - with open(template, "rb") as f: - # read the whole template file, we could work on single lines but - # the performance is much worse - so long as our templates are - # just a handful of kB it's ok to do this - data = f.read() - token_caret = 0 - - while True: - # find the next tag that needs evaluating - start = data.find(b"{{", token_caret) - end = data.find(b"}}", start) - - match = start != -1 and end != -1 - - # no more magic to handle, just return what's left - if not match: - yield data[token_caret:] - break - - expression = data[start + 2:end].strip() - - # output the bit before the tag - yield data[token_caret:start] - - # merge locals with the supplied named arguments and - # the response object - params = {} - params.update(locals()) - params.update(kwargs) - #params["response"] = response - - # parse the expression - try: - if expression.decode("utf-8") in params: - result = params[expression.decode("utf-8")] - result = result.replace("&", "&") - result = result.replace('"', """) - result = result.replace("'", "'") - result = result.replace(">", ">") - result = result.replace("<", "<") - else: - result = eval(expression, globals(), params) - - if type(result).__name__ == "generator": - # if expression returned a generator then iterate it fully - # and yield each result - for chunk in result: - yield chunk - else: - # yield the result of the expression - if result is not None: - yield str(result) - except: - pass - - # discard the parsed bit - token_caret = end + 2 - - logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/firmware-loader/boards/xrp-beta/micropython/project.json b/public/firmware-loader/boards/xrp-beta/micropython/project.json deleted file mode 100644 index d33b376..0000000 --- a/public/firmware-loader/boards/xrp-beta/micropython/project.json +++ /dev/null @@ -1,45 +0,0 @@ -{ - "title": "MicroPython", - "description": "Flash MicroPython firmware, then copy the listed XRPLib, XRPExamples, ble and phew files to your robot.", - "uf2Path": "firmware.uf2", - "version": "2.2.1", - "urls": [ - ["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], - ["/lib/XRPLib/board.py", "XRPLib/board.py"], - ["/lib/XRPLib/controller.py", "XRPLib/controller.py"], - ["/lib/XRPLib/dashboard.py", "XRPLib/dashboard.py"], - ["/lib/XRPLib/defaults.py", "XRPLib/defaults.py"], - ["/lib/XRPLib/differential_drive.py", "XRPLib/differential_drive.py"], - ["/lib/XRPLib/encoded_motor.py", "XRPLib/encoded_motor.py"], - ["/lib/XRPLib/encoder.py", "XRPLib/encoder.py"], - ["/lib/XRPLib/gamepad.py", "XRPLib/gamepad.py"], - ["/lib/XRPLib/imu.py", "XRPLib/imu.py"], - ["/lib/XRPLib/imu_defs.py", "XRPLib/imu_defs.py"], - ["/lib/XRPLib/motor.py", "XRPLib/motor.py"], - ["/lib/XRPLib/motor_group.py", "XRPLib/motor_group.py"], - ["/lib/XRPLib/pid.py", "XRPLib/pid.py"], - ["/lib/XRPLib/puppet.py", "XRPLib/puppet.py"], - ["/lib/XRPLib/rangefinder.py", "XRPLib/rangefinder.py"], - ["/lib/XRPLib/reflectance.py", "XRPLib/reflectance.py"], - ["/lib/XRPLib/resetbot.py", "XRPLib/resetbot.py"], - ["/lib/XRPLib/servo.py", "XRPLib/servo.py"], - ["/lib/XRPLib/timeout.py", "XRPLib/timeout.py"], - ["/lib/XRPLib/webserver.py", "XRPLib/webserver.py"], - ["/XRPExamples/__init__.py", "XRPExamples/__init__.py"], - ["/XRPExamples/drive_examples.py", "XRPExamples/drive_examples.py"], - ["/XRPExamples/gamepad_example.blocks", "XRPExamples/gamepad_example.blocks"], - ["/XRPExamples/installation_verification.py", "XRPExamples/installation_verification.py"], - ["/XRPExamples/led_example.py", "XRPExamples/led_example.py"], - ["/XRPExamples/sensor_examples.py", "XRPExamples/sensor_examples.py"], - ["/XRPExamples/webserver_example.py", "XRPExamples/webserver_example.py"], - ["/lib/ble/__init__.py", "ble/__init__.py"], - ["/lib/ble/ble_uart_peripheral.py", "ble/ble_uart_peripheral.py"], - ["/lib/ble/blerepl.py", "ble/blerepl.py"], - ["/lib/ble/isrunning", "ble/isrunning"], - ["/lib/phew/__init__.py", "phew/__init__.py"], - ["/lib/phew/dns.py", "phew/dns.py"], - ["/lib/phew/logging.py", "phew/logging.py"], - ["/lib/phew/server.py", "phew/server.py"], - ["/lib/phew/template.py", "phew/template.py"] - ] -} diff --git a/public/firmware-loader/boards/xrp-beta/wpilib/firmware.uf2 b/public/firmware-loader/boards/xrp-beta/wpilib/firmware.uf2 deleted file mode 100644 index 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zK?fB6u@Zl5kL%F?1rGwi2Lul-m_a#&X~6=@VVoAMpd2P?AqAAfY%OGfa#*f~Y)}q1 zEtGhf*z6 zfpVzULLDfFdM)e*<*-)^`$0K0Y2j&54$WG41(ZXJ7LJ2*=+J^4l<{W$pbH^8bb#R> zFY%8z;Qyc0f2fAP`1#*{{TF}S|ALE7{eObQKjBy6zs}WUzK1Y&!{-wCj#p#-@Di*c z{a1nY?%of^W;AVa+MGGRz_EXIohTda6&nx Date: Thu, 18 Jun 2026 23:01:30 -0400 Subject: [PATCH 3/7] Change to new format Make XRPLib and Micropython versions seperate to be included in seperate package.json files. And remove all the boards so they can be loaded dynamically. Also moved xrplib.zip to be with the releasees. Autoloads the latest. --- package.json | 3 + public/XRPLib.zip | Bin 39441 -> 0 bytes public/lib/XRPExamples/__init__.py | 0 public/lib/XRPExamples/dashboard sample.py | 65 -- public/lib/XRPExamples/drive_examples.py | 72 -- public/lib/XRPExamples/gamepad_example.blocks | 15 - .../XRPExamples/installation_verification.py | 84 -- public/lib/XRPExamples/led_example.py | 79 -- public/lib/XRPExamples/sensor_examples.py | 75 -- public/lib/XRPExamples/webserver_example.py | 48 - public/lib/XRPExamples/xrp_test.py | 76 -- public/lib/XRPLib/__init__.py | 10 - public/lib/XRPLib/board.py | 127 --- public/lib/XRPLib/controller.py | 30 - public/lib/XRPLib/dashboard.py | 257 ------ public/lib/XRPLib/defaults.py | 34 - public/lib/XRPLib/differential_drive.py | 340 ------- public/lib/XRPLib/encoded_motor.py | 191 ---- public/lib/XRPLib/encoder.py | 119 --- public/lib/XRPLib/gamepad.py | 169 ---- public/lib/XRPLib/imu.py | 559 ----------- public/lib/XRPLib/imu_defs.py | 83 -- public/lib/XRPLib/motor.py | 96 -- public/lib/XRPLib/motor_group.py | 94 -- public/lib/XRPLib/pid.py | 129 --- public/lib/XRPLib/puppet.py | 869 ------------------ public/lib/XRPLib/rangefinder.py | 93 -- public/lib/XRPLib/reflectance.py | 49 - public/lib/XRPLib/resetbot.py | 76 -- public/lib/XRPLib/servo.py | 66 -- public/lib/XRPLib/timeout.py | 23 - public/lib/XRPLib/webserver.py | 326 ------- public/lib/ble/__init__.py | 0 public/lib/ble/ble_uart_peripheral.py | 158 ---- public/lib/ble/blerepl.py | 99 -- public/lib/ble/isrunning | Bin 1 -> 0 bytes public/lib/main.py | 6 - public/lib/package.json | 36 - public/lib/phew/__init__.py | 77 -- public/lib/phew/dns.py | 32 - public/lib/phew/logging.py | 111 --- public/lib/phew/server.py | 358 -------- public/lib/phew/template.py | 65 -- public/micropython/firmware2040.uf2 | Bin 1736704 -> 0 bytes public/micropython/firmware2350.uf2 | Bin 1727488 -> 0 bytes public/micropython/package.json | 8 - public/micropython/version.txt | 1 - scripts/gen-firmware-manifests.mjs | 109 +++ src/components/dialogs/changelog.tsx | 11 +- .../dialogs/firmware-install-wizard.tsx | 96 +- src/components/dialogs/firmware-loaderdlg.tsx | 71 +- src/components/lsp-client.ts | 52 +- src/components/navbar.tsx | 17 +- src/managers/appmgr.ts | 9 + src/managers/commandstoxrpmgr.ts | 195 ++-- src/managers/connectionmgr.ts | 24 + src/utils/firmware-loader.ts | 185 ++++ src/utils/i18n/locales/en/en.json | 4 +- 58 files changed, 552 insertions(+), 5429 deletions(-) delete mode 100644 public/XRPLib.zip delete mode 100644 public/lib/XRPExamples/__init__.py delete mode 100644 public/lib/XRPExamples/dashboard sample.py delete mode 100644 public/lib/XRPExamples/drive_examples.py delete mode 100644 public/lib/XRPExamples/gamepad_example.blocks delete mode 100644 public/lib/XRPExamples/installation_verification.py delete mode 100644 public/lib/XRPExamples/led_example.py delete mode 100644 public/lib/XRPExamples/sensor_examples.py delete mode 100644 public/lib/XRPExamples/webserver_example.py delete mode 100644 public/lib/XRPExamples/xrp_test.py delete mode 100644 public/lib/XRPLib/__init__.py delete mode 100644 public/lib/XRPLib/board.py delete mode 100644 public/lib/XRPLib/controller.py delete mode 100644 public/lib/XRPLib/dashboard.py delete mode 100644 public/lib/XRPLib/defaults.py delete mode 100644 public/lib/XRPLib/differential_drive.py delete mode 100644 public/lib/XRPLib/encoded_motor.py delete mode 100644 public/lib/XRPLib/encoder.py delete mode 100644 public/lib/XRPLib/gamepad.py delete mode 100644 public/lib/XRPLib/imu.py delete mode 100644 public/lib/XRPLib/imu_defs.py delete mode 100644 public/lib/XRPLib/motor.py delete mode 100644 public/lib/XRPLib/motor_group.py delete mode 100644 public/lib/XRPLib/pid.py delete mode 100644 public/lib/XRPLib/puppet.py delete mode 100644 public/lib/XRPLib/rangefinder.py delete mode 100644 public/lib/XRPLib/reflectance.py delete mode 100644 public/lib/XRPLib/resetbot.py delete mode 100644 public/lib/XRPLib/servo.py delete mode 100644 public/lib/XRPLib/timeout.py delete mode 100644 public/lib/XRPLib/webserver.py delete mode 100644 public/lib/ble/__init__.py delete mode 100644 public/lib/ble/ble_uart_peripheral.py delete mode 100644 public/lib/ble/blerepl.py delete mode 100644 public/lib/ble/isrunning delete mode 100644 public/lib/main.py delete mode 100644 public/lib/package.json delete mode 100644 public/lib/phew/__init__.py delete mode 100644 public/lib/phew/dns.py delete mode 100644 public/lib/phew/logging.py delete mode 100644 public/lib/phew/server.py delete mode 100644 public/lib/phew/template.py delete mode 100644 public/micropython/firmware2040.uf2 delete mode 100644 public/micropython/firmware2350.uf2 delete mode 100644 public/micropython/package.json delete mode 100644 public/micropython/version.txt create mode 100644 scripts/gen-firmware-manifests.mjs create mode 100644 src/utils/firmware-loader.ts diff --git a/package.json b/package.json index 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ziTLyVy%_az1=eXz^nKl>mg&tcIELNV3xATuxWwY_!hBYs&;yei1dH>_VEz)iLi{a9eTPEm0+1GW4g|Qt%jhjg*3>UhI*8~8+5nPD(KIw%?NTVI9R zy19CJx)F(tBm34MpTeqYqXFt=_Fv0w2K?Dp$>#{3K5mRI23-S+oODY$13)c-ex%nx z6?kP8x~A#-8c=9IG9Qn%8O z|B|uD01d`^LG!4f!!|R7w3CKjC*%vjf+1hOjxcD75Pij4C23gC^`osAR16MYXeJI1 zofr+fY3TJriPqpk;|A!J(3hrh|A`pz{Efj2bwC!ND^~~i3wE940tPjMCdyFbL;69y zNtp&;*WnNVgOGFs{=F7JEud4u^ctTG zrWL;4(gy=Uz=>q&ITC&4hM_d>f16eYS^%e&k82}<6A2h>3vhP=P6gs(!DoK~IVQ1i diff --git a/public/lib/XRPExamples/__init__.py b/public/lib/XRPExamples/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/public/lib/XRPExamples/dashboard sample.py b/public/lib/XRPExamples/dashboard sample.py deleted file mode 100644 index 87ab311..0000000 --- a/public/lib/XRPExamples/dashboard sample.py +++ /dev/null @@ -1,65 +0,0 @@ -from XRPLib.defaults import * -from ble.blerepl import uart -from time import sleep -from micropython import const -import time -import struct - -YAW = const(0) -ROLL = const(1) -PTICH = const(2) -ACCX = const(3) -ACCY = const(4) -ACCZ = const(5) -ENCL = const(6) -ENCR = const(7) -ENC3 = const(8) -ENC4 = const(9) -CURRL = const(10) -CURRR = const(11) -CURR3 = const(12) -CURR4 = const(13) -DIST = const(14) -REFLECTANCEL = const(15) -REFLECTANCER = const(16) -VOLTAGE = const(17) - -def startDashboard(): - data = bytearray([0x46, 0]) - uart.write_data(data) - -def sendIntValue(index, value): - data = bytearray([0x45, 3, 0, 0, 0]) - data[3] = index - data[4] = value - uart.write_data(data) - -def sendFloatValue(index, value): - data = bytearray([0x45, 6, 1, 0, 0, 0, 0 ,0]) - data[3] = index - data[4:] = struct.pack(' timeout: - break - -print("done") - -print("done") - - diff --git a/public/lib/XRPExamples/drive_examples.py b/public/lib/XRPExamples/drive_examples.py deleted file mode 100644 index c9719fa..0000000 --- a/public/lib/XRPExamples/drive_examples.py +++ /dev/null @@ -1,72 +0,0 @@ -from XRPLib.defaults import * -import time - -""" - By the end of this file students will learn how to control the drivetrain, - both by setting effort values directly to the motors and by using go_straight and go_turn -""" - -# drive straight for a set time period (defualt 1 second) -def drive_straight(drive_time: float = 1): - drivetrain.set_effort(0.8, 0.8) - time.sleep(drive_time) - drivetrain.stop() - -# drive at a slight counter clockwise arc for a set time period (default 1 second) -def arc_turn(turn_time: float = 1): - drivetrain.set_effort(0.5, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# turn CCW at a point for a set time period (default 1 second) -def point_turn(turn_time: float = 1): - drivetrain.set_effort(-0.8, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# pivot turn around the left wheel for a set time period (default 1 second) -def swing_turn(turn_time: float = 1): - drivetrain.set_effort(0, 0.8) - time.sleep(turn_time) - drivetrain.stop() - -# Driving in a circle by setting a difference in motor efforts -def circle(): - while True: - drivetrain.set_effort(0.8, 1) - -# Follow the perimeter of a square with variable sidelength -def square(sidelength): - for sides in range(4): - drivetrain.straight(sidelength, 0.8) - drivetrain.turn(90) - # Alternatively: - # polygon(sidelength, 4) - -# Follow the perimeter of an arbitrary polygon with variable side length and number of sides -# Side length in centimeters -def polygon(side_length, number_of_sides): - for s in range(number_of_sides): - drivetrain.straight(side_length) - drivetrain.turn(360/number_of_sides) - -# A slightly longer example program showing how a robot may follow a simple path -def test_drive(): - print("Driving forward 25cm") - drivetrain.straight(25, 0.8) - - time.sleep(1) - - print("turn 90 degrees right") - drivetrain.turn(90,0.8) - - time.sleep(1) - - print("turn 90 degrees left by setting speed negative") - drivetrain.turn(90, -0.8) - - time.sleep(1) - - print("drive backwards 25 cm by setting distance negative") - # There is no difference between setting speed or distance negative, both work - drivetrain.straight(-25,0.8) \ No newline at end of file diff --git a/public/lib/XRPExamples/gamepad_example.blocks b/public/lib/XRPExamples/gamepad_example.blocks deleted file mode 100644 index d5e3795..0000000 --- a/public/lib/XRPExamples/gamepad_example.blocks +++ /dev/null @@ -1,15 +0,0 @@ -from XRPLib.gamepad import * -from XRPLib.differential_drive import DifferentialDrive - -gp = Gamepad.get_default_gamepad() - -differentialDrive = DifferentialDrive.get_default_differential_drive() - - -while not (gp.is_button_pressed(gp.BACK)): - differentialDrive.arcade((gp.get_value(gp.Y1)), (gp.get_value(gp.X1))) - - - -## [2025-07-13 01:36:24] -##XRPBLOCKS {"blocks":{"languageVersion":0,"blocks":[{"type":"controls_whileUntil","id":"#/DDnbE2JxVsLQo`C`e^","x":-363,"y":16,"fields":{"MODE":"UNTIL"},"inputs":{"BOOL":{"block":{"type":"xrp_gp_button_pressed","id":"DtLypJc;SU2xT4A~S3nV","fields":{"GPBUTTON":"BACK"}}},"DO":{"block":{"type":"xrp_arcade","id":"(|]Iln#JYa9hzgEz+(4g","inputs":{"STRAIGHT":{"shadow":{"type":"math_number","id":"FOj1uvC$:~x/+cX}d(:|","fields":{"NUM":0.8}},"block":{"type":"xrp_gp_get_value","id":"s#GS_Dt)B8Cb9+4ctpwk","fields":{"GPVALUE":"Y1"}}},"TURN":{"shadow":{"type":"math_number","id":"n1jAKrjST!+3#bfChh$d","fields":{"NUM":0.2}},"block":{"type":"xrp_gp_get_value","id":"*]`U9XHyYnA?Gp%U;$NF","fields":{"GPVALUE":"X1"}}}}}}}}]}} \ No newline at end of file diff --git a/public/lib/XRPExamples/installation_verification.py b/public/lib/XRPExamples/installation_verification.py deleted file mode 100644 index 8f33c4e..0000000 --- a/public/lib/XRPExamples/installation_verification.py +++ /dev/null @@ -1,84 +0,0 @@ -from XRPLib.defaults import * -import time - -# Installation Verification Program -def ivp(): - # Print welcome message - print("------------------------------------------") - print("Running Installation Verification Program!") - print("------------------------------------------") - print() - print("Welcome to the XRP! This example code will help") - print("you verify that everything is working on your robot.") - print("After each test, press the user button to continue.") - print() - - # Flash LED at 5Hz - print("Flashing LED") - board.led_blink(5) - - # Wait for user to press button - print("Press user button to test reflectance sensor") - board.wait_for_button() - - # Stop blinking LED - board.led_off() - - # Print reflectance values until button is pressed - while not board.is_button_pressed(): - print(f"Reflectance Left: {reflectance.get_left():.3f} Right: {reflectance.get_right():.3f} Press user button to test range sensor") - time.sleep(0.1) - - # Wait until button is released - while board.is_button_pressed(): - time.sleep(0.1) - - # Print range values until button is pressed - while not board.is_button_pressed(): - print(f"Range Distance: {rangefinder.distance():.1f} Press user button to test servo") - time.sleep(0.1) - - # Wait until button is released - while board.is_button_pressed(): - time.sleep(0.1) - - # Print warning and wait for button press - print() - print("The next test will move the servo, so keep your hands clear!") - print("Also please make sure the power switch is turned on!") - print("Press user button to test servo") - board.wait_for_button() - - # Test servo - print("Testing servo") - time.sleep(1) - servo_one.set_angle(90) - time.sleep(1) - servo_one.set_angle(0) - time.sleep(1) - servo_one.set_angle(180) - - # Print warning and wait for button press - print() - print("The next test will drive the motors, so place the robot on a flat surface!") - print("Also please make sure the power switch is turned on!") - print("Press user button to test drivetrain") - board.wait_for_button() - - # Test drivetrain - print("Testing drivetrain") - time.sleep(1) - drivetrain.straight(25, 0.8) - time.sleep(1) - drivetrain.turn(90,0.8) - time.sleep(1) - drivetrain.turn(90, -0.8) - time.sleep(1) - drivetrain.straight(-25,0.8) - - print() - print("-----------------------------------") - print("All tests complete! Happy roboting!") - print("-----------------------------------") - -ivp() \ No newline at end of file diff --git a/public/lib/XRPExamples/led_example.py b/public/lib/XRPExamples/led_example.py deleted file mode 100644 index bb1286e..0000000 --- a/public/lib/XRPExamples/led_example.py +++ /dev/null @@ -1,79 +0,0 @@ -from XRPLib.board import Board -from machine import Timer, Pin -import time - -# Get a reference to the board -board = Board.get_default_board() - -# Create a timer for the RGB LED, assuming it's present on this board -rgb_led_timer = Timer(-1) - -# Conversion from hue to RGB -def hue_to_rgb(hue): - # Initialize RGB values - r = 0 - g = 0 - b = 0 - - # Ensure hue is in range of [0,360) - hue %= 360 - - if(hue < 120): - # Red to green region - r = (120 - hue) / 120 * 255 - g = (hue - 0) / 120 * 255 - b = 0 - elif(hue < 240): - # Green to blue region - hue -= 120 - r = 0 - g = (120 - hue) / 120 * 255 - b = (hue - 0) / 120 * 255 - else: - # Blue to red region - hue -= 240 - r = (hue - 0) / 120 * 255 - g = 0 - b = (120 - hue) / 120 * 255 - - # Return RGB as tuple of integers in range of [0,255] - return (int(r), int(g), int(b)) - -def update_rgb_led_rainbow(timer): - # Set hue based on current time. Hue is an angle up to 360 degrees, - # so using the milliseconds divided by 10 creates a rainbow that - # repeats every 3.6 seconds - hue = time.ticks_ms() / 10 - - # Compute RGB values - rgb = hue_to_rgb(hue) - - # Max brightness is blinding, so recompute RGB values with 10% brightness - brightness = 0.1 - r = int(rgb[0] * brightness) - g = int(rgb[1] * brightness) - b = int(rgb[2] * brightness) - - # Set the RGB LED color - board.set_rgb_led(r, g, b) - -def start_led_demo(): - # Make the monochrome LED start blinking - board.led_blink(1) - - # If this board has an RGB LED, make it start changing colors - if hasattr(Pin.board, "BOARD_NEOPIXEL"): - # Set up timer to update the RGB LED at 100Hz for smooth color changes - rgb_led_timer.init(freq = 100, callback = update_rgb_led_rainbow) - -def stop_led_demo(): - # Make the monochrome LED stop blinking and turn off the LED - board.led_blink(0) - board.led_off() - - # If this board has an RGB LED, stop the timer and turn off the LED - if hasattr(Pin.board, "BOARD_NEOPIXEL"): - rgb_led_timer.deinit() - board.set_rgb_led(0, 0, 0) - -start_led_demo() \ No newline at end of file diff --git a/public/lib/XRPExamples/sensor_examples.py b/public/lib/XRPExamples/sensor_examples.py deleted file mode 100644 index 69b280a..0000000 --- a/public/lib/XRPExamples/sensor_examples.py +++ /dev/null @@ -1,75 +0,0 @@ -from XRPLib.defaults import * -import time - -""" - By the end of this file students will learn how to read and use data from - both the ultrasonic sensors and the line followers. - They will also have a chance to learn the basics of proportional control. -""" - -# Polling data from the ultrasonic sensor -def ultrasonic_test(): - while True: - print(rangefinder.distance()) - time.sleep(0.1) - -# Approaches a wall at a set speed and then stops -def drive_till_close(target_distance: float = 10.0): - speed = 0.6 - while rangefinder.distance() > target_distance: - drivetrain.set_effort(speed, speed) - time.sleep(0.01) - drivetrain.set_effort(0, 0) - -# Maintains a certain distance from the wall using proportional control -def standoff(target_distance: float = 10.0): - KP = 0.2 - while True: - distance = rangefinder.distance() - error = distance - target_distance - drivetrain.set_effort(error * KP, error*KP) - time.sleep(0.01) - -# Maintains a certain distance from the wall while driving -# using proportional control (sensor on right side of robot this time) -def wall_follow(target_distance: float = 