commit

backup/CocoPi.py

@@ -1,998 +0,0 @@
-'''
-=========================================================
-    ______                         ______
-   /\  _  \                       /\  _  \  __
-   \ \ \/\_\    ____    ____   ___\ \ \_\ \/\_\
-    \ \ \/_/_  / __ \  / __ \ / __'\ \  __/\/_/_
-     \ \ \_\ \/\ \_\ \/\ \__//\ \_\ \ \ \/   /\ \
-      \ \____/\ \____/\ \____\ \____/\ \_\   \ \_\
-       \/___/  \/___/  \/____/\/___/  \/_/    \/_/
-  __
- /\ \       __                           ----------------
- \ \ \     /\_\    ____  __  __  __  _    pi.cocorobo.hk
-  \ \ \    \/_/_ /  _  \/\ \/\ \/\ \/ \  ----------------
-   \ \ \____ /\ \/\ \/\ \ \ \_\ \/>  </   SYSTEM VERSION
-    \ \_____\\ \_\ \_\ \_\ \____//\_/\_\  -- 23.06.01 ---
-     \/_____/ \/_/\/_/\/_/\/___/ \//\/_/ ----------------
-
-=========================================================
-'''
-#########################################################
-# ------------------------------------------------------
-#|          封装包内容：         |        类名称：      |
-#|-------------------------------|----------------------|
-#|  2023.02.16:                  |                      |
-#|  【添加】                     |                      |
-#|  1、AHT20温湿度传感器         |    AHT20             |
-#|  2、MPU6050陀螺仪六轴传感器   |    MPU6050           |  
-#|  3、板载4颗按钮A、B、C、D     |    BUTTON            |
-#|  4、光线强度传感器            |    LIGHTINTENSITY    |
-#|  5、板载LED灯!                |    LED               |
-#|  6、直流电机                  |    DCMOTOR           |
-#|  7、模拟舵机                  |    SERVO             |
-#|------------------------------------------------------|
-#|  2023.02.27:                  |                      |
-#|  【修复完善】                 |    BUTTON、LED       |
-#|  【添加】                     |    WIFI              |
-#|------------------------------------------------------|
-#|  2023.03.09：                 |                      |
-#|  【修复完善】                 |    LED               |
-#|------------------------------------------------------|
-#|  2023.03.14:                  |                      |
-#|  【修复完善】                 |    SERVO             |
-#|-------------------------------------------------------
-#|  2023.06.01:                  |                      |
-#|  【替换】                     |    BUTTON            |
-#|  【替换】                     |    LED               |
-#|  【替换】                     |    DCMOTOR           |
-#|  【替换】                     |    SERVO             |
-#|  【添加】                     |    RGB               |
-#|  【添加】                     |    ADC               |
-#|  【添加】                     |    DAC               |
-#|  【添加】                     |    INPUT             |
-#|  【添加】                     |    OUT               |
-#|  【添加】                     |    UvcVideo          |
-#|-------------------------------------------------------
-#|  2023.06.15:                  |                      |
-#|  【更改】                     |    STM8S             |
-#|-------------------------------------------------------
-#########################################################
-
-from smbus2 import SMBus
-import time
-import math
-from maix import gpio
-import os
-import SUNXI_GPIO
-from maix import camera
-import time
-import sys
-sys.path.append('/root/preset/server')
-
-##################################
-#     1、AHT20温湿度传感器       #
-##################################
-
-AHT20_I2CADDR = 0x38
-AHT20_CMD_SOFTRESET = [0xBA]
-AHT20_CMD_INITIALIZE = [0xBE, 0x08, 0x00]
-AHT20_CMD_MEASURE = [0xAC, 0x33, 0x00]
-AHT20_STATUSBIT_BUSY = 7                    # The 7th bit is the Busy indication bit. 1 = Busy, 0 = not.
-AHT20_STATUSBIT_CALIBRATED = 3              # The 3rd bit is the CAL (calibration) Enable bit. 1 = Calibrated, 0 = not
-
-class AHT20:
-    # Usage: AHT20 crc8 checker. 
-    # A total of 6 * 8 bits data need to check. G(x) = x8 + x5 + x4 + 1 -> 0x131(0x31), Initial value = 0xFF. No XOROUT. 
