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Commit c1f1e2cb authored by Václav Jelínek's avatar Václav Jelínek
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Add i2c master slave menu programs

parent 18e2c15a
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1 merge request!12Major update of menu visuals and example programs
Pipeline #107009 canceled
Stage: build
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    lib/robot.py
    + 1
    − 1
    View file @ c1f1e2cb
    ......@@ -19,7 +19,7 @@ MOTOR_NUM = len(MOTOR_PORT_PINS)
    # Object is initialized in the main program (main.py) after the startup of the cube and can be used in user programs
    class Robot:
    def __init__(self):
    start_time = ticks_ms()
    self.start_time = ticks_ms()
    # Set pins 0, 1 to input to correctly initialize HW UART0
    Pin(0, mode=Pin.IN)
    Pin(1, mode=Pin.IN)
    ......
    main/main.py
    + 10
    − 8
    View file @ c1f1e2cb
    ......@@ -5,7 +5,7 @@ robot = Robot()
    display_show_startup(robot)
    import utime
    import time
    import os
    import sys
    import micropython
    ......@@ -56,7 +56,7 @@ def main():
    print("Previous log too long, file deleted")
    f.write("Previous log too long, file deleted\n")
    f.write("--------------------------------------------------\n")
    f.write(f"ERROR program: {program_name}, time since reset: {int(utime.tick_diff(utime.ticks_ms(),robot.start_time)/1000)}\n")
    f.write(f"ERROR program: {program_name}, time since reset: {int(time.ticks_diff(time.ticks_ms(),robot.start_time))} ms\n")
    sys.print_exception(e, f)
    f.write("--------------------------------------------------\n")
    ......@@ -115,7 +115,7 @@ def main():
    sys.print_exception(e)
    log_error(robot, e, program_name)
    display_show_error(robot)
    utime.sleep(1.0)
    time.sleep(1.0)
    finally:
    # Deinit all sensors, motors and uart if initialized by user program
    # after user program ends
    ......@@ -124,7 +124,7 @@ def main():
    gc.collect()
    robot.esp.esp_running = False
    print("Program finished\n")
    utime.sleep_ms(200) # wait for all components of the Cube to start
    time.sleep_ms(200) # wait for all components of the Cube to start
    # Initialize variables
    robot_state = 0
    ......@@ -171,13 +171,13 @@ def main():
    # Connect to and reset ESP32 to BT mode if it is not running
    if not robot.esp.running() and counter % 10 == 0:
    s = utime.ticks_ms()
    s = time.ticks_ms()
    if not robot.esp.reset(100):
    esp_reset_failed_counter += 1
    else:
    esp_reset_failed_counter = 0
    esp_reset_counter = counter
    print("ESP32 reset time: ", utime.ticks_ms() - s)
    print("ESP32 reset time: ", time.ticks_ms() - s)
    if robot.esp.running() and counter - esp_reset_counter == 10:
    robot.esp.set_name_nonblocking(esp_default_name, 100)
    print("ESP BT name: ", esp_default_name)
    ......@@ -278,6 +278,7 @@ def main():
    sensor_test_menu = Menu.SEN_TEST_PORT
    menu_debounce = 1
    elif sensor_test_menu == Menu.SEN_TEST_PORT:
    robot_state = 1
    program_name = menu_programs_functions[sensor_test_menu_stype][0]
    print("Running sensor test: ", program_name)
    ......@@ -288,10 +289,11 @@ def main():
    log_error(robot, e, program_name)
    display_show_error(robot)
    robot.deinit_all()
    sensor_test_menu == Menu.SEN_TEST_PROGRAM
    sensor_test_menu = Menu.SEN_TEST_PROGRAM
    sensor_test_menu_port = 0
    robot_state = 0
    menu_debounce = 1
    ok_pressed = 0
    continue
    elif current_menu == Menu.CUBE_TEST:
    ......@@ -333,7 +335,7 @@ def main():
    display_fill_battery(robot, bat_voltage)
    robot.display.show()
    counter += 1
    utime.sleep(0.05)
    time.sleep(0.05)
    if __name__ == '__main__':
    ......
