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nvbn/main.py

Last active August 29, 2015 14:11
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pyboard uasyncio CPS example
Raw
main.py
from uasyncio.core import get_event_loop
from ssd1306 import get_display
from ultrasonic import get_ultrasonic
from utils import get_gyro, alts
def main():
display = get_display(pinout={'sda': 'Y10',
'scl': 'Y9'},
height=64,
external_vcc=False)
current = {'dist': 0, 'xyz': (0, 0, 0)}
shared_q = alts(dist=get_ultrasonic('X1', 'X2'),
xyz=get_gyro())
while True:
source, val = yield from shared_q.get()
current[source] = val
yield from display.put(
'Distance: {:0.2f}cm\n'
'x: {} y: {} z: {}'.format(current['dist'], *current['xyz']))
loop = get_event_loop()
loop.call_soon(main())
loop.run_forever()
Raw
ssd1306.py
# Originally: https://raw.githubusercontent.com/khenderick/micropython-drivers/master/ssd1306/ssd1306.py
# The MIT License (MIT)
#
# Copyright (c) 2014 Kenneth Henderick
#
# 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 pyb
from utils import chan
# Constants
DISPLAYOFF = 0xAE
SETCONTRAST = 0x81
DISPLAYALLON_RESUME = 0xA4
DISPLAYALLON = 0xA5
NORMALDISPLAY = 0xA6
INVERTDISPLAY = 0xA7
DISPLAYON = 0xAF
SETDISPLAYOFFSET = 0xD3
SETCOMPINS = 0xDA
SETVCOMDETECT = 0xDB
SETDISPLAYCLOCKDIV = 0xD5
SETPRECHARGE = 0xD9
SETMULTIPLEX = 0xA8
SETLOWCOLUMN = 0x00
SETHIGHCOLUMN = 0x10
SETSTARTLINE = 0x40
MEMORYMODE = 0x20
COLUMNADDR = 0x21
PAGEADDR = 0x22
COMSCANINC = 0xC0
COMSCANDEC = 0xC8
SEGREMAP = 0xA0
CHARGEPUMP = 0x8D
EXTERNALVCC = 0x10
SWITCHCAPVCC = 0x20
SETPAGEADDR = 0xB0
SETCOLADDR_LOW = 0x00
SETCOLADDR_HIGH = 0x10
ACTIVATE_SCROLL = 0x2F
DEACTIVATE_SCROLL = 0x2E
SET_VERTICAL_SCROLL_AREA = 0xA3
RIGHT_HORIZONTAL_SCROLL = 0x26
LEFT_HORIZONTAL_SCROLL = 0x27
VERTICAL_AND_RIGHT_HORIZONTAL_SCROLL = 0x29
VERTICAL_AND_LEFT_HORIZONTAL_SCROLL = 0x2A
# I2C devices are accessed through a Device ID. This is a 7-bit
# value but is sometimes expressed left-shifted by 1 as an 8-bit value.
# A pin on SSD1306 allows it to respond to ID 0x3C or 0x3D. The board
# I bought from ebay used a 0-ohm resistor to select between "0x78"
# (0x3c << 1) or "0x7a" (0x3d << 1). The default was set to "0x78"
DEVID = 0x3c
# I2C communication here is either <DEVID> <CTL_CMD> <command byte>
# or <DEVID> <CTL_DAT> <display buffer bytes> <> <> <> <>...
# These two values encode the Co (Continuation) bit as b7 and the
# D/C# (Data/Command Selection) bit as b6.
CTL_CMD = 0x80