-    N_DATA = 6
-    # 1 * 8 bits CRC
-    N_CRC = 1
-    # Initial value. Equal to bit negation the first data (status of AHT20)
-    INIT = 0xFF
-    # Useful value to help calculate
-    LAST_8_bit = 0xFF
-    # Devide number retrieve from CRC-8 MAXIM G(x) = x8 + x5 + x4 + 1
-    CRC_DEVIDE_NUMBER = 0x131
-    
-    # I2C communication driver for AHT20, using only smbus2
-    def __init__(self, BusNum=2):
-        # Initialize AHT20
-        self.BusNum = BusNum
-        self.cmd_soft_reset()
-
-        # Check for calibration, if not done then do and wait 10 ms
-        if not self.get_status_calibrated == 1:
-            self.cmd_initialize()
-            while not self.get_status_calibrated() == 1:
-                time.sleep(0.01)
-                
-    def get_normalized_bit(self,value, bit_index):
-        # Return only one bit from value indicated in bit_index
-        return (value >> bit_index) & 1
-        
-    def cmd_soft_reset(self):
-        # Send the command to soft reset
-        with SMBus(self.BusNum) as i2c_bus:
-            i2c_bus.write_i2c_block_data(AHT20_I2CADDR, 0x0, AHT20_CMD_SOFTRESET)
-        time.sleep(0.04)    # Wait 40 ms after poweron
-        return True
-
-    def cmd_initialize(self):
-        # Send the command to initialize (calibrate)
-        with SMBus(self.BusNum) as i2c_bus:
-            i2c_bus.write_i2c_block_data(AHT20_I2CADDR, 0x0 , AHT20_CMD_INITIALIZE)
-        return True
-
-    def cmd_measure(self):
-        # Send the command to measure
-        with SMBus(self.BusNum) as i2c_bus:
-            i2c_bus.write_i2c_block_data(AHT20_I2CADDR, 0, AHT20_CMD_MEASURE)
-        time.sleep(0.08)    # Wait 80 ms after measure
-        return True
-
-    def get_status(self):
-        # Get the full status byte
-        with SMBus(self.BusNum) as i2c_bus:
-            return i2c_bus.read_i2c_block_data(AHT20_I2CADDR, 0x0, 1)[0]
-        return True
-
-    def get_status_calibrated(self):
-        # Get the calibrated bit
-        return self.get_normalized_bit(self.get_status(), AHT20_STATUSBIT_CALIBRATED)
-
-    def get_status_busy(self):
-        # Get the busy bit
-        return self.get_normalized_bit(self.get_status(), AHT20_STATUSBIT_BUSY)
-            
-    def get_measure(self):
-        # Get the full measure
-
-        # Command a measure
-        self.cmd_measure()
-
-        # Check if busy bit = 0, otherwise wait 80 ms and retry
-        while self.get_status_busy() == 1:
-            time.sleep(0.08) # Wait 80 ns
-        
-        # TODO: do CRC check
-
-        # Read data and return it
-        with SMBus(self.BusNum) as i2c_bus:
-            return i2c_bus.read_i2c_block_data(AHT20_I2CADDR, 0x0, 7)
-
-    def mod2_division_8bits(self,a, b, number_of_bytes, init_value):
-        "calculate mod2 division in 8 bits. a mod b. init_value is for crc8 init value."
-        head_of_a = 0x80
-        # Processiong a
-        a = a << 8
-        # Preprocessing head_of_a
-        for i in range(0, number_of_bytes):
-            head_of_a = head_of_a << 8
-            b = b << 8
-            init_value = init_value << 8
-        a = a ^ init_value
-        while (head_of_a > 0x80):
-            # Find a 1
-            if (head_of_a & a):
-                head_of_a = head_of_a >> 1
-                b = b >> 1
-                a = a ^ b
-            else:
-                head_of_a = head_of_a >> 1
-                b = b >> 1
-            # This will show calculate the remainder
-            # print("a:{0}\thead of a:{1}\tb:{2}".format(
-            #     bin(a), bin(head_of_a), bin(b)))
-        return a
-
-    def AHT20_crc8_calculate(self,all_data_int):
-        init_value = INIT
-        # Preprocess all the data and CRCCode from AHT20
-        data_from_AHT20 = 0x00
-        # Preprocessing the first data (status)
-        # print(bin(data_from_AHT20))
-        for i_data in range(0, len(all_data_int)):
-            data_from_AHT20 = (data_from_AHT20 << 8) | all_data_int[i_data]
-        # print(bin(data_from_AHT20))
-        mod_value = self.mod2_division_8bits(
-            data_from_AHT20, CRC_DEVIDE_NUMBER, len(all_data_int), init_value)
-        # print(mod_value)
-        return mod_value
-
-
-    def AHT20_crc8_check(self,all_data_int):
-        """
-        The input data shoule be:
-        Status Humidity0 Humidity1 Humidity2|Temperature0 Temperature1 Temperature2 CRCCode.
