From 230016c4ee8a1cc341b05b8615b953a5b08581da 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 | 4 +--
epicardium/modules/bhi.c | 4 +++
epicardium/modules/serial.c | 2 +-
pycardium/meson.build | 1 +
pycardium/modules/bhi160-sys.c | 61 ++++++++++++++++++++++++++++++++
pycardium/modules/interrupt.c | 2 +-
pycardium/modules/py/bhi160.py | 32 +++++++++++++++++
pycardium/modules/py/meson.build | 1 +
pycardium/modules/qstrdefs.h | 6 +++-
pycardium/mpconfigport.h | 1 +
10 files changed, 109 insertions(+), 5 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 85fc686f..da8444a1 100644
--- a/epicardium/epicardium.h
+++ b/epicardium/epicardium.h
@@ -99,8 +99,8 @@ API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
/** ``^C`` interrupt. See :c:func:`epic_isr_ctrl_c` for details. */
#define EPIC_INT_CTRL_C 1
/* Debug interrupt, please ignore */
-#define EPIC_INT_BHI160_TEST 2
-API_ISR(EPIC_INT_BHI160_TEST, epic_isr_bhi160_test);
+#define EPIC_INT_BHI160_ACCELEROMETER 2
+API_ISR(EPIC_INT_BHI160_ACCELEROMETER, epic_isr_bhi160_accelerometer);
/* Number of defined interrupts. */
#define EPIC_INT_NUM 3
diff --git a/epicardium/modules/bhi.c b/epicardium/modules/bhi.c
index 79ce0a72..b237dd53 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"
@@ -215,6 +216,9 @@ 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/epicardium/modules/serial.c b/epicardium/modules/serial.c
index bf341fe7..25fe11e4 100644
--- a/epicardium/modules/serial.c
+++ b/epicardium/modules/serial.c
@@ -62,7 +62,7 @@ static void enqueue_char(char chr)
if (chr == 0x0e) {
/* Control-N */
- api_interrupt_trigger(EPIC_INT_BHI160_TEST);
+ /* Unused at the moment. Used to trigger test functions when needed */
}
if (xQueueSend(read_queue, &chr, 100) == errQUEUE_FULL) {
diff --git a/pycardium/meson.build b/pycardium/meson.build
index cf5f5ba5..763431b3 100644
--- a/pycardium/meson.build
+++ b/pycardium/meson.build
@@ -1,6 +1,7 @@
name = 'pycardium'
modsrc = files(
+ 'modules/bhi160-sys.c',
'modules/interrupt.c',
'modules/leds.c',
'modules/sys_display.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 8a1a4c28..416aeaf5 100644
--- a/pycardium/modules/interrupt.c
+++ b/pycardium/modules/interrupt.c
@@ -81,7 +81,7 @@ static const mp_rom_map_elem_t interrupt_module_globals_table[] = {
MP_ROM_PTR(&interrupt_enable_callback_obj) },
{ MP_ROM_QSTR(MP_QSTR_disable_callback),
MP_ROM_PTR(&interrupt_disable_callback_obj) },
- { MP_ROM_QSTR(MP_QSTR_BHI160), MP_OBJ_NEW_SMALL_INT(2) },
+ { MP_ROM_QSTR(MP_QSTR_BHI160_ACCELEROMETER), MP_OBJ_NEW_SMALL_INT(2) },
};
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..b03ba52c
--- /dev/null
+++ b/pycardium/modules/py/bhi160.py
@@ -0,0 +1,32 @@
+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():
+ if self.acc_sd != 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 != 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 eab92f95..d164445c 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 e8ac9dac..b60308a5 100644
--- a/pycardium/modules/qstrdefs.h
+++ b/pycardium/modules/qstrdefs.h
@@ -29,7 +29,11 @@ Q(vibrate)
Q(set_callback)
Q(enable_callback)
Q(disable_callback)
-Q(BHI160)
+Q(BHI160_ACCELEROMETER)
+
+Q(sys_bhi160)
+Q(enable_sensor)
+Q(read_sensor)
/* display */
Q(sys_display)
diff --git a/pycardium/mpconfigport.h b/pycardium/mpconfigport.h
index 9bed1f60..2f220b00 100644
--- a/pycardium/mpconfigport.h
+++ b/pycardium/mpconfigport.h
@@ -38,6 +38,7 @@
/* Modules */
#define MODULE_UTIME_ENABLED (1)
+#define MODULE_BHI160_ENABLED (1)
#define MODULE_LEDS_ENABLED (1)
#define MODULE_VIBRA_ENABLED (1)
#define MODULE_INTERRUPT_ENABLED (1)
--
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