CTL_DAT = 0x40
class Font5x8:
cols = 5
rows = 8
bytes = [
0x00, 0x00, 0x00, 0x00, 0x00,
0x3E, 0x5B, 0x4F, 0x5B, 0x3E,
0x3E, 0x6B, 0x4F, 0x6B, 0x3E,
0x1C, 0x3E, 0x7C, 0x3E, 0x1C,
0x18, 0x3C, 0x7E, 0x3C, 0x18,
0x1C, 0x57, 0x7D, 0x57, 0x1C,
0x1C, 0x5E, 0x7F, 0x5E, 0x1C,
0x00, 0x18, 0x3C, 0x18, 0x00,
0xFF, 0xE7, 0xC3, 0xE7, 0xFF,
0x00, 0x18, 0x24, 0x18, 0x00,
0xFF, 0xE7, 0xDB, 0xE7, 0xFF,
0x30, 0x48, 0x3A, 0x06, 0x0E,
0x26, 0x29, 0x79, 0x29, 0x26,
0x40, 0x7F, 0x05, 0x05, 0x07,
0x40, 0x7F, 0x05, 0x25, 0x3F,
0x5A, 0x3C, 0xE7, 0x3C, 0x5A,
0x7F, 0x3E, 0x1C, 0x1C, 0x08,
0x08, 0x1C, 0x1C, 0x3E, 0x7F,
0x14, 0x22, 0x7F, 0x22, 0x14,
0x5F, 0x5F, 0x00, 0x5F, 0x5F,
0x06, 0x09, 0x7F, 0x01, 0x7F,
0x00, 0x66, 0x89, 0x95, 0x6A,
0x60, 0x60, 0x60, 0x60, 0x60,
0x94, 0xA2, 0xFF, 0xA2, 0x94,
0x08, 0x04, 0x7E, 0x04, 0x08,
0x10, 0x20, 0x7E, 0x20, 0x10,
0x08, 0x08, 0x2A, 0x1C, 0x08,
0x08, 0x1C, 0x2A, 0x08, 0x08,
0x1E, 0x10, 0x10, 0x10, 0x10,
0x0C, 0x1E, 0x0C, 0x1E, 0x0C,
0x30, 0x38, 0x3E, 0x38, 0x30,
0x06, 0x0E, 0x3E, 0x0E, 0x06,
0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x5F, 0x00, 0x00,
0x00, 0x07, 0x00, 0x07, 0x00,
0x14, 0x7F, 0x14, 0x7F, 0x14,
0x24, 0x2A, 0x7F, 0x2A, 0x12,
0x23, 0x13, 0x08, 0x64, 0x62,
0x36, 0x49, 0x56, 0x20, 0x50,
0x00, 0x08, 0x07, 0x03, 0x00,
0x00, 0x1C, 0x22, 0x41, 0x00,
0x00, 0x41, 0x22, 0x1C, 0x00,
0x2A, 0x1C, 0x7F, 0x1C, 0x2A,
0x08, 0x08, 0x3E, 0x08, 0x08,
0x00, 0x80, 0x70, 0x30, 0x00,
0x08, 0x08, 0x08, 0x08, 0x08,
0x00, 0x00, 0x60, 0x60, 0x00,
0x20, 0x10, 0x08, 0x04, 0x02,
0x3E, 0x51, 0x49, 0x45, 0x3E,
0x00, 0x42, 0x7F, 0x40, 0x00,
0x72, 0x49, 0x49, 0x49, 0x46,
0x21, 0x41, 0x49, 0x4D, 0x33,
0x18, 0x14, 0x12, 0x7F, 0x10,
0x27, 0x45, 0x45, 0x45, 0x39,
0x3C, 0x4A, 0x49, 0x49, 0x31,
0x41, 0x21, 0x11, 0x09, 0x07,
0x36, 0x49, 0x49, 0x49, 0x36,
0x46, 0x49, 0x49, 0x29, 0x1E,
0x00, 0x00, 0x14, 0x00, 0x00,
0x00, 0x40, 0x34, 0x00, 0x00,
0x00, 0x08, 0x14, 0x22, 0x41,
0x14, 0x14, 0x14, 0x14, 0x14,
0x00, 0x41, 0x22, 0x14, 0x08,
0x02, 0x01, 0x59, 0x09, 0x06,
0x3E, 0x41, 0x5D, 0x59, 0x4E,
0x7C, 0x12, 0x11, 0x12, 0x7C,
0x7F, 0x49, 0x49, 0x49, 0x36,
0x3E, 0x41, 0x41, 0x41, 0x22,
0x7F, 0x41, 0x41, 0x41, 0x3E,
0x7F, 0x49, 0x49, 0x49, 0x41,
0x7F, 0x09, 0x09, 0x09, 0x01,
0x3E, 0x41, 0x41, 0x51, 0x73,
0x7F, 0x08, 0x08, 0x08, 0x7F,
0x00, 0x41, 0x7F, 0x41, 0x00,
0x20, 0x40, 0x41, 0x3F, 0x01,
0x7F, 0x08, 0x14, 0x22, 0x41,
0x7F, 0x40, 0x40, 0x40, 0x40,