-        In python's int64.
-        """
-        mod_value = self.AHT20_crc8_calculate(all_data_int[:-1])
-        if (mod_value == all_data_int[-1]):
-            return True
-        else:
-            return False
-
-    def get_measure_CRC8(self):
-        """
-        This function will calculate crc8 code with G(x) = x8 + x5 + x4 + 1 -> 0x131(0x31), Initial value = 0xFF. No XOROUT.
-        return: all_data (1 bytes status + 2.5 byes humidity + 2.5 bytes temperature + 1 bytes crc8 code), isCRC8_pass
-        """
-        all_data = self.get_measure()
-        isCRC8_pass = self.AHT20_crc8_check(all_data)
-
-        return all_data, isCRC8_pass
-
-    def get_temperature(self):
-        # Get a measure, select proper bytes, return converted data
-        measure = self.get_measure()
-        measure = ((measure[3] & 0xF) << 16) | (measure[4] << 8) | measure[5]
-        measure = measure / (pow(2,20))*200-50
-        return measure
-        
-    def get_temperature_crc8(self):
-        isCRC8Pass = False
-        while (not isCRC8Pass): 
-            measure, isCRC8Pass = self.get_measure_CRC8()
-            time.sleep(80 * 10**-3)
-        measure = ((measure[3] & 0xF) << 16) | (measure[4] << 8) | measure[5]
-        measure = measure / (pow(2,20))*200-50
-        return measure
-
-    def get_humidity(self):
-        # Get a measure, select proper bytes, return converted data
-        measure = self.get_measure()
-        measure = (measure[1] << 12) | (measure[2] << 4) | (measure[3] >> 4)
-        measure = measure * 100 / pow(2,20)
-        return measure
-
-    def get_humidity_crc8(self):
-        isCRC8Pass = False
-        while (not isCRC8Pass): 
-            measure, isCRC8Pass = self.get_measure_CRC8()
-            time.sleep(80 * 10**-3)
-        measure = (measure[1] << 12) | (measure[2] << 4) | (measure[3] >> 4)
-        measure = measure * 100 / pow(2,20)
-        return measure
-
-##################################
-#   2、MPU6050陀螺仪六轴传感器   #
-##################################
-
-SLAVE_ADDR = 0x68
-
-PWR_MGMT_1 = 0x6B
-PWR_MGMT_2 = 0x6C
-WHO_AM_I = 0x75
-
-GYRO_X = 0x43
-GYRO_Y = 0x45
-GYRO_Z = 0x47
-
-ACCL_X = 0x3B
-ACCL_Y = 0x3D
-ACCL_Z = 0x3F
-
-class MPU6050:
-    def __init__(self, BusNum=2):
-        # Initialize mpu6050
-        self.BusNum = BusNum
-        self.cmd_soft_reset()
-        
-    def cmd_soft_reset(self):
-        # Send the command to soft reset
-        with SMBus(self.BusNum) as bus:
-            bus.write_byte_data(SLAVE_ADDR, PWR_MGMT_1, 0)
-        time.sleep(0.04)    # Wait 40 ms after poweron
-
-    def read_byte(self,addr):
-        with SMBus(self.BusNum) as bus:
-            return bus.read_byte_data(SLAVE_ADDR,addr)
-
-    def read_word(self,addr):
-        with SMBus(self.BusNum) as bus:
-            h = bus.read_byte_data(SLAVE_ADDR, addr)
-            l = bus.read_byte_data(SLAVE_ADDR, addr+1)
-        val = (h << 8) + l
-        return val
-
-    def read_word_i2c(self,addr):
-        val = self.read_word(addr)
-        if (val >= 0x8000):
-            return -((65535 - val) + 1)
-        else:
-            return val
-
-    def dist(self,x, y):
-        return math.sqrt((x*x) + (y*y))
-
-    def get_x_rotat(self,x,y, z):
-        rad = math.atan2(y,self.dist(x, z))
-        return math.degrees(rad)
-
-    def get_y_rotat(self,x, y, z):
-        rad = math.atan2(x,self.dist(y, z))
