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Add support for I2C communication in the Thymio3 MP Api
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Lines changed: 231 additions & 0 deletions

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‎ports/esp32/modthymio.c‎

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@@ -58,6 +58,7 @@
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#include "thymio_leds_buttons.h"
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#include "thymio_led_receiver.h"
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#include "thymio_led_mic.h"
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#include "thymio_i2c.h"
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#include "../../../../../main/mode.h"
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#include "../../../../../main/utility.h"
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#include "../../../../../main/stm32_spi.h"
@@ -115,6 +116,7 @@ STATIC const mp_rom_map_elem_t thymio_module_globals_table[] = {
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{ MP_ROM_QSTR(MP_QSTR_LEDS_BUTTONS), MP_ROM_PTR(&thymio_leds_buttons_type) },
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{ MP_ROM_QSTR(MP_QSTR_LED_RECEIVER), MP_ROM_PTR(&thymio_led_receiver_type) },
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{ MP_ROM_QSTR(MP_QSTR_LED_MICROPHONE), MP_ROM_PTR(&thymio_led_microphone_type) },
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{ MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&thymio_i2c_type) },
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};
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STATIC MP_DEFINE_CONST_DICT(tyhmio_module_globals, thymio_module_globals_table);

‎ports/esp32/thymio_i2c.c‎

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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2013-2016 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdio.h>
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#include <string.h>
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#include "py/runtime.h"
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#include "py/mphal.h"
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#include "py/obj.h"
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#include "py/objstr.h"
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#include "thymio_i2c.h"
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#include "../../../../../main/i2c.h"
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/// \moduleref thymio
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/// \class I2C - I2C object
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///
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/// The I2C object read data from and write data to I2C bus.
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typedef struct _thymio_i2c_obj_t {
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mp_obj_base_t base;
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} thymio_i2c_obj_t;
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void i2c_init(void) {
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}
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void i2c_write_reg(uint8_t slaveAddress, uint8_t registerAddress, uint8_t* data, uint16_t size)
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{
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I2C_WriteToAddress(slaveAddress, registerAddress, data, size);
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}
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void i2c_read_reg(uint8_t slaveAddress, uint8_t registerAddress, uint8_t* data, uint16_t size)
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{
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I2C_ReadFromAddress(slaveAddress, registerAddress, data, size);
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}
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void i2c_write_read(uint8_t slaveAddress, uint8_t* txData, uint16_t txSize, uint8_t* rxData, uint16_t rxSize)
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{
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I2C_WriteAndRead(slaveAddress, txData, txSize, rxData, rxSize);
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}
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void i2c_read(uint8_t slaveAddress, uint8_t* data, uint16_t size)
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{
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I2C_Read(slaveAddress, data, size);
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}
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void i2c_write(uint8_t slaveAddress, uint8_t* data, uint16_t size)
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{
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I2C_Write(slaveAddress, data, size);
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}
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/******************************************************************************/
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/* MicroPython bindings */
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void i2c_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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mp_printf(print, "I2C0");
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}
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/// \classmethod \constructor()
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/// Create an I2C object:
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STATIC mp_obj_t i2c_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
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thymio_i2c_obj_t *i2c = m_new_obj(thymio_i2c_obj_t);
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i2c->base.type = &thymio_i2c_type;
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return MP_OBJ_FROM_PTR(i2c);
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}
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/// \method write_reg()
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/// Write to I2C slave register.
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/// Params:
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/// - `device address` 7 bit slave address.
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/// - `register address` this is the start address if more than one byte is written.
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/// - `tx data` data to be transmitted to the slave.
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/// - `tx data size` number of bytes to be transmitted
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STATIC mp_obj_t thymio_i2c_write_reg(size_t n_args, const mp_obj_t *args) {
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uint8_t dev_addr = mp_obj_get_int(args[1]);
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uint8_t reg_addr = mp_obj_get_int(args[2]);
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uint16_t size = mp_obj_get_int(args[4]);
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uint8_t *data = mp_obj_str_get_data(args[3], (size_t*)&size);
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i2c_write_reg(dev_addr, reg_addr, data, size);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(thymio_i2c_write_reg_obj, 5, 5, thymio_i2c_write_reg);
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/// \method read_reg()
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/// Read from I2C slave register.
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/// Params:
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/// - `device address` 7 bit slave address.
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/// - `register address` this is the start address if more than one byte is read.
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/// - `rx data size` number of bytes to be read from slave
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STATIC mp_obj_t thymio_i2c_read_reg(size_t n_args, const mp_obj_t *args) {
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uint8_t dev_addr = mp_obj_get_int(args[1]);
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uint8_t reg_addr = mp_obj_get_int(args[2]);
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uint16_t size = mp_obj_get_int(args[3]);
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byte *buf;
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buf = m_new(byte, size);
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i2c_read_reg(dev_addr, reg_addr, buf, size);
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return mp_obj_new_bytearray_by_ref(size, buf);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(thymio_i2c_read_reg_obj, 4, 4, thymio_i2c_read_reg);
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/// \method write_and_read()
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/// Raw write and read: the transmit buffer is sent to the slave and the following received data are returned.
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/// Params:
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/// - `device address` 7 bit slave address.
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/// - `tx data` data to be transmitted to the slave.
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/// - `tx data size` number of bytes to be transmitted
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/// - `rx data size` number of bytes ro be read from slave.
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STATIC mp_obj_t thymio_i2c_wr(size_t n_args, const mp_obj_t *args) {
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byte *rx_data;
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uint8_t dev_addr = mp_obj_get_int(args[1]);
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uint16_t tx_size = mp_obj_get_int(args[3]);
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uint8_t *tx_data = mp_obj_str_get_data(args[2], (size_t*)&tx_size);
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uint16_t rx_size = mp_obj_get_int(args[4]);
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rx_data = m_new(byte, rx_size);
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i2c_write_read(dev_addr, tx_data, tx_size, rx_data, rx_size);
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return mp_obj_new_bytearray_by_ref(rx_size, rx_data);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(thymio_i2c_wr_obj, 5, 5, thymio_i2c_wr);
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/// \method write()
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/// Raw write to I2C slave: the transmit buffer is sent to the slave.
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/// Params:
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/// - `device address` 7 bit slave address.
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/// - `tx data` data to be transmitted to the slave.
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/// - `tx data size` number of bytes to be transmitted
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STATIC mp_obj_t thymio_i2c_write(size_t n_args, const mp_obj_t *args) {
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uint8_t dev_addr = mp_obj_get_int(args[1]);
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uint16_t size = mp_obj_get_int(args[3]);
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uint8_t *data = mp_obj_str_get_data(args[2], (size_t*)&size);
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i2c_write(dev_addr, data, size);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(thymio_i2c_write_obj, 4, 4, thymio_i2c_write);
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/// \method read()
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/// Raw read from I2C slave.
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/// Params:
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/// - `device address` 7 bit slave address.
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/// - `rx data size` number of bytes to be read from slave
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STATIC mp_obj_t thymio_i2c_read(size_t n_args, const mp_obj_t *args) {
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uint8_t dev_addr = mp_obj_get_int(args[1]);
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uint16_t size = mp_obj_get_int(args[2]);
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byte *buf;
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buf = m_new(byte, size);
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i2c_read(dev_addr, buf, size);
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return mp_obj_new_bytearray_by_ref(size, buf);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(thymio_i2c_read_obj, 3, 3, thymio_i2c_read);
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STATIC const mp_rom_map_elem_t i2c_locals_dict_table[] = {
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{ MP_ROM_QSTR(MP_QSTR_write_reg), MP_ROM_PTR(&thymio_i2c_write_reg_obj) },
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{ MP_ROM_QSTR(MP_QSTR_read_reg), MP_ROM_PTR(&thymio_i2c_read_reg_obj) },
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{ MP_ROM_QSTR(MP_QSTR_wr), MP_ROM_PTR(&thymio_i2c_wr_obj) },
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{ MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&thymio_i2c_write_obj) },
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{ MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&thymio_i2c_read_obj) },
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};
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STATIC MP_DEFINE_CONST_DICT(i2c_locals_dict, i2c_locals_dict_table);
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MP_DEFINE_CONST_OBJ_TYPE(
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thymio_i2c_type,
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MP_QSTR_I2C,
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MP_TYPE_FLAG_NONE,
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make_new, i2c_make_new,
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print, i2c_print,
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locals_dict, &i2c_locals_dict
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);
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‎ports/esp32/thymio_i2c.h‎

