471 lines
16 KiB
C++
471 lines
16 KiB
C++
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#include "drivers/servo/servo.hpp"
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#include "drivers/servo/servo_cluster.hpp"
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#include <cstdio>
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#define MP_OBJ_TO_PTR2(o, t) ((t *)(uintptr_t)(o))
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// SDA/SCL on even/odd pins, I2C0/I2C1 on even/odd pairs of pins.
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#define IS_VALID_SCL(i2c, pin) (((pin) & 1) == 1 && (((pin) & 2) >> 1) == (i2c))
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#define IS_VALID_SDA(i2c, pin) (((pin) & 1) == 0 && (((pin) & 2) >> 1) == (i2c))
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using namespace servo;
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extern "C" {
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#include "servo.h"
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#include "py/builtin.h"
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typedef struct _mp_obj_float_t {
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mp_obj_base_t base;
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mp_float_t value;
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} mp_obj_float_t;
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const mp_obj_float_t const_float_1 = {{&mp_type_float}, 1.0f};
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/********** Servo **********/
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/***** Variables Struct *****/
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typedef struct _Servo_obj_t {
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mp_obj_base_t base;
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Servo* servo;
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} _Servo_obj_t;
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/***** Print *****/
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void Servo_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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(void)kind; //Unused input parameter
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
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mp_print_str(print, "Servo(");
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mp_print_str(print, "pin = ");
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mp_obj_print_helper(print, mp_obj_new_int(self->servo->get_pin()), PRINT_REPR);
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mp_print_str(print, ", value = ");
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mp_obj_print_helper(print, mp_obj_new_float(self->servo->get_value()), PRINT_REPR);
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mp_print_str(print, ", pulse = ");
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mp_obj_print_helper(print, mp_obj_new_float(self->servo->get_pulse()), PRINT_REPR);
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mp_print_str(print, ", enabled = ");
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mp_obj_print_helper(print, self->servo->is_enabled() ? mp_const_true : mp_const_false, PRINT_REPR);
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mp_print_str(print, ")");
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}
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/***** Destructor ******/
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mp_obj_t Servo___del__(mp_obj_t self_in) {
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
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delete self->servo;
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return mp_const_none;
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}
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/***** Constructor *****/
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mp_obj_t Servo_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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_Servo_obj_t *self = nullptr;
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enum { ARG_pin, ARG_servo_type };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_pin, MP_ARG_REQUIRED | MP_ARG_INT },
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{ MP_QSTR_type, MP_ARG_INT, {.u_int = (uint8_t)servo::Type::ANGULAR} },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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int pin = args[ARG_pin].u_int;
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servo::Type servo_type = (servo::Type)args[ARG_servo_type].u_int;
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self = m_new_obj_with_finaliser(_Servo_obj_t);
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self->base.type = &Servo_type;
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self->servo = new Servo(pin, servo_type);
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self->servo->init();
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return MP_OBJ_FROM_PTR(self);
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}
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extern mp_obj_t Servo_enable(mp_obj_t self_in) {
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
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self->servo->enable();
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return mp_const_none;
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}
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extern mp_obj_t Servo_disable(mp_obj_t self_in) {
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
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self->servo->disable();
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return mp_const_none;
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}
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extern mp_obj_t Servo_is_enabled(mp_obj_t self_in) {
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
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return self->servo->is_enabled() ? mp_const_true : mp_const_false;
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}
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extern mp_obj_t Servo_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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if(n_args <= 1) {
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enum { ARG_self };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
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return mp_obj_new_float(self->servo->get_value());
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}
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else {
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enum { ARG_self, ARG_value };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
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float value = mp_obj_get_float(args[ARG_value].u_obj);
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self->servo->set_value(value);
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return mp_const_none;
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}
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}
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extern mp_obj_t Servo_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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if(n_args <= 1) {
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enum { ARG_self };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
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return mp_obj_new_float(self->servo->get_pulse());
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}
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else {
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enum { ARG_self, ARG_pulse };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
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float pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
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self->servo->set_pulse(pulse);
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return mp_const_none;
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}
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}
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extern mp_obj_t Servo_to_min(mp_obj_t self_in) {
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
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self->servo->to_min();
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return mp_const_none;
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}
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extern mp_obj_t Servo_to_mid(mp_obj_t self_in) {
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
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self->servo->to_mid();
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return mp_const_none;