-        return -math.degrees(rad)
-
-    def read_gyro(self):
-        GYR_X = self.read_word_i2c(GYRO_X)
-        GYR_Y = self.read_word_i2c(GYRO_Y)
-        GYR_Z = self.read_word_i2c(GYRO_Z)
-
-        #print ("GYRO -> X:{:04.2f} Y:{:04.2f} Z:{:04.2f}".format((GYR_X/131), (GYR_Y/131), (GYR_Z/131)))
-        return (GYR_X/131), (GYR_Y/131), (GYR_Z/131)
-
-    def read_acc(self):
-        ACC_X = self.read_word_i2c(ACCL_X)
-        ACC_Y = self.read_word_i2c(ACCL_Y)
-        ACC_Z = self.read_word_i2c(ACCL_Z)
-
-        CALC_ACC_X = ACC_X/16384.0
-        CALC_ACC_Y = ACC_Y/16384.0
-        CALC_ACC_Z = ACC_Z/16384.0
-
-        #print ("ACCL -> X:{:04.2f} Y:{:04.2f} Z:{:04.2f}".format(CALC_ACC_X, CALC_ACC_Y, CALC_ACC_Z))
-        #print("ROTATE -> X:{:04.2f} Y:{:04.2f}\n".format(get_x_rotat(CALC_ACC_X, CALC_ACC_Y, CALC_ACC_Z), get_y_rotat(CALC_ACC_X, CALC_ACC_Y, CALC_ACC_Z)))
-        return CALC_ACC_X, CALC_ACC_Y, CALC_ACC_Z,self.get_x_rotat(CALC_ACC_X, CALC_ACC_Y, CALC_ACC_Z),self.get_y_rotat(CALC_ACC_X, CALC_ACC_Y, CALC_ACC_Z)
-    
-    def get_gyro_x(self):
-        return self.read_gyro()[0]
-    
-    def get_gyro_y(self):
-        return self.read_gyro()[1]
-    
-    def get_gyro_z(self):
-        return self.read_gyro()[2]
-    
-    def get_acc_x(self):
-        return self.read_acc()[0]
-    
-    def get_acc_y(self):
-        return self.read_acc()[1]
-    
-    def get_acc_z(self):
-        return self.read_acc()[2]
-    
-    def get_angle_x(self):
-        return self.read_acc()[3]
-    
-    def get_angle_y(self):
-        return self.read_acc()[4]
-
-'''
-##################################
-#    3、板载4颗按钮A、B、C、D    #
-##################################
-class BUTTON:
-    import os
-    def __init__(self, gpioId):
-        sendMsg_1='echo '
-        sendMsg_2=' > /sys/class/gpio/export'
-        sendMsg_3=' > /sys/class/gpio/unexport'
-        sendMsg_4='echo "in" > /sys/class/gpio/gpio'
-        sendMsg_5='/direction'
-        sendMsg_6='/sys/class/gpio/gpio'
-        sendMsg_7='/value'
-        self.gpio=str(224+gpioId)
-        self.msgStart=sendMsg_1+self.gpio+sendMsg_2
-        self.msgMode=sendMsg_4+self.gpio+sendMsg_5
-        self.msgDel=sendMsg_1+self.gpio+sendMsg_3
-        self.msgGet=sendMsg_6+self.gpio+sendMsg_7
-
-    def is_pressed(self):
-        import os
-        if(os.access(self.msgGet, os.F_OK) is False):
-            os.system(self.msgStart)
-        os.system(self.msgMode)
-        with open(self.msgGet, "rb") as self.file:
-            self.getValue=int(self.file.read())
-        if self.getValue != 1:
-            return True
-        else:
-            return False
-        
-    def __del__(self):
-        os.system(self.msgDel)
-'''
-
-##################################
-#    3、板载4颗按钮A、B、C、D    #
-##################################
-class BUTTON:
-    def __init__(self, gpioId):
-        self.gpio=224+gpioId
-        SUNXI_GPIO.setcfg(self.gpio, SUNXI_GPIO.IN)
-
-    def is_pressed(self):
-        self.getValue=SUNXI_GPIO.input(self.gpio)
-        if self.getValue != 1:
-            return True
-        else:
-            return False
-
-##################################
-#       4、光线强度传感器        #
-##################################
-class LIGHTINTENSITY:
-    def __init__(self, addr=b"0x05070080") -> None:
-        self.addr = addr
-        self.path = "/sys/class/sunxi_dump/dump"
-        self.file = open(self.path, "wb+")