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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2013, 2014 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
9+
* of this software and associated documentation files (the "Software"), to deal
10+
* in the Software without restriction, including without limitation the rights
11+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12+
* copies of the Software, and to permit persons to whom the Software is
13+
* furnished to do so, subject to the following conditions:
14+
*
15+
* The above copyright notice and this permission notice shall be included in
16+
* all copies or substantial portions of the Software.
17+
*
18+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
23+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef MICROPY_INCLUDED_THYMIO_I2C_H
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#define MICROPY_INCLUDED_THYMIO_I2C_H
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#include <stdint.h>
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void i2c_init(void);
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void i2c_write_reg(uint8_t slaveAddress, uint8_t registerAddress, uint8_t* data, uint16_t size);
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void i2c_read_reg(uint8_t slaveAddress, uint8_t registerAddress, uint8_t* data, uint16_t size);
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void i2c_write_read(uint8_t slaveAddress, uint8_t* txData, uint16_t txSize, uint8_t* rxData, uint16_t rxSize);
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void i2c_read(uint8_t slaveAddress, uint8_t* data, uint16_t size);
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void i2c_write(uint8_t slaveAddress, uint8_t* data, uint16_t size);
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extern const mp_obj_type_t thymio_i2c_type;
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#endif // MICROPY_INCLUDED_THYMIO_I2C_H

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