    menu_programs/i2c_master.py
    + 6
    − 3
    View file @ c1f1e2cb
    ......@@ -10,12 +10,15 @@ def i2c_master_run(robot):
    i2c = I2C(id=0,scl=Pin(17), sda=Pin(16), freq=100000)
    data_received = 0x5F
    data_sending = 0
    debounce = False
    robot.display.fill(0)
    robot.display.centered_text(f"I2C master", 0, 1)
    robot.display.text('<', 0, 54, 1)
    robot.display.show()
    utime.sleep(0.2)
    while True:
    robot.display.fill(0)
    robot.display.centered_text(f"I2C slave", 0, 1)
    ......@@ -24,7 +27,7 @@ def i2c_master_run(robot):
    robot.display.text('<', 0, 54, 1)
    robot.display.show()
    i2c.writeto(0x41, data_sending + ASCII_a)
    i2c.writeto(0x41, (data_sending + ASCII_a).to_bytes(1, 'big'))
    data_received = int.from_bytes(i2c.readfrom(0x41, 1), 'big')
    buttons = robot.buttons.pressed()
    ......@@ -32,11 +35,11 @@ def i2c_master_run(robot):
    break
    if not debounce:
    if buttons[Button.UP]:
    data_sending += 1
    data_sending -= 1
    data_sending = data_sending % 26
    debounce = True
    if buttons[Button.DOWN]:
    data_sending -= 1
    data_sending += 1
    data_sending = data_sending % 26
    debounce = True
    ......
    menu_programs/i2c_slave.py
    + 87
    − 86
    View file @ c1f1e2cb
    ......@@ -2,98 +2,99 @@ import utime
    from machine import mem32,mem8,Pin
    from lib.robot_consts import Button
    ASCII_a = 97
    def i2c_slave_run(robot):
    ASCII_a = 97
    class i2c_slave():
    I2C0_BASE = 0x40044000
    I2C1_BASE = 0x40048000
    IO_BANK0_BASE = 0x40014000
    mem_rw = 0x0000
    mem_xor = 0x1000
    mem_set = 0x2000
    mem_clr = 0x3000
    IC_CON = 0
    IC_TAR = 4
    IC_SAR = 8
    IC_DATA_CMD = 0x10
    IC_RAW_INTR_STAT = 0x34
    IC_RX_TL = 0x38
    IC_TX_TL = 0x3C
    IC_CLR_INTR = 0x40
    IC_CLR_RD_REQ = 0x50
    IC_CLR_TX_ABRT = 0x54
    IC_ENABLE = 0x6c
    IC_STATUS = 0x70
    def write_reg(self, reg, data, method=0):
    mem32[ self.i2c_base | method | reg] = data
    class i2c_slave():
    I2C0_BASE = 0x40044000
    I2C1_BASE = 0x40048000
    IO_BANK0_BASE = 0x40014000
    def set_reg(self, reg, data):
    self.write_reg(reg, data, method=self.mem_set)
    mem_rw = 0x0000
    mem_xor = 0x1000
    mem_set = 0x2000
    mem_clr = 0x3000
    def clr_reg(self, reg, data):
    self.write_reg(reg, data, method=self.mem_clr)
    def __init__(self, i2cID = 0, sda=16, scl=17, slaveAddress=0x41):
    self.scl = scl
    self.sda = sda
    self.slaveAddress = slaveAddress
    self.i2c_ID = i2cID
    if self.i2c_ID == 0:
    self.i2c_base = self.I2C0_BASE
    else:
    self.i2c_base = self.I2C1_BASE
    IC_CON = 0
    IC_TAR = 4
    IC_SAR = 8
    IC_DATA_CMD = 0x10
    IC_RAW_INTR_STAT = 0x34
    IC_RX_TL = 0x38
    IC_TX_TL = 0x3C
    IC_CLR_INTR = 0x40
    IC_CLR_RD_REQ = 0x50
    IC_CLR_TX_ABRT = 0x54
    IC_ENABLE = 0x6c
    IC_STATUS = 0x70
    # 1 Disable DW_apb_i2c
    self.clr_reg(self.IC_ENABLE, 1)
    # 2 set slave address
    # clr bit 0 to 9
    # set slave address
    self.clr_reg(self.IC_SAR, 0x1ff)
    self.set_reg(self.IC_SAR, self.slaveAddress &0x1ff)
    # 3 write IC_CON 7 bit, enable in slave-only
    self.clr_reg(self.IC_CON, 0b01001001)
    # set SDA PIN
    mem32[ self.IO_BANK0_BASE | self.mem_clr | ( 4 + 8 * self.sda) ] = 0x1f
    mem32[ self.IO_BANK0_BASE | self.mem_set | ( 4 + 8 * self.sda) ] = 3
    # set SLA PIN
    mem32[ self.IO_BANK0_BASE | self.mem_clr | ( 4 + 8 * self.scl) ] = 0x1f
    mem32[ self.IO_BANK0_BASE | self.mem_set | ( 4 + 8 * self.scl) ] = 3
    # 4 enable i2c
    self.set_reg(self.IC_ENABLE, 1)