-        self.last = self.value()
-    def value(self):
-        self.file.write(b"0x05070080")
-        self.file.seek(0)
-        return int(self.file.read()[:-1], 16)
-    def __del__(self):
-        try:
-            if self.file:
-                self.file.close()
-                del self.file
-        except Exception as e:
-            pass
-'''
-##################################
-#         5、板载LED灯           #
-##################################
-class LED:
-    import os
-    def __init__(self, gpioId=14):
-        sendMsg_1='echo '
-        sendMsg_2=' > /sys/class/gpio/export'
-        sendMsg_3=' > /sys/class/gpio/unexport'
-        sendMsg_4='echo "out" > /sys/class/gpio/gpio'
-        sendMsg_5='/direction'
-        self.sendMsg_6=' > /sys/class/gpio/gpio'
-        self.sendMsg_7='/value'
-        self.sendMsg_8='echo '
-        self.gpio=str(224+gpioId)
-        self.msgStart=sendMsg_1+self.gpio+sendMsg_2
-        self.msgMode=sendMsg_4+self.gpio+sendMsg_5
-        self.msgDel=sendMsg_1+self.gpio+sendMsg_3
-        self.msgGet=self.sendMsg_6+self.gpio+self.sendMsg_7
-
-    def out(self,value):
-        import os
-        os.system(self.msgStart)
-        os.system(self.msgMode)
-        if value==0 or value==1:
-            self.value=value
-        else:
-            self.value=0
-        self.msgSet=self.sendMsg_8+str(self.value)+self.sendMsg_6+self.gpio+self.sendMsg_7
-        os.system(self.msgSet)
-
-    def __del__(self):
-        os.system(self.msgDel)
-'''
-##################################
-#         5、板载LED灯           #
-##################################
-class LED:
-    def __init__(self, gpioId=69):
-        self.gpioId=gpioId
-        SUNXI_GPIO.setcfg(self.gpioId, SUNXI_GPIO.OUT)
-    def out(self,value):
-        if value==0 or value==1:
-            self.value=1-value
-        else:
-            self.value=0
-        SUNXI_GPIO.output(self.gpioId,self.value)
-        
-'''
-##################################
-#          6、直流电机           #
-##################################
-class DCMOTOR:
-    def __init__(self,dcMotorID="M1"):
-        self.motorId=dcMotorID
-        os.system('i2cset -y 2 0x40 0x00 0x00')         #初始化
-        #设定频率freq=50,预分频prescale=int(25000000.0 / 4096.0 / freq + 0.5)
-        os.system('i2cset -y 2 0x40 0x00 0x10')         #设定pca9685为睡眠模式
-        os.system('i2cset -y 2 0x40 0xfe 0x7a')         #设定预分频
-        os.system('i2cset -y 2 0x40 0x00 0x00')         #重新初始化
-        time.sleep(0.01)
-        os.system('i2cset -y 2 0x40 0x00 0xa1')         #设定pca9685为活跃模式
-        
-    def numberMap(self,value, leftMin, leftMax, rightMin, rightMax):
-        leftSpan = leftMax - leftMin
-        rightSpan = rightMax - rightMin
-        valueScaled = float(value - leftMin) / float(leftSpan)
-        return rightMin + (valueScaled * rightSpan)
-
-    def dcMotorOffRegisterValue(self,dcMotorSetSpeed):
-        dcMotorOffRegister = int(self.numberMap(dcMotorSetSpeed,0,255,0,4095))
-        dcMotorOffRegister_L = hex(dcMotorOffRegister & 0xff)
-        dcMotorOffRegister_H = hex((dcMotorOffRegister >> 8) & 0xff)
-        return dcMotorOffRegister_L, dcMotorOffRegister_H
-    
-    def dcMotorControl(self,dcMotorSetSpeed=0,dcMotorSetRotationDirection=True):
-        if self.motorId=="M1":
-            if dcMotorSetRotationDirection == True:
-                dcMotorOffRegisterValue6_L ='i2cset -y 2 0x40 0x20 '+str(self.dcMotorOffRegisterValue(dcMotorSetSpeed)[0])