0x7F, 0x02, 0x1C, 0x02, 0x7F,
0x7F, 0x04, 0x08, 0x10, 0x7F,
0x3E, 0x41, 0x41, 0x41, 0x3E,
0x7F, 0x09, 0x09, 0x09, 0x06,
0x3E, 0x41, 0x51, 0x21, 0x5E,
0x7F, 0x09, 0x19, 0x29, 0x46,
0x26, 0x49, 0x49, 0x49, 0x32,
0x03, 0x01, 0x7F, 0x01, 0x03,
0x3F, 0x40, 0x40, 0x40, 0x3F,
0x1F, 0x20, 0x40, 0x20, 0x1F,
0x3F, 0x40, 0x38, 0x40, 0x3F,
0x63, 0x14, 0x08, 0x14, 0x63,
0x03, 0x04, 0x78, 0x04, 0x03,
0x61, 0x59, 0x49, 0x4D, 0x43,
0x00, 0x7F, 0x41, 0x41, 0x41,
0x02, 0x04, 0x08, 0x10, 0x20,
0x00, 0x41, 0x41, 0x41, 0x7F,
0x04, 0x02, 0x01, 0x02, 0x04,
0x40, 0x40, 0x40, 0x40, 0x40,
0x00, 0x03, 0x07, 0x08, 0x00,
0x20, 0x54, 0x54, 0x78, 0x40,
0x7F, 0x28, 0x44, 0x44, 0x38,
0x38, 0x44, 0x44, 0x44, 0x28,
0x38, 0x44, 0x44, 0x28, 0x7F,
0x38, 0x54, 0x54, 0x54, 0x18,
0x00, 0x08, 0x7E, 0x09, 0x02,
0x18, 0xA4, 0xA4, 0x9C, 0x78,
0x7F, 0x08, 0x04, 0x04, 0x78,
0x00, 0x44, 0x7D, 0x40, 0x00,
0x20, 0x40, 0x40, 0x3D, 0x00,
0x7F, 0x10, 0x28, 0x44, 0x00,
0x00, 0x41, 0x7F, 0x40, 0x00,
0x7C, 0x04, 0x78, 0x04, 0x78,
0x7C, 0x08, 0x04, 0x04, 0x78,
0x38, 0x44, 0x44, 0x44, 0x38,
0xFC, 0x18, 0x24, 0x24, 0x18,
0x18, 0x24, 0x24, 0x18, 0xFC,
0x7C, 0x08, 0x04, 0x04, 0x08,
0x48, 0x54, 0x54, 0x54, 0x24,
0x04, 0x04, 0x3F, 0x44, 0x24,
0x3C, 0x40, 0x40, 0x20, 0x7C,
0x1C, 0x20, 0x40, 0x20, 0x1C,
0x3C, 0x40, 0x30, 0x40, 0x3C,
0x44, 0x28, 0x10, 0x28, 0x44,
0x4C, 0x90, 0x90, 0x90, 0x7C,
0x44, 0x64, 0x54, 0x4C, 0x44,
0x00, 0x08, 0x36, 0x41, 0x00,
0x00, 0x00, 0x77, 0x00, 0x00,
0x00, 0x41, 0x36, 0x08, 0x00,
0x02, 0x01, 0x02, 0x04, 0x02,
0x3C, 0x26, 0x23, 0x26, 0x3C,
0x1E, 0xA1, 0xA1, 0x61, 0x12,
0x3A, 0x40, 0x40, 0x20, 0x7A,
0x38, 0x54, 0x54, 0x55, 0x59,
0x21, 0x55, 0x55, 0x79, 0x41,
0x21, 0x54, 0x54, 0x78, 0x41,
0x21, 0x55, 0x54, 0x78, 0x40,
0x20, 0x54, 0x55, 0x79, 0x40,
0x0C, 0x1E, 0x52, 0x72, 0x12,
0x39, 0x55, 0x55, 0x55, 0x59,
0x39, 0x54, 0x54, 0x54, 0x59,
0x39, 0x55, 0x54, 0x54, 0x58,
0x00, 0x00, 0x45, 0x7C, 0x41,
0x00, 0x02, 0x45, 0x7D, 0x42,
0x00, 0x01, 0x45, 0x7C, 0x40,
0xF0, 0x29, 0x24, 0x29, 0xF0,
0xF0, 0x28, 0x25, 0x28, 0xF0,
0x7C, 0x54, 0x55, 0x45, 0x00,
0x20, 0x54, 0x54, 0x7C, 0x54,
0x7C, 0x0A, 0x09, 0x7F, 0x49,
0x32, 0x49, 0x49, 0x49, 0x32,
0x32, 0x48, 0x48, 0x48, 0x32,
0x32, 0x4A, 0x48, 0x48, 0x30,
0x3A, 0x41, 0x41, 0x21, 0x7A,
0x3A, 0x42, 0x40, 0x20, 0x78,
0x00, 0x9D, 0xA0, 0xA0, 0x7D,
0x39, 0x44, 0x44, 0x44, 0x39,
0x3D, 0x40, 0x40, 0x40, 0x3D,
0x3C, 0x24, 0xFF, 0x24, 0x24,
0x48, 0x7E, 0x49, 0x43, 0x66,
0x2B, 0x2F, 0xFC, 0x2F, 0x2B,