10.0): - KP = 0.1 - base_speed = 0.5 - while True: - distance = rangefinder.distance() - error = distance - target_distance - print(error) - drivetrain.set_effort(base_speed + error * KP, base_speed - error*KP) - time.sleep(0.01) - -# Follows a line using the line followers -def line_track(): - base_effort = 0.6 - KP = 0.6 - while True: - # You always want to take the difference of the sensors because the raw value isn't always consistent. - error = reflectance.get_left() - reflectance.get_right() - print(error) - drivetrain.set_effort(base_effort - error * KP, base_effort + error * KP) - time.sleep(0.01) - -# Polling data from the IMU -def imu_test(): - while True: - print(f"Pitch: {imu.get_pitch()}, Heading: {imu.get_heading()}, Roll: {imu.get_yaw()}, Accelerometer output: {imu.get_acc_rates()}") - time.sleep(0.1) - -def climb_ramp(ramp_angle, angle_tolerance=3.5): - speed = 0.6 - # Find ramp by driving forward - while imu.get_pitch() < ramp_angle-angle_tolerance: - drivetrain.set_effort(speed, speed) - time.sleep(0.05) - # Drive up ramp until angle levels out again - while imu.get_pitch() >= ramp_angle-angle_tolerance: - drivetrain.set_effort(speed, speed) - time.sleep(0.05) - # Then stop - drivetrain.set_effort(0, 0) - -ultrasonic_test() \ No newline at end of file diff --git a/public/lib/XRPExamples/webserver_example.py b/public/lib/XRPExamples/webserver_example.py deleted file mode 100644 index 695697d..0000000 --- a/public/lib/XRPExamples/webserver_example.py +++ /dev/null @@ -1,48 +0,0 @@ -from XRPLib.defaults import * -import time -from machine import Timer - -# Binding functions to the arrow buttons -webserver.registerForwardButton(lambda: drivetrain.set_effort(0.5, 0.5)) -webserver.registerLeftButton(lambda: drivetrain.set_effort(-0.5, 0.5)) -webserver.registerRightButton(lambda: drivetrain.set_effort(0.5, -0.5)) -webserver.registerBackwardButton(lambda: drivetrain.set_effort(-0.5, -0.5)) -webserver.registerStopButton(lambda: drivetrain.set_effort(0, 0)) - -# Binding functions to custom buttons -webserver.add_button("Close Server", lambda: webserver.stop_server()) -webserver.add_button("Blink", lambda: board.led_blink(2)) -webserver.add_button("LED Off", lambda: board.led_off()) -webserver.add_button("Servo Up", lambda: servo_one.set_angle(90)) -webserver.add_button("Servo Down", lambda: servo_one.set_angle(0)) - -# Logging static data to the webserver -# webserver.log_data("test", "test") -# webserver.log_data("List", [1,2,3]) -# webserver.log_data("Dict", {"a":1,"b":2,"c":3}) -# webserver.log_data("Tuple", (1,2,3)) - -def log_time_and_range(): - # This function is called every second to update the data on the webserver - webserver.log_data("Time", time.time()) - webserver.log_data("Range", rangefinder.distance()) - webserver.log_data("Left Motor", left_motor.get_position()) - webserver.log_data("Right Motor", right_motor.get_position()) - webserver.log_data("Button State", board.is_button_pressed()) - -timer = Timer(-1) -timer.init(freq=4, mode=Timer.PERIODIC, callback=lambda t: log_time_and_range()) - -def connect_and_start_webserver(): - # Connect to the network and start the webserver in bridge mode - # Network ssid and password are stored in root/secrets.json - webserver.connect_to_network() - webserver.start_server() - -def start_network_and_webserver(): - # Start the webserver in access point mode - # Network ssid and password are stored in root/secrets.json - webserver.start_network() - webserver.start_server() - -start_network_and_webserver() \ No newline at end of file diff --git a/public/lib/XRPExamples/xrp_test.py b/public/lib/XRPExamples/xrp_test.py deleted file mode 100644 index 4455401..0000000 --- a/public/lib/XRPExamples/xrp_test.py +++ /dev/null @@ -1,76 +0,0 @@ -from XRPLib.defaults import * -from machine import Pin -import time - -imu.reset_pitch() -imu.reset_yaw() -imu.reset_roll() - -def log_imu_heading(): - # Set to true to log the IMU heading forever - while True: - print(imu.get_yaw()) - time.sleep(0.1) - -def log_encoder_position(): - while True: - print(left_motor.get_position(), right_motor.get_position()) - time.sleep(0.1) - -def benchmark_encoder_isr(): - print("start benchmark") - N = 100000 - a = time.time() - for i in range(N): - drivetrain.left_motor._encoder.isr() - b = time.time() - - # Print benchmark - print(f"Time for {N} calls: {b-a}s") - print(f"Time per call: {(b-a)/N}s") # ~0.06 ms per call - -def test_turns(): - drivetrain.turn(45, 0.5) - time.sleep(1) - drivetrain.turn(-45, 0.75) - time.sleep(1) - - drivetrain.turn(90, 0.5) - time.sleep(1) - drivetrain.turn(-90, 0.75) - time.sleep(1) - - - # Turns 360 slow and fast, then turns 180 slow and fast - drivetrain.turn(360, 0.5) - time.sleep(1) - drivetrain.turn(-360, 0.75) - time.sleep(1) - -def test_straight(): - drivetrain.straight(30, 0.2) - -def test_set_effort(): - drivetrain.set_effort(0.3, 0.3) - time.sleep(2) - drivetrain.stop() - -def test_led(): - board.led_blink(5) - time.sleep(3) - board.led_off() - -def test_button(): - board.set_button_callback(trigger=Pin.IRQ_RISING, callback=lambda p: board.led.toggle()) - -def test_rangefinder(): - while not board.is_button_pressed(): - print(f"{rangefinder.distance()}, {rangefinder.distance()}") - time.sleep(0.5) - -def encoder_test(): - while not board.is_button_pressed(): - print(f"Left: {left_motor.get_position()}\tRight:{right_motor.get_position()}") - time.sleep(0.1) - -test_rangefinder() \ No newline at end of file diff --git a/public/lib/XRPLib/__init__.py b/public/lib/XRPLib/__init__.py deleted file mode 100644 index 6759c04..0000000 --- a/public/lib/XRPLib/__init__.py +++ /dev/null @@ -1,10 +0,0 @@ -""" - THIS LIBRARY WAS MADE FOR THE SPARKFUN XRP CONTROL BOARD. - PLEASE USE THE ASSOCIATED MICROPYTHON UF2 FILE. -""" - -import sys -if not "XRP" in sys.implementation._machine: - raise NotImplementedError("This library does not support your version of MicroPython. " - + "Please update your UF2 File for the Beta XRP Controller here: " - + "https://github.com/Open-STEM/XRP_MicroPython/releases/tag/v2.0.0") \ No newline at end of file diff --git a/public/lib/XRPLib/board.py b/public/lib/XRPLib/board.py deleted file mode 100644 index 8039f77..0000000 --- a/public/lib/XRPLib/board.py +++ /dev/null @@ -1,127 +0,0 @@ -from machine import Pin, ADC, Timer -from neopixel import NeoPixel -import time -import sys - -class Board: - - _DEFAULT_BOARD_INSTANCE = None - - @classmethod - def get_default_board(cls): - """ - Get the default board instance. This is a singleton, so only one instance of the board will ever exist. - """ - if cls._DEFAULT_BOARD_INSTANCE is None: - cls._DEFAULT_BOARD_INSTANCE = cls() - return cls._DEFAULT_BOARD_INSTANCE - - def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON", - rgb_led_pin = "BOARD_NEOPIXEL", led_pin = "LED"): - """ - Implements for extra features on the XRP board. Handles the on/off switch, button, and LED. - - :param vin_pin: The pin the on/off switch is connected to - :type vin_pin: int - :param button_pin: The pin the button is connected to - :type button_pin: int - """ - - self.on_switch = ADC(Pin(vin_pin)) - - self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP) - - self.led = Pin(led_pin, Pin.OUT) - - if hasattr(Pin.board, rgb_led_pin): - self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1) - # A timer ID of -1 is a virtual timer. - # Leaves the hardware timers for more important uses - self._virt_timer = Timer(-1) - self.is_led_blinking = False - - - def are_motors_powered(self) -> bool: - """ - :return: Returns true if the batteries are connected and powering the motors, false otherwise - :rytpe: bool - """ - return self.on_switch.read_u16() > 20000 - - def is_button_pressed(self) -> bool: - """ - Returns the state of the button - - :return: True if the button is pressed, False otherwise - :rtype: bool - """ - return not self.button.value() - - def wait_for_button(self): - """ - Halts the program until the button is pressed - """ - - # Wait until user command before running - while not self.is_button_pressed(): - time.sleep(.01) - - # Wait until user to release button before running - while self.is_button_pressed(): - time.sleep(.01) - - - def led_on(self): - """ - Turns the LED on - Stops the blinking timer if it is running - """ - self.is_led_blinking = False - self.led.on() - self._virt_timer.deinit() - - def led_off(self): - """ - Turns the LED off - Stops the blinking timer if it is running - """ - self.is_led_blinking = False - self.led.off() - self._virt_timer.deinit() - - def led_blink(self, frequency: int=0): - """ - Blinks the LED at a given frequency. If the frequency is 0, the LED will stop blinking. - - :param frequency: The frequency to blink the LED at (in Hz) - :type frequency: int - """ - if self.is_led_blinking: - # disable the old timer so we can reinitialize it - self._virt_timer.deinit() - # We set it to twice in input frequency so that - # the led flashes on and off frequency times per second - if frequency != 0: - self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC, - callback=lambda t:self.led.toggle()) - self.is_led_blinking = True - else: - self._virt_timer.deinit() - self.is_led_blinking = False - - def set_rgb_led(self, r:int, g:int, b:int): - """ - Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta - - :param r: The amount of red in the desired color - :type r: int - :param g: The amount of green in the desired color - :type g: int - :param b: The amount of blue in the desired color - :type b: int - """ - if "rgb_led" in self.__dict__: - self.rgb_led[0] = (r, g, b) - self.rgb_led.write() - else: - raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta") diff --git a/public/lib/XRPLib/controller.py b/public/lib/XRPLib/controller.py deleted file mode 100644 index 8d14a60..0000000 --- a/public/lib/XRPLib/controller.py +++ /dev/null @@ -1,30 +0,0 @@ -class Controller: - """ - An abstract class to be entended to demonstrate different types of control. A PID subclass has also been provided - """ - - def update(self, input) -> float: - """ - Handle a new update of this control loop given an effected input. - - :param error: The input to this controller for a given update. Usually an error or some other correctable value - :type error: float - - :return: The system output from the controller, to be used as an effort value or for any other purpose - :rtype: float - """ - pass - - def is_done(self) -> bool: - - """ - :return: If the controller has reached or settled at its desired value - :rtype: bool - """ - pass - - def clear_history(self): - """ - Clears all past data, such as integral sums or any other previous data - """ - pass \ No newline at end of file diff --git a/public/lib/XRPLib/dashboard.py b/public/lib/XRPLib/dashboard.py deleted file mode 100644 index 385e14e..0000000 --- a/public/lib/XRPLib/dashboard.py +++ /dev/null @@ -1,257 +0,0 @@ -from .encoded_motor import EncodedMotor -from .rangefinder import Rangefinder -from .imu import IMU -from .reflectance import Reflectance -from .puppet import Puppet, VAR_TYPE_INT, VAR_TYPE_FLOAT, PERM_READ_ONLY - -from machine import Timer, ADC, Pin -from micropython import const -import time - - -class Dashboard: - - _DEFAULT_DASHBOARD_INSTANCE = None - - # Variable type constants - VAR_TYPE_FLOAT = const(2) - - # Permission constants - PERM_READ_ONLY = const(1) - PERM_WRITE_ONLY = const(2) - - # Backward compatibility constants - YAW = const(0) - ROLL = const(1) - PTICH = const(2) - ACCX = const(3) - ACCY = const(4) - ACCZ = const(5) - ENCL = const(6) - ENCR = const(7) - ENC3 = const(8) - ENC4 = const(9) - CURRR = const(10) - CURRL = const(11) - CURR3 = const(12) - CURR4 = const(13) - DIST = const(14) - REFL = const(15) - REFR = const(16) - VOLTAGE = const(17) - - # Mapping from old index to XPP variable names - _VAR_NAMES = { - YAW: '$imu.yaw', - ROLL: '$imu.roll', - PTICH: '$imu.pitch', - ACCX: '$imu.acc_x', - ACCY: '$imu.acc_y', - ACCZ: '$imu.acc_z', - ENCL: '$encoder.left', - ENCR: '$encoder.right', - ENC3: '$encoder.3', - ENC4: '$encoder.4', - CURRL: '$current.left', - CURRR: '$current.right', - CURR3: '$current.3', - CURR4: '$current.4', - DIST: '$rangefinder.distance', - REFL: '$reflectance.left', - REFR: '$reflectance.right', - VOLTAGE: '$voltage', - } - - @classmethod - def get_default_dashboard(cls): - """ - Get the default XRP dashboard instance. This is a singleton, so only one instance of the dashboard sensor will ever exist. - """ - if cls._DEFAULT_DASHBOARD_INSTANCE is None: - cls._DEFAULT_DASHBOARD_INSTANCE = cls() - return cls._DEFAULT_DASHBOARD_INSTANCE - - def __init__(self): - """ - Manages communication with dashboard data going to a remote computer via XPP protocol. - """ - self.left_motor = EncodedMotor.get_default_encoded_motor(index=1) - self.right_motor = EncodedMotor.get_default_encoded_motor(index=2) - self.motor_three = EncodedMotor.get_default_encoded_motor(index=3) - self.motor_four = EncodedMotor.get_default_encoded_motor(index=4) - self.imu = IMU.get_default_imu() - self.rangefinder = Rangefinder.get_default_rangefinder() - self.reflectance = Reflectance.get_default_reflectance() - self.VoltageADC = ADC(Pin('BOARD_VIN_MEASURE')) - #self.CurrLADC = ADC(Pin('ML_CUR')) - #self.CurrRADC = ADC(Pin('MR_CUR')) - #self.Curr3ADC = ADC(Pin('M3_CUR')) - #self.Curr4ADC = ADC(Pin('M4_CUR')) - - # Get XPP instance - self._puppet = Puppet.get_default_puppet() - - # Register all sensor variables - self._register_variables() - - # Create timer for periodic updates - self.update_timer = Timer(-1) - self._update_rate = 3 # Default 3 Hz - - def _register_variables(self): - """ - Register all sensor variables with XPP. - """ - # IMU variables (float) - for var_name in ['$imu.yaw', '$imu.roll', '$imu.pitch', - '$imu.acc_x', '$imu.acc_y', '$imu.acc_z']: - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - - # Encoder variables (int) - for var_name in ['$encoder.left', '$encoder.right', '$encoder.3', '$encoder.4']: - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) - - # Current sensor variables (int) - for var_name in ['$current.left', '$current.right', '$current.3', '$current.4']: - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_READ_ONLY) - - # Other sensor variables (float) - for var_name in ['$rangefinder.distance', '$reflectance.left', - '$reflectance.right', '$voltage']: - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - - def sendIntValue(self, index, value): - """ - Send an integer value (backward compatibility method). - Now uses XPP protocol. - - :param index: Variable index constant - :type index: int - :param value: Integer value to send - :type value: int - """ - if index not in self._VAR_NAMES: - return - - var_name = self._VAR_NAMES[index] - try: - self._puppet.set_variable(var_name, value) - except: - pass # Variable might not be registered yet - - def sendFloatValue(self, index, value): - """ - Send a float value (backward compatibility method). - Now uses XPP protocol. - - :param index: Variable index constant - :type index: int - :param value: Float value to send - :type value: float - """ - if index not in self._VAR_NAMES: - return - - var_name = self._VAR_NAMES[index] - try: - self._puppet.set_variable(var_name, value) - except: - pass # Variable might not be registered yet - - def _dashboard_update(self): - """ - Update all sensor variables with current readings. - """ - # IMU data - self._puppet.set_variable('$imu.yaw', self.imu.get_yaw()) - self._puppet.set_variable('$imu.roll', self.imu.get_roll()) - self._puppet.set_variable('$imu.pitch', self.imu.get_pitch()) - self._puppet.set_variable('$imu.acc_x', self.imu.get_acc_x()) - self._puppet.set_variable('$imu.acc_y', self.imu.get_acc_y()) - self._puppet.set_variable('$imu.acc_z', self.imu.get_acc_z()) - - # Encoder data - self._puppet.set_variable('$encoder.left', self.left_motor.get_position_counts()) - self._puppet.set_variable('$encoder.right', self.right_motor.get_position_counts()) - self._puppet.set_variable('$encoder.3', self.motor_three.get_position_counts()) - self._puppet.set_variable('$encoder.4', self.motor_four.get_position_counts()) - - # Current sensor data - #self._puppet.set_variable('$current.left', self.CurrLADC.read_u16()) - #self._puppet.set_variable('$current.right', self.CurrRADC.read_u16()) - #self._puppet.set_variable('$current.3', self.Curr3ADC.read_u16()) - #self._puppet.set_variable('$current.4', self.Curr4ADC.read_u16()) - - # Other sensors - self._puppet.set_variable('$rangefinder.distance', self.rangefinder.distance()) - self._puppet.set_variable('$reflectance.left', self.reflectance.get_left()) - self._puppet.set_variable('$reflectance.right', self.reflectance.get_right()) - - # Voltage - voltage = self.VoltageADC.read_u16() / (1024*64/14) - self._puppet.set_variable('$voltage', voltage) - - def start(self, rate_hz=3): - """ - Start sending dashboard packets to the remote computer at the specified rate. - - :param rate_hz: Update rate in Hz (default: 3) - :type rate_hz: int - """ - self._update_rate = rate_hz - - # Subscribe all variables at the specified rate - for var_name in self._VAR_NAMES.values(): - try: - self._puppet.subscribe_variable(var_name, rate_hz) - except: - pass # Variable might not be registered yet - - # Also use timer for backward compatibility - period_ms = int(1000 / rate_hz) - self.update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._dashboard_update()) - self._puppet.start() - - def stop(self): - """ - Stop sending dashboard data packets. - """ - # Unsubscribe from all variables - for var_name in self._VAR_NAMES.values(): - try: - self._puppet.subscribe_variable(var_name, 0) - except: - pass - - # Stop timer - self.update_timer.deinit() - self._puppet.stop() - - def set_value(self, name, value, rate_hz=3): - """ - Define a variable and subscribe to it at the specified rate. - - :param name: The variable name - :type name: str - :param value: The value to set - :type value: float - :param rate_hz: The update rate in Hz (default: 3) - :type rate_hz: int - """ - self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_READ_ONLY) - try: - self._puppet.subscribe_variable(name, rate_hz) - except: - pass - self._puppet.set_variable(name, value) - - def get_value(self, name): - """ - Get the value of a variable. - - :param name: The variable name - :type name: str - """ - self._puppet.define_variable(name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) - return self._puppet.get_variable(name) \ No newline at end of file diff --git a/public/lib/XRPLib/defaults.py b/public/lib/XRPLib/defaults.py deleted file mode 100644 index 38216c8..0000000 --- a/public/lib/XRPLib/defaults.py +++ /dev/null @@ -1,34 +0,0 @@ -from .board import Board -from .differential_drive import DifferentialDrive -from .motor import SinglePWMMotor, DualPWMMotor -from .encoder import Encoder -from .encoded_motor import EncodedMotor -from .rangefinder import Rangefinder -from .imu import IMU -from .reflectance import Reflectance -from .servo import Servo -from .webserver import Webserver -from machine import Pin - -""" -A simple file that constructs all of the default objects for the XRP robot -Run "from XRPLib.defaults import *" to use -""" - -left_motor = EncodedMotor.get_default_encoded_motor(index=1) -right_motor = EncodedMotor.get_default_encoded_motor(index=2) -motor_three = EncodedMotor.get_default_encoded_motor(index=3) -motor_four = EncodedMotor.get_default_encoded_motor(index=4) -imu = IMU.get_default_imu() -drivetrain = DifferentialDrive.get_default_differential_drive() -rangefinder = Rangefinder.get_default_rangefinder() -reflectance = Reflectance.get_default_reflectance() -servo_one = Servo.get_default_servo(index=1) -servo_two = Servo.get_default_servo(index=2) -webserver = Webserver.get_default_webserver() -board = Board.get_default_board() - -if hasattr(Pin.board, "SERVO_3"): - servo_three = Servo.get_default_servo(index=3) -if hasattr(Pin.board, "SERVO_4"): - servo_four = Servo.get_default_servo(index=4) \ No newline at end of file diff --git a/public/lib/XRPLib/differential_drive.py b/public/lib/XRPLib/differential_drive.py deleted file mode 100644 index e3fbd5f..0000000 --- a/public/lib/XRPLib/differential_drive.py +++ /dev/null @@ -1,340 +0,0 @@ -from .encoded_motor import EncodedMotor -from .imu import IMU -from .controller import Controller -from .pid import PID -from .timeout import Timeout -import time -import math - -class DifferentialDrive: - - _DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE =None - - @classmethod - def get_default_differential_drive(cls): - - """ - Get the default XRP differential drive instance. This is a singleton, so only one instance of the drivetrain will ever exist. - """ - - if cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE is None: - cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE = cls( - EncodedMotor.get_default_encoded_motor(index=1), - EncodedMotor.get_default_encoded_motor(index=2), - IMU.get_default_imu() - ) - - return cls._DEFAULT_DIFFERENTIAL_DRIVE_INSTANCE - - def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU = None, wheel_diam:float = 6.0, wheel_track:float = 15.5): - """ - A Differential Drive class designed for the XRP two-wheeled drive robot. - - :param leftMotor: The left motor of the drivetrain - :type leftMotor: EncodedMotor - :param rightMotor: The right motor of the drivetrain - :type rightMotor: EncodedMotor - :param imu: The IMU of the robot. If None, the robot will not use the IMU for turning or maintaining heading. - :type imu: IMU - :param wheelDiam: The diameter of the