-                dcMotorOffRegisterValue6_H ='i2cset -y 2 0x40 0x21 '+str(self.dcMotorOffRegisterValue(dcMotorSetSpeed)[1])
-                os.system('i2cset -y 2 0x40 0x1e 0x00') #设定6通道ON_L为0
-                os.system('i2cset -y 2 0x40 0x1f 0x00') #设定6通道ON_H为0
-                os.system(dcMotorOffRegisterValue6_L)   #设定6通道OFF_L为速度寄存器值低位
-                os.system(dcMotorOffRegisterValue6_H)   #设定6通道OFF_H为速度寄存器值高位
-                os.system('i2cset -y 2 0x40 0x22 0x00') #设定7通道ON_L为0
-                os.system('i2cset -y 2 0x40 0x23 0x00') #设定7通道ON_H为0
-                os.system('i2cset -y 2 0x40 0x24 0x00') #设定7通道OFF_L为0
-                os.system('i2cset -y 2 0x40 0x25 0x00') #设定7通道OFF_H为0
-            elif dcMotorSetRotationDirection == False:
-                dcMotorOffRegisterValue7_L ='i2cset -y 2 0x40 0x24 '+str(self.dcMotorOffRegisterValue(dcMotorSetSpeed)[0])
-                dcMotorOffRegisterValue7_H ='i2cset -y 2 0x40 0x25 '+str(self.dcMotorOffRegisterValue(dcMotorSetSpeed)[1])
-                os.system('i2cset -y 2 0x40 0x1e 0x00') #设定6通道ON_L为0
-                os.system('i2cset -y 2 0x40 0x1f 0x00') #设定6通道ON_H为0
-                os.system('i2cset -y 2 0x40 0x20 0x00') #设定6通道OFF_L为0
-                os.system('i2cset -y 2 0x40 0x21 0x00') #设定6通道OFF_H为0
-                os.system('i2cset -y 2 0x40 0x22 0x00') #设定7通道ON_L为0
-                os.system('i2cset -y 2 0x40 0x23 0x00') #设定7通道ON_H为0
-                os.system(dcMotorOffRegisterValue7_L)   #设定7通道OFF_L为速度寄存器值低位
-                os.system(dcMotorOffRegisterValue7_H)   #设定7通道OFF_H为速度寄存器值高位
-            else:
-                pass
-        elif self.motorId=="M2":
-            if dcMotorSetRotationDirection == True:
-                dcMotorOffRegisterValue9_L ='i2cset -y 2 0x40 0x2c '+str(self.dcMotorOffRegisterValue(dcMotorSetSpeed)[0])
-                dcMotorOffRegisterValue9_H ='i2cset -y 2 0x40 0x2d '+str(self.dcMotorOffRegisterValue(dcMotorSetSpeed)[1])
-                os.system('i2cset -y 2 0x40 0x2a 0x00') #设定9通道ON_L为0
-                os.system('i2cset -y 2 0x40 0x2b 0x00') #设定9通道ON_H为0
-                os.system(dcMotorOffRegisterValue9_L)   #设定9通道OFF_L为速度寄存器值低位
-                os.system(dcMotorOffRegisterValue9_H)   #设定9通道OFF_H为速度寄存器值高位
-                os.system('i2cset -y 2 0x40 0x2e 0x00') #设定10通道ON_L为0
-                os.system('i2cset -y 2 0x40 0x2f 0x00') #设定10通道ON_H为0
-                os.system('i2cset -y 2 0x40 0x30 0x00') #设定10通道OFF_L为0
-                os.system('i2cset -y 2 0x40 0x31 0x00') #设定10通道OFF_H为0
-            elif dcMotorSetRotationDirection == False:
-                dcMotorOffRegisterValue10_L ='i2cset -y 2 0x40 0x30 '+str(self.dcMotorOffRegisterValue(dcMotorSetSpeed)[0])
-                dcMotorOffRegisterValue10_H ='i2cset -y 2 0x40 0x31 '+str(self.dcMotorOffRegisterValue(dcMotorSetSpeed)[1])
-                os.system('i2cset -y 2 0x40 0x2a 0x00') #设定9通道ON_L为0
-                os.system('i2cset -y 2 0x40 0x2b 0x00') #设定9通道ON_H为0
-                os.system('i2cset -y 2 0x40 0x2c 0x00') #设定9通道OFF_L为0
-                os.system('i2cset -y 2 0x40 0x2d 0x00') #设定9通道OFF_H为0
-                os.system('i2cset -y 2 0x40 0x2e 0x00') #设定10通道ON_L为0
-                os.system('i2cset -y 2 0x40 0x2f 0x00') #设定10通道ON_H为0
-                os.system(dcMotorOffRegisterValue10_L)  #设定10通道OFF_L为速度寄存器值低位