0xFF, 0x09, 0x29, 0xF6, 0x20,
0xC0, 0x88, 0x7E, 0x09, 0x03,
0x20, 0x54, 0x54, 0x79, 0x41,
0x00, 0x00, 0x44, 0x7D, 0x41,
0x30, 0x48, 0x48, 0x4A, 0x32,
0x38, 0x40, 0x40, 0x22, 0x7A,
0x00, 0x7A, 0x0A, 0x0A, 0x72,
0x7D, 0x0D, 0x19, 0x31, 0x7D,
0x26, 0x29, 0x29, 0x2F, 0x28,
0x26, 0x29, 0x29, 0x29, 0x26,
0x30, 0x48, 0x4D, 0x40, 0x20,
0x38, 0x08, 0x08, 0x08, 0x08,
0x08, 0x08, 0x08, 0x08, 0x38,
0x2F, 0x10, 0xC8, 0xAC, 0xBA,
0x2F, 0x10, 0x28, 0x34, 0xFA,
0x00, 0x00, 0x7B, 0x00, 0x00,
0x08, 0x14, 0x2A, 0x14, 0x22,
0x22, 0x14, 0x2A, 0x14, 0x08,
0xAA, 0x00, 0x55, 0x00, 0xAA,
0xAA, 0x55, 0xAA, 0x55, 0xAA,
0x00, 0x00, 0x00, 0xFF, 0x00,
0x10, 0x10, 0x10, 0xFF, 0x00,
0x14, 0x14, 0x14, 0xFF, 0x00,
0x10, 0x10, 0xFF, 0x00, 0xFF,
0x10, 0x10, 0xF0, 0x10, 0xF0,
0x14, 0x14, 0x14, 0xFC, 0x00,
0x14, 0x14, 0xF7, 0x00, 0xFF,
0x00, 0x00, 0xFF, 0x00, 0xFF,
0x14, 0x14, 0xF4, 0x04, 0xFC,
0x14, 0x14, 0x17, 0x10, 0x1F,
0x10, 0x10, 0x1F, 0x10, 0x1F,
0x14, 0x14, 0x14, 0x1F, 0x00,
0x10, 0x10, 0x10, 0xF0, 0x00,
0x00, 0x00, 0x00, 0x1F, 0x10,
0x10, 0x10, 0x10, 0x1F, 0x10,
0x10, 0x10, 0x10, 0xF0, 0x10,
0x00, 0x00, 0x00, 0xFF, 0x10,
0x10, 0x10, 0x10, 0x10, 0x10,
0x10, 0x10, 0x10, 0xFF, 0x10,
0x00, 0x00, 0x00, 0xFF, 0x14,
0x00, 0x00, 0xFF, 0x00, 0xFF,
0x00, 0x00, 0x1F, 0x10, 0x17,
0x00, 0x00, 0xFC, 0x04, 0xF4,
0x14, 0x14, 0x17, 0x10, 0x17,
0x14, 0x14, 0xF4, 0x04, 0xF4,
0x00, 0x00, 0xFF, 0x00, 0xF7,
0x14, 0x14, 0x14, 0x14, 0x14,
0x14, 0x14, 0xF7, 0x00, 0xF7,
0x14, 0x14, 0x14, 0x17, 0x14,
0x10, 0x10, 0x1F, 0x10, 0x1F,
0x14, 0x14, 0x14, 0xF4, 0x14,
0x10, 0x10, 0xF0, 0x10, 0xF0,
0x00, 0x00, 0x1F, 0x10, 0x1F,
0x00, 0x00, 0x00, 0x1F, 0x14,
0x00, 0x00, 0x00, 0xFC, 0x14,
0x00, 0x00, 0xF0, 0x10, 0xF0,
0x10, 0x10, 0xFF, 0x10, 0xFF,
0x14, 0x14, 0x14, 0xFF, 0x14,
0x10, 0x10, 0x10, 0x1F, 0x00,
0x00, 0x00, 0x00, 0xF0, 0x10,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
0xFF, 0xFF, 0xFF, 0x00, 0x00,
0x00, 0x00, 0x00, 0xFF, 0xFF,
0x0F, 0x0F, 0x0F, 0x0F, 0x0F,
0x38, 0x44, 0x44, 0x38, 0x44,
0x7C, 0x2A, 0x2A, 0x3E, 0x14,
0x7E, 0x02, 0x02, 0x06, 0x06,
0x02, 0x7E, 0x02, 0x7E, 0x02,
0x63, 0x55, 0x49, 0x41, 0x63,
0x38, 0x44, 0x44, 0x3C, 0x04,
0x40, 0x7E, 0x20, 0x1E, 0x20,
0x06, 0x02, 0x7E, 0x02, 0x02,
0x99, 0xA5, 0xE7, 0xA5, 0x99,
0x1C, 0x2A, 0x49, 0x2A, 0x1C,
0x4C, 0x72, 0x01, 0x72, 0x4C,
0x30, 0x4A, 0x4D, 0x4D, 0x30,
0x30, 0x48, 0x78, 0x48, 0x30,
0xBC, 0x62, 0x5A, 0x46, 0x3D,
0x3E, 0x49, 0x49, 0x49, 0x00,
0x7E, 0x01, 0x01, 0x01, 0x7E,
0x2A, 0x2A, 0x2A, 0x2A, 0x2A,
