From 25fc893968b1755fb94882650645e54ad73b4f7c Mon Sep 17 00:00:00 2001
From: schneider <schneider@blinkenlichts.net>
Date: Sat, 27 Jul 2019 01:32:41 +0200
Subject: [PATCH] feat(bhi160): Initial Python support for the accelerometer
---
epicardium/epicardium.h | 5 ++-
epicardium/modules/bhi.c | 4 +++
pycardium/meson.build | 1 +
pycardium/modules/bhi160-sys.c | 61 ++++++++++++++++++++++++++++++++
pycardium/modules/interrupt.c | 2 ++
pycardium/modules/py/bhi160.py | 38 ++++++++++++++++++++
pycardium/modules/py/meson.build | 1 +
pycardium/modules/qstrdefs.h | 7 +++-
pycardium/mpconfigport.h | 1 +
9 files changed, 118 insertions(+), 2 deletions(-)
create mode 100644 pycardium/modules/bhi160-sys.c
create mode 100644 pycardium/modules/py/bhi160.py
diff --git a/epicardium/epicardium.h b/epicardium/epicardium.h
index 930eb876..56158107 100644
--- a/epicardium/epicardium.h
+++ b/epicardium/epicardium.h
@@ -156,9 +156,12 @@ API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
#define EPIC_INT_UART_RX 2
/** RTC Alarm interrupt. See :c:func:`epic_isr_rtc_alarm` */
#define EPIC_INT_RTC_ALARM 3
+/** TODO: BHI */
+#define EPIC_INT_BHI160_ACCELEROMETER 4
+API_ISR(EPIC_INT_BHI160_ACCELEROMETER, epic_isr_bhi160_accelerometer);
/* Number of defined interrupts. */
-#define EPIC_INT_NUM 4
+#define EPIC_INT_NUM 5
/* clang-format on */
/*
diff --git a/epicardium/modules/bhi.c b/epicardium/modules/bhi.c
index 5e05e672..e824f70d 100644
--- a/epicardium/modules/bhi.c
+++ b/epicardium/modules/bhi.c
@@ -11,6 +11,7 @@
#include "semphr.h"
#include "queue.h"
+#include "api/interrupt-sender.h"
#include "epicardium.h"
#include "modules/log.h"
#include "modules/modules.h"
@@ -211,6 +212,9 @@ bhi160_handle_packet(bhy_data_type_t data_type, bhy_data_generic_t *sensor_data)
&data_vector,
BHI160_MUTEX_WAIT_MS
);
+ if (sensor_id == VS_ID_ACCELEROMETER_WAKEUP) {
+ api_interrupt_trigger(EPIC_INT_BHI160_ACCELEROMETER);
+ }
break;
default:
break;
diff --git a/pycardium/meson.build b/pycardium/meson.build
index f0a3798a..2c43f62f 100644
--- a/pycardium/meson.build
+++ b/pycardium/meson.build
@@ -1,6 +1,7 @@
name = 'pycardium'
modsrc = files(
+ 'modules/bhi160-sys.c',
'modules/buttons.c',
'modules/fat_file.c',
'modules/fat_reader_import.c',
diff --git a/pycardium/modules/bhi160-sys.c b/pycardium/modules/bhi160-sys.c
new file mode 100644
index 00000000..35d81b25
--- /dev/null
+++ b/pycardium/modules/bhi160-sys.c
@@ -0,0 +1,61 @@
+#include "py/obj.h"
+#include "py/runtime.h"
+#include "py/builtin.h"
+#include "epicardium.h"
+#include "api/common.h"
+#include "mphalport.h"
+
+STATIC mp_obj_t mp_bhi160_enable_sensor(size_t n_args, const mp_obj_t *args)
+{
+ int sensor_type = mp_obj_get_int(args[0]);
+
+ struct bhi160_sensor_config cfg = { 0 };
+ cfg.sample_buffer_len = mp_obj_get_int(args[1]);
+ cfg.sample_rate = mp_obj_get_int(args[2]);
+ cfg.dynamic_range = mp_obj_get_int(args[3]);
+
+ //cfg.sample_buffer_len = 200;
+ //cfg.sample_rate = 4;
+ //cfg.dynamic_range = 2;
+
+ int sd = epic_bhi160_enable_sensor(sensor_type, &cfg);
+
+ return MP_OBJ_NEW_SMALL_INT(sd);
+}
+
+STATIC mp_obj_t mp_bhi160_read_sensor(mp_obj_t stream_id_in)
+{
+ struct bhi160_data_vector buf[100];
+ int sd = mp_obj_get_int(stream_id_in);
+
+ int n = epic_stream_read(sd, buf, sizeof(buf));
+
+ return MP_OBJ_NEW_SMALL_INT(n);
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(
+ mp_bhi160_enable_sensor_obj, 4, 4, mp_bhi160_enable_sensor
+);
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(
+ mp_bhi160_read_sensor_obj, mp_bhi160_read_sensor
+);
+
+STATIC const mp_rom_map_elem_t bhi160_module_globals_table[] = {
+ { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_sys_bhi160) },
+ { MP_ROM_QSTR(MP_QSTR_enable_sensor),
+ MP_ROM_PTR(&mp_bhi160_enable_sensor_obj) },
+ { MP_ROM_QSTR(MP_QSTR_read_sensor),
+ MP_ROM_PTR(&mp_bhi160_read_sensor_obj) },
+};
+STATIC MP_DEFINE_CONST_DICT(bhi160_module_globals, bhi160_module_globals_table);
+
+// Define module object.