-                os.system(dcMotorOffRegisterValue10_H)  #设定10通道OFF_H为速度寄存器值高位
-            else:
-                pass
-        else:
-            pass
-
-    def __del__(self):
-        if self.motorId=="M1":
-            os.system('i2cset -y 2 0x40 0x1e 0x00') #设定6通道ON_L为0
-            os.system('i2cset -y 2 0x40 0x1f 0x00') #设定6通道ON_H为0
-            os.system('i2cset -y 2 0x40 0x20 0x00') #设定6通道OFF_L为0
-            os.system('i2cset -y 2 0x40 0x21 0x00') #设定6通道OFF_H为0
-            os.system('i2cset -y 2 0x40 0x22 0x00') #设定7通道ON_L为0
-            os.system('i2cset -y 2 0x40 0x23 0x00') #设定7通道ON_H为0
-            os.system('i2cset -y 2 0x40 0x24 0x00') #设定7通道OFF_L为0
-            os.system('i2cset -y 2 0x40 0x25 0x00') #设定7通道OFF_H为0
-        elif self.motorId=="M2":
-            os.system('i2cset -y 2 0x40 0x2a 0x00') #设定9通道ON_L为0
-            os.system('i2cset -y 2 0x40 0x2b 0x00') #设定9通道ON_H为0
-            os.system('i2cset -y 2 0x40 0x2c 0x00') #设定9通道OFF_L为0
-            os.system('i2cset -y 2 0x40 0x2d 0x00') #设定9通道OFF_H为0
-            os.system('i2cset -y 2 0x40 0x2e 0x00') #设定10通道ON_L为0
-            os.system('i2cset -y 2 0x40 0x2f 0x00') #设定10通道ON_H为0
-            os.system('i2cset -y 2 0x40 0x30 0x00') #设定10通道OFF_H为0
-            os.system('i2cset -y 2 0x40 0x31 0x00') #设定10通道OFF_L为0
-        else:
-            pass
-'''
-
-'''
-##################################
-#          7、模拟舵机           #
-##################################
-class SERVO:
-    def __init__(self,servoID="S1"):
-        self.servoId=servoID
-        os.system('i2cset -y 2 0x40 0x00 0x00')     #初始化
-        #设定频率freq=50,预分频prescale=int(25000000.0 / 4096.0 / freq + 0.5)
-        os.system('i2cset -y 2 0x40 0x00 0x10')     #设定pca9685为睡眠模式
-        os.system('i2cset -y 2 0x40 0xfe 0x7a')     #设定预分频
-        os.system('i2cset -y 2 0x40 0x00 0x00')     #重新初始化
-        time.sleep(0.01)
-        os.system('i2cset -y 2 0x40 0x00 0xa1')     #设定pca9685为活跃模式
-
-    def servoOffRegisterValue(self,servoSetDegree):
-        servoPwmus = (servoSetDegree * 2000 / 180 + 500)    # 0.6 ~ 2.4——【2023.03.14更改：0.5~2.5】
-        servoOffRegister = int(servoPwmus * 4096 / 20000)
-        servoOffRegister_L = hex(servoOffRegister & 0xff)
-        servoOffRegister_H = hex((servoOffRegister >> 8) & 0xff)
-        return servoOffRegister_L, servoOffRegister_H
-
-    def servoControl(self,servoSetDegree=0):
-        if self.servoId=="S1":
-            servoOffRegisterCmd5_L ="i2cset -y 2 0x40 0x1c "+str(self.servoOffRegisterValue(servoSetDegree)[0])
-            servoOffRegisterCmd5_H ="i2cset -y 2 0x40 0x1d "+str(self.servoOffRegisterValue(servoSetDegree)[1])
-            os.system('i2cset -y 2 0x40 0x1a 0x00') #设定5通道ON_L为0
-            os.system('i2cset -y 2 0x40 0x1b 0x00') #设定5通道ON_H为0
-            os.system(servoOffRegisterCmd5_L)       #设定5通道OFF_L为
-            os.system(servoOffRegisterCmd5_H)       #设定5通道OFF_H为
-        elif self.servoId=="S2":
-            servoOffRegisterCmd11_L ="i2cset -y 2 0x40 0x34 "+str(self.servoOffRegisterValue(servoSetDegree)[0])
-            servoOffRegisterCmd11_H ="i2cset -y 2 0x40 0x35 "+str(self.servoOffRegisterValue(servoSetDegree)[1])
-            os.system('i2cset -y 2 0x40 0x32 0x00') #设定11通道ON_L为0
-            os.system('i2cset -y 2 0x40 0x33 0x00') #设定11通道ON_H为0
-            os.system(servoOffRegisterCmd11_L)      #设定11通道OFF_L为
-            os.system(servoOffRegisterCmd11_H)      #设定11通道OFF_H为