0x44, 0x44, 0x5F, 0x44, 0x44,
0x40, 0x51, 0x4A, 0x44, 0x40,
0x40, 0x44, 0x4A, 0x51, 0x40,
0x00, 0x00, 0xFF, 0x01, 0x03,
0xE0, 0x80, 0xFF, 0x00, 0x00,
0x08, 0x08, 0x6B, 0x6B, 0x08,
0x36, 0x12, 0x36, 0x24, 0x36,
0x06, 0x0F, 0x09, 0x0F, 0x06,
0x00, 0x00, 0x18, 0x18, 0x00,
0x00, 0x00, 0x10, 0x10, 0x00,
0x30, 0x40, 0xFF, 0x01, 0x01,
0x00, 0x1F, 0x01, 0x01, 0x1E,
0x00, 0x19, 0x1D, 0x17, 0x12,
0x00, 0x3C, 0x3C, 0x3C, 0x3C,
0x00, 0x00, 0x00, 0x00, 0x00,
]
class SSD1306(object):
def __init__(self, pinout, height=32, external_vcc=True, i2c_devid=DEVID):
self.external_vcc = external_vcc
self.height = 32 if height == 32 else 64
self.pages = int(self.height / 8)
self.columns = 128
self.font = Font5x8()
# Infer interface type from entries in pinout{}
if 'dc' in pinout:
# SPI
rate = 16 * 1024 * 1024
self.spi = pyb.SPI(2, pyb.SPI.MASTER, baudrate=rate, polarity=1, phase=0) # SCK: Y6: MOSI: Y8
self.dc = pyb.Pin(pinout['dc'], pyb.Pin.OUT_PP, pyb.Pin.PULL_DOWN)
self.res = pyb.Pin(pinout['res'], pyb.Pin.OUT_PP, pyb.Pin.PULL_DOWN)
self.offset = 0
else:
# Infer bus number from pin
if pinout['sda'] == 'X9':
self.i2c = pyb.I2C(1)
else:
self.i2c = pyb.I2C(2)
self.i2c.init(pyb.I2C.MASTER, baudrate=400000) # 400kHz
self.devid = i2c_devid
# used to reserve an extra byte in the image buffer AND as a way to
# infer the interface type
self.offset = 1
# I2C command buffer
self.cbuffer = bytearray(2)
self.cbuffer[0] = CTL_CMD
def clear(self):
self.buffer = bytearray(self.offset + self.pages * self.columns)
if self.offset == 1:
self.buffer[0] = CTL_DAT
def write_command(self, command_byte):
if self.offset == 1:
self.cbuffer[1] = command_byte
self.i2c.send(self.cbuffer, addr=self.devid, timeout=5000)
else:
self.dc.low()
self.spi.send(command_byte)
def invert_display(self, invert):
self.write_command(INVERTDISPLAY if invert else NORMALDISPLAY)
def display(self):
self.write_command(COLUMNADDR)
self.write_command(0)
self.write_command(self.columns - 1)
self.write_command(PAGEADDR)
self.write_command(0)
self.write_command(self.pages - 1)
if self.offset == 1:
self.i2c.send(self.buffer, addr=self.devid, timeout=5000)
else:
self.dc.high()
self.spi.send(self.buffer)
def set_pixel(self, x, y, state):
index = x + (int(y / 8) * self.columns)
if state:
self.buffer[self.offset + index] |= (1 << (y & 7))
else:
self.buffer[self.offset + index] &= ~(1 << (y & 7))
def init_display(self):
chargepump = 0x10 if self.external_vcc else 0x14