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}
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extern mp_obj_t Servo_to_max(mp_obj_t self_in) {
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
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self->servo->to_max();
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return mp_const_none;
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}
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extern mp_obj_t Servo_to_percent(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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if(n_args <= 2) {
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enum { ARG_self, ARG_in };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
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float in = mp_obj_get_float(args[ARG_in].u_obj);
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self->servo->to_percent(in);
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}
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else if(n_args <= 4) {
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enum { ARG_self, ARG_in, ARG_in_min, ARG_in_max };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_in_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_in_max, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
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float in = mp_obj_get_float(args[ARG_in].u_obj);
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float in_min = mp_obj_get_float(args[ARG_in_min].u_obj);
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float in_max = mp_obj_get_float(args[ARG_in_max].u_obj);
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self->servo->to_percent(in, in_min, in_max);
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}
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else {
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enum { ARG_self, ARG_in, ARG_in_min, ARG_in_max, ARG_value_min, ARG_value_max };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_in_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_in_max, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_value_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_value_max, MP_ARG_REQUIRED | MP_ARG_OBJ }
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
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float in = mp_obj_get_float(args[ARG_in].u_obj);
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float in_min = mp_obj_get_float(args[ARG_in_min].u_obj);
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float in_max = mp_obj_get_float(args[ARG_in_max].u_obj);
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float value_min = mp_obj_get_float(args[ARG_value_min].u_obj);
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float value_max = mp_obj_get_float(args[ARG_value_max].u_obj);
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self->servo->to_percent(in, in_min, in_max, value_min, value_max);
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}
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return mp_const_none;
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}
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/********** ServoCluster **********/
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/***** Variables Struct *****/
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typedef struct _ServoCluster_obj_t {
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mp_obj_base_t base;
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ServoCluster* cluster;
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} _ServoCluster_obj_t;
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/***** Print *****/
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void ServoCluster_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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(void)kind; //Unused input parameter
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//_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(self_in, _ServoCluster_obj_t);
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mp_print_str(print, "ServoCluster(");
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// TODO
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//mp_print_str(print, "num_leds = ");
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//mp_obj_print_helper(print, mp_obj_new_int(self->apa102->num_leds), PRINT_REPR);
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mp_print_str(print, ")");
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}
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/***** Destructor ******/
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mp_obj_t ServoCluster___del__(mp_obj_t self_in) {
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_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(self_in, _ServoCluster_obj_t);
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delete self->cluster;
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return mp_const_none;
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}
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/***** Constructor *****/
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mp_obj_t ServoCluster_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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_ServoCluster_obj_t *self = nullptr;
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// TODO
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/*enum {
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ARG_num_leds,
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ARG_pio,
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ARG_sm,
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ARG_dat,
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ARG_clk,
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ARG_freq,
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ARG_buffer
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};
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_num_leds, MP_ARG_REQUIRED | MP_ARG_INT },
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{ MP_QSTR_pio, MP_ARG_REQUIRED | MP_ARG_INT },
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{ MP_QSTR_sm, MP_ARG_REQUIRED | MP_ARG_INT },
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{ MP_QSTR_dat, MP_ARG_REQUIRED | MP_ARG_INT },
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{ MP_QSTR_clk, MP_ARG_REQUIRED | MP_ARG_INT },
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{ MP_QSTR_freq, MP_ARG_INT, {.u_int = APA102::DEFAULT_SERIAL_FREQ} },
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{ MP_QSTR_buffer, MP_ARG_OBJ, {.u_obj = nullptr} },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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|
int num_leds = args[ARG_num_leds].u_int;
|
||
|
|
PIO pio = args[ARG_pio].u_int == 0 ? pio0 : pio1;
|
||
|
|
int sm = args[ARG_sm].u_int;
|
||
|
|
int dat = args[ARG_dat].u_int;
|
||
|
|
int clk = args[ARG_clk].u_int;
|
||
|
|
int freq = args[ARG_freq].u_int;
|
||
|
|
|
||
|
|
APA102::RGB *buffer = nullptr;
|
||
|
|
|
||
|
|
if (args[ARG_buffer].u_obj) {
|
||
|
|
mp_buffer_info_t bufinfo;
|
||
|
|
mp_get_buffer_raise(args[ARG_buffer].u_obj, &bufinfo, MP_BUFFER_RW);
|
||
|
|
buffer = (APA102::RGB *)bufinfo.buf;
|
||
|
|
if(bufinfo.len < (size_t)(num_leds * 4)) {
|
||
|
|
mp_raise_ValueError("Supplied buffer is too small for LED count!");
|
||
|
|
}
|
||
|
|
// If a bytearray is supplied it'll be raw, uninitialized bytes
|
||
|
|
// iterate through the RGB elements and call "brightness"
|
||
|
|
// to set up the SOF bytes, otherwise a flickery mess will happen!
|
||
|
|
// Oh for such niceties as "placement new"...
|
||
|
|
for(auto i = 0; i < num_leds; i++) {
|
||
|
|
buffer[i].brightness(15);
|
||
|
|
}
|
||
|
|
}*/
|
||
|
|
|
||
|
|
self = m_new_obj_with_finaliser(_ServoCluster_obj_t);
|
||
|
|
self->base.type = &ServoCluster_type;
|
||
|
|
|
||
|
|
self->cluster = new ServoCluster(pio1, 0, 0b11111100); //TODO Expose parameters
|
||
|
|
|
||
|
|
return MP_OBJ_FROM_PTR(self);
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
mp_obj_t ServoCluster_clear(mp_obj_t self_in) {
|
||
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(self_in, _ServoCluster_obj_t);
|
||
|
|
self->apa102->clear();
|
||
|
|
return mp_const_none;
|
||
|
|
}
|
||
|
|
|
||
|
|
mp_obj_t ServoCluster_update(mp_obj_t self_in) {
|
||
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(self_in, _ServoCluster_obj_t);
|
||
|
|
self->apa102->update(true);
|
||
|
|
return mp_const_none;
|
||
|
|
}
|
||
|
|
|
||
|
|
mp_obj_t ServoCluster_start(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||
|
|
enum { ARG_self, ARG_fps };
|
||
|
|
static const mp_arg_t allowed_args[] = {
|
||
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||
|
|
{ MP_QSTR_fps, MP_ARG_INT, {.u_int = 60} }
|
||
|
|
};
|
||
|
|
|
||
|
|
// Parse args.
