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pimoroni-pico/micropython/modules/breakout_pmw3901/breakout_pmw3901.cpp

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#include "libraries/breakout_pmw3901/breakout_pmw3901.hpp"
#include "libraries/breakout_paa5100/breakout_paa5100.hpp"
#include "micropython/modules/util.hpp"
using namespace pimoroni;
extern "C" {
#include "breakout_pmw3901.h"
#include <cstring>
/***** Variables Struct *****/
typedef struct _breakout_pmw3901_BreakoutPMW3901_obj_t {
mp_obj_base_t base;
BreakoutPMW3901 *breakout;
ChipType chip;
} breakout_pmw3901_BreakoutPMW3901_obj_t;
/***** Print *****/
void BreakoutPMW3901_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
(void)kind; //Unused input parameter
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_pmw3901_BreakoutPMW3901_obj_t);
BreakoutPMW3901* breakout = self->breakout;
if(self->chip == ChipType::PMW3901) {
mp_print_str(print, "BreakoutPMW3901(");
} else {
mp_print_str(print, "BreakoutPAA5100(");
}
mp_print_str(print, "spi = ");
mp_obj_print_helper(print, mp_obj_new_int((breakout->get_spi() == spi0) ? 0 : 1), PRINT_REPR);
mp_print_str(print, ", cs = ");
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_cs()), PRINT_REPR);
mp_print_str(print, ", sck = ");
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_sck()), PRINT_REPR);
mp_print_str(print, ", mosi = ");
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_mosi()), PRINT_REPR);
mp_print_str(print, ", miso = ");
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_miso()), PRINT_REPR);
mp_print_str(print, ", int = ");
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_int()), PRINT_REPR);
mp_print_str(print, ")");
}
/***** Constructor *****/
mp_obj_t BreakoutPMW3901_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
return make_new(ChipType::PMW3901, type, n_args, n_kw, all_args);
}
mp_obj_t BreakoutPAA5100_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
return make_new(ChipType::PAA5100, type, n_args, n_kw, all_args);
}
mp_obj_t make_new(enum ChipType chip, const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
breakout_pmw3901_BreakoutPMW3901_obj_t *self = nullptr;
if(n_args + n_kw == 1) {
enum { ARG_slot };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_slot, MP_ARG_REQUIRED | MP_ARG_INT },
};
// Parse args.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
int slot = args[ARG_slot].u_int;
if(slot == BG_SPI_FRONT || slot == BG_SPI_BACK) {
self = m_new_obj_with_finaliser(breakout_pmw3901_BreakoutPMW3901_obj_t);
self->base.type = &breakout_pmw3901_BreakoutPMW3901_type;
if(chip == ChipType::PMW3901) {
BreakoutPMW3901 *breakout = m_new_class(BreakoutPMW3901, (BG_SPI_SLOT)slot);
if (!breakout->init()) {
m_del_class(BreakoutPMW3901, breakout);
mp_raise_msg(&mp_type_RuntimeError, "BreakoutPMW3901: Init failed");
}
self->breakout = breakout;
} else {
BreakoutPAA5100 *breakout = m_new_class(BreakoutPAA5100, (BG_SPI_SLOT)slot);
if (!breakout->init()) {
m_del_class(BreakoutPAA5100, breakout);
mp_raise_msg(&mp_type_RuntimeError, "BreakoutPAA5100: Init failed");
}
self->breakout = breakout;
}
}
else {
mp_raise_ValueError("slot not a valid value. Expected 0 to 1");
}
}
else {
enum { ARG_spi, ARG_cs, ARG_sck, ARG_mosi, ARG_miso, ARG_interrupt };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_spi, MP_ARG_INT, {.u_int = -1} },
{ MP_QSTR_cs, MP_ARG_INT, {.u_int = pimoroni::SPI_BG_FRONT_CS} },
{ MP_QSTR_sck, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_SCK} },
{ MP_QSTR_mosi, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_MOSI} },
{ MP_QSTR_miso, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_MISO} },
{ MP_QSTR_interrupt, MP_ARG_INT, {.u_int = pimoroni::SPI_BG_FRONT_PWM} },
};
// Parse args.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// Get SPI bus.