precharge = 0x22 if self.external_vcc else 0xf1
multiplex = 0x1f if self.height == 32 else 0x3f
compins = 0x02 if self.height == 32 else 0x12
contrast = 0xff # 0x8f if self.height == 32 else (0x9f if self.external_vcc else 0x9f)
data = [DISPLAYOFF,
SETDISPLAYCLOCKDIV, 0x80,
SETMULTIPLEX, multiplex,
SETDISPLAYOFFSET, 0x00,
SETSTARTLINE | 0x00,
CHARGEPUMP, chargepump,
MEMORYMODE, 0x00,
SEGREMAP | 0x10,
COMSCANDEC,
SETCOMPINS, compins,
SETCONTRAST, contrast,
SETPRECHARGE, precharge,
SETVCOMDETECT, 0x40,
DISPLAYALLON_RESUME,
NORMALDISPLAY,
DISPLAYON]
for item in data:
self.write_command(item)
self.clear()
self.display()
def poweron(self):
if self.offset == 1:
pyb.delay(10)
else:
self.res.high()
pyb.delay(1)
self.res.low()
pyb.delay(10)
self.res.high()
pyb.delay(10)
def poweroff(self):
self.write_command(DISPLAYOFF)
def contrast(self, contrast):
self.write_command(SETCONTRAST)
self.write_command(contrast)
class Display(SSD1306):
def __init__(self, *args, **kwargs):
self._power = False
self._initialised = False
self._last_lines = []
super().__init__(*args, **kwargs)
def poweron(self):
super().poweron()
self._power = True
def poweroff(self):
super().poweroff()
self._power = False
def init_display(self):
super().init_display()
self._initialised = True
def __enter__(self):
if not self._power:
self.poweron()
if not self._initialised:
self.init_display()
self.clear()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self.display()
def draw_text(self, x, y, string, size=1, space=1):
font_bytes = self.font.bytes
font_cols = self.font.cols
for c in string:
p = ord(c) * font_cols
for col in range(0, font_cols):
mask = font_bytes[p]
p += 1
py = y
for row in range(0, 8):
for sy in range(0, size):
px = x
for sx in range(0, size):
self.set_pixel(128 - px, py, mask & 0x1)
px += 1
py += 1
mask >>= 1
x += size
x += space
def _get_lines(self, text):
for line in text.split('\n'):
while len(line) > 20:
yield line[:20]
line = line[20:]
if line:
yield line
def write(self, text):
lines = (self._last_lines + list(self._get_lines(str(text))))[-6:]
with self:
for n, line in enumerate(lines):
self.draw_text(5, 5 + 10 * n, line)
self._last_lines = lines
@chan
def get_display(q, *args, **kwargs):
display = Display(*args, **kwargs)
while True:
lines = yield from q.get()
display.write(lines)
Raw
ultrasonic.py