+const mp_obj_module_t bhi160_module = {
+ .base = { &mp_type_module },
+ .globals = (mp_obj_dict_t *)&bhi160_module_globals,
+};
+
+/* clang-format off */
+// Register the module to make it available in Python
+MP_REGISTER_MODULE(MP_QSTR_sys_bhi160, bhi160_module, MODULE_BHI160_ENABLED);
diff --git a/pycardium/modules/interrupt.c b/pycardium/modules/interrupt.c
index 10770a19..90dd700a 100644
--- a/pycardium/modules/interrupt.c
+++ b/pycardium/modules/interrupt.c
@@ -85,6 +85,8 @@ static const mp_rom_map_elem_t interrupt_module_globals_table[] = {
/* Interrupt Numbers */
{ MP_ROM_QSTR(MP_QSTR_RTC_ALARM),
MP_OBJ_NEW_SMALL_INT(EPIC_INT_RTC_ALARM) },
+ { MP_ROM_QSTR(MP_QSTR_BHI160_ACCELEROMETER),
+ MP_OBJ_NEW_SMALL_INT(EPIC_INT_BHI160_ACCELEROMETER) },
};
static MP_DEFINE_CONST_DICT(
interrupt_module_globals, interrupt_module_globals_table
diff --git a/pycardium/modules/py/bhi160.py b/pycardium/modules/py/bhi160.py
new file mode 100644
index 00000000..4d13895f
--- /dev/null
+++ b/pycardium/modules/py/bhi160.py
@@ -0,0 +1,38 @@
+import sys_bhi160
+import interrupt
+
+
+class BHI160Accelerometer:
+ def __init__(
+ self, sample_rate=4, dynamic_range=2, callback=None, sample_buffer_len=200
+ ):
+ interrupt.disable_callback(interrupt.BHI160_ACCELEROMETER)
+ interrupt.set_callback(
+ interrupt.BHI160_ACCELEROMETER, self._accelerometer_interrupt
+ )
+ self.acc_sd = sys_bhi160.enable_sensor(
+ 0, sample_buffer_len, sample_rate, dynamic_range
+ )
+ self._callback = callback
+ if callback:
+ interrupt.enable_callback(interrupt.BHI160_ACCELEROMETER)
+
+ def __enter__(self):
+ return self
+
+ def __exit__(self, _et, _ev, _t):
+ self.close()
+
+ def close(self):
+ if self.acc_sd is not None:
+ self.acc_sd = None
+ self.acc_sd = sys_bhi160.disable_sensor(0)
+ interrupt.disable_callback(interrupt.BHI160_ACCELEROMETER)
+ interrupt.set_callback(interrupt.BHI160_ACCELEROMETER, None)
+
+ def _accelerometer_interrupt(self, _):
+ if self.acc_sd is not None:
+ data = sys_bhi160.read_sensor(self.acc_sd)
+ print(data)
+ if self._callback:
+ self._callback(data)
diff --git a/pycardium/modules/py/meson.build b/pycardium/modules/py/meson.build
index 2818ffa3..9bd34944 100644
--- a/pycardium/modules/py/meson.build
+++ b/pycardium/modules/py/meson.build
@@ -1,4 +1,5 @@
python_modules = files(
+ 'bhi160.py',
'color.py',
'htmlcolor.py',
'display.py',
diff --git a/pycardium/modules/qstrdefs.h b/pycardium/modules/qstrdefs.h
index 60c5c56c..4d9ff17a 100644
--- a/pycardium/modules/qstrdefs.h
+++ b/pycardium/modules/qstrdefs.h
@@ -57,9 +57,14 @@ Q(vibrate)
Q(set_callback)
Q(enable_callback)
Q(disable_callback)
-Q(BHI160)
+Q(BHI160_ACCELEROMETER)
Q(RTC_ALARM)
+/* bhi160 */
+Q(sys_bhi160)
+Q(enable_sensor)
+Q(read_sensor)
+
/* display */
Q(sys_display)
Q(display)
diff --git a/pycardium/mpconfigport.h b/pycardium/mpconfigport.h
index af27e146..b8486798 100644
--- a/pycardium/mpconfigport.h
+++ b/pycardium/mpconfigport.h
@@ -45,6 +45,7 @@ int mp_hal_trng_read_int(void);
#define MICROPY_PY_UERRNO (1)
/* Modules */
+#define MODULE_BHI160_ENABLED (1)
#define MODULE_BME680_ENABLED (1)
#define MODULE_BUTTONS_ENABLED (1)
#define MODULE_DISPLAY_ENABLED (1)
--
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