wheels in inches. Defaults to 6 cm. - :type wheelDiam: float - :param wheelTrack: The distance between the wheels in inches. Defaults to 15.5 cm. - :type wheelTrack: float - """ - - self.left_motor = left_motor - self.right_motor = right_motor - self.imu = imu - - self.brake_at_zero_power = False - self.wheel_diam = wheel_diam - self.track_width = wheel_track - - self.heading_pid = None - self.current_heading = None - self.reset_heading = True - self.turning = False - - if self.imu: - # if the IMU is initialized, then create a PID controller that can be used - # to maintain a constant heading when driving - self.heading_pid = PID( kp = 0.075, kd=0.001, ) - - def set_effort(self, left_effort: float, right_effort: float) -> None: - """ - Set the raw effort of both motors individually - - :param leftEffort: The power (Bounded from -1 to 1) to set the left motor to. - :type leftEffort: float - :param rightEffort: The power (Bounded from -1 to 1) to set the right motor to. - :type rightEffort: float - """ - - self.left_motor.set_effort(left_effort) - self.right_motor.set_effort(right_effort) - - def set_speed(self, left_speed: float, right_speed: float) -> None: - """ - Set the speed of both motors individually - - :param leftSpeed: The speed (In Centimeters per Second) to set the left motor to. - :type leftSpeed: float - :param rightSpeed: The speed (In Centimeters per Second) to set the right motor to. - :type rightSpeed: float - """ - # Convert from cm/s to RPM - cmpsToRPM = 60 / (math.pi * self.wheel_diam) - self.left_motor.set_speed(left_speed*cmpsToRPM) - self.right_motor.set_speed(right_speed*cmpsToRPM) - - def set_zero_effort_behavior(self, brake_at_zero_effort): - - """ - Sets the behavior of both motor at 0 effort to either brake (hold position) or coast (free spin) - :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. - :type brake_at_zero_effort: bool - """ - self.left_motor.set_zero_effort_behavior(brake_at_zero_effort) - self.right_motor.set_zero_effort_behavior(brake_at_zero_effort) - - def stop(self) -> None: - """ - Stops both drivetrain motors by setting power to zero. - """ - self.left_motor.set_speed() - self.right_motor.set_speed() - self.set_effort(0,0) - - def arcade(self, straight:float, turn:float): - """ - Sets the raw effort of both motors based on the arcade drive scheme - - :param straight: The base effort (Bounded from -1 to 1) used to drive forwards or backwards. - :type straight: float - :param turn: The modifier effort (Bounded from -1 to 1) used to skew robot left (positive) or right (negative). - :type turn: float - """ - if straight == 0 and turn == 0: - self.set_effort(0, 0) - else: - scale = max(abs(straight), abs(turn))/(abs(straight) + abs(turn)) - left_speed = (straight - turn)*scale - right_speed = (straight + turn)*scale - - if not self.heading_pid: - # if not using IMU assist to maintain heading, just pass down the left and right motor - # speeds to control movement - self.set_effort(left_speed, right_speed) - else: - # else if IMU assist is enabled, then use the IMU with PID to - # maintain a constant heading while driving. - if turn == 0: - # straight drive requested, then maintain the current heading - if self.turning: - # if previously turning, then clear the turn indicator and reset the course heading - self.reset_heading = True - self.turning = False - - if self.reset_heading: - self.reset_heading = False - self.current_heading = self.imu.get_yaw() - - # use the PID to set the heading correction based on the current heading - heading_correction = self.heading_pid.update(self.current_heading - self.imu.get_yaw()) - - self.set_effort(left_speed - heading_correction, right_speed + heading_correction) - else: - # set the turning indicator and apply the left and right speeds - self.turning = True - self.set_effort(left_speed, right_speed) - - def reset_encoder_position(self) -> None: - """ - Resets the position of both motors' encoders to 0 - """ - - self.left_motor.reset_encoder_position() - self.right_motor.reset_encoder_position() - - def get_left_encoder_position(self) -> float: - """ - :return: the current position of the left motor's encoder in cm. - :rtype: float - """ - return self.left_motor.get_position()*math.pi*self.wheel_diam - - def get_right_encoder_position(self) -> float: - """ - :return: the current position of the right motor's encoder in cm. - :rtype: float - """ - return self.right_motor.get_position()*math.pi*self.wheel_diam - - - def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: - """ - Go forward the specified distance in centimeters, and exit function when distance has been reached. - Max_effort is bounded from -1 (reverse at full speed) to 1 (forward at full speed) - - :param distance: The distance for the robot to travel (In Centimeters) - :type distance: float - :param max_effort: The max effort for which the robot to travel (Bounded from -1 to 1). Default is half effort forward - :type max_effort: float - :param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds) - :type timeout: float - :param main_controller: The main controller, for handling the distance driven forwards - :type main_controller: Controller - :param secondary_controller: The secondary controller, for correcting heading error that may result during the drive. - :type secondary_controller: Controller - :return: if the distance was reached before the timeout - :rtype: bool - """ - # ensure effort is always positive while distance could be either positive or negative - if max_effort < 0: - max_effort *= -1 - distance *= -1 - - time_out = Timeout(timeout) - starting_left = self.get_left_encoder_position() - starting_right = self.get_right_encoder_position() - - - if main_controller is None: - main_controller = PID( - kp = 0.1, - ki = 0.04, - kd = 0.04, - min_output = 0.3, - max_output = max_effort, - max_integral = 10, - tolerance = 0.25, - tolerance_count = 3, - ) - - # Secondary controller to keep encoder values in sync - if secondary_controller is None: - secondary_controller = PID( - kp = 0.075, kd=0.001, - ) - - if self.imu is not None: - # record current heading to maintain it - initial_heading = self.imu.get_yaw() - else: - initial_heading = 0 - - while True: - - # calculate the distance traveled - left_delta = self.get_left_encoder_position() - starting_left - right_delta = self.get_right_encoder_position() - starting_right - dist_traveled = (left_delta + right_delta) / 2 - - # PID for distance - distance_error = distance - dist_traveled - effort = main_controller.update(distance_error) - - if main_controller.is_done() or time_out.is_done(): - break - - # calculate heading correction - if self.imu is not None: - # record current heading to maintain it - current_heading = self.imu.get_yaw() - else: - current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) - - headingCorrection = secondary_controller.update(initial_heading - current_heading) - - self.set_effort(effort - headingCorrection, effort + headingCorrection) - - time.sleep(0.01) - - self.stop() - - return not time_out.is_done() - - - def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool: - """ - Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading. - effort is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed) - Uses the IMU to determine the heading of the robot and P control for the motor controller. - - :param turnDegrees: The number of angle for the robot to turn (In Degrees) - :type turnDegrees: float - :param max_effort: The max speed for which the robot to travel (Bounded from -1 to 1) - :type max_effort: float - :param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds) - :type timeout: float - :param main_controller: The main controller, for handling the angle turned - :type main_controller: Controller - :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference - :type secondary_controller: Controller - :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False) - :type use_imu: bool - :return: if the distance was reached before the timeout - :rtype: bool - """ - - if max_effort < 0: - max_effort = -max_effort - turn_degrees = -turn_degrees - - time_out = Timeout(timeout) - starting_left = self.get_left_encoder_position() - starting_right = self.get_right_encoder_position() - - if main_controller is None: - main_controller = PID( - # kp = 0.2, - # ki = 0.004, - # kd = 0.0036, - kd = 0.0036 + 0.0034 * (max(max_effort, 0.5) - 0.5) * 2, - kp = 0.2, - ki = 0.004, - #kd = 0.007, - min_output = 0.1, - max_output = max_effort, - max_integral = 30, - tolerance = 1, - tolerance_count = 3 - ) - - # Secondary controller to keep encoder values in sync - if secondary_controller is None: - secondary_controller = PID( - kp = 0.25, - ) - - if use_imu and (self.imu is not None): - turn_degrees += self.imu.get_yaw() - - while True: - - # calculate encoder correction to minimize drift - left_delta = self.get_left_encoder_position() - starting_left - right_delta = self.get_right_encoder_position() - starting_right - encoder_correction = secondary_controller.update(left_delta + right_delta) - - if use_imu and (self.imu is not None): - # calculate turn error (in degrees) from the imu - turn_error = turn_degrees - self.imu.get_yaw() - else: - # calculate turn error (in degrees) from the encoder counts - turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi) - - # Pass the turn error to the main controller to get a turn speed - turn_speed = main_controller.update(turn_error) - - # exit if timeout or tolerance reached - if main_controller.is_done() or time_out.is_done(): - break - - self.set_effort(-turn_speed - encoder_correction, turn_speed - encoder_correction) - - time.sleep(0.01) - - self.stop() - - return not time_out.is_done() diff --git a/public/lib/XRPLib/encoded_motor.py b/public/lib/XRPLib/encoded_motor.py deleted file mode 100644 index de2fa6f..0000000 --- a/public/lib/XRPLib/encoded_motor.py +++ /dev/null @@ -1,191 +0,0 @@ -from .motor import SinglePWMMotor, DualPWMMotor -from .encoder import Encoder -from machine import Timer -from .controller import Controller -from .pid import PID -import sys - -class EncodedMotor: - - ZERO_EFFORT_BREAK = True - ZERO_EFFORT_COAST = False - - _DEFAULT_LEFT_MOTOR_INSTANCE = None - _DEFAULT_RIGHT_MOTOR_INSTANCE = None - _DEFAULT_MOTOR_THREE_INSTANCE = None - _DEFAULT_MOTOR_FOUR_INSTANCE = None - - @classmethod - def get_default_encoded_motor(cls, index:int = 1): - """ - Get one of the default XRP motor instances. These are singletons, so only one instance of each of these will ever exist. - Raises an exception if an invalid index is requested. - - :param index: The index of the motor to get; 1 for left, 2 for right, 3 for motor 3, 4 for motor 4 - :type index: int - """ - - if "RP2350" in sys.implementation._machine: - MotorImplementation = DualPWMMotor - else: - MotorImplementation = SinglePWMMotor - - if index == 1: - if cls._DEFAULT_LEFT_MOTOR_INSTANCE is None: - cls._DEFAULT_LEFT_MOTOR_INSTANCE = cls( - MotorImplementation("MOTOR_L_IN_1", "MOTOR_L_IN_2", flip_dir=True), - Encoder(0, "MOTOR_L_ENCODER_A", "MOTOR_L_ENCODER_B") - ) - motor = cls._DEFAULT_LEFT_MOTOR_INSTANCE - elif index == 2: - if cls._DEFAULT_RIGHT_MOTOR_INSTANCE is None: - cls._DEFAULT_RIGHT_MOTOR_INSTANCE = cls( - MotorImplementation("MOTOR_R_IN_1", "MOTOR_R_IN_2"), - Encoder(1, "MOTOR_R_ENCODER_A", "MOTOR_R_ENCODER_B") - ) - motor = cls._DEFAULT_RIGHT_MOTOR_INSTANCE - elif index == 3: - if cls._DEFAULT_MOTOR_THREE_INSTANCE is None: - cls._DEFAULT_MOTOR_THREE_INSTANCE = cls( - MotorImplementation("MOTOR_3_IN_1", "MOTOR_3_IN_2", flip_dir=True), - Encoder(2, "MOTOR_3_ENCODER_A", "MOTOR_3_ENCODER_B") - ) - motor = cls._DEFAULT_MOTOR_THREE_INSTANCE - elif index == 4: - if cls._DEFAULT_MOTOR_FOUR_INSTANCE is None: - cls._DEFAULT_MOTOR_FOUR_INSTANCE = cls( - MotorImplementation("MOTOR_4_IN_1", "MOTOR_4_IN_2"), - Encoder(3, "MOTOR_4_ENCODER_A", "MOTOR_4_ENCODER_B") - ) - motor = cls._DEFAULT_MOTOR_FOUR_INSTANCE - else: - return Exception("Invalid motor index") - return motor - - def __init__(self, motor, encoder: Encoder): - - self._motor = motor - self._encoder = encoder - - self.brake_at_zero = False - - self.target_speed = None - self.DEFAULT_SPEED_CONTROLLER = PID( - kp=0.035, - ki=0.03, - kd=0, - max_integral=50 - ) - self.speedController = self.DEFAULT_SPEED_CONTROLLER - self.prev_position = 0 - self.speed = 0 - # Use a virtual timer so we can leave the hardware timers up for the user - self.updateTimer = Timer(-1) - # If the update timer is not running, start it at 50 Hz (20ms updates) - self.updateTimer.init(period=20, callback=lambda t:self._update()) - - - def set_effort(self, effort: float): - """ - :param effort: The effort to set this motor to, from -1 to 1 - :type effort: float - """ - if self.brake_at_zero and effort == 0: - self.brake() - else: - self._motor.set_effort(effort) - - # EncodedMotor.set_zero_effort_behavior(EncodedMotor.ZERO_POWER_BRAKE) - def set_zero_effort_behavior(self, brake_at_zero_effort): - """ - Sets the behavior of the motor at 0 effort to either brake (hold position) or coast (free spin) - :param brake_at_zero_effort: Whether or not to brake at 0 effort. Can use EncodedMotor.ZERO_EFFORT_BREAK or EncodedMotor.ZERO_EFFORT_COAST for clarity. - :type brake_at_zero_effort: bool - """ - self.brake_at_zero = brake_at_zero_effort - - def brake(self): - """ - Causes the motor to resist rotation. - """ - # Exact impl of brake depends on which board is being used. - self._motor.brake() - - def coast(self): - """ - Allows the motor to spin freely. - """ - self._motor.coast() - - def get_position(self) -> float: - """ - :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. - :rtype: float - """ - if self._motor.flip_dir: - invert = -1 - else: - invert = 1 - return self._encoder.get_position()*invert - - def get_position_counts(self) -> int: - """ - :return: The position of the encoded motor, in encoder counts, relative to the last time reset was called. - :rtype: int - """ - if self._motor.flip_dir: - invert = -1 - else: - invert = 1 - return self._encoder.get_position_counts()*invert - - def reset_encoder_position(self): - """ - Resets the encoder position back to zero. - """ - self._encoder.reset_encoder_position() - - def get_speed(self) -> float: - """ - :return: The speed of the motor, in rpm - :rtype: float - """ - # Convert from counts per 20ms to rpm (60 sec/min, 50 Hz) - return self.speed*(60*50)/self._encoder.resolution - - def set_speed(self, speed_rpm: float = None): - """ - Sets target speed (in rpm) to be maintained passively - Call with no parameters or 0 to turn off speed control - - :param target_speed_rpm: The target speed for the motor in rpm, or None - :type target_speed_rpm: float, or None - """ - if speed_rpm is None or speed_rpm == 0: - self.target_speed = None - self.set_effort(0) - return - # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) - self.target_speed = speed_rpm*self._encoder.resolution/(60*50) - - def set_speed_controller(self, new_controller: Controller): - """ - Sets a new controller for speed control - - :param new_controller: The new Controller for speed control - :type new_controller: Controller - """ - self.speedController = new_controller - self.speedController.clear_history() - - def _update(self): - """ - Non-api method; used for updating motor efforts for speed control - """ - current_position = self.get_position_counts() - self.speed = current_position - self.prev_position - if self.target_speed is not None: - error = self.target_speed - self.speed - effort = self.speedController.update(error) - self._motor.set_effort(effort) - self.prev_position = current_position \ No newline at end of file diff --git a/public/lib/XRPLib/encoder.py b/public/lib/XRPLib/encoder.py deleted file mode 100644 index 414b973..0000000 --- a/public/lib/XRPLib/encoder.py +++ /dev/null @@ -1,119 +0,0 @@ -# Modified from https://forum.micropython.org/viewtopic.php?t=12277&p=66659 - -import machine -import rp2 -import time - -class Encoder: - _gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75 - _counts_per_motor_shaft_revolution = 12 - resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585 - - def __init__(self, index, encAPin: int|str, encBPin: int|str): - """ - Uses the on board PIO State Machine to keep track of encoder positions. - Only 4 encoders can be instantiated this way. - - :param index: The index of the state machine to be used, indexed 0-3. - :type index: int - :param encAPin: The pin the left reflectance sensor is connected to - :type encAPin: int - :param encBPin: The pin the right reflectance sensor is connected to - :type encBPin: int - """ - # if(abs(encAPin - encBPin) != 1): - # raise Exception("Encoder pins must be successive!") - basePin = machine.Pin(min(encAPin, encBPin), machine.Pin.IN) - nextPin = machine.Pin(max(encAPin, encBPin), machine.Pin.IN) - self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin) - self.reset_encoder_position() - self.sm.active(1) - - def reset_encoder_position(self): - """ - Resets the encoder position to 0 - """ - # It's possible for this to cause issues if in the middle of inrementing - # or decrementing, but the result should only be off by 1. If that's a - # problem, an alternative solution is to stop the state machine, then - # reset both x and the program counter. But that's excessive. - self.sm.exec("set(x, 0)") - - def get_position_counts(self): - """ - :return: The position of the encoded motor, in counts, relative to the last time reset was called. - :rtype: int - """ - # Read 5 times for it to get past the buffer - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - counts = self.sm.get() - if(counts > 2**31): - counts -= 2**32 - return counts - - def get_position(self): - """ - :return: The position of the encoded motor, in revolutions, relative to the last time reset was called. - :rtype: float - """ - return self.get_position_counts() / self.resolution - - @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT) - def _encoder(): - # Register descriptions: - # X - Encoder count, as a 32-bit number - # OSR - Previous pin values, only last 2 bits are used - # ISR - Push encoder count, and combine pin states together - - # Jump table - # The program counter is moved to memory address 0000 - 1111, based - # on the previous (left 2 bits) and current (right bits) pin states - jmp("read") # 00 -> 00 No change, continue - jmp("decr") # 00 -> 01 Reverse, decrement count - jmp("incr") # 00 -> 10 Forward, increment count - jmp("read") # 00 -> 11 Impossible, continue - - jmp("incr") # 01 -> 00 Forward, increment count - jmp("read") # 01 -> 01 No change, continue - jmp("read") # 01 -> 10 Impossible, continue - jmp("decr") # 01 -> 11 Reverse, decrement count - - jmp("decr") # 10 -> 00 Reverse, decrement count - jmp("read") # 10 -> 01 Impossible, continue - jmp("read") # 10 -> 10 No change, continue - jmp("incr") # 10 -> 11 Forward, increment count - - jmp("read") # 11 -> 00 Impossible, continue - jmp("incr") # 11 -> 01 Forward, increment count - jmp("decr") # 11 -> 10 Reverse, decrement count - jmp("read") # 11 -> 11 No change, continue - - label("read") - mov(osr, isr) # Store previous pin states in OSR - mov(isr, x) # Copy encoder count to ISR - push(noblock) # Push count to RX buffer, and reset ISR to 0 - out(isr, 2) # Shift previous pin states into ISR - in_(pins, 2) # Shift current pin states into ISR - mov(pc, isr) # Move PC to jump table to determine what to do next - - label("decr") # There is no explicite increment intruction, but X can be - jmp(x_dec, "decr_nop") # decremented in the jump instruction. So we use that and jump - label("decr_nop") # to the next instruction, which is equivalent to just decrementing - jmp("read") - - label("incr") # There is no explicite increment intruction, but X can be - mov(x, invert(x)) # decremented in the jump instruction. So we invert X, decrement, - jmp(x_dec, "incr_nop") # then invert again - this is equivalent to incrementing. - label("incr_nop") - mov(x, invert(x)) - jmp("read") - - # Fill remaining instruction memory with jumps to ensure nothing bad happens - # For some reason, weird behavior happens if the instruction memory isn't full - jmp("read") - jmp("read") - jmp("read") - jmp("read") \ No newline at end of file diff --git a/public/lib/XRPLib/gamepad.py b/public/lib/XRPLib/gamepad.py deleted file mode 100644 index f3f08de..0000000 --- a/public/lib/XRPLib/gamepad.py +++ /dev/null @@ -1,169 +0,0 @@ -from .puppet import Puppet, VAR_TYPE_FLOAT, VAR_TYPE_INT, VAR_TYPE_BOOL, PERM_WRITE_ONLY, PERM_READ_ONLY -from micropython import const - -class Gamepad: - - _DEFAULT_GAMEPAD_INSTANCE = None - - X1 = const(0) - Y1 = const(1) - X2 = const(2) - Y2 = const(3) - BUTTON_A = const(4) - BUTTON_B = const(5) - BUTTON_X = const(6) - BUTTON_Y = const(7) - BUMPER_L = const(8) - BUMPER_R = const(9) - TRIGGER_L = const(10) - TRIGGER_R = const(11) - BACK = const(12) - START = const(13) - DPAD_UP = const(14) - DPAD_DN = const(15) - DPAD_L = const(16) - DPAD_R = const(17) - - # Mapping from index to variable name - _VAR_NAMES = { - 0: '$gamepad.x1', - 1: '$gamepad.y1', - 2: '$gamepad.x2', - 3: '$gamepad.y2', - 4: '$gamepad.button_a', - 5: '$gamepad.button_b', - 6: '$gamepad.button_x', - 7: '$gamepad.button_y', - 8: '$gamepad.bumper_l', - 9: '$gamepad.bumper_r', - 10: '$gamepad.trigger_l', - 11: '$gamepad.trigger_r', - 12: '$gamepad.back', - 13: '$gamepad.start', - 14: '$gamepad.dpad_up', - 15: '$gamepad.dpad_dn', - 16: '$gamepad.dpad_l', - 17: '$gamepad.dpad_r', - } - - @classmethod - def get_default_gamepad(cls): - """ - Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist. - """ - if cls._DEFAULT_GAMEPAD_INSTANCE is None: - cls._DEFAULT_GAMEPAD_INSTANCE = cls() - cls._DEFAULT_GAMEPAD_INSTANCE.start() - return cls._DEFAULT_GAMEPAD_INSTANCE - - def __init__(self): - """ - Manages communication with gamepad data coming from a remote computer via XPP protocol. - """ - self._puppet = Puppet.get_default_puppet() - self._started = False - - # Register all gamepad variables - self._register_variables() - - def _register_variables(self): - """ - Register all gamepad variables with the XPP protocol. - """ - # Joystick axes are floats - for idx in [self.X1, self.Y1, self.X2, self.Y2]: - var_name = self._VAR_NAMES[idx] - self._puppet.define_variable(var_name, VAR_TYPE_FLOAT, PERM_WRITE_ONLY) - - # Buttons are integers (1 or 0) - for idx in range(4, 18): - var_name = self._VAR_NAMES[idx] - self._puppet.define_variable(var_name, VAR_TYPE_INT, PERM_WRITE_ONLY) - - # Register gamepad enabled variable (read-only from XRP side) - self._puppet.define_variable('$gamepad.enabled', VAR_TYPE_BOOL, PERM_READ_ONLY) - - def start(self): - """ - Signals the remote computer to begin sending gamepad data packets. - Subscribes to all gamepad variables at a high rate (50 Hz). - """ - self._puppet.start() - self._puppet.send_program_start() - - # Enable gamepad - signal to client to start sending - self._puppet.set_variable('$gamepad.enabled', True) - - if self._started: - return - - # Subscribe to all gamepad variables at 50 Hz - for var_name in self._VAR_NAMES.values(): - self._puppet.subscribe_variable(var_name, 50) - - self._started = True - - def stop(self): - """ - Signals the remote computer to stop sending gamepad data packets. - Unsubscribes from all gamepad variables. - """ - - self._puppet.send_program_end() - - if not self._started: - return - - # Disable gamepad - signal to client to stop sending - self._puppet.set_variable('$gamepad.enabled', False) - - # Unsubscribe from all gamepad variables - for var_name in self._VAR_NAMES.values(): - self._puppet.subscribe_variable(var_name, 0) - - self._puppet.stop() - self._started = False - - def get_value(self, index: int) -> float: - """ - Get the current value of a joystick axis - - :param index: The joystick axis index - Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2 - :type int - :returns: The value of the joystick between -1 and 1 - :rtype: float - """ - if index not in self._VAR_NAMES: - return 0.0 - - var_name = self._VAR_NAMES[index] - try: - value = self._puppet.get_variable(var_name) - # Return negative to make normal for user (backward compatibility) - return -value - except: - # Return default if variable not available - return 0.0 - - def is_button_pressed(self, index: int) -> bool: - """ - Checks if a specific button is currently pressed. - - :param index: The button index - Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc - :type int - :returns: The value of the button 1 or 0 - :rtype: bool - """ - if index not in self._VAR_NAMES: - return False - - var_name = self._VAR_NAMES[index] - try: - value = self._puppet.get_variable(var_name) - # Works for both int and float - return value > 0 - except: - # Return default if variable not available - return False diff --git a/public/lib/XRPLib/imu.py b/public/lib/XRPLib/imu.py deleted file mode 100644 index cd7acbf..0000000 --- a/public/lib/XRPLib/imu.py +++ /dev/null @@ -1,559 +0,0 @@ -# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive -# ver: 1.0 -# License: MIT -# Author: shaoziyang (shaoziyang@micropython.org.cn) -# v1.0 2019.7 -try: - from .imu_defs import * - from uctypes import struct, addressof -except (TypeError, ModuleNotFoundError): - LSM_ADDR_PRIMARY = 0x6A - # Import wrapped in a try/except so that autodoc generation can process properly - pass -from machine import I2C, Pin, Timer, disable_irq, enable_irq -import time, math - -class IMU(): - - _DEFAULT_IMU_INSTANCE = None - - @classmethod - def get_default_imu(cls): - """ - Get the default XRP IMU instance. This is a singleton, so only one instance of the drivetrain will ever exist. - """ - - if cls._DEFAULT_IMU_INSTANCE is None: - cls._DEFAULT_IMU_INSTANCE = cls() - cls._DEFAULT_IMU_INSTANCE.calibrate() - return cls._DEFAULT_IMU_INSTANCE - - def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY): - # I2C values - self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000) - self.addr = addr - - # Initialize member variables - self._reset_member_variables() - - # Transmit and recieve buffers - self.tb = bytearray(1) - self.rb = bytearray(1) - - # Copies of registers. Bytes and structs share the same memory - # addresses, so changing one changes the other - self.reg_ctrl1_xl_byte = bytearray(1) - self.reg_ctrl2_g_byte = bytearray(1) - self.reg_ctrl3_c_byte = bytearray(1) - self.reg_ctrl1_xl_bits = struct(addressof(self.reg_ctrl1_xl_byte), LSM_REG_LAYOUT_CTRL1_XL) - self.reg_ctrl2_g_bits = struct(addressof(self.reg_ctrl2_g_byte), LSM_REG_LAYOUT_CTRL2_G) - self.reg_ctrl3_c_bits = struct(addressof(self.reg_ctrl3_c_byte), LSM_REG_LAYOUT_CTRL3_C) - - # Create timer - self.update_timer = Timer(-1) - - # Check if the IMU is connected - if not self.is_connected(): - # TODO - do somehting intelligent here - pass - - # Reset sensor to clear any previous configuration - # reset() also sets the board to the default config - self.reset() - - def _default_config(self): - # Enable block data update - self._set_bdu() - - # Set default scale for each sensor - self.acc_scale('16g') - self.gyro_scale('2000dps') - - # Set default rate for each sensor - self.acc_rate('208Hz') - self.gyro_rate('208Hz') - - """ - The following are private helper methods to read and write registers, as well as to convert the read values to the correct unit. - """ - - def _reset_member_variables(self): - # Vector of IMU measurements - self.irq_v = [[0, 0, 0], [0, 0, 0]] - - # Sensor offsets - self.gyro_offsets = [0,0,0] - self.acc_offsets = [0,0,0] - - # Scale factors when ranges are changed - self._acc_scale_factor = 1 - self._gyro_scale_factor = 1 - - # Angle integrators - self.running_pitch = 0 - self.running_yaw = 0 - self.running_roll = 0 - - def _int16(self, d): - return d if d < 0x8000 else d - 0x10000 - - def _setreg(self, reg, dat): - self.tb[0] = dat - self.i2c.writeto_mem(self.addr, reg, self.tb) - - def _getreg(self, reg): - self.i2c.readfrom_mem_into(self.addr, reg, self.rb) - return self.rb[0] - - def _getregs(self, reg, num_bytes): - rx_buf = bytearray(num_bytes) - self.i2c.readfrom_mem_into(self.addr, reg, rx_buf) - return rx_buf - - def _get2reg(self, reg): - return self._getreg(reg) + self._getreg(reg+1) * 256 - - def _r_w_reg(self, reg, dat, mask): - self._getreg(reg) - self.rb[0] = (self.rb[0] & mask) | dat - self._setreg(reg, self.rb[0]) - - def _set_bdu(self, bdu = True): - """ - Sets Block Data Update bit - """ - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.BDU = bdu - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - def _set_if_inc(self, if_inc = True): - """ - Sets InterFace INCrement bit - """ - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.IF_INC = if_inc - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - def _raw_to_mg(self, raw): - return self._int16((raw[1] << 8) | raw[0]) * LSM_MG_PER_LSB_2G * self._acc_scale_factor - - def _raw_to_mdps(self, raw): - return self._int16((raw[1] << 8) | raw[0]) * LSM_MDPS_PER_LSB_125DPS * self._gyro_scale_factor - - """ - Public facing API Methods - """ - - def is_connected(self): - """ - Checks whether the IMU is connected - - :return: True if WHO_AM_I value is correct, otherwise False - :rtype: bool - """ - who_am_i = self._getreg(LSM_REG_WHO_AM_I) - return who_am_i == LSM_WHO_AM_I_VALUE - - def reset(self, wait_for_reset = True, wait_timeout_ms = 100): - """ - Resets the IMU, and restores all registers to their default values - - :param wait_for_reset: Whether to wait for reset to complete - :type wait_for_reset: bool - :param wait_timeout_ms: Timeout in milliseconds when waiting for reset - :type wait_timeout_ms: int - :return: False if timeout occurred, otherwise True - :rtype: bool - """ - # Stop timer - self._stop_timer() - - # Reset member variables - self._reset_member_variables() - - # Set BOOT and SW_RESET bits - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - self.reg_ctrl3_c_bits.BOOT = 1 - self.reg_ctrl3_c_bits.SW_RESET = 1 - self._setreg(LSM_REG_CTRL3_C, self.reg_ctrl3_c_byte[0]) - - # Wait for reset to complete, if requested - if wait_for_reset: - # Loop with timeout - t0 = time.ticks_ms() - while time.ticks_ms() < (t0 + wait_timeout_ms): - # Check if register has returned to default value (0x04) - self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C) - if self.reg_ctrl3_c_byte[0] == 0x04: - self._default_config() - self._start_timer() - return True - # Timeout occurred - # Attempt to set default config anyways - self._default_config() - self._start_timer() - return False - else: - self._default_config() - self._start_timer() - return True - - def get_acc_x(self): - """ - :return: The current reading for the accelerometer's X-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] - - def get_acc_y(self): - """ - :return: The current reading for the accelerometer's Y-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTY_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[1] - - def get_acc_z(self): - """ - :return: The current reading for the accelerometer's Z-axis, in mg - :rtype: int - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTZ_L_A, 2) - - # Convert raw data to mg's - return self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[2] - - def get_acc_rates(self): - """ - :return: the list of readings from the Accelerometer, in mg. The order of the values is x, y, z. - :rtype: list - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_A, 6) - - # Convert raw data to mg's - self.irq_v[0][0] = self._raw_to_mg(raw_bytes[0:2]) - self.acc_offsets[0] - self.irq_v[0][1] = self._raw_to_mg(raw_bytes[2:4]) - self.acc_offsets[1] - self.irq_v[0][2] = self._raw_to_mg(raw_bytes[4:6]) - self.acc_offsets[2] - - return self.irq_v[0] - - def get_gyro_x_rate(self): - """ - Individual axis read for the Gyroscope's X-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - - def get_gyro_y_rate(self): - """ - Individual axis read for the Gyroscope's Y-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTY_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[1] - - def get_gyro_z_rate(self): - """ - Individual axis read for the Gyroscope's Z-axis, in mdps - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTZ_L_G, 2) - - # Convert raw data to mdps - return self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[2] - - def get_gyro_rates(self): - """ - Retrieves the array of readings from the Gyroscope, in mdps - The order of the values is x, y, z. - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 6) - - # Convert raw data to mdps - self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] - self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] - - return self.irq_v[1] - - def get_acc_gyro_rates(self): - """ - Get the accelerometer and gyroscope values in mg and mdps in the form of a 2D array. - The first row is the acceleration values, the second row is the gyro values. - The order of the values is x, y, z. - """ - # Burst read data registers - raw_bytes = self._getregs(LSM_REG_OUTX_L_G, 12) - - # Convert raw data to mg's and mdps - self.irq_v[0][0] = self._raw_to_mg(raw_bytes[6:8]) - self.acc_offsets[0] - self.irq_v[0][1] = self._raw_to_mg(raw_bytes[8:10]) - self.acc_offsets[1] - self.irq_v[0][2] = self._raw_to_mg(raw_bytes[10:12]) - self.acc_offsets[2] - self.irq_v[1][0] = self._raw_to_mdps(raw_bytes[0:2]) - self.gyro_offsets[0] - self.irq_v[1][1] = self._raw_to_mdps(raw_bytes[2:4]) - self.gyro_offsets[1] - self.irq_v[1][2] = self._raw_to_mdps(raw_bytes[4:6]) - self.gyro_offsets[2] - - return self.irq_v - - def get_pitch(self): - """ - Get the pitch of the IMU in degrees. Unbounded in range - - :return: The pitch of the IMU in degrees - :rtype: float - """ - return self.running_pitch - - def get_yaw(self): - """ - Get the yaw (heading) of the IMU in degrees. Unbounded in range - - :return: The yaw (heading) of the IMU in degrees - :rtype: float - """ - return self.running_yaw - - def get_heading(self): - """ - Get's the heading of the IMU, but bounded between [0, 360) - - :return: The heading of the IMU in degrees, bound between [0, 360) - :rtype: float - """ - return self.running_yaw % 360 - - def get_roll(self): - """ - Get the roll of the IMU in degrees. Unbounded in range - - :return: The roll of the IMU in degrees - :rtype: float - """ - return self.running_roll - - def reset_pitch(self): - """ - Reset the pitch to 0 - """ - self.running_pitch = 0 - - def reset_yaw(self): - """ - Reset the yaw (heading) to 0 - """ - self.running_yaw = 0 - - def reset_roll(self): - """ - Reset the roll to 0 - """ - self.running_roll = 0 - - def set_pitch(self, pitch): - """ - Set the pitch to a specific angle in degrees - - :param pitch: The pitch to set the IMU to - :type pitch: float - """ - self.running_pitch = pitch - - def set_yaw(self, yaw): - """ - Set the yaw (heading) to a specific angle in degrees - - :param yaw: The yaw (heading) to set the IMU to - :type yaw: float - """ - self.running_yaw = yaw - - def set_roll(self, roll): - """ - Set the roll to a specific angle in degrees - - :param roll: The roll to set the IMU to - :type roll: float - """ - self.running_roll = roll - - def temperature(self): - """ - Read the temperature of the LSM6DSO in degrees Celsius - - :return: The temperature of the LSM6DSO in degrees Celsius - :rtype: float - """ - # The LSM6DSO's temperature can be read from the OUT_TEMP_L register - # We use OUT_TEMP_L+1 if OUT_TEMP_L cannot be read - try: - return self._int16(self._get2reg(LSM_REG_OUT_TEMP_L))/256 + 25 - except MemoryError: - return self._temperature_irq() - - def _temperature_irq(self): - # Helper function for temperature() to read the alternate temperature register - self._getreg(LSM_REG_OUT_TEMP_L+1) - if self.rb[0] & 0x80: - self.rb[0] -= 256 - return self.rb[0] + 25 - - def acc_scale(self, value=None): - """ - Set the accelerometer scale in g. The scale can be: - '2g', '4g', '8g', or '16g' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) - # Check if the provided value is in the dictionary - if value not in LSM_ACCEL_FS: - # Return string representation of this value - index = list(LSM_ACCEL_FS.values()).index(self.reg_ctrl1_xl_bits.FS_XL) - return list(LSM_ACCEL_FS.keys())[index] - else: - # Set value as requested - self.reg_ctrl1_xl_bits.FS_XL = LSM_ACCEL_FS[value] - self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) - # Update scale factor for converting raw data - self._acc_scale_factor = int(value.rstrip('g')) // 2 - - def gyro_scale(self, value=None): - """ - Set the gyroscope scale in dps. The scale can be: - '125', '250', '500', '1000', or '2000' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) - # Check if the provided value is in the dictionary - if value not in LSM_GYRO_FS: - # Return string representation of this value - index = list(LSM_GYRO_FS.values()).index(self.reg_ctrl2_g_bits.FS_G) - return list(LSM_GYRO_FS.keys())[index] - else: - # Set value as requested - self.reg_ctrl2_g_bits.FS_G = LSM_GYRO_FS[value] - self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) - # Update scale factor for converting raw data - self._gyro_scale_factor = int(value.rstrip('dps')) // 125 - - def acc_rate(self, value=None): - """ - Set the accelerometer rate in Hz. The rate can be: - '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl1_xl_byte[0] = self._getreg(LSM_REG_CTRL1_XL) - # Check if the provided value is in the dictionary - if value not in LSM_ODR: - # Return string representation of this value - index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_XL) - return list(LSM_ODR.keys())[index] - else: - # Set value as requested - self.reg_ctrl1_xl_bits.ODR_XL = LSM_ODR[value] - self._setreg(LSM_REG_CTRL1_XL, self.reg_ctrl1_xl_byte[0]) - - def gyro_rate(self, value=None): - """ - Set the gyroscope rate in Hz. The rate can be: - '0Hz', '12.5Hz', '26Hz', '52Hz', '104Hz', '208Hz', '416Hz', '833Hz', '1660Hz', '3330Hz', '6660Hz' - Pass in no parameters to retrieve the current value - """ - # Get register value - self.reg_ctrl2_g_byte[0] = self._getreg(LSM_REG_CTRL2_G) - # Check if the provided value is in the dictionary - if value not in LSM_ODR: - # Return string representation of this value - index = list(LSM_ODR.values()).index(self.reg_ctrl1_xl_bits.ODR_G) - return list(LSM_ODR.keys())[index] - else: - # Set value as requested - self.reg_ctrl2_g_bits.ODR_G = LSM_ODR[value] - self._setreg(LSM_REG_CTRL2_G, self.reg_ctrl2_g_byte[0]) - - # Update timer frequency - self.timer_frequency = int(value.rstrip('Hz')) - self._start_timer() - - def calibrate(self, calibration_time:float=1, vertical_axis:int= 2): - """ - Collect readings for [calibration_time] seconds and calibrate the IMU based on those readings - Do not move the robot during this time - Assumes the board to be parallel to the ground. Please use the vertical_axis parameter if that is not correct - - :param calibration_time: The time in seconds to collect readings for - :type calibration_time: float - :param vertical_axis: The axis that is vertical. 0 for X, 1 for Y, 2 for Z - :type vertical_axis: int - """ - self._stop_timer() - self.acc_offsets = [0,0,0] - self.gyro_offsets = [0,0,0] - avg_vals = [[0,0,0],[0,0,0]] - num_vals = 0 - # Wait a bit for sensor to start measuring (data registers may default to something nonsensical) - time.sleep(.1) - start_time = time.ticks_ms() - while time.ticks_ms() < start_time + calibration_time*1000: - cur_vals = self.get_acc_gyro_rates() - # Accelerometer averages - avg_vals[0][0] += cur_vals[0][0] - avg_vals[0][1] += cur_vals[0][1] - avg_vals[0][2] += cur_vals[0][2] - # Gyroscope averages - avg_vals[1][0] += cur_vals[1][0] - avg_vals[1][1] += cur_vals[1][1] - avg_vals[1][2] += cur_vals[1][2] - # Increment counter and wait for next loop - num_vals += 1 - time.sleep(1 / self.timer_frequency) - - # Compute averages - avg_vals[0][0] /= num_vals - avg_vals[0][1] /= num_vals - avg_vals[0][2] /= num_vals - avg_vals[1][0] /= num_vals - avg_vals[1][1] /= num_vals - avg_vals[1][2] /= num_vals - - avg_vals[0][vertical_axis] -= 1000 #in mg - - self.acc_offsets = avg_vals[0] - self.gyro_offsets = avg_vals[1] - self._start_timer() - - def _start_timer(self): - self.update_timer.init(freq=self.timer_frequency, callback=lambda t:self._update_imu_readings()) - - def _stop_timer(self): - self.update_timer.deinit() - - def _update_imu_readings(self): - # Called every tick through a callback timer - self.get_gyro_rates() - delta_pitch = self.irq_v[1][0] / 1000 / self.timer_frequency - delta_roll = self.irq_v[1][1] / 1000 / self.timer_frequency - delta_yaw = self.irq_v[1][2] / 1000 / self.timer_frequency - - state = disable_irq() - self.running_pitch += delta_pitch - self.running_roll += delta_roll - self.running_yaw += delta_yaw - enable_irq(state) \ No newline at end of file diff --git a/public/lib/XRPLib/imu_defs.py b/public/lib/XRPLib/imu_defs.py deleted file mode 100644 index c8732de..0000000 --- a/public/lib/XRPLib/imu_defs.py +++ /dev/null @@ -1,83 +0,0 @@ -from uctypes import BFUINT8, BF_POS, BF_LEN -from micropython import const - -""" - Possible I2C addresses -""" -LSM_ADDR_PRIMARY = const(0x6B) -LSM_ADDR_SECONDARY = const(0x6A) - -""" - Register addresses -""" -LSM_REG_WHO_AM_I = const(0x0F) -LSM_REG_CTRL1_XL = const(0x10) -LSM_REG_CTRL2_G = const(0x11) -LSM_REG_CTRL3_C = const(0x12) -LSM_REG_OUT_TEMP_L = const(0x20) -LSM_REG_OUT_TEMP_H = const(0x21) -LSM_REG_OUTX_L_G = const(0x22) -LSM_REG_OUTY_L_G = const(0x24) -LSM_REG_OUTZ_L_G = const(0x26) -LSM_REG_OUTX_L_A = const(0x28) -LSM_REG_OUTY_L_A = const(0x2A) -LSM_REG_OUTZ_L_A = const(0x2C) - -""" - Bit field struct definitions of registers -""" -LSM_REG_LAYOUT_CTRL1_XL = { - "ODR_XL" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, - "FS_XL" : BFUINT8 | 2 << BF_POS | 2 << BF_LEN, - "LPF2_XL_EN" : BFUINT8 | 1 << BF_POS | 1 << BF_LEN, -} -LSM_REG_LAYOUT_CTRL2_G = { - "ODR_G" : BFUINT8 | 4 << BF_POS | 4 << BF_LEN, - "FS_G" : BFUINT8 | 1 << BF_POS | 3 << BF_LEN, -} -LSM_REG_LAYOUT_CTRL3_C = { - "BOOT" : BFUINT8 | 7 << BF_POS | 1 << BF_LEN, - "BDU" : BFUINT8 | 6 << BF_POS | 1 << BF_LEN, - "H_LACTIVE" : BFUINT8 | 5 << BF_POS | 1 << BF_LEN, - "PP_OD" : BFUINT8 | 4 << BF_POS | 1 << BF_LEN, - "SIM" : BFUINT8 | 3 << BF_POS | 1 << BF_LEN, - "IF_INC" : BFUINT8 | 2 << BF_POS | 1 << BF_LEN, - "SW_RESET" : BFUINT8 | 0 << BF_POS | 1 << BF_LEN, -} - -""" - Dictionaries for possible register settings -""" -LSM_ODR = { - "0Hz" : 0x0, - "12.5Hz" : 0x1, - "26Hz" : 0x2, - "52Hz" : 0x3, - "104Hz" : 0x4, - "208Hz" : 0x5, - "416Hz" : 0x6, - "833Hz" : 0x7, - "1660Hz" : 0x8, - "3330Hz" : 0x9, - "6660Hz" : 0xA, -} -LSM_ACCEL_FS = { - "2g" : 0x0, - "4g" : 0x2, - "8g" : 0x3, - "16g" : 0x1, -} -LSM_GYRO_FS = { - "125dps" : 0x1, - "250dps" : 0x0, - "500dps" : 0x2, - "1000dps" : 0x4, - "2000dps" : 0x6, -} - -""" - Other contants -""" -LSM_WHO_AM_I_VALUE = 0x6C -LSM_MG_PER_LSB_2G = 0.061 -LSM_MDPS_PER_LSB_125DPS = 4.375 \ No newline at end of file diff --git a/public/lib/XRPLib/motor.py b/public/lib/XRPLib/motor.py deleted file mode 100644 index 2c5d479..0000000 --- a/public/lib/XRPLib/motor.py +++ /dev/null @@ -1,96 +0,0 @@ -from machine import Pin, PWM - -class SinglePWMMotor: - - """ - A simple class handling direction and power sets for DC motors on the XRP robots - - This version is used for the XRP Beta, which uses the rp2040 processor - """ - - def __init__(self, in1_direction_pin: int|str, in2_speed_pin: int|str, flip_dir:bool=False): - self.flip_dir = flip_dir - self._MAX_PWM = 65534 # Motor holds when actually at full power - - self._in1DirPin = Pin(in1_direction_pin, Pin.OUT) - self._in2SpeedPin = PWM(Pin(in2_speed_pin, Pin.OUT)) - self._in2SpeedPin.freq(50) - - def set_effort(self, effort: float): - """ - Sets the effort value of the motor (corresponds to power) - - :param effort: The effort to set the motor to, between -1 and 1 - :type effort: float - """ - - if effort < 0: - # Change direction if negative power - effort *= -1 - self._set_direction(1) - else: - self._set_direction(0) - # Cap power to [0,1] - effort = max(0,min(effort,1)) - self._in2SpeedPin.duty_u16(int(effort*self._MAX_PWM)) - - def _set_direction(self, direction: int): - if self.flip_dir: - self._in1DirPin.value(not direction) - else: - self._in1DirPin.value(direction) - - def brake(self): - # Motor holds with the real max duty cycle (65535) - self._in2SpeedPin.duty_u16(self._MAX_PWM+1) - - def coast(self): - self.set_effort(0) - -class DualPWMMotor: - """ - A simple class handling effort setting for DC motors on the XRP robots - - This version of the Motor class is used for the official release of the XRP - """ - - def __init__(self, in1_pwm_forward: int|str, in2_pwm_backward: int|str, flip_dir:bool=False): - self.flip_dir = flip_dir - self._MAX_PWM = 65535 # Motor holds when actually at full power - - self._in1ForwardPin = PWM(Pin(in1_pwm_forward, Pin.OUT)) - self._in2BackwardPin = PWM(Pin(in2_pwm_backward, Pin.OUT)) - self._in1ForwardPin.freq(50) - self._in2BackwardPin.freq(50) - - def set_effort(self, effort: float): - """ - Sets the effort value of the motor (corresponds to power) - - :param effort: The effort to set the motor to, between -1 and 1 - :type effort: float - """ - - in1Pwm = (effort < 0) ^ (self.flip_dir) - if in1Pwm: - self._in1ForwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) - self._in2BackwardPin.duty_u16(int(0)) - else: - self._in1ForwardPin.duty_u16(int(0)) - self._in2BackwardPin.duty_u16(int(abs(effort)*self._MAX_PWM)) - - def brake(self): - """ - Powers the motor in both directions at the same time, enabling it to hold position - """ - self._in1ForwardPin.duty_u16(int(self._MAX_PWM)) - self._in2BackwardPin.duty_u16(int(self._MAX_PWM)) - - def coast(self): - """ - Disables the motor in both directions at the same time, enabling it to spin freely - """ - self._in1ForwardPin.duty_u16(int(0)) - self._in2BackwardPin.duty_u16(int(0)) - - diff --git a/public/lib/XRPLib/motor_group.py b/public/lib/XRPLib/motor_group.py deleted file mode 100644 index ecfe4f0..0000000 --- a/public/lib/XRPLib/motor_group.py +++ /dev/null @@ -1,94 +0,0 @@ -from .encoded_motor import EncodedMotor -class MotorGroup(EncodedMotor): - def __init__(self, *motors: EncodedMotor): - """ - A wrapper class for multiple motors, allowing them to be treated as one motor. - - :param motors: The motors to add to this group - :type motors: tuple - """ - self.motors = [] - for motor in motors: - self.add_motor(motor) - - def add_motor(self, motor:EncodedMotor): - """ - :param motor: The motor to add to this group - :type motor: EncodedMotor - """ - self.motors.append(motor) - - def remove_motor(self, motor:EncodedMotor): - """ - :param motor: The motor to remove from this group - :type motor: EncodedMotor - """ - try: - self.motors.remove(motor) - except: - print("Failed to remove motor from Motor Group") - - def set_effort(self, effort: float): - """ - :param effort: The effort to set all motors in this group to, from -1 to 1 - :type effort: float - """ - for motor in self.motors: - motor.set_effort(effort) - - def get_position(self) -> float: - """ - :return: The average position of all motors in this group, in revolutions, relative to the last time reset was called. - :rtype: float - """ - avg = 0 - for motor in self.motors: - avg += motor.get_position() - return avg / len(self.motors) - - def get_position_counts(self) -> int: - """ - :return: The average position of all motors in this group, in encoder counts, relative to the last time reset was called. - :rtype: int - """ - avg = 0 - for motor in self.motors: - avg += motor.get_position_counts() - return round(avg / len(self.motors)) - - def reset_encoder_position(self): - """ - Resets the encoder position of all motors in this group back to zero. - """ - for motor in self.motors: - motor.reset_encoder_position() - - def get_speed(self) -> float: - """ - :return: The average speed of the motors, in rpm - :rtype: float - """ - avg = 0 - for motor in self.motors: - avg += motor.get_speed() - return avg / len(self.motors) - - - def set_speed(self, target_speed_rpm: float = None): - """ - Sets target speed (in rpm) to be maintained passively by all motors in this group - Call with no parameters to turn off speed control - - :param target_speed_rpm: The target speed for these motors in rpm, or None - :type target_speed_rpm: float, or None - """ - for motor in self.motors: - motor.set_speed(target_speed_rpm) - - def set_speed_controller(self, new_controller): - """ - :param new_controller: The new Controller for speed control - :type new_controller: Controller - """ - for motor in self.motors: - motor.set_speed_controller(new_controller) \ No newline at end of file diff --git a/public/lib/XRPLib/pid.py b/public/lib/XRPLib/pid.py deleted file mode 100644 index e9c0491..0000000 --- a/public/lib/XRPLib/pid.py +++ /dev/null @@ -1,129 +0,0 @@ -import time -from .controller import Controller - -""" -PID controller with exit condition -""" - -class PID(Controller): - - def __init__(self, - kp = 1.0, - ki = 0.0, - kd = 0.0, - min_output = 0.0, - max_output = 1.0, - max_derivative = None, - max_integral = None, - tolerance = 0.1, - tolerance_count = 1 - ): - """ - :param kp: proportional gain - :param ki: integral gain - :param kd: derivative gain - :param min_output: minimum output - :param max_output: maximum output - :param max_derivative: maximum derivative (change per second) - :param max_integral: maximum integral windup allowed (will cap integral at this value) - :param tolerance: tolerance for exit condition - :param tolerance_count: number of times the error needs to be within tolerance for is_done to return True - """ - self.kp = kp - self.ki = ki - self.kd = kd - self.min_output = min_output - self.max_output = max_output - self.max_derivative = max_derivative - self.max_integral = max_integral - self.tolerance = tolerance - self.tolerance_count = tolerance_count - - self.prev_error = 0 - self.prev_integral = 0 - self.prev_output = 0 - - self.start_time = None - self.prev_time = None - - # number of actual times in tolerance - self.times = 0 - - def _handle_exit_condition(self, error: float): - if abs(error) < self.tolerance: - # if error is within tolerance, increment times in tolerance - self.times += 1 - else: - # otherwise, reset times in tolerance, because we need to be in tolerance for numTimesInTolerance consecutive times - self.times = 0 - - def update(self, error: float, debug: bool = False) -> float: - """ - Handle a new update of this PID loop given an error. - - :param error: The error of the system being controlled by this PID controller - :type error: float - - :return: The system output from the controller, to be used as an effort value or for any other purpose - :rtype: float - """ - current_time = time.ticks_ms() - if self.prev_time is None: - # First update after instantiation - self.start_time = current_time - timestep = 0.01 - else: - # get time delta in seconds - timestep = time.ticks_diff(current_time, self.prev_time) / 1000 - self.prev_time = current_time # cache time for next update - - self._handle_exit_condition(error) - - integral = self.prev_integral + error * timestep - - if self.max_integral is not None: - integral = max(-self.max_integral, min(self.max_integral, integral)) - - derivative = (error - self.prev_error) / timestep - - # derive output - output = self.kp * error + self.ki * integral + self.kd * derivative - self.prev_error = error - self.prev_integral = integral - - # Bound output by minimum - if output > 0: - output = max(self.min_output, output) - else: - output = min(-self.min_output, output) - - # Bound output by maximum - output = max(-self.max_output, min(self.max_output, output)) - - # Bound output by maximum acceleration - if self.max_derivative is not None: - lower_bound = self.prev_output - self.max_derivative * timestep - upper_bound = self.prev_output + self.max_derivative * timestep - output = max(lower_bound, min(upper_bound, output)) - - # cache output for next update - self.prev_output = output - - if debug: - print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})") - - return output - - def is_done(self) -> bool: - """ - :return: if error is within tolerance for numTimesInTolerance consecutive times, or timed out - :rtype: bool - """ - return self.times >= self.tolerance_count - - def clear_history(self): - self.prev_error = 0 - self.prev_integral = 0 - self.prev_output = 0 - self.prev_time = None - self.times = 0 \ No newline at end of file diff --git a/public/lib/XRPLib/puppet.py b/public/lib/XRPLib/puppet.py deleted file mode 100644 index b2788aa..0000000 --- a/public/lib/XRPLib/puppet.py +++ /dev/null @@ -1,869 +0,0 @@ -""" -XRP Puppet Protocol (XPP) - Core Protocol Implementation - -A bidirectional protocol for communicating with the XRP robot remotely. -Uses a Network Tables-like architecture with variable ID mapping. -""" - -import select -import struct -import sys -import time -from machine import Timer -from micropython import const,kbd_intr - -# Message framing constants -MSG_START_1 = const(0xAA) -MSG_START_2 = const(0x55) -MSG_END_1 = const(0x55) -MSG_END_2 = const(0xAA) -MAX_PAYLOAD_SIZE = const(251) - -# Message type constants -MSG_TYPE_VAR_DEF = const(1) -MSG_TYPE_VAR_UPDATE = const(2) -MSG_TYPE_VAR_SUBSCRIBE = const(3) -MSG_TYPE_VAR_UNSUBSCRIBE = const(4) -MSG_TYPE_PROGRAM_START = const(5) -MSG_TYPE_PROGRAM_END = const(6) -MSG_TYPE_HEARTBEAT = const(7) - -# Variable type constants -VAR_TYPE_INT = const(1) -VAR_TYPE_FLOAT = const(2) -VAR_TYPE_BOOL = const(3) - -# Permission constants -PERM_READ_ONLY = const(1) -PERM_WRITE_ONLY = const(2) -PERM_READ_WRITE = const(3) - -# First custom variable ID -FIRST_CUSTOM_VAR_ID = const(38) - -# Mapping of standard variable names to IDs (1-37) -_STANDARD_VAR_IDS = { - # Gamepad variables (1-19) - '$gamepad.x1': 1, - '$gamepad.y1': 2, - '$gamepad.x2': 3, - '$gamepad.y2': 4, - '$gamepad.button_a': 5, - '$gamepad.button_b': 6, - '$gamepad.button_x': 7, - '$gamepad.button_y': 8, - '$gamepad.bumper_l': 9, - '$gamepad.bumper_r': 10, - '$gamepad.trigger_l': 11, - '$gamepad.trigger_r': 12, - '$gamepad.back': 13, - '$gamepad.start': 14, - '$gamepad.dpad_up': 15, - '$gamepad.dpad_dn': 16, - '$gamepad.dpad_l': 17, - '$gamepad.dpad_r': 18, - '$gamepad.enabled': 19, - # IMU variables (20-25) - '$imu.yaw': 20, - '$imu.roll': 21, - '$imu.pitch': 22, - '$imu.acc_x': 23, - '$imu.acc_y': 24, - '$imu.acc_z': 25, - # Encoder variables (26-29) - '$encoder.left': 26, - '$encoder.right': 27, - '$encoder.3': 28, - '$encoder.4': 29, - # Current sensor variables (30-33) - '$current.left': 30, - '$current.right': 31, - '$current.3': 32, - '$current.4': 33, - # Other sensor variables (34-37) - '$rangefinder.distance': 34, - '$reflectance.left': 35, - '$reflectance.right': 36, - '$voltage': 37, -} - - -class Puppet: - """ - Core XRP Puppet Protocol implementation. - Manages bidirectional communication, variable registry, and message handling. - """ - - _DEFAULT_PUPPET_INSTANCE = None - - @classmethod - def get_default_puppet(cls): - """ - Get the default XPP instance. This is a singleton. - """ - if cls._DEFAULT_PUPPET_INSTANCE is None: - cls._DEFAULT_PUPPET_INSTANCE = cls() - return cls._DEFAULT_PUPPET_INSTANCE - - def __init__(self): - """ - Initialize the XPP protocol handler. - """ - # Variable registry: name -> (id, type, permissions, value, update_rate, last_sent_time) - self._variables = {} - self._variable_ids = {} # id -> name (reverse mapping) - self._next_var_id = FIRST_CUSTOM_VAR_ID # Start at 38 for custom variables - - # Transport layer - self._transport = None - self._transport_type = None - self._rx_buffer = bytearray() - self._rx_state = 0 # 0=waiting for start, 1=reading length, 2=reading payload, 3=waiting for end - - # Packet tracking - self.packets_sent = 0 - self.packets_received = 0 - self.packets_dropped = 0 - self._sequence_number = 0 - - # Update rate management - self._update_timer = Timer(-1) - self._update_timer_running = False - - # STDIO polling (for USB_STDIO transport) - self._poll_timer = Timer(-1) - self._poll_timer_running = False - self._poll_stdin_poll = None - - # Program state - self._program_running = False - - # Initialize transport - self._init_transport() - - def _init_transport(self): - """ - Auto-detect and initialize transport (BLE or USB serial). - """ - # Try BLE first - try: - from ble.blerepl import uart - if len(uart._connections) > 0: - self._transport = uart - self._transport_type = 'BLE' - self._transport.set_data_callback(self._data_callback) - return - else: - self._transport_type = 'USB_STDIO' - self._start_poll_timer() - return - except ImportError: - self._transport_type = 'USB_STDIO' - self._start_poll_timer() - return - - - def _poll_stdio(self): - """ - Poll STDIO for incoming data using select.poll. - Reads raw bytes from the stdin buffer. - """ - data_read = False - while True: - events = self._stdin_poll.poll(0) - if not events: - if data_read: - self._process_rx_buffer() - break - data = sys.stdin.buffer.read(1) - self._rx_buffer.extend(data) - data_read = True - - #if data: - #print(f"Received data: {data}") - #self._data_callback(data) - - def _start_poll_timer(self): - """ - Start STDIO polling for USB_STDIO transport. - Uses select.poll on the raw stdin buffer and a timer to check it. - """ - if self._transport_type != 'USB_STDIO' or self._poll_timer_running: - return - self._stdin_poll = select.poll() - self._stdin_poll.register(sys.stdin.buffer, select.POLLIN) - - kbd_intr(-1) #the data will have 03 in it, don't do a ctrl-c for that data. - - self._poll_timer.init(period=20, mode=Timer.PERIODIC, - callback=lambda t: self._poll_stdio()) - self._poll_timer_running = True - - def _stop_poll_timer(self): - """ - Stop the STDIO polling timer and unregister from poll. - """ - if self._poll_timer_running: - self._poll_timer.deinit() - kbd_intr(03) #start watching for ctrl-c again - self._poll_timer_running = False - if self._stdin_poll is not None: - try: - self._stdin_poll.unregister(sys.stdin.buffer) - except (OSError, AttributeError): - pass - self._stdin_poll = None - def start(self): - """ - Start the STDIO polling. - """ - if self._transport_type == 'USB_STDIO': - self._start_poll_timer() - - def stop(self): - """ - Stop the STDIO polling. - """ - if self._transport_type == 'USB_STDIO': - self._stop_poll_timer() - - - def _data_callback(self, data): - """ - Handle incoming data from transport layer. - """ - if isinstance(data, (bytes, bytearray)): - self._rx_buffer.extend(data) - else: - self._rx_buffer.append(data) - - self._process_rx_buffer() - - def _process_rx_buffer(self): - """ - Process received data buffer, extracting complete messages. - """ - while len(self._rx_buffer) >= 2: - if self._rx_state == 0: # Waiting for start sequence - # Look for start sequence - idx = -1 - for i in range(len(self._rx_buffer) - 1): - if self._rx_buffer[i] == MSG_START_1 and self._rx_buffer[i+1] == MSG_START_2: - idx = i - break - - if idx == -1: - # No start sequence found, clear buffer except last byte - if len(self._rx_buffer) > 1: - #see if anything in the buffer is a ctrl-c - for i in range(len(self._rx_buffer) - 1): - if self._rx_buffer[i] == 0x03: - self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler - self._rx_buffer = self._rx_buffer[-1:] - return - - # Remove everything before start sequence - if idx > 0: - #check for a ctrl-c in the non packet parts - for i in range(idx - 1): - if self._rx_buffer[i] == 0x03: - self.stop() #stop the USB handler if that is what is running and that will reenable the ctrl-c handler - self._rx_buffer = self._rx_buffer[idx:] - - # Found start, move to length - self._rx_state = 1 - continue - - elif self._rx_state == 1: # Reading type - if len(self._rx_buffer) < 3: # Need start(2) + type(1) - return - msg_type = self._rx_buffer[2] - self._rx_state = 2 - continue - - elif self._rx_state == 2: # Reading length - if len(self._rx_buffer) < 4: # Need start(2) + type(1) + length(1) - return - payload_len = self._rx_buffer[3] - if payload_len > MAX_PAYLOAD_SIZE: - # Invalid length, reset - self._rx_buffer = self._rx_buffer[4:] - self._rx_state = 0 - self.packets_dropped += 1 - continue - - self._rx_state = 3 - continue - - elif self._rx_state == 3: # Reading payload - payload_len = self._rx_buffer[3] - total_needed = 4 + payload_len + 2 # start(2) + type(1) + len(1) + payload + end(2) - - if len(self._rx_buffer) < total_needed: - return # Wait for more data - - # Check end sequence - end_idx = 4 + payload_len - if (self._rx_buffer[end_idx] != MSG_END_1 or - self._rx_buffer[end_idx + 1] != MSG_END_2): - # Invalid end sequence, reset - self._rx_buffer = self._rx_buffer[4:] - self._rx_state = 0 - self.packets_dropped += 1 - continue - - # Extract message type and payload data - msg_type = self._rx_buffer[2] - payload_data = bytes(self._rx_buffer[4:end_idx]) - self._rx_buffer = self._rx_buffer[total_needed:] - self._rx_state = 0 - - # Process message - self.packets_received += 1 - self._handle_message(msg_type, payload_data) - continue - - def _write_data(self, data): - """ - Write data to transport layer. - """ - if self._transport_type == 'BLE': - self._transport.write_data(data) - - elif self._transport_type == 'USB_STDIO': - sys.stdout.buffer.write(data) - - def _pack_message(self, msg_type, payload_data): - """ - Pack a message with framing. - Returns bytearray with complete message. - Format: [START] [TYPE] [LENGTH] [PAYLOAD] [END] - LENGTH includes payload_data length (not including TYPE byte) - """ - payload_len = len(payload_data) - if payload_len > MAX_PAYLOAD_SIZE: - raise ValueError(f"Payload too large: {payload_len} > {MAX_PAYLOAD_SIZE}") - - msg = bytearray() - msg.append(MSG_START_1) - msg.append(MSG_START_2) - msg.append(msg_type) - msg.append(payload_len) # Length of payload_data only - msg.extend(payload_data) - msg.append(MSG_END_1) - msg.append(MSG_END_2) - - return msg - - def _send_message(self, msg_type, payload_data): - """ - Send a message over the transport. - """ - msg = self._pack_message(msg_type, payload_data) - self._write_data(msg) - self.packets_sent += 1 - self._sequence_number = (self._sequence_number + 1) % 256 - - def _handle_message(self, msg_type, payload_data): - """ - Handle incoming message based on type. - - :param msg_type: Message type byte - :param payload_data: Message payload data (without type byte) - """ - if msg_type == MSG_TYPE_VAR_DEF: - self._handle_var_def(payload_data) - elif msg_type == MSG_TYPE_VAR_UPDATE: - self._handle_var_update(payload_data) - elif msg_type == MSG_TYPE_VAR_SUBSCRIBE: - self._handle_var_subscribe(payload_data) - elif msg_type == MSG_TYPE_VAR_UNSUBSCRIBE: - self._handle_var_unsubscribe(payload_data) - elif msg_type == MSG_TYPE_PROGRAM_START: - self._handle_program_start() - elif msg_type == MSG_TYPE_PROGRAM_END: - self._handle_program_end() - elif msg_type == MSG_TYPE_HEARTBEAT: - self._handle_heartbeat(payload_data) - - def _handle_var_def(self, payload): - """ - Handle variable definition message. - Format: name_len(1) name(name_len) type(1) permissions(1) var_id(1) - """ - if len(payload) < 3: - return - - name_len = payload[0] - if len(payload) < 1 + name_len + 3: # name_len + name + type + permissions + var_id - return - - name = payload[1:1+name_len].decode('utf-8') - var_type = payload[1+name_len] - permissions = payload[1+name_len+1] - var_id = payload[1+name_len+2] - - # If this is a standard variable, use the predefined ID instead - if name in _STANDARD_VAR_IDS: - var_id = _STANDARD_VAR_IDS[name] - - # Register the variable with the (corrected) ID - if name not in self._variables: - # Default value based on type - if var_type == VAR_TYPE_INT: - default_value = 0 - elif var_type == VAR_TYPE_FLOAT: - default_value = 0.0 - elif var_type == VAR_TYPE_BOOL: - default_value = False - else: - return - - self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) - self._variable_ids[var_id] = name - # Update next_var_id if needed (for custom variables only) - if var_id >= self._next_var_id and name not in _STANDARD_VAR_IDS: - self._next_var_id = var_id + 1 - if self._next_var_id > 255: - self._next_var_id = FIRST_CUSTOM_VAR_ID # Wrap to start of custom range - - def _handle_var_update(self, payload): - """ - Handle variable update message (batched format). - Format: count(1) [var_id(1) type(1) value(type-dependent)] * count - A count of 1 is equivalent to a single update. - """ - if len(payload) < 1: - return - - count = payload[0] - offset = 1 - - if count == 0 or count > 50: # Sanity check - return - - # Batched update format: count(1) [var_id(1) type(1) value] * count - for i in range(count): - if len(payload) < offset + 2: # Need at least var_id(1) + type(1) - break - - var_id = payload[offset] - offset += 1 - var_type = payload[offset] - offset += 1 - - if var_id not in self._variable_ids: - # Skip this update, but need to advance offset - if var_type == VAR_TYPE_INT: - offset += 4 - elif var_type == VAR_TYPE_FLOAT: - offset += 4 - elif var_type == VAR_TYPE_BOOL: - offset += 1 - continue - - name = self._variable_ids[var_id] - var_info = self._variables[name] - - # Unpack value based on type from message - if var_type == VAR_TYPE_INT: - if len(payload) < offset + 4: - break - value = struct.unpack(' 255: - raise RuntimeError("Maximum number of custom variables exceeded") - send_def = True # Send VAR_DEF for custom variables - - # Default value based on type - if var_type == VAR_TYPE_INT: - default_value = 0 - elif var_type == VAR_TYPE_FLOAT: - default_value = 0.0 - elif var_type == VAR_TYPE_BOOL: - default_value = False - else: - raise ValueError(f"Invalid variable type: {var_type}") - - self._variables[name] = (var_id, var_type, permissions, default_value, 0, 0) - self._variable_ids[var_id] = name - - # Only send variable definition for custom variables - if send_def: - self._send_var_def(name, var_type, permissions, var_id) - - return var_id - - def _send_var_def(self, name, var_type, permissions, var_id): - """ - Send variable definition message. - """ - name_bytes = name.encode('utf-8') - payload = bytearray() - payload.append(len(name_bytes)) - payload.extend(name_bytes) - payload.append(var_type) - payload.append(permissions) - payload.append(var_id) # 1 byte - - self._send_message(MSG_TYPE_VAR_DEF, payload) - - def set_variable(self, name, value): - """ - Set a variable value and send update if subscribed. - - :param name: Variable name - :param value: Variable value - """ - if name not in self._variables: - raise ValueError(f"Variable not defined: {name}") - - var_info = self._variables[name] - var_type = var_info[1] - - # Type check - if var_type == VAR_TYPE_INT and not isinstance(value, int): - raise TypeError(f"Variable {name} expects int, got {type(value)}") - elif var_type == VAR_TYPE_FLOAT and not isinstance(value, (int, float)): - raise TypeError(f"Variable {name} expects float, got {type(value)}") - elif var_type == VAR_TYPE_BOOL and not isinstance(value, bool): - raise TypeError(f"Variable {name} expects bool, got {type(value)}") - - # Update value - self._variables[name] = (var_info[0], var_info[1], var_info[2], - value, var_info[4], var_info[5]) - - # Send update if rate > 0 or if this is an on-demand update - # (on-demand updates are sent immediately when set) - if var_info[4] > 0 or var_info[4] == 0: - self._send_var_update(name) - - def get_variable(self, name): - """ - Get a variable value. - - :param name: Variable name - :return: Variable value - """ - if name not in self._variables: - raise ValueError(f"Variable not defined: {name}") - - return self._variables[name][3] - - def _send_var_update(self, name): - """ - Send single variable update message (uses batched format with count=1). - For multiple updates, use _send_batched_var_updates(). - """ - if name not in self._variables: - return - - var_info = self._variables[name] - var_id = var_info[0] - var_type = var_info[1] - value = var_info[3] - - # Pack as batched update with count=1 - payload = bytearray() - payload.append(1) # count = 1 - payload.append(var_id) # 1 byte - payload.append(var_type) # Include type byte - - if var_type == VAR_TYPE_INT: - payload.extend(struct.pack(' 0 and enough time has passed - if rate > 0: - period_ms = int(1000 / rate) - if time.ticks_diff(current_time, last_sent) < period_ms: - continue # Not ready yet - - updates.append((name, var_info)) - - if not updates: - return - - # Pack batched update: count(1) [var_id(1) type(1) value] * count - payload = bytearray() - payload.append(len(updates)) # count - - for name, var_info in updates: - var_id = var_info[0] - var_type = var_info[1] - value = var_info[3] - - payload.append(var_id) # 1 byte - payload.append(var_type) - - if var_type == VAR_TYPE_INT: - payload.extend(struct.pack(' max_rate: - max_rate = var_info[4] - - if max_rate > 0 and not self._update_timer_running: - # Start timer at max_rate Hz - period_ms = int(1000 / max_rate) - self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._update_timer_callback()) - self._update_timer_running = True - elif max_rate == 0 and self._update_timer_running: - # Stop timer - self._update_timer.deinit() - self._update_timer_running = False - elif max_rate > 0 and self._update_timer_running: - # Update timer period if rate changed - period_ms = int(1000 / max_rate) - self._update_timer.deinit() - self._update_timer.init(period=period_ms, mode=Timer.PERIODIC, - callback=lambda t: self._update_timer_callback()) - - def _update_timer_callback(self): - """ - Timer callback to send variable updates at their specified rates. - Batches all ready updates into a single message for efficiency. - """ - current_time = time.ticks_ms() - - # Collect all variables that are ready to send - ready_vars = [] - for name, var_info in self._variables.items(): - var_id, var_type, permissions, value, rate, last_sent = var_info - - # Only send if rate > 0 and enough time has passed - if rate > 0: - period_ms = int(1000 / rate) - if time.ticks_diff(current_time, last_sent) >= period_ms: - # Check if we have read permission - if permissions in (PERM_READ_ONLY, PERM_READ_WRITE): - ready_vars.append(name) - - # Send all ready updates in a single batched message - if ready_vars: - self._send_batched_var_updates(ready_vars) - - def send_program_start(self): - """ - Send program start message. - """ - self._send_message(MSG_TYPE_PROGRAM_START, b'') - self._program_running = True - - def send_program_end(self): - """ - Send program end message. - """ - self._send_message(MSG_TYPE_PROGRAM_END, b'') - self._program_running = False - - def send_heartbeat(self): - """ - Send heartbeat message. - """ - # Include stats - payload = struct.pack(' float: - """ - Get the distance in centimeters by measuring the echo pulse time - """ - if time.ticks_diff(time.ticks_us(), self.last_echo_time) < self.cache_time_us and not (self.cms == 65535 or self.cms == 0): - return self.cms - - try: - pulse_time = self._send_pulse_and_wait() - if pulse_time <= 0: - return self.MAX_VALUE - except OSError as exception: - # We don't want programs to crash if the HC-SR04 doesn't see anything in range - # So we catch those errors and return 65535 instead - if exception.args[0] == 110: # 110 = ETIMEDOUT - return self.MAX_VALUE - raise exception - - # To calculate the distance we get the pulse_time and divide it by 2 - # (the pulse walk the distance twice) and by 29.1 becasue - # the sound speed on air (343.2 m/s), that It's equivalent to - # 0.034320 cm/us that is 1cm each 29.1us - self.cms = (pulse_time / 2) / 29.1 - self.last_echo_time = time.ticks_us() - return self.cms - - def _delay_us(self, delay:int): - """ - Custom implementation of time.sleep_us(), used to get around the bug in MicroPython where time.sleep_us() - doesn't work properly and causes the IDE to hang when uploading the code - """ - start = time.ticks_us() - while time.ticks_diff(time.ticks_us(), start) < delay: - pass diff --git a/public/lib/XRPLib/reflectance.py b/public/lib/XRPLib/reflectance.py deleted file mode 100644 index c986952..0000000 --- a/public/lib/XRPLib/reflectance.py +++ /dev/null @@ -1,49 +0,0 @@ -from machine import Pin, ADC - -class Reflectance: - - _DEFAULT_REFLECTANCE_INSTANCE = None - - @classmethod - def get_default_reflectance(cls): - """ - Get the default XRP reflectance sensor instance. This is a singleton, so only one instance of the reflectance sensor will ever exist. - """ - if cls._DEFAULT_REFLECTANCE_INSTANCE is None: - cls._DEFAULT_REFLECTANCE_INSTANCE = cls() - return cls._DEFAULT_REFLECTANCE_INSTANCE - - def __init__(self, leftPin: int|str = "LINE_L", rightPin: int|str = "LINE_R"): - """ - Implements for a reflectance sensor using the built in 12-bit ADC. - Reads from analog in and converts to a float from 0 (white) to 1 (black) - - :param leftPin: The pin the left reflectance sensor is connected to - :type leftPin: int - :param rightPin: The pin the right reflectance sensor is connected to - :type rightPin: int - """ - self._leftReflectance = ADC(Pin(leftPin)) - self._rightReflectance = ADC(Pin(rightPin)) - - self.MAX_ADC_VALUE: int = 65536 - - def _get_value(self, sensor: ADC) -> float: - - return sensor.read_u16() / self.MAX_ADC_VALUE - - def get_left(self) -> float: - """ - Gets the the reflectance of the left reflectance sensor - : return: The reflectance ranging from 0 (white) to 1 (black) - : rtype: float - """ - return self._get_value(self._leftReflectance) - - def get_right(self) -> float: - """ - Gets the the reflectance of the right reflectance sensor - : return: The reflectance ranging from 0 (white) to 1 (black) - : rtype: float - """ - return self._get_value(self._rightReflectance) diff --git a/public/lib/XRPLib/resetbot.py b/public/lib/XRPLib/resetbot.py deleted file mode 100644 index 5397560..0000000 --- a/public/lib/XRPLib/resetbot.py +++ /dev/null @@ -1,76 +0,0 @@ -import sys -""" -A simple file for shutting off all of the motors after a program gets interrupted from the REPL. -Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL. -""" - -def reset_motors(): - from XRPLib.encoded_motor import EncodedMotor - # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init - for i in range(4): - motor = EncodedMotor.get_default_encoded_motor(i+1) - motor.set_speed(0) - motor.reset_encoder_position() - -def reset_led(): - from XRPLib.board import Board - # Turn off the on-board LED - Board.get_default_board().led_off() - try: - # Turn off the RGB LED for boards that have it - Board.get_default_board().set_rgb_led(0, 0, 0) - except: - pass - -def reset_servos(): - from XRPLib.servo import Servo - # Turn off both Servos - Servo.get_default_servo(1).free() - Servo.get_default_servo(2).free() - try: #if 2350 then there are 4 servos - Servo.get_default_servo(3).free() - Servo.get_default_servo(4).free() - except: - pass - -def reset_webserver(): - from XRPLib.webserver import Webserver - # Shut off the webserver and close network connections - Webserver.get_default_webserver().stop_server() - -def reset_gamepad(): - from XRPLib.gamepad import Gamepad - # Stop the browser from sending more gamepad data - Gamepad.get_default_gamepad().stop() - -def reset_dashboard(): - from XRPLib.dashboard import Dashboard - # Stop the dashboard from sending more data - Dashboard.get_default_dashboard().stop() - -def reset_hard(): - reset_gamepad() - reset_dashboard() - reset_motors() - reset_led() - reset_servos() - reset_webserver() - -if "XRPLib.gamepad" in sys.modules: - reset_gamepad() - -if "XRPLib.dashboard" in sys.modules: - reset_dashboard() - -if "XRPLib.encoded_motor" in sys.modules: - reset_motors() - -if "XRPLib.board" in sys.modules: - reset_led() - -if "XRPLib.servo" in sys.modules: - reset_servos() - -if "XRPLib.webserver" in sys.modules: - reset_webserver() - diff --git a/public/lib/XRPLib/servo.py b/public/lib/XRPLib/servo.py deleted file mode 100644 index e606dac..0000000 --- a/public/lib/XRPLib/servo.py +++ /dev/null @@ -1,66 +0,0 @@ -from machine import Pin, PWM -import sys - -class Servo: - - _DEFAULT_SERVO_ONE_INSTANCE = None - _DEFAULT_SERVO_TWO_INSTANCE = None - _DEFAULT_SERVO_THREE_INSTANCE = None - _DEFAULT_SERVO_FOUR_INSTANCE = None - - @classmethod - def get_default_servo(cls, index:int): - """ - Gets one of the default XRP servo instances. These are singletons, so only one instance of each servo will ever exist. - Raises an exception if an invalid index is requested. - - :param index: The index of the servo to get (1-4; Beta only has 1 and 2) - :type index: int - """ - if index == 1: - if cls._DEFAULT_SERVO_ONE_INSTANCE is None: - cls._DEFAULT_SERVO_ONE_INSTANCE = cls("SERVO_1") - servo = cls._DEFAULT_SERVO_ONE_INSTANCE - elif index == 2: - if cls._DEFAULT_SERVO_TWO_INSTANCE is None: - cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2") - servo = cls._DEFAULT_SERVO_TWO_INSTANCE - elif index == 3 and hasattr(Pin.board, "SERVO_3"): - if cls._DEFAULT_SERVO_THREE_INSTANCE is None: - cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3") - servo = cls._DEFAULT_SERVO_THREE_INSTANCE - elif index == 4 and hasattr(Pin.board, "SERVO_4"): - if cls._DEFAULT_SERVO_FOUR_INSTANCE is None: - cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4") - servo = cls._DEFAULT_SERVO_FOUR_INSTANCE - else: - return Exception("Invalid servo index") - return servo - - def __init__(self, signal_pin: int|str): - """ - A simple class for interacting with a servo through PWM - - :param signal_pin: The pin the servo is connected to - :type signal_pin: int | str - """ - - self._servo = PWM(Pin(signal_pin, Pin.OUT)) - # Initialize base frequency for the PWM - self._servo.freq(50) - self.MICROSEC_PER_DEGREE: int = 10000 - self.LOW_ANGLE_OFFSET: int = 500000 - - def set_angle(self, degrees: float): - """ - Sets the angle of the servo - :param degrees: The angle to set the servo to [0,200] - :ptype degrees: float - """ - self._servo.duty_ns(int(degrees * self.MICROSEC_PER_DEGREE + self.LOW_ANGLE_OFFSET)) - - def free(self): - """ - Allows the servo to spin freely without holding position - """ - self._servo.duty_ns(0) diff --git a/public/lib/XRPLib/timeout.py b/public/lib/XRPLib/timeout.py deleted file mode 100644 index 7d7a669..0000000 --- a/public/lib/XRPLib/timeout.py +++ /dev/null @@ -1,23 +0,0 @@ -import time - -class Timeout: - def __init__(self, timeout: float): - """ - Starts a timer that will expire after the given timeout. - - :param timeout: The timeout, in seconds - :type timeout: float - """ - self.timeout = timeout - if self.timeout != None: - self.timeout = timeout*1000 - - self.start_time = time.ticks_ms() - - def is_done(self): - """ - :return: True if the timeout has expired, False otherwise - """ - if self.timeout is None: - return False - return time.ticks_ms() - self.start_time > self.timeout \ No newline at end of file diff --git a/public/lib/XRPLib/webserver.py b/public/lib/XRPLib/webserver.py deleted file mode 100644 index bedbba6..0000000 --- a/public/lib/XRPLib/webserver.py +++ /dev/null @@ -1,326 +0,0 @@ -from phew import server, template, logging, access_point, dns -from phew.template import render_template -from phew.server import redirect, stop, close -import gc -import network -import time -import json - -logging.log_file = "webserverLog.txt" - -class Webserver: - - @classmethod - def get_default_webserver(cls): - """ - Get the default webserver instance. This is a singleton, so only one instance of the webserver will ever exist. - """ - return webserver - - def __init__(self): - """ - Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below. - """ - - gc.threshold(50000) # garbage collection - self.logged_data = {} - self.buttons = {"forwardButton": lambda: logging.debug("Button not initialized"), - "backButton": lambda: logging.debug("Button not initialized"), - "leftButton": lambda: logging.debug("Button not initialized"), - "rightButton": lambda: logging.debug("Button not initialized"), - "stopButton": lambda: logging.debug("Button not initialized")} - self.FUNCTION_PREFIX = "startfunction" - self.FUNCTION_SUFFIX = "endfunction" - self.display_arrows = False - # Instantiate self.wlan now so that running stop before start doesn't cause an error - self.wlan = network.WLAN(network.STA_IF) - - def start_network(self, ssid:str=None, robot_id:int= None, password:str=None): - """ - Open an access point from the XRP board to be used as a captive host. The default network information can be set in secrets.json - - :param ssid: The ssid of the access point, defaults to value from secrets.json - :type ssid: str, optional - :param robot_id: Replaces "{robot_id}" in ssid, defaults to value from secrets.json - :type robot_id: int, optional - :param password: The password of the access point, defaults to value from secrets.json - :type password: str, optional - """ - if ssid is None: - try: - with open("../../secrets.json") as secrets_file: - secrets = json.load(secrets_file) - ssid = str(secrets["ap_ssid"]) - password = str(secrets["ap_password"]) - if robot_id is None: - robot_id = str(secrets["robot_id"]) - ssid = ssid.replace("{robot_id}", robot_id) - except (OSError, KeyError, ValueError): - if robot_id is None: - robot_id = 1 - ssid = f"XRP_{robot_id}" - password = "remote.xrp" - if password is not None and len(password) < 8: - logging.warn("Password is less than 8 characters, this may cause issues with some devices") - self.wlan = access_point(ssid, password) - logging.info(f"Starting Access Point \"{ssid}\"") - self.ip = self.wlan.ifconfig()[0] - - def connect_to_network(self, ssid:str=None, password:str=None, timeout = 10): - """ - Connect to a wifi network with the given ssid and password. - If the connection fails, the board will disconnect from the network and return. - - :param ssid: The ssid of the network, defaults to value from secrets.json - :type ssid: str, optional - :param password: The password of the network, defaults to value from secrets.json - :type password: str, optional - :param timeout: The amount of time to wait for the connection to succeed, defaults to 10 - :type timeout: int, optional - """ - self.wlan = network.WLAN(network.STA_IF) - self.wlan.active(True) # configure board to connect to wifi - if ssid is None: - try: - with open("../../secrets.json") as secrets_file: - secrets = json.load(secrets_file) - ssid = str(secrets["wifi_ssid"]) - password = str(secrets["wifi_password"]) - except (OSError, KeyError, ValueError): - print("secrets.json not found or improperly formatted") - return False - self.wlan.connect(ssid,password) - start_time = time.time() - while not self.wlan.isconnected(): - print("Connecting to network, may take a second") - if time.time() > start_time+timeout: - print("Failed to connect to network, please try again") - self.wlan.disconnect() - return False - time.sleep(0.25) - self.ip = self.wlan.ifconfig()[0] - - def start_server(self): - """ - Begin the webserver in either access point or bridge mode. The IP is printed to the console. - - Preconditions: Either start_network or connect_to_network must be called before this method. - """ - self.wlan.active(True) - logging.info(f"Starting DNS Server at {self.ip}") - dns.run_catchall(self.ip) - self.DOMAIN = self.ip - logging.disable_logging_types(logging.LOG_INFO) - server.run() - - def stop_server(self): - """ - Shuts off the webserver and network and stops handling requests - """ - if self.wlan.active(): - logging.enable_logging_types(logging.LOG_INFO) - logging.info("Stopping Webserver and Network Connections") - - stop() - self.wlan.active(False) - - def _index_page(self, request): - # Render index page and respond to form requests - if request.method == 'GET': - return self._generateHTML() - if request.method == 'POST': - if str(list(request.form.values())[0]).count(" ") == 0: - text = str(list(request.form.keys())[0]) - else: - text = str(list(request.form.values())[0]) - self._handleUserFunctionRequest(text) - return self._generateHTML() - - def _hotspot(self, request): - # Redirect to Index Page - return self._generateHTML() - - def _catch_all(self, request): - # Catch all requests and redirect if necessary - if request.headers.get("host") != self.DOMAIN: - return redirect("http://"+self.DOMAIN+"/") - return self._index_page(request=request) - - def log_data(self, label:str, data): - """ - Register a custom label to be displayed on the webserver - - :param label: The label as it will be displayed, must be unique - :type label: str - :param data: The data to be displayed - :type data: Any (converted to string) - """ - self.logged_data[label] = data - - def add_button(self, button_name:str, function): - """ - Register a custom button to be displayed on the webserver - - :param button_name: The label for the button as it will be displayed, must be unique - :type button_name: str - :param function: The function to be called when the button is pressed - :type function: function - """ - self.buttons[button_name] = function - - def registerForwardButton(self, function): - """ - Assign a function to the forward button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["forwardButton"] = function - - def registerBackwardButton(self, function): - """ - Assign a function to the backward button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["backButton"] = function - - def registerLeftButton(self, function): - """ - Assign a function to the left button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["leftButton"] = function - - def registerRightButton(self, function): - """ - Assign a function to the right button - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["rightButton"] = function - - def registerStopButton(self, function): - """ - Assign a function to the stop - - :param function: The function to be called when the button is pressed - :type function: function - """ - self.display_arrows = True - self.buttons["stopButton"] = function - - def _handleUserFunctionRequest(self, text) -> bool: - print(f"Running {text}") - try: - user_function = self.buttons[text] - if user_function is None: - logging.warning("User function "+text+" not found") - return False - user_function() - return True - except RuntimeError as xcpt: - logging.error("User function "+text+" caused an exception: "+str(xcpt)) - return False - - def _generateHTML(self): - - string = _HTML1 - - if self.display_arrows: - string += _HTML_ARROWS - - string += f'