# Originally: https://raw.githubusercontent.com/mithru/MicropythonLibs/master/Ultrasonic/module/ultrasonic.py
##
# Ultrasonic library for MicroPython's pyboard.
# Compatible with HC-SR04 and SRF04.
#
# Copyright 2014 - Sergio Conde Gómez <skgsergio@gmail.com>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
##
import pyb
from uasyncio.core import sleep
from utils import chan
# Pin configuration.
# WARNING: Do not use PA4-X5 or PA5-X6 as the echo pin without a 1k resistor.
class Ultrasonic:
def __init__(self, tPin, ePin):
self.triggerPin = tPin
self.echoPin = ePin
# Init trigger pin (out)
self.trigger = pyb.Pin(self.triggerPin)
self.trigger.init(pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
self.trigger.low()
# Init echo pin (in)
self.echo = pyb.Pin(self.echoPin)
self.echo.init(pyb.Pin.IN, pyb.Pin.PULL_NONE)
def distance_in_cm(self):
start = 0
end = 0
# Create a microseconds counter.
micros = pyb.Timer(2, prescaler=83, period=0x3fffffff)
micros.counter(0)
# Send a 10us pulse.
self.trigger.high()
yield from sleep(0.01)
self.trigger.low()
limit = 1000
# Wait 'till whe pulse starts.
while self.echo.value() == 0 and limit:
start = micros.counter()
limit -= 1
# Wait 'till the pulse is gone.
while self.echo.value() == 1 and limit:
end = micros.counter()
limit -= 1
# Deinit the microseconds counter
micros.deinit()
# Calc the duration of the recieved pulse, divide the result by
# 2 (round-trip) and divide it by 29 (the speed of sound is
# 340 m/s and that is 29 us/cm).
dist_in_cm = ((end - start) / 2) / 29
return dist_in_cm
@chan
def get_ultrasonic(q, *args, **kwargs):
ultrasonic = Ultrasonic(*args, **kwargs)
while True:
val = yield from ultrasonic.distance_in_cm()
yield from q.put(val)
Raw
utils.py
import pyb
from uasyncio.core import get_event_loop, sleep
from uasyncio.queues import Queue, QueueEmpty
class OnlyChanged(Queue):
def __init__(self, *args, **kwargs):
self._last_val = None
super().__init__(*args, **kwargs)
def put(self, val):
if val != self._last_val:
yield from super().put(val)
self._last_val = val
def chan(fn):
def wrapper(*args, **kwargs):
q = OnlyChanged(1)
get_event_loop().call_soon(fn(q, *args, **kwargs))
return q
return wrapper
@chan
def get_gyro(q):
accel = pyb.Accel()
while True:
val = accel.filtered_xyz()
yield from q.put(val)
@chan
def alts(q, **queues):
while True:
for name, queue in queues.items():
try:
val = queue.get_nowait()
yield from q.put((name, val))
except QueueEmpty:
continue
yield from sleep(0.01)
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