int spi_id = args[ARG_spi].u_int;
int sck = args[ARG_sck].u_int;
int mosi = args[ARG_mosi].u_int;
int miso = args[ARG_miso].u_int;
if(spi_id == -1) {
spi_id = (sck >> 3) & 0b1; // If no spi specified, choose the one for the given SCK pin
}
if(spi_id < 0 || spi_id > 1) {
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("SPI(%d) doesn't exist"), spi_id);
}
if(!IS_VALID_SCK(spi_id, sck)) {
mp_raise_ValueError(MP_ERROR_TEXT("bad SCK pin"));
}
if(!IS_VALID_MOSI(spi_id, mosi)) {
mp_raise_ValueError(MP_ERROR_TEXT("bad MOSI pin"));
}
if(!IS_VALID_MISO(spi_id, miso)) {
mp_raise_ValueError(MP_ERROR_TEXT("bad MISO pin"));
}
self = m_new_obj_with_finaliser(breakout_pmw3901_BreakoutPMW3901_obj_t);
self->base.type = &breakout_pmw3901_BreakoutPMW3901_type;
spi_inst_t *spi = (spi_id == 0) ? spi0 : spi1;
if(chip == ChipType::PMW3901) {
BreakoutPMW3901 *breakout = m_new_class(BreakoutPMW3901, spi, args[ARG_cs].u_int, sck, mosi, miso, args[ARG_interrupt].u_int);
if (!breakout->init()) {
m_del_class(BreakoutPMW3901, breakout);
mp_raise_msg(&mp_type_RuntimeError, "BreakoutPMW3901: Init failed");
}
self->breakout = breakout;
} else {
BreakoutPAA5100 *breakout = m_new_class(BreakoutPAA5100, spi, args[ARG_cs].u_int, sck, mosi, miso, args[ARG_interrupt].u_int);
if (!breakout->init()) {
m_del_class(BreakoutPAA5100, breakout);
mp_raise_msg(&mp_type_RuntimeError, "BreakoutPAA5100: Init failed");
}
self->breakout = breakout;
}
}
self->chip = chip;
return MP_OBJ_FROM_PTR(self);
}
/***** Destructor ******/
mp_obj_t BreakoutPMW3901___del__(mp_obj_t self_in) {
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_pmw3901_BreakoutPMW3901_obj_t);
m_del_class(BreakoutPMW3901, self->breakout);
return mp_const_none;
}
/***** Methods *****/
mp_obj_t BreakoutPMW3901_get_id(mp_obj_t self_in) {
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_pmw3901_BreakoutPMW3901_obj_t);
return mp_obj_new_int(self->breakout->get_id());
}
mp_obj_t BreakoutPMW3901_get_revision(mp_obj_t self_in) {
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_pmw3901_BreakoutPMW3901_obj_t);
return mp_obj_new_int(self->breakout->get_revision());
}
mp_obj_t BreakoutPMW3901_set_rotation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_self, ARG_degrees };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_degrees, MP_ARG_INT, {.u_int = (uint8_t)BreakoutPMW3901::DEGREES_0} },
};
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);
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
int degrees = args[ARG_degrees].u_int;
if(degrees < 0 || degrees > 3)
mp_raise_ValueError("degrees out of range. Expected 0 (0), 1 (90), 2 (180) or 3 (270)");
else
self->breakout->set_rotation((BreakoutPMW3901::Degrees)degrees);
return mp_const_none;
}
mp_obj_t BreakoutPMW3901_set_orientation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_self, ARG_invert_x, ARG_invert_y, ARG_swap_xy };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_invert_x, MP_ARG_BOOL, {.u_bool = true} },
{ MP_QSTR_invert_y, MP_ARG_BOOL, {.u_bool = true} },
{ MP_QSTR_swap_xy, MP_ARG_BOOL, {.u_bool = true} },
};
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);
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
bool invert_x = args[ARG_invert_x].u_int;
bool invert_y = args[ARG_invert_y].u_int;
bool swap_xy = args[ARG_swap_xy].u_int;
self->breakout->set_orientation(invert_x, invert_y, swap_xy);
return mp_const_none;
}
mp_obj_t BreakoutPMW3901_get_motion(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_self, ARG_timeout };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_const_none} },
};
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);
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
float timeout = (float)BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS / 1000.0f;
uint16_t timeout_ms = BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS;
if (args[ARG_timeout].u_obj != mp_const_none) {
timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
timeout_ms = (uint16_t)(timeout * 1000.0f);
}
int16_t x = 0;
int16_t y = 0;
if(self->breakout->get_motion(x, y, timeout_ms)) {
mp_obj_t tuple[2];
tuple[0] = mp_obj_new_int(x);
tuple[1] = mp_obj_new_int(y);
return mp_obj_new_tuple(2, tuple);
}
return mp_const_none;
}
mp_obj_t BreakoutPMW3901_get_motion_slow(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_self, ARG_timeout };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_const_none} },
};
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);
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
float timeout = (float)BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS / 1000.0f;
uint16_t timeout_ms = BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS;
if (args[ARG_timeout].u_obj != mp_const_none) {
timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
timeout_ms = (uint16_t)(timeout * 1000.0f);
}
int16_t x = 0;
int16_t y = 0;
if(self->breakout->get_motion_slow(x, y, timeout_ms)) {
mp_obj_t tuple[2];
tuple[0] = mp_obj_new_int(x);
tuple[1] = mp_obj_new_int(y);
return mp_obj_new_tuple(2, tuple);
}
return mp_const_none;
}
mp_obj_t BreakoutPMW3901_frame_capture(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_self, ARG_buffer, ARG_timeout };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_buffer, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_const_none} },
};
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);
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
mp_buffer_info_t bufinfo;
mp_get_buffer_raise(args[ARG_buffer].u_obj, &bufinfo, MP_BUFFER_RW);
uint8_t *buffer = (uint8_t *)bufinfo.buf;
if(bufinfo.len != (size_t)(BreakoutPMW3901::FRAME_BYTES)) {
mp_raise_ValueError("Supplied buffer is the wrong size for frame capture. Needs to be 1225.");
}
float timeout = (float)BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS / 1000.0f;
uint16_t timeout_ms = BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS;
if (args[ARG_timeout].u_obj != mp_const_none) {
timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
timeout_ms = (uint16_t)(timeout * 1000.0f);
}
uint16_t data_size = 0;
uint8_t data[BreakoutPMW3901::FRAME_BYTES];
if(self->breakout->frame_capture(data, data_size, timeout_ms)) {
memcpy(buffer, data, BreakoutPMW3901::FRAME_BYTES);
}
return mp_obj_new_int(data_size);
}
}
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