Custom Function Bindings:

' - # add each button's href to html - for button in self.buttons.keys(): - if(["forwardButton","backButton","leftButton","rightButton","stopButton"].count(button) > 0): - # Slightly cursed solution to not display the arrow buttons as text buttons - continue - string += f'

' - string += "\n" - - string += f'

Logged Data:

' - # add logged data to the html - for data_label in self.logged_data.keys(): - string += f'

{data_label}: {str(self.logged_data[data_label])}

' - string += "\n" - - string += _HTML2 - - return string - -""" Use decorators to bind the wifi methods to the requests """ -webserver = Webserver() - -@server.route("/", methods=['GET','POST']) -def index(request): - return webserver._index_page(request) - -@server.route("/hotspot-detect.html", methods=["GET"]) -def hotspot(request): - return webserver._hotspot(request) - -@server.catchall() -def catch_all(request): - return webserver._catch_all(request) - -_HTML1 = """ - - - - - - - - - - -

XRP control page

- -

-""" - -_HTML_ARROWS = """ -

-
-
-    -
-    -
-
-
-""" - -_HTML2 = """ -

- - - - -""" \ No newline at end of file diff --git a/public/lib/ble/__init__.py b/public/lib/ble/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/public/lib/ble/ble_uart_peripheral.py b/public/lib/ble/ble_uart_peripheral.py deleted file mode 100644 index d9da813..0000000 --- a/public/lib/ble/ble_uart_peripheral.py +++ /dev/null @@ -1,158 +0,0 @@ -# This implements the Nordic UART Service (NUS). - -import bluetooth -#from .ble_advertising import advertising_payload -import struct -from micropython import const -from machine import Timer - -#Advertise info -# org.bluetooth.characteristic.gap.appearance.xml -_ADV_APPEARANCE_GENERIC_COMPUTER = const(128) -_ADV_TYPE_FLAGS = const(0x01) -_ADV_TYPE_APPEARANCE = const(0x19) -_ADV_TYPE_NAME = const(0x09) - -_IRQ_CENTRAL_CONNECT = const(1) -_IRQ_CENTRAL_DISCONNECT = const(2) -_IRQ_GATTS_WRITE = const(3) -_IRQ_GATTS_INDICATE_DONE = const(20) - -_FLAG_READ = const(0x0002) -_FLAG_WRITE = const(0x0008) -_FLAG_NOTIFY = const(0x0010) - -_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") -_UART_TX = ( - bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"), - _FLAG_NOTIFY, -) -_UART_RX = ( - bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E"), - _FLAG_WRITE, -) - -# Define a new UUID for the binary data characteristic. -_UART_DATA_RX = ( - bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36ff"), - _FLAG_WRITE, -) -# Define a new UUID for the binary data characteristic. -_UART_DATA_TX = ( - bluetooth.UUID("92ae6088-f24d-4360-b1b1-a432a8ed36fe"), - _FLAG_NOTIFY, -) - -_UART_SERVICE = ( - _UART_UUID, - (_UART_TX, _UART_RX, _UART_DATA_RX, _UART_DATA_TX,), -) - -_timer = Timer(-1) - -def delayedRestart(_arg): - import machine - machine.reset() - -class BLEUART: - def __init__(self, ble, name="mpy-uart", rxbuf=100): - self._ble = ble - self._ble.active(True) - self._ble.irq(self._irq) - ((self._tx_handle, self._rx_handle, self._data_rx_handle, self._data_tx_handle),) = self._ble.gatts_register_services((_UART_SERVICE,)) - # Increase the size of the rx buffer and enable append mode. - self._ble.gatts_set_buffer(self._rx_handle, rxbuf, True) - self._connections = set() - self._rx_buffer = bytearray() - self._handler = None - self._payload = self._advertising_payload(name, _ADV_APPEARANCE_GENERIC_COMPUTER) - self._data_callback = None - self._advertise() - - def irq(self, handler): - self._handler = handler - - def _irq(self, event, data): - # Track connections so we can send notifications. - if event == _IRQ_CENTRAL_CONNECT: - conn_handle, _, _ = data - self._connections.add(conn_handle) - elif event == _IRQ_CENTRAL_DISCONNECT: - conn_handle, _, _ = data - if conn_handle in self._connections: - self._connections.remove(conn_handle) - # Start advertising again to allow a new connection. - self._advertise() - elif event == _IRQ_GATTS_WRITE: - conn_handle, value_handle = data - if conn_handle in self._connections and value_handle == self._rx_handle: - self._rx_buffer += self._ble.gatts_read(self._rx_handle) - if(self._rx_buffer.find(b'##XRPSTOP#' + b'#') != -1): #WARNING: This is broken up so it won't restart during an update or this file. - self._rx_buffer = bytearray() - # set the bit in isrunning to tell main not to re-run the program so the IDE can connect - FILE_PATH = '/lib/ble/isrunning' - with open(FILE_PATH, 'r+b') as file: - file.write(b'\x01') - # slight delay to avoid errors on the browser side. - _timer.init(mode=Timer.PERIODIC, period=50, callback=delayedRestart) - elif conn_handle in self._connections and value_handle == self._data_rx_handle: - new_data = self._ble.gatts_read(self._data_rx_handle) - if self._data_callback: - self._data_callback(new_data) - #schedule(self._data_callback, new_data) - elif event == _IRQ_GATTS_INDICATE_DONE: - if self._handler: - self._handler() - #else: - #print("IRQ Event Code: " + str(event)) - - def any(self): - return len(self._rx_buffer) - - def read(self, sz=None): - if not sz: - sz = len(self._rx_buffer) - result = self._rx_buffer[0:sz] - self._rx_buffer = self._rx_buffer[sz:] - return result - - def write(self, data): - #print("write:" + data) - for conn_handle in self._connections: - self._ble.gatts_indicate(conn_handle, self._tx_handle, data) - - def write_data(self, data): - #print("write_data:" + data) - for conn_handle in self._connections: - self._ble.gatts_notify(conn_handle, self._data_tx_handle, data) - - def set_data_callback(self, callback): - self._data_callback = callback - - def clear_data_callback(self): - self._data_callback = None - - def close(self): - for conn_handle in self._connections: - self._ble.gap_disconnect(conn_handle) - self._connections.clear() - - def _advertise(self, interval_us=500000): - self._ble.gap_advertise(interval_us, adv_data=self._payload) - - # Generate a payload to be passed to gap_advertise(adv_data=...). - def _advertising_payload(self, name, appearance): - payload = bytearray() - - def _append(adv_type, value): - nonlocal payload - payload += struct.pack("BB", len(value) + 1, adv_type) + value - - _append( - _ADV_TYPE_FLAGS, - struct.pack("B", 0x02 + 0x04), - ) - _append(_ADV_TYPE_NAME, name) - _append(_ADV_TYPE_APPEARANCE, struct.pack("= len(self._tx_buf): - self._tx_buf = bytearray() - self._tx_buf_index = 0 - self._uart.write(data) - - def write(self, buf): - state = disable_irq() - empty = not self._tx_buf - self._tx_buf += buf - enable_irq(state) - - if empty: - waitingForTimer = True - schedule_in(self._timer_handler, 50) - -def background_task(): - global uart - ble = bluetooth.BLE() - x = (''.join(['{:02x}'.format(b) for b in unique_id()])) - uart = BLEUART(ble, name="XRP-" + x[11:], rxbuf = 250) - stream = BLEUARTStream(uart) - os.dupterm(stream,0) - -# Start the background task -background_task() - \ No newline at end of file diff --git a/public/lib/ble/isrunning b/public/lib/ble/isrunning deleted file mode 100644 index f76dd238ade08917e6712764a16a22005a50573d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1 IcmZPo000310RR91 diff --git a/public/lib/main.py b/public/lib/main.py deleted file mode 100644 index c432469..0000000 --- a/public/lib/main.py +++ /dev/null @@ -1,6 +0,0 @@ -import os -x = os.dupterm(None, 0) -if(x == None): - import ble.blerepl -else: - os.dupterm(x,0) diff --git a/public/lib/package.json b/public/lib/package.json deleted file mode 100644 index 16a2007..0000000 --- a/public/lib/package.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "urls": [ - ["XRPLib/__init__.py", "github:Open-STEM/XRP_Micropython/XRPLib/__init__.py"], - ["XRPLib/board.py", "github:Open-STEM/XRP_Micropython/XRPLib/board.py"], - ["XRPLib/controller.py", "github:Open-STEM/XRP_Micropython/XRPLib/controller.py"], - ["XRPLib/dashboard.py", "github:Open-STEM/XRP_Micropython/XRPLib/dashboard.py"], - ["XRPLib/defaults.py", "github:Open-STEM/XRP_Micropython/XRPLib/defaults.py"], - ["XRPLib/differential_drive.py", "github:Open-STEM/XRP_Micropython/XRPLib/differential_drive.py"], - ["XRPLib/encoded_motor.py", "github:Open-STEM/XRP_Micropython/XRPLib/encoded_motor.py"], - ["XRPLib/encoder.py", "github:Open-STEM/XRP_Micropython/XRPLib/encoder.py"], - ["XRPLib/gamepad.py", "github:Open-STEM/XRP_Micropython/XRPLib/gamepad.py"], - ["XRPLib/imu_defs.py", "github:Open-STEM/XRP_Micropython/XRPLib/imu_defs.py"], - ["XRPLib/imu.py", "github:Open-STEM/XRP_Micropython/XRPLib/imu.py"], - ["XRPLib/motor_group.py", "github:Open-STEM/XRP_Micropython/XRPLib/motor_group.py"], - ["XRPLib/motor.py", "github:Open-STEM/XRP_Micropython/XRPLib/motor.py"], - ["XRPLib/pid.py", "github:Open-STEM/XRP_Micropython/XRPLib/pid.py"], - ["XRPLib/puppet.py", "github:Open-STEM/XRP_Micropython/XRPLib/puppet.py"], - ["XRPLib/rangefinder.py", "github:Open-STEM/XRP_Micropython/XRPLib/rangefinder.py"], - ["XRPLib/reflectance.py", "github:Open-STEM/XRP_Micropython/XRPLib/reflectance.py"], - ["XRPLib/resetbot.py", "github:Open-STEM/XRP_Micropython/XRPLib/resetbot.py"], - ["XRPLib/servo.py", "github:Open-STEM/XRP_Micropython/XRPLib/servo.py"], - ["XRPLib/timeout.py", "github:Open-STEM/XRP_Micropython/XRPLib/timeout.py"], - ["XRPLib/webserver.py", "github:Open-STEM/XRP_Micropython/XRPLib/webserver.py"], - ["XRPExamples/__init__.py", "github:Open-STEM/XRP_Micropython/XRPExamples/__init__.py"], - ["XRPExamples/drive_examples.py", "github:Open-STEM/XRP_Micropython/XRPExamples/drive_examples.py"], - ["XRPExamples/gamepad_example.blocks", "github:Open-STEM/XRP_Micropython/XRPExamples/gamepad_example.blocks"], - ["XRPExamples/installation_verification.py", "github:Open-STEM/XRP_Micropython/XRPExamples/installation_verification.py"], - ["XRPExamples/led_example.py", "github:Open-STEM/XRP_Micropython/XRPExamples/led_example.py"], - ["XRPExamples/sensor_examples.py", "github:Open-STEM/XRP_Micropython/XRPExamples/sensor_examples.py"], - ["XRPExamples/webserver_example.py", "github:Open-STEM/XRP_Micropython/XRPExamples/webserver_example.py"] - ], - "deps": [ - ["github:pimoroni/phew", "latest"] - ], - "version": "2.2.1" - } diff --git a/public/lib/phew/__init__.py b/public/lib/phew/__init__.py deleted file mode 100644 index 4131b0f..0000000 --- a/public/lib/phew/__init__.py +++ /dev/null @@ -1,77 +0,0 @@ -__version__ = "0.0.2" - -# highly recommended to set a lowish garbage collection threshold -# to minimise memory fragmentation as we sometimes want to -# allocate relatively large blocks of ram. -import gc, os, machine -gc.threshold(50000) - -# phew! the Pico (or Python) HTTP Endpoint Wrangler -from . import logging - -# determine if remotely mounted or not, changes some behaviours like -# logging truncation -remote_mount = False -try: - os.statvfs(".") # causes exception if remotely mounted (mpremote/pyboard.py) -except: - remote_mount = True - -def get_ip_address(): - import network - try: - return network.WLAN(network.STA_IF).ifconfig()[0] - except: - return None - -def is_connected_to_wifi(): - import network, time - wlan = network.WLAN(network.STA_IF) - return wlan.isconnected() - -# helper method to quickly get connected to wifi -def connect_to_wifi(ssid, password, timeout_seconds=30): - import network, time - - statuses = { - network.STAT_IDLE: "idle", - network.STAT_CONNECTING: "connecting", - network.STAT_WRONG_PASSWORD: "wrong password", - network.STAT_NO_AP_FOUND: "access point not found", - network.STAT_CONNECT_FAIL: "connection failed", - network.STAT_GOT_IP: "got ip address" - } - - wlan = network.WLAN(network.STA_IF) - wlan.active(True) - wlan.connect(ssid, password) - start = time.ticks_ms() - status = wlan.status() - - logging.debug(f" - {statuses[status]}") - while not wlan.isconnected() and (time.ticks_ms() - start) < (timeout_seconds * 1000): - new_status = wlan.status() - if status != new_status: - logging.debug(f" - {statuses[status]}") - status = new_status - time.sleep(0.25) - - if wlan.status() == network.STAT_GOT_IP: - return wlan.ifconfig()[0] - return None - - -# helper method to put the pico into access point mode -def access_point(ssid, password = None): - import network - - # start up network in access point mode - wlan = network.WLAN(network.AP_IF) - wlan.config(essid=ssid) - if password: - wlan.config(password=password) - else: - wlan.config(security=0) # disable password - wlan.active(True) - - return wlan diff --git a/public/lib/phew/dns.py b/public/lib/phew/dns.py deleted file mode 100644 index 2a1a4b3..0000000 --- a/public/lib/phew/dns.py +++ /dev/null @@ -1,32 +0,0 @@ -import uasyncio, usocket -from . import logging - -async def _handler(socket, ip_address): - while True: - try: - yield uasyncio.core._io_queue.queue_read(socket) - request, client = socket.recvfrom(256) - response = request[:2] # request id - response += b"\x81\x80" # response flags - response += request[4:6] + request[4:6] # qd/an count - response += b"\x00\x00\x00\x00" # ns/ar count - response += request[12:] # origional request body - response += b"\xC0\x0C" # pointer to domain name at byte 12 - response += b"\x00\x01\x00\x01" # type and class (A record / IN class) - response += b"\x00\x00\x00\x3C" # time to live 60 seconds - response += b"\x00\x04" # response length (4 bytes = 1 ipv4 address) - response += bytes(map(int, ip_address.split("."))) # ip address parts - socket.sendto(response, client) - except Exception as e: - logging.error(e) - -def run_catchall(ip_address, port=53): - logging.info("> starting catch all dns server on port {}".format(port)) - - _socket = usocket.socket(usocket.AF_INET, usocket.SOCK_DGRAM) - _socket.setblocking(False) - _socket.setsockopt(usocket.SOL_SOCKET, usocket.SO_REUSEADDR, 1) - _socket.bind(usocket.getaddrinfo(ip_address, port, 0, usocket.SOCK_DGRAM)[0][-1]) - - loop = uasyncio.get_event_loop() - loop.create_task(_handler(_socket, ip_address)) \ No newline at end of file diff --git a/public/lib/phew/logging.py b/public/lib/phew/logging.py deleted file mode 100644 index dd70394..0000000 --- a/public/lib/phew/logging.py +++ /dev/null @@ -1,111 +0,0 @@ -import machine, os, gc - -log_file = "log.txt" - -LOG_INFO = 0b00001 -LOG_WARNING = 0b00010 -LOG_ERROR = 0b00100 -LOG_DEBUG = 0b01000 -LOG_EXCEPTION = 0b10000 -LOG_ALL = LOG_INFO | LOG_WARNING | LOG_ERROR | LOG_DEBUG | LOG_EXCEPTION - -_logging_types = LOG_ALL - -# the log file will be truncated if it exceeds _log_truncate_at bytes in -# size. the defaults values are designed to limit the log to at most -# three blocks on the Pico -_log_truncate_at = 11 * 1024 -_log_truncate_to = 8 * 1024 - -def datetime_string(): - dt = machine.RTC().datetime() - return "{0:04d}-{1:02d}-{2:02d} {4:02d}:{5:02d}:{6:02d}".format(*dt) - -def file_size(file): - try: - return os.stat(file)[6] - except OSError: - return None - -def set_truncate_thresholds(truncate_at, truncate_to): - global _log_truncate_at - global _log_truncate_to - _log_truncate_at = truncate_at - _log_truncate_to = truncate_to - -def enable_logging_types(types): - global _logging_types - _logging_types = _logging_types | types - -def disable_logging_types(types): - global _logging_types - _logging_types = _logging_types & ~types - -# truncates the log file down to a target size while maintaining -# clean line breaks -def truncate(file, target_size): - # get the current size of the log file - size = file_size(file) - - # calculate how many bytes we're aiming to discard - discard = size - target_size - if discard <= 0: - return - - with open(file, "rb") as infile: - with open(file + ".tmp", "wb") as outfile: - # skip a bunch of the input file until we've discarded - # at least enough - while discard > 0: - chunk = infile.read(1024) - discard -= len(chunk) - - # try to find a line break nearby to split first chunk on - break_position = max( - chunk.find (b"\n", -discard), # search forward - chunk.rfind(b"\n", -discard) # search backwards - ) - if break_position != -1: # if we found a line break.. - outfile.write(chunk[break_position + 1:]) - - # now copy the rest of the file - while True: - chunk = infile.read(1024) - if not chunk: - break - outfile.write(chunk) - - # delete the old file and replace with the new - os.remove(file) - os.rename(file + ".tmp", file) - - -def log(level, text): - datetime = datetime_string() - log_entry = "{0} [{1:8} /{2:>4}kB] {3}".format(datetime, level, round(gc.mem_free() / 1024), text) - print(log_entry) - with open(log_file, "a") as logfile: - logfile.write(log_entry + '\n') - - if _log_truncate_at and file_size(log_file) > _log_truncate_at: - truncate(log_file, _log_truncate_to) - -def info(*items): - if _logging_types & LOG_INFO: - log("info", " ".join(map(str, items))) - -def warn(*items): - if _logging_types & LOG_WARNING: - log("warning", " ".join(map(str, items))) - -def error(*items): - if _logging_types & LOG_ERROR: - log("error", " ".join(map(str, items))) - -def debug(*items): - if _logging_types & LOG_DEBUG: - log("debug", " ".join(map(str, items))) - -def exception(*items): - if _logging_types & LOG_EXCEPTION: - log("exception", " ".join(map(str, items))) \ No newline at end of file diff --git a/public/lib/phew/server.py b/public/lib/phew/server.py deleted file mode 100644 index 60a3113..0000000 --- a/public/lib/phew/server.py +++ /dev/null @@ -1,358 +0,0 @@ -import uasyncio, os, time -from . import logging - -_routes = [] -catchall_handler = None -loop = uasyncio.get_event_loop() - - -def file_exists(filename): - try: - return (os.stat(filename)[0] & 0x4000) == 0 - except OSError: - return False - - -def urldecode(text): - text = text.replace("+", " ") - result = "" - token_caret = 0 - # decode any % encoded characters - while True: - start = text.find("%", token_caret) - if start == -1: - result += text[token_caret:] - break - result += text[token_caret:start] - code = int(text[start + 1:start + 3], 16) - result += chr(code) - token_caret = start + 3 - return result - -def _parse_query_string(query_string): - result = {} - for parameter in query_string.split("&"): - key, value = parameter.split("=", 1) - key = urldecode(key) - value = urldecode(value) - result[key] = value - return result - - -class Request: - def __init__(self, method, uri, protocol): - self.method = method - self.uri = uri - self.protocol = protocol - self.form = {} - self.data = {} - self.query = {} - query_string_start = uri.find("?") if uri.find("?") != -1 else len(uri) - self.path = uri[:query_string_start] - self.query_string = uri[query_string_start + 1:] - if self.query_string: - self.query = _parse_query_string(self.query_string) - - def __str__(self): - return f"""\ -request: {self.method} {self.path} {self.protocol} -headers: {self.headers} -form: {self.form} -data: {self.data}""" - - -class Response: - def __init__(self, body, status=200, headers={}): - self.status = status - self.headers = headers - self.body = body - - def add_header(self, name, value): - self.headers[name] = value - - def __str__(self): - return f"""\ -status: {self.status} -headers: {self.headers} -body: {self.body}""" - - -content_type_map = { - "html": "text/html", - "jpg": "image/jpeg", - "jpeg": "image/jpeg", - "svg": "image/svg+xml", - "json": "application/json", - "png": "image/png", - "css": "text/css", - "js": "text/javascript", - "csv": "text/csv", -} - - -class FileResponse(Response): - def __init__(self, file, status=200, headers={}): - self.status = 404 - self.headers = headers - self.file = file - - try: - if (os.stat(self.file)[0] & 0x4000) == 0: - self.status = 200 - - # auto set content type - extension = self.file.split(".")