zephyr/modzsensor: Zephyr sensor subsystem bindings.

ports/zephyr/Makefile

@@ -41,6 +41,7 @@ SRC_C = main.c \
 	modusocket.c \
 	modutime.c \
 	modzephyr.c \
+	modzsensor.c \
 	modmachine.c \
 	machine_pin.c \
 	uart_core.c \

ports/zephyr/modzsensor.c

@@ -0,0 +1,146 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018 Linaro Limited
+ *
+ * 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.
+ */
+
+#include <string.h>
+
+#include "py/runtime.h"
+
+#include <zephyr.h>
+#include <sensor.h>
+
+#if MICROPY_PY_ZSENSOR
+
+typedef struct _mp_obj_sensor_t {
+    mp_obj_base_t base;
+    struct device *dev;
+} mp_obj_sensor_t;
+
+STATIC mp_obj_t sensor_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
+    mp_arg_check_num(n_args, n_kw, 1, 1, false);
+    mp_obj_sensor_t *o = m_new_obj(mp_obj_sensor_t);
+    o->base.type = type;
+    o->dev = device_get_binding(mp_obj_str_get_str(args[0]));
+    if (o->dev == NULL) {
+        mp_raise_ValueError("dev not found");
+    }
+    return MP_OBJ_FROM_PTR(o);
+}
+
+STATIC mp_obj_t sensor_measure(mp_obj_t self_in) {
+    mp_obj_sensor_t *self = MP_OBJ_TO_PTR(self_in);
+    int st = sensor_sample_fetch(self->dev);
+    if (st != 0) {
+        mp_raise_OSError(-st);
+    }
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(sensor_measure_obj, sensor_measure);
+
+STATIC void sensor_get_internal(mp_obj_t self_in, mp_obj_t channel_in, struct sensor_value *res) {
+    mp_obj_sensor_t *self = MP_OBJ_TO_PTR(self_in);
+
+    int st = sensor_channel_get(self->dev, mp_obj_get_int(channel_in), res);
+    if (st != 0) {
+        mp_raise_OSError(-st);
+    }
+}
+
+STATIC mp_obj_t sensor_get_float(mp_obj_t self_in, mp_obj_t channel_in) {
+    struct sensor_value val;
+    sensor_get_internal(self_in, channel_in, &val);
+    return mp_obj_new_float(val.val1 + (mp_float_t)val.val2 / 1000000);
+}
+MP_DEFINE_CONST_FUN_OBJ_2(sensor_get_float_obj, sensor_get_float);
+
+STATIC mp_obj_t sensor_get_micros(mp_obj_t self_in, mp_obj_t channel_in) {
+    struct sensor_value val;
+    sensor_get_internal(self_in, channel_in, &val);
+    return MP_OBJ_NEW_SMALL_INT(val.val1 * 1000000 + val.val2);
+}
+MP_DEFINE_CONST_FUN_OBJ_2(sensor_get_micros_obj, sensor_get_micros);
+
+STATIC mp_obj_t sensor_get_millis(mp_obj_t self_in, mp_obj_t channel_in) {
+    struct sensor_value val;
+    sensor_get_internal(self_in, channel_in, &val);
+    return MP_OBJ_NEW_SMALL_INT(val.val1 * 1000 + val.val2 / 1000);
+}
+MP_DEFINE_CONST_FUN_OBJ_2(sensor_get_millis_obj, sensor_get_millis);
+
+STATIC mp_obj_t sensor_get_int(mp_obj_t self_in, mp_obj_t channel_in) {
+    struct sensor_value val;
+    sensor_get_internal(self_in, channel_in, &val);
+    return MP_OBJ_NEW_SMALL_INT(val.val1);
+}
+MP_DEFINE_CONST_FUN_OBJ_2(sensor_get_int_obj, sensor_get_int);
+
+STATIC const mp_rom_map_elem_t sensor_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_measure), MP_ROM_PTR(&sensor_measure_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_float), MP_ROM_PTR(&sensor_get_float_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_micros), MP_ROM_PTR(&sensor_get_micros_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_millis), MP_ROM_PTR(&sensor_get_millis_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_int), MP_ROM_PTR(&sensor_get_int_obj) },
+};
+
+STATIC MP_DEFINE_CONST_DICT(sensor_locals_dict, sensor_locals_dict_table);
+
+STATIC const mp_obj_type_t sensor_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_Sensor,
+    .make_new = sensor_make_new,
+    .locals_dict = (void*)&sensor_locals_dict,
+};
+
+STATIC const mp_rom_map_elem_t mp_module_zsensor_globals_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_zsensor) },
+    { MP_ROM_QSTR(MP_QSTR_Sensor), MP_ROM_PTR(&sensor_type) },
+
+#define C(name) { MP_ROM_QSTR(MP_QSTR_ ## name), MP_ROM_INT(SENSOR_CHAN_ ## name) }
+    C(ACCEL_X),
+    C(ACCEL_Y),
+    C(ACCEL_Z),
+    C(GYRO_X),
+    C(GYRO_Y),
+    C(GYRO_Z),
+    C(MAGN_X),
+    C(MAGN_Y),
+    C(MAGN_Z),
+    C(TEMP),
+    C(PRESS),
+    C(PROX),
+    C(HUMIDITY),
+    C(LIGHT),
+    C(ALTITUDE),
+#undef C
+};
+
+STATIC MP_DEFINE_CONST_DICT(mp_module_zsensor_globals, mp_module_zsensor_globals_table);
+
+const mp_obj_module_t mp_module_zsensor = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_dict_t*)&mp_module_zsensor_globals,
+};
+
+#endif //MICROPY_PY_UHASHLIB