-        else:
-            pass
-
-    def __del__(self):
-        time.sleep(0.01)
-'''        
-
-##################################
-#          7、QMI8658            #
-##################################
-class QMI8658(object):
-    def __init__(self, smbus=2, address=0X6B):
-        self._address = address
-        import smbus2
-        self._bus = smbus2.SMBus(smbus)
-        bRet = self.WhoAmI()
-        if bRet:
-            self.Read_Revision()
-        else:
-            return None
-        self.Config_apply()
-
-    def _read_byte(self, cmd):
-        rec = self._bus.read_i2c_block_data(int(self._address), int(cmd), 1)
-        return rec[0]
-
-    def _read_block(self, reg, length=1):
-        rec = self._bus.read_i2c_block_data(int(self._address), int(reg), length)
-        return rec
-
-    def _read_u16(self, cmd):
-        LSB = self._bus.read_i2c_block_data(int(self._address), int(cmd), 1)
-        MSB = self._bus.read_i2c_block_data(int(self._address), int(cmd)+1, 1)
-        return (MSB[0] << 8) + LSB[0]
-
-    def _write_byte(self, cmd, val):
-        self._bus.write_i2c_block_data(int(self._address), int(cmd), bytes([int(val)]))
-
-    def WhoAmI(self):
-        bRet = False
-        if (0x05) == self._read_byte(0x00):
-            bRet = True
-        return bRet
-
-    def Read_Revision(self):
-        return self._read_byte(0x01)
-
-    def Config_apply(self):
-        # REG CTRL1
-        self._write_byte(0x02, 0x60)
-        # REG CTRL2 : QMI8658AccRange_8g  and QMI8658AccOdr_1000Hz
-        self._write_byte(0x03, 0x23)
-        # REG CTRL3 : QMI8658GyrRange_512dps and QMI8658GyrOdr_1000Hz
-        self._write_byte(0x04, 0x53)
-        # REG CTRL4 : No
-        self._write_byte(0x05, 0x00)
-        # REG CTRL5 : Enable Gyroscope And Accelerometer Low-Pass Filter
-        self._write_byte(0x06, 0x11)
-        # REG CTRL6 : Disables Motion on Demand.
-        self._write_byte(0x07, 0x00)
-        # REG CTRL7 : Enable Gyroscope And Accelerometer
-        self._write_byte(0x08, 0x03)
-
-    def Read_Raw_XYZ(self):
-        xyz = [0, 0, 0, 0, 0, 0]
-        raw_timestamp = self._read_block(0x30, 3)
-        raw_acc_xyz = self._read_block(0x35, 6)
-        raw_gyro_xyz = self._read_block(0x3b, 6)
-        raw_xyz = self._read_block(0x35, 12)
-        timestamp = (raw_timestamp[2] << 16) | (
-            raw_timestamp[1] << 8) | (raw_timestamp[0])
-        for i in range(6):
-            # xyz[i]=(raw_acc_xyz[(i*2)+1]<<8)|(raw_acc_xyz[i*2])
-            # xyz[i+3]=(raw_gyro_xyz[((i+3)*2)+1]<<8)|(raw_gyro_xyz[(i+3)*2])
-            xyz[i] = (raw_xyz[(i*2)+1] << 8) | (raw_xyz[i*2])
-            if xyz[i] >= 32767:
-                xyz[i] = xyz[i]-65535
-        return xyz
-
-    def Read_XYZ(self):
-        xyz = [0, 0, 0, 0, 0, 0]
-        raw_xyz = self.Read_Raw_XYZ()
-        #QMI8658AccRange_8g
-        acc_lsb_div = (1 << 12)
-        #QMI8658GyrRange_512dps
-        gyro_lsb_div = 64
-        for i in range(3):
-            xyz[i] = raw_xyz[i]/acc_lsb_div  # (acc_lsb_div/1000.0)
-            xyz[i+3] = raw_xyz[i+3]*1.0/gyro_lsb_div
-        return xyz
-        
-import smbus2
-import time
-
-class stm8s(object):
-
-    bus = smbus2.SMBus(2) # 2 indicates /dev/i2c-2
-    address = 0x50
-
-    # 0x00 # 触发配置
-    # 0x01 # 重置配置
-    # 0x02 # pwm0 历史配置
-    # 0x03 # pwm1 历史配置
-
-    # 引脚配置模式有 1. pwm 2. gpio ouput gpio input 