[-1].lower() - if extension in content_type_map: - headers["Content-Type"] = content_type_map[extension] - - headers["Content-Length"] = os.stat(self.file)[6] - except OSError: - return False - - -class Route: - def __init__(self, path, handler, methods=["GET"]): - self.path = path - self.methods = methods - self.handler = handler - self.path_parts = path.split("/") - - # returns True if the supplied request matches this route - def matches(self, request): - if request.method not in self.methods: - return False - compare_parts = request.path.split("/") - if len(compare_parts) != len(self.path_parts): - return False - for part, compare in zip(self.path_parts, compare_parts): - if not part.startswith("<") and part != compare: - return False - return True - - # call the route handler passing any named parameters in the path - def call_handler(self, request): - parameters = {} - for part, compare in zip(self.path_parts, request.path.split("/")): - if part.startswith("<"): - name = part[1:-1] - parameters[name] = compare - - return self.handler(request, **parameters) - - def __str__(self): - return f"""\ -path: {self.path} -methods: {self.methods} -""" - - def __repr__(self): - return f"" - - -# parses the headers for a http request (or the headers attached to -# each field in a multipart/form-data) -async def _parse_headers(reader): - headers = {} - while True: - header_line = await reader.readline() - if header_line == b"\r\n": # crlf denotes body start - break - name, value = header_line.decode().strip().split(": ", 1) - headers[name.lower()] = value - return headers - - -# returns the route matching the supplied path or None -def _match_route(request): - for route in _routes: - if route.matches(request): - return route - return None - - -# if the content type is multipart/form-data then parse the fields -async def _parse_form_data(reader, headers): - boundary = headers["content-type"].split("boundary=")[1] - # discard first boundary line - dummy = await reader.readline() - - form = {} - while True: - # get the field name - field_headers = await _parse_headers(reader) - if len(field_headers) == 0: - break - name = field_headers["content-disposition"].split("name=\"")[1][:-1] - # get the field value - value = "" - while True: - line = await reader.readline() - line = line.decode().strip() - # if we hit a boundary then save the value and move to next field - if line == "--" + boundary: - form[name] = value - break - # if we hit end of form data boundary then save value and return - if line == "--" + boundary + "--": - form[name] = value - return form - value += line - return None - - -# if the content type is application/json then parse the body -async def _parse_json_body(reader, headers): - import json - content_length_bytes = int(headers["content-length"]) - body = await reader.readexactly(content_length_bytes) - return json.loads(body.decode()) - - -status_message_map = { - 200: "OK", 201: "Created", 202: "Accepted", - 203: "Non-Authoritative Information", 204: "No Content", - 205: "Reset Content", 206: "Partial Content", 300: "Multiple Choices", - 301: "Moved Permanently", 302: "Found", 303: "See Other", - 304: "Not Modified", 305: "Use Proxy", 306: "Switch Proxy", - 307: "Temporary Redirect", 308: "Permanent Redirect", - 400: "Bad Request", 401: "Unauthorized", 403: "Forbidden", - 404: "Not Found", 405: "Method Not Allowed", 406: "Not Acceptable", - 408: "Request Timeout", 409: "Conflict", 410: "Gone", - 414: "URI Too Long", 415: "Unsupported Media Type", - 416: "Range Not Satisfiable", 418: "I'm a teapot", - 500: "Internal Server Error", 501: "Not Implemented" -} - - -# handle an incoming request to the web server -async def _handle_request(reader, writer): - response = None - - request_start_time = time.ticks_ms() - - request_line = await reader.readline() - try: - method, uri, protocol = request_line.decode().split() - except Exception as e: - logging.error(e) - return - - request = Request(method, uri, protocol) - request.headers = await _parse_headers(reader) - if "content-length" in request.headers and "content-type" in request.headers: - if request.headers["content-type"].startswith("multipart/form-data"): - request.form = await _parse_form_data(reader, request.headers) - if request.headers["content-type"].startswith("application/json"): - request.data = await _parse_json_body(reader, request.headers) - if request.headers["content-type"].startswith("application/x-www-form-urlencoded"): - form_data = await reader.read(int(request.headers["content-length"])) - request.form = _parse_query_string(form_data.decode()) - - route = _match_route(request) - if route: - response = route.call_handler(request) - elif catchall_handler: - response = catchall_handler(request) - - # if shorthand body generator only notation used then convert to tuple - if type(response).__name__ == "generator": - response = (response,) - - # if shorthand body text only notation used then convert to tuple - if isinstance(response, str): - response = (response,) - - # if shorthand tuple notation used then build full response object - if isinstance(response, tuple): - body = response[0] - status = response[1] if len(response) >= 2 else 200 - content_type = response[2] if len(response) >= 3 else "text/html" - response = Response(body, status=status) - response.add_header("Content-Type", content_type) - if hasattr(body, '__len__'): - response.add_header("Content-Length", len(body)) - - # write status line - status_message = status_message_map.get(response.status, "Unknown") - writer.write(f"HTTP/1.1 {response.status} {status_message}\r\n".encode("ascii")) - - # write headers - for key, value in response.headers.items(): - writer.write(f"{key}: {value}\r\n".encode("ascii")) - - # blank line to denote end of headers - writer.write("\r\n".encode("ascii")) - - if isinstance(response, FileResponse): - # file - with open(response.file, "rb") as f: - while True: - chunk = f.read(1024) - if not chunk: - break - writer.write(chunk) - await writer.drain() - elif type(response.body).__name__ == "generator": - # generator - for chunk in response.body: - writer.write(chunk) - await writer.drain() - else: - # string/bytes - writer.write(response.body) - await writer.drain() - - writer.close() - await writer.wait_closed() - - processing_time = time.ticks_ms() - request_start_time - logging.info(f"> {request.method} {request.path} ({response.status} {status_message}) [{processing_time}ms]") - - -# adds a new route to the routing table -def add_route(path, handler, methods=["GET"]): - global _routes - _routes.append(Route(path, handler, methods)) - # descending complexity order so most complex routes matched first - _routes = sorted(_routes, key=lambda route: len(route.path_parts), reverse=True) - - -def set_callback(handler): - global catchall_handler - catchall_handler = handler - - -# decorator shorthand for adding a route -def route(path, methods=["GET"]): - def _route(f): - add_route(path, f, methods=methods) - return f - return _route - - -# decorator for adding catchall route -def catchall(): - def _catchall(f): - set_callback(f) - return f - return _catchall - - -def redirect(url, status = 301): - return Response("", status, {"Location": url}) - - -def serve_file(file): - return FileResponse(file) - - -def run(host = "0.0.0.0", port = 80): - logging.info("> starting web server on port {}".format(port)) - loop.create_task(uasyncio.start_server(_handle_request, host, port)) - loop.run_forever() - -def stop(): - loop.stop() - -def close(): - loop.close() \ No newline at end of file diff --git a/public/lib/phew/template.py b/public/lib/phew/template.py deleted file mode 100644 index d1d1df4..0000000 --- a/public/lib/phew/template.py +++ /dev/null @@ -1,65 +0,0 @@ -from . import logging - -async def render_template(template, **kwargs): - import time - start_time = time.ticks_ms() - - with open(template, "rb") as f: - # read the whole template file, we could work on single lines but - # the performance is much worse - so long as our templates are - # just a handful of kB it's ok to do this - data = f.read() - token_caret = 0 - - while True: - # find the next tag that needs evaluating - start = data.find(b"{{", token_caret) - end = data.find(b"}}", start) - - match = start != -1 and end != -1 - - # no more magic to handle, just return what's left - if not match: - yield data[token_caret:] - break - - expression = data[start + 2:end].strip() - - # output the bit before the tag - yield data[token_caret:start] - - # merge locals with the supplied named arguments and - # the response object - params = {} - params.update(locals()) - params.update(kwargs) - #params["response"] = response - - # parse the expression - try: - if expression.decode("utf-8") in params: - result = params[expression.decode("utf-8")] - result = result.replace("&", "&") - result = result.replace('"', """) - result = result.replace("'", "'") - result = result.replace(">", ">") - result = result.replace("<", "<") - else: - result = eval(expression, globals(), params) - - if type(result).__name__ == "generator": - # if expression returned a generator then iterate it fully - # and yield each result - for chunk in result: - yield chunk - else: - # yield the result of the expression - if result is not None: - yield str(result) - except: - pass - - # discard the parsed bit - token_caret = end + 2 - - logging.debug("> parsed template:", template, "(took", time.ticks_ms() - start_time, "ms)") \ No newline at end of file diff --git a/public/micropython/firmware2040.uf2 b/public/micropython/firmware2040.uf2 deleted file mode 100644 index 82b0a1f59814aaea520cc73e7ef508fab0564f21..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1736704 zcmd?Sdwdkt{WpHj%-)lb4GFNh5cWbslI4J3e*u19mTr2?auQ)GYRJVjc zVY9PyIWv3S=X~y;&$+R(-1gmTZ+?QdY-%e++N&NpT0V``JPBgn%&_| zv(M#-eaD_0Ie*C{j3v`s4`M9Y7f)P51X4uB>?NZR_KQDh1pep?20k|o{|j>3-ZAfz zVooH=*q&Z_LX~4FagrE)ZD(LW8eg?}@z9(6DIwEi^!3(2|B1+A*0)CpaekIXoQtkV zvlC))vbVNv$2NQ86^IpLF5>O;@Y&OTq|&s+TxHGKWh-V;dO4#Q4k6ZbfM+!)=Bo~2Q~wJ9+FxC?##P=d$4jN^5iqsDLEqftXE_0gt-L|m@A z>o#Zlsn;ouQSy?dk<1w9acw5Na;94ez@*r&rm5)4hp0!55;l 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z7J!4sBN5lRVubtvu}XM|kmaFBs3z6RT_|!4%#%9@GT%HptOQN)l*e0G6YL9o>+rR|cil+F=NsiIOy;KXOw|glxP$RtjCmXSII#fx z34=}s3VK@{CWP1~o=}u1y@GbxI#6#yw_4ytjEEC6fP|AU5_(2ckW<2lX-IQX;Bgd) zbgoe64iU-5)PaehX`m^fNmD@vLZ%KO!~jy45tV{qbK~0_^cN~86II8htJDAAfbI`N z@L}S^iN=V39Z3A^AjSWdK@duM3HPU8MNO zX7&SM-oPe~Pi!r4eDEd^`vS*d<^ua_oWTCOEs*}o#4PX?C@u;V*978F;JBz)5EpPDIJt~Ji1VHf*0CC)PkpKVy diff --git a/public/micropython/package.json b/public/micropython/package.json deleted file mode 100644 index 7e36928..0000000 --- a/public/micropython/package.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "fimware": "Micropython", - "version": "1.25.0", - "firmwareBuild": "preview", - "firmwareDate": "2021-06-01", - "firmwareFilename": "firmware2350.uf2", - "firmwareDescription": "XRP Firmware 2350" -} \ No newline at end of file diff --git a/public/micropython/version.txt b/public/micropython/version.txt deleted file mode 100644 index 9ea931c..0000000 --- a/public/micropython/version.txt +++ /dev/null @@ -1 +0,0 @@ -Current version of firmware.uf2 is micropython_xrp_controller_beta.uf2 Beta 6 \ No newline at end of file diff --git a/scripts/gen-firmware-manifests.mjs b/scripts/gen-firmware-manifests.mjs new file mode 100644 index 0000000..460b4e5 --- /dev/null +++ b/scripts/gen-firmware-manifests.mjs @@ -0,0 +1,109 @@ +// Copyright (c) Experiential Inc. and other XRP contributors. +// Open Source Software; GNU General Public License v.3. +// +// Build-time generator for the XRPLib release manifests. +// +// A static web server cannot enumerate directories at runtime, so this script +// walks each XRPLib release directory and emits a `files.json` listing every +// file in the release together with its destination path on the robot. An +// XRPLib release is a self-contained bundle of the library plus the standard +// support files (XRPLib/, ble/, phew/, XRPExamples/). Authors just drop files +// into the right folders; they never hand-maintain the list. +// +// Projects do NOT get a generated files.json — a project is described entirely +// by its project.json (version references plus an optional inline `files` +// array for project-specific extras). +// +// Output: +// boards/XRPLib//files.json +// -> [["/lib/XRPLib/__init__.py", "XRPLib/__init__.py"], +// ["/lib/ble/__init__.py", "ble/__init__.py"], +// ["/XRPExamples/xrp_test.py","XRPExamples/xrp_test.py"], ...] +// [deviceDestination, sourcePathRelativeToReleaseDir] +// +// Run: `node scripts/gen-firmware-manifests.mjs` (wired into prebuild/predev). + +import { promises as fs } from 'fs'; +import path from 'path'; +import { fileURLToPath } from 'url'; + +const __dirname = path.dirname(fileURLToPath(import.meta.url)); +const ROOT = path.resolve(__dirname, '..'); +const FW_ROOT = path.join(ROOT, 'public', 'firmware-loader'); +const XRPLIB_STORE = path.join(FW_ROOT, 'boards', 'XRPLib'); + +// First path segment -> device destination prefix. Anything mapped here lands +// under /lib on the robot; everything else (e.g. XRPExamples) lands at the +// device root. +const LIB_DIRS = new Set(['XRPLib', 'AgXRPLib', 'ble', 'phew']); + +// Names that are never copied to the device as content. +const EXCLUDE_NAMES = new Set(['files.json', 'version.py', '.DS_Store']); + +function isExcludedFile(name) { + // .uf2 = firmware blobs; .zip = LSP stub bundles (e.g. xrplib.zip) that ship + // alongside a release but are never copied to the robot. + return EXCLUDE_NAMES.has(name) || name.endsWith('.uf2') || name.endsWith('.zip'); +} + +/** Recursively list files under `dir`, returning POSIX paths relative to `base`. */ +async function listFilesRel(dir, base) { + const out = []; + const entries = await fs.readdir(dir, { withFileTypes: true }); + for (const entry of entries) { + if (entry.name === '.DS_Store') continue; + const abs = path.join(dir, entry.name); + if (entry.isDirectory()) { + out.push(...(await listFilesRel(abs, base))); + } else if (!isExcludedFile(entry.name)) { + out.push(path.relative(base, abs).split(path.sep).join('/')); + } + } + return out.sort(); +} + +function deviceDestFor(sourceRel) { + const firstSeg = sourceRel.split('/')[0]; + return LIB_DIRS.has(firstSeg) ? `/lib/${sourceRel}` : `/${sourceRel}`; +} + +async function writeJson(file, data) { + await fs.writeFile(file, JSON.stringify(data, null, 4) + '\n', 'utf8'); +} + +async function dirExists(p) { + try { + return (await fs.stat(p)).isDirectory(); + } catch { + return false; + } +} + +/** Generate files.json for every XRPLib release directory. version.py is excluded + * (synthesized on-device from the registry version). */ +async function generateXrplibManifests() { + if (!(await dirExists(XRPLIB_STORE))) return []; + const written = []; + const entries = await fs.readdir(XRPLIB_STORE, { withFileTypes: true }); + for (const entry of entries) { + if (!entry.isDirectory()) continue; + const verDir = path.join(XRPLIB_STORE, entry.name); + const sources = await listFilesRel(verDir, verDir); + const manifest = sources.map((rel) => [deviceDestFor(rel), rel]); + const out = path.join(verDir, 'files.json'); + await writeJson(out, manifest); + written.push(path.relative(ROOT, out)); + } + return written; +} + +async function main() { + const written = await generateXrplibManifests(); + console.log(`firmware-loader: generated ${written.length} XRPLib release manifest(s)`); + for (const f of written) console.log(' ' + f); +} + +main().catch((e) => { + console.error('gen-firmware-manifests failed:', e); + process.exit(1); +}); diff --git a/src/components/dialogs/changelog.tsx b/src/components/dialogs/changelog.tsx index 3facd63..cd46d82 100644 --- a/src/components/dialogs/changelog.tsx +++ b/src/components/dialogs/changelog.tsx @@ -6,6 +6,11 @@ type changelogProps = { * A function to close the dialog. */ closeDialog: () => void; + /** + * Optional URL of the changelog file to fetch. Defaults to the + * application-wide CHANGELOG.txt at the site root. + */ + changelogUrl?: string; }; const md = new MarkdownIt({ @@ -19,12 +24,12 @@ const md = new MarkdownIt({ * ChangeLogDlg - A component that displays the changelog of the application. * @returns ChangeLogDlg */ -function ChangeLogDlg({ closeDialog }: changelogProps) { +function ChangeLogDlg({ closeDialog, changelogUrl = 'CHANGELOG.txt' }: changelogProps) { const [markdown, setMarkdown] = useState(''); useEffect(() => { const fetchMarkdown = async () => { - const response = await fetch('CHANGELOG.txt'); + const response = await fetch(changelogUrl); if (!response.ok) { console.error('Failed to fetch changelog:', response.statusText); return; @@ -35,7 +40,7 @@ function ChangeLogDlg({ closeDialog }: changelogProps) { setMarkdown(html); }; fetchMarkdown(); - }, []); + }, [changelogUrl]); return ( <> diff --git a/src/components/dialogs/firmware-install-wizard.tsx b/src/components/dialogs/firmware-install-wizard.tsx index 2dfceed..527bdac 100644 --- a/src/components/dialogs/firmware-install-wizard.tsx +++ b/src/components/dialogs/firmware-install-wizard.tsx @@ -7,23 +7,6 @@ import { USBConnection } from '@/connections/usbconnection'; import { ConnectionCMD } from '@/utils/types'; import ProgressBar from 'react-customizable-progressbar'; -/** Subset of project manifest needed for install (avoids circular imports with firmware-loaderdlg). */ -export type FirmwareInstallProjectDoc = { - urls?: [string, string][]; - deps?: [string, string][]; - version?: string; - /** Path to UF2 file relative to the project directory (e.g. "firmware.uf2"). */ - uf2Path?: string; -}; - -const FIRMWARE_LOADER_BASE = '/firmware-loader/'; - -/** Build a site-relative URL for a file under the project directory, encoding any special chars. */ -function projectFileUrl(projectBaseDir: string, relPath: string): string { - const cleanRel = relPath.startsWith('/') ? relPath.slice(1) : relPath; - return `${FIRMWARE_LOADER_BASE}${projectBaseDir}${cleanRel.split('/').map(encodeURIComponent).join('/')}`; -} - export type OsFamily = 'win' | 'mac' | 'linux'; export type WizardAssets = { @@ -54,26 +37,6 @@ function otherBoardDriveName(boardId: string): string { return boardId === 'xrp-2350' ? 'RPI-RP2' : 'RP2350'; } -/** - * Resolve the UF2 fetch URL. The project manifest's `uf2Path` is relative to the - * project directory (e.g. "firmware.uf2"), so it's joined to the project base. - * If absent, falls back to the legacy `public/micropython/` location for backward - * compatibility with manifests that haven't been migrated yet. - */ -function resolveUf2FetchPath( - boardId: string, - projectBaseDir: string, - uf2Path: string | undefined, -): string { - if (uf2Path && uf2Path.length > 0) { - if (uf2Path.startsWith('/')) { - return uf2Path.slice(1); - } - return `${FIRMWARE_LOADER_BASE.slice(1)}${projectBaseDir}${uf2Path}`; - } - return boardId === 'xrp-2350' ? 'micropython/firmware2350.uf2' : 'micropython/firmware2040.uf2'; -} - function pickImage(map: Record, key: string, fallback: string): string { return map[key] ?? fallback; } @@ -160,13 +123,12 @@ async function waitForUsbReady( type FirmwareInstallWizardProps = { boardId: string; - projectDoc: FirmwareInstallProjectDoc; - /** - * Project directory relative to `/firmware-loader/`, with trailing slash - * (e.g. "boards/xrp-2350/micropython/"). UF2 and library file fetches are - * resolved against this base. - */ - projectBaseDir: string; + /** Fully-resolved, site-relative URL of the UF2 to flash. */ + uf2Url: string; + /** [deviceDestinationPath, fullyResolvedSourceUrl] entries to copy after flashing. */ + libraryEntries: [string, string][]; + /** XRPLib version label written to /lib/XRPLib/version.py (undefined when no library copy). */ + xrplibVersion?: string; assets: WizardAssets; onCancel: () => void; onComplete: () => void; @@ -184,8 +146,9 @@ type WizardUiPhase = */ export default function FirmwareInstallWizard({ boardId, - projectDoc, - projectBaseDir, + uf2Url, + libraryEntries, + xrplibVersion, assets, onCancel, onComplete, @@ -205,8 +168,7 @@ export default function FirmwareInstallWizard({ const [libPct, setLibPct] = useState(0); const [error, setError] = useState(null); - const urls = projectDoc.urls ?? []; - const needsLibraryPhase = urls.length > 0; + const needsLibraryPhase = libraryEntries.length > 0; const selectDirKey = `${boardId}-${os}`; const fallbackBoardImg = @@ -252,10 +214,13 @@ export default function FirmwareInstallWizard({ setPhase({ kind: 'libs', waitingUsb: false, needsManualConnect: false }); + // Library entries are already fully resolved to source URLs by + // the firmware-loader resolver, so the source resolver here is a + // pass-through. await cmd.updateLibraryFromFirmwareManifest( - urls as [string, string][], - projectDoc.version, - (rel) => projectFileUrl(projectBaseDir, rel), + libraryEntries, + xrplibVersion, + (url) => url, (pct) => setLibPct(Math.round(pct)), ); @@ -267,7 +232,7 @@ export default function FirmwareInstallWizard({ setPhase({ kind: 'libs', waitingUsb: false, needsManualConnect: false }); } }, - [cmd, projectBaseDir, projectDoc.version, t, urls], + [cmd, libraryEntries, xrplibVersion, t], ); const runFlashAndLibrary = useCallback(async () => { @@ -326,12 +291,11 @@ export default function FirmwareInstallWizard({ const fileHandle = await handle.getFileHandle('firmware.uf2', { create: true }); const writable = await fileHandle.createWritable(); - const uf2Src = resolveUf2FetchPath(boardId, projectBaseDir, projectDoc.uf2Path); setUf2Pct(15); AppMgr.getInstance().emit(EventType.EVENT_PROGRESS, '15'); - const response = await fetch(uf2Src); + const response = await fetch(uf2Url); if (!response.ok) { - throw new Error(`${uf2Src}: ${response.status}`); + throw new Error(`${uf2Url}: ${response.status}`); } const data = await response.arrayBuffer(); setUf2Pct(55); @@ -364,7 +328,7 @@ export default function FirmwareInstallWizard({ } await runLibraryCopy({ autoFirst: true }); - }, [boardId, cmd, dirHandle, needsLibraryPhase, t, runLibraryCopy]); + }, [boardId, cmd, dirHandle, needsLibraryPhase, t, runLibraryCopy, uf2Url]); const runLibraryPhaseOnly = useCallback(async () => { await runLibraryCopy({ autoFirst: true }); @@ -381,6 +345,20 @@ export default function FirmwareInstallWizard({ AppMgr.getInstance().emit(EventType.EVENT_CONNECTION, ConnectionCMD.CONNECT_USB); }; + /** + * Finish the wizard. The board was connected during the install via the + * reconnect path, which may not have published the XRP id shown next to the + * RUN button — re-publish it now so the IDE reflects the live connection. + */ + const handleComplete = async () => { + try { + await AppMgr.getInstance().republishConnectionId(); + } catch (e) { + console.log('republishConnectionId failed:', e); + } + onComplete(); + }; + const onInstructionNext = () => { if (phase.kind !== 'instruction') return; const s = phase.step; @@ -527,7 +505,7 @@ export default function FirmwareInstallWizard({ {phase.kind === 'uf2' && (

-

{t('firmwareWizardUf2Title')}

+

{t('firmwareWizardUf2Title')}

-

{t('firmwareWizardLibsTitle')}

+

{t('firmwareWizardLibsTitle')}

{phase.waitingUsb ? ( <>

@@ -606,7 +584,7 @@ export default function FirmwareInstallWizard({

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