ports/zephyr/mpconfigport.h

@@ -72,6 +72,7 @@
 #define MICROPY_PY_UTIME            (1)
 #define MICROPY_PY_UTIME_MP_HAL     (1)
 #define MICROPY_PY_ZEPHYR           (1)
+#define MICROPY_PY_ZSENSOR          (1)
 #define MICROPY_PY_SYS_MODULES      (0)
 #define MICROPY_LONGINT_IMPL (MICROPY_LONGINT_IMPL_LONGLONG)
 #define MICROPY_FLOAT_IMPL (MICROPY_FLOAT_IMPL_FLOAT)
@@ -111,6 +112,7 @@ extern const struct _mp_obj_module_t mp_module_machine;
 extern const struct _mp_obj_module_t mp_module_time;
 extern const struct _mp_obj_module_t mp_module_usocket;
 extern const struct _mp_obj_module_t mp_module_zephyr;
+extern const struct _mp_obj_module_t mp_module_zsensor;
 
 #if MICROPY_PY_USOCKET
 #define MICROPY_PY_USOCKET_DEF { MP_ROM_QSTR(MP_QSTR_usocket), MP_ROM_PTR(&mp_module_usocket) },
@@ -132,11 +134,18 @@ extern const struct _mp_obj_module_t mp_module_zephyr;
 #define MICROPY_PY_ZEPHYR_DEF
 #endif
 
+#if MICROPY_PY_ZSENSOR
+#define MICROPY_PY_ZSENSOR_DEF { MP_ROM_QSTR(MP_QSTR_zsensor), MP_ROM_PTR(&mp_module_zsensor) },
+#else
+#define MICROPY_PY_ZSENSOR_DEF
+#endif
+
 #define MICROPY_PORT_BUILTIN_MODULES \
     { MP_ROM_QSTR(MP_QSTR_machine), MP_ROM_PTR(&mp_module_machine) }, \
     MICROPY_PY_USOCKET_DEF \
     MICROPY_PY_UTIME_DEF \
     MICROPY_PY_ZEPHYR_DEF \
+    MICROPY_PY_ZSENSOR_DEF \
 
 #define MICROPY_PORT_BUILTIN_MODULE_WEAK_LINKS \
     { MP_ROM_QSTR(MP_QSTR_time), MP_ROM_PTR(&mp_module_time) }, \

ports/zephyr/prj_base.conf

@@ -14,6 +14,10 @@ CONFIG_NEWLIB_LIBC=y
 CONFIG_FLOAT=y
 CONFIG_MAIN_STACK_SIZE=4736
 
+# Enable sensor subsystem (doesn't add code if not used).
+# Specific sensors should be enabled per-board.
+CONFIG_SENSOR=y
+
 # Networking config
 CONFIG_NETWORKING=y
 CONFIG_NET_IPV4=y