155 lines
3.8 KiB
Python
155 lines
3.8 KiB
Python
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from machine import PWM, UART, Pin, Timer
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from micropython import const
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import time
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_PWM_MAX = const(65535)
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_PWM_FREQ = const(2000)
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_PIN_EN_MOTOR_VERT = const(0)
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_PIN_A_MOTOR_VERT = const(0)
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_PIN_B_MOTOR_VERT = const(0)
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_PIN_EN_MOTOR_HOR = const(0)
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_PIN_A_MOTOR_HOR = const(0)
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_PIN_B_MOTOR_HOR = const(0)
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_PIN_EN_BACKLIGHT = const(0)
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_PIN_EN_FRONTLIGHT = const(0)
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_PIN_LED_RED_BTN = const(0)
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_PIN_LED_BLU_BTN = const(0)
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_PIN_RED_BTN = const(0)
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_PIN_BLU_BTN = const(0)
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_PIN_SENS_END_VERT = const(0)
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_PIN_SENS_CNT_VERT = const(0)
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_PIN_SENS_END_HOR = const(0)
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_PIN_SENS_CNT_HOR = const(0)
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CMD_MOT_V = 'V' # run vertical motor
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CMD_MOT_H = 'H' # run horizontal motor
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CMD_BL = 'B' # backlight
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CMD_FL = 'F' # frontlight
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CMD_UI = 'U' # user interaction
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CMD_RC = 'C' # recording
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CMD_RW = 'R' # rewind
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LED = PWM(Pin(25))
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LED.freq(_PWM_FREQ)
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pwm_bl = PWM(Pin(_PIN_EN_BACKLIGHT))
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pwm_bl.freq(_PWM_FREQ)
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pwm_fl = PWM(Pin(_PIN_EN_FRONTLIGHT))
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pwm_fl.freq(_PWM_FREQ)
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pwm_mv = PWM(Pin(_PIN_EN_MOTOR_VERT))
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pwm_mv.freq(_PWM_FREQ)
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pwm_mh = PWM(Pin(_PIN_EN_MOTOR_HOR))
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pwm_mh.freq(_PWM_FREQ)
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pin_mv_a = Pin(_PIN_A_MOTOR_VERT, Pin.OUT)
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pin_mv_b = Pin(_PIN_B_MOTOR_VERT, Pin.OUT)
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pin_mh_a = Pin(_PIN_A_MOTOR_HOR, Pin.OUT)
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pin_mh_b = Pin(_PIN_B_MOTOR_HOR)
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led_blu = Pin(_PIN_LED_BLU_BTN, Pin.OUT)
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led_red = Pin(_PIN_LED_RED_BTN, Pin.OUT)
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btn_blu = Pin(_PIN_BLU_BTN, Pin.IN, Pin.PULL_UP)
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btn_red = Pin(_PIN_RED_BTN, Pin.IN, Pin.PULL_UP)
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cnt_v = Pin(_PIN_SENS_CNT_VERT, Pin.IN)
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cnt_h = Pin(_PIN_SENS_CNT_HOR, Pin.IN)
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end_v = Pin(_PIN_SENS_END_VERT, Pin.IN)
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end_h = Pin(_PIN_SENS_END_HOR, Pin.IN)
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uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
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def motor_vert(*opts):
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print(f'motor_vert({opts})')
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return 'OK'
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def motor_hor(*opts):
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print(f'motor_hor({opts})')
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return 'OK'
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def backlight(*opts):
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_fade_led(pwm_bl, *opts)
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return 'OK'
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def frontlight(*opts):
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_fade_led(pwm_fl, *opts)
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return 'OK'
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def _fade_led(led_pin: PWM, intensity: int, fade_ms: int, steps: int):
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intensity = intensity * (_PWM_MAX // 100)
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if fade_ms == 0:
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led_pin.duty_u16(intensity)
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return
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cur_intensity = led_pin.duty_u16()
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step = (intensity - cur_intensity) // steps
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wait = fade_ms // steps
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print(f'{cur_intensity} -> {intensity}, step={step}, wait={wait}')
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if step != 0:
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for i in range(steps):
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cur_intensity += step
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led_pin.duty_u16(cur_intensity)
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time.sleep_ms(wait)
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led_pin.duty_u16(intensity)
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def user_interaction(timeout):
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def _toggle_leds(timer):
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led_blu.toggle()
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led_red.toggle()
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tmr = Timer()
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tmr.init(freq=2, mode=Timer.PERIODIC, callback=_toggle_leds)
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startime = time.ticks_ms()
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timeout *= 1000
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while time.ticks_diff(time.ticks_ms(), startime) < timeout:
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b, r = btn_blu.value(), btn_red.value()
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if (b + r) < 2:
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tmr.deinit()
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return 'B' if not b else 'R'
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tmr.deinit()
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led_blu.value(0)
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led_red.value(0)
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return 'T' # Timeout
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def recording(timeout):
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pass
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def rewind(*opts):
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print(f'rewind({opts})')
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###############################################################################
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choice_map = {
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CMD_MOT_V: motor_vert,
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CMD_MOT_H: motor_hor,
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CMD_BL: backlight,
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CMD_FL: frontlight,
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CMD_UI: user_interaction,
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CMD_RW: rewind
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}
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def parseCmd(cmd_str: str):
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cmd, parm_str = cmd_str.split(':')
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parms = []
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if len(parm_str) != 0:
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parms = [int(x) for x in parm_str.split('+')]
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resp = choice_map[cmd](*parms)
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uart0.write(f'{resp}\n'.encode('utf-8'))
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if __name__ == '__main__':
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rxData = ''
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while True:
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rxBuf = uart0.read(1)
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if rxBuf is not None:
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rxData += rxBuf.decode('utf-8')
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if rxData.endswith('\n'):
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parseCmd(rxData.strip())
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rxData = ''
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