    def write_reg(self, reg, data, method=0):
    mem32[ self.i2c_base | method | reg] = data
    def set_reg(self, reg, data):
    self.write_reg(reg, data, method=self.mem_set)
    def clr_reg(self, reg, data):
    self.write_reg(reg, data, method=self.mem_clr)
    def __init__(self, i2cID = 0, sda=16, scl=17, slaveAddress=0x41):
    self.scl = scl
    self.sda = sda
    self.slaveAddress = slaveAddress
    self.i2c_ID = i2cID
    if self.i2c_ID == 0:
    self.i2c_base = self.I2C0_BASE
    else:
    self.i2c_base = self.I2C1_BASE
    # 1 Disable DW_apb_i2c
    self.clr_reg(self.IC_ENABLE, 1)
    # 2 set slave address
    # clr bit 0 to 9
    # set slave address
    self.clr_reg(self.IC_SAR, 0x1ff)
    self.set_reg(self.IC_SAR, self.slaveAddress &0x1ff)
    # 3 write IC_CON 7 bit, enable in slave-only
    self.clr_reg(self.IC_CON, 0b01001001)
    # set SDA PIN
    mem32[ self.IO_BANK0_BASE | self.mem_clr | ( 4 + 8 * self.sda) ] = 0x1f
    mem32[ self.IO_BANK0_BASE | self.mem_set | ( 4 + 8 * self.sda) ] = 3
    # set SLA PIN
    mem32[ self.IO_BANK0_BASE | self.mem_clr | ( 4 + 8 * self.scl) ] = 0x1f
    mem32[ self.IO_BANK0_BASE | self.mem_set | ( 4 + 8 * self.scl) ] = 3
    # 4 enable i2c
    self.set_reg(self.IC_ENABLE, 1)
    def anyRead(self):
    status = mem32[ self.i2c_base | self.IC_RAW_INTR_STAT] & 0x20
    if status :
    return True
    return False
    def anyRead(self):
    status = mem32[ self.i2c_base | self.IC_RAW_INTR_STAT] & 0x20
    if status :
    return True
    return False
    def put(self, data):
    # reset flag
    self.clr_reg(self.IC_CLR_TX_ABRT,1)
    status = mem32[ self.i2c_base | self.IC_CLR_RD_REQ]
    mem32[ self.i2c_base | self.IC_DATA_CMD] = data & 0xff
    def put(self, data):
    # reset flag
    self.clr_reg(self.IC_CLR_TX_ABRT,1)
    status = mem32[ self.i2c_base | self.IC_CLR_RD_REQ]
    mem32[ self.i2c_base | self.IC_DATA_CMD] = data & 0xff
    def any(self):
    # get IC_STATUS
    status = mem32[ self.i2c_base | self.IC_STATUS]
    # check RFNE receive fifio not empty
    if (status & 8) :
    return True
    return False
    def any(self):
    # get IC_STATUS
    status = mem32[ self.i2c_base | self.IC_STATUS]
    # check RFNE receive fifio not empty
    if (status & 8) :
    return True
    return False
    def get(self):
    while not self.any():
    pass
    return mem32[ self.i2c_base | self.IC_DATA_CMD] & 0xff
    def get(self):
    while not self.any():
    pass
    return mem32[ self.i2c_base | self.IC_DATA_CMD] & 0xff
    def i2c_slave_run(robot):
    i2c_slave = i2c_slave()
    i2c_slave_o = i2c_slave()
    data_received = 0x5F
    data_sending = 0
    debounce = False
    robot.display.fill(0)
    robot.display.centered_text(f"I2C slave", 0, 1)
    ......@@ -106,20 +107,20 @@ def i2c_slave_run(robot):
    robot.display.text(f"Received: {chr(data_received)}", 0, 24, 1)
    robot.display.text('<', 0, 54, 1)
    robot.display.show()
    if i2c_slave.anyRead():
    data_received = i2c_slave.get()
    i2c_slave.put(data_sending + ASCII_a)
    if i2c_slave_o.anyRead():
    data_received = i2c_slave_o.get()
    i2c_slave_o.put(data_sending + ASCII_a)
    buttons = robot.buttons.pressed()
    if buttons[Button.LEFT]:
    break
    if not debounce:
    if buttons[Button.UP]:
    data_sending += 1
    data_sending -= 1
    data_sending = data_sending % 26
    debounce = True
    if buttons[Button.DOWN]:
    data_sending -= 1
    data_sending += 1
    data_sending = data_sending % 26
    debounce = True
    ......
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