|
||
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||
|
|
|
||
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
||
|
|
self->apa102->start(args[ARG_fps].u_int);
|
||
|
|
|
||
|
|
return mp_const_none;
|
||
|
|
}
|
||
|
|
|
||
|
|
mp_obj_t ServoCluster_set_brightness(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||
|
|
enum { ARG_self, ARG_brightness };
|
||
|
|
static const mp_arg_t allowed_args[] = {
|
||
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||
|
|
{ MP_QSTR_brightness, MP_ARG_REQUIRED | MP_ARG_INT }
|
||
|
|
};
|
||
|
|
|
||
|
|
// Parse args.
|
||
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||
|
|
|
||
|
|
int brightness = args[ARG_brightness].u_int;
|
||
|
|
|
||
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
||
|
|
self->apa102->set_brightness(brightness);
|
||
|
|
|
||
|
|
return mp_const_none;
|
||
|
|
}
|
||
|
|
|
||
|
|
mp_obj_t ServoCluster_set_rgb(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||
|
|
enum { ARG_self, ARG_index, ARG_r, ARG_g, ARG_b };
|
||
|
|
static const mp_arg_t allowed_args[] = {
|
||
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||
|
|
{ MP_QSTR_index, MP_ARG_REQUIRED | MP_ARG_INT },
|
||
|
|
{ MP_QSTR_r, MP_ARG_REQUIRED | MP_ARG_INT },
|
||
|
|
{ MP_QSTR_g, MP_ARG_REQUIRED | MP_ARG_INT },
|
||
|
|
{ MP_QSTR_b, MP_ARG_REQUIRED | MP_ARG_INT }
|
||
|
|
};
|
||
|
|
|
||
|
|
// Parse args.
|
||
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||
|
|
|
||
|
|
int index = args[ARG_index].u_int;
|
||
|
|
int r = args[ARG_r].u_int;
|
||
|
|
int g = args[ARG_g].u_int;
|
||
|
|
int b = args[ARG_b].u_int;
|
||
|
|
|
||
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
||
|
|
self->apa102->set_rgb(index, r, g, b);
|
||
|
|
|
||
|
|
return mp_const_none;
|
||
|
|
}
|
||
|
|
|
||
|
|
mp_obj_t ServoCluster_set_hsv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||
|
|
enum { ARG_self, ARG_index, ARG_h, ARG_s, ARG_v };
|
||
|
|
static const mp_arg_t allowed_args[] = {
|
||
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||
|
|
{ MP_QSTR_index, MP_ARG_REQUIRED | MP_ARG_INT },
|
||
|
|
{ MP_QSTR_hue, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||
|
|
{ MP_QSTR_sat, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_PTR(&const_float_1)} },
|
||
|
|
{ MP_QSTR_val, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_PTR(&const_float_1)} }
|
||
|
|
};
|
||
|
|
|
||
|
|
// Parse args.
|
||
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||
|
|
|
||
|
|
int index = args[ARG_index].u_int;
|
||
|
|
float h = mp_obj_get_float(args[ARG_h].u_obj);
|
||
|
|
float s = mp_obj_get_float(args[ARG_s].u_obj);
|
||
|
|
float v = mp_obj_get_float(args[ARG_v].u_obj);
|
||
|
|
|
||
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
||
|
|
self->apa102->set_hsv(index, h, s, v);
|
||
|
|
|
||
|
|
return mp_const_none;
|
||
|
|
}
|
||
|
|
|
||
|
|
mp_obj_t ServoCluster_get(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||
|
|
enum { ARG_self, ARG_index };
|
||
|
|
static const mp_arg_t allowed_args[] = {
|
||
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||
|
|
{ MP_QSTR_index, MP_ARG_REQUIRED | MP_ARG_INT },
|
||
|
|
};
|
||
|
|
|
||
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||
|
|
|
||
|
|
int index = args[ARG_index].u_int;
|
||
|
|
|
||
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
||
|
|
APA102::RGB rgb = self->apa102->get(index);
|
||
|
|
|
||
|
|
mp_obj_t tuple[4];
|
||
|
|
tuple[0] = mp_obj_new_int(rgb.r);
|
||
|
|
tuple[1] = mp_obj_new_int(rgb.g);
|
||
|
|
tuple[2] = mp_obj_new_int(rgb.b);
|
||
|
|
tuple[3] = mp_obj_new_int(rgb.sof);
|
||
|
|
return mp_obj_new_tuple(4, tuple);
|
||
|
|
}
|
||
|
|
*/
|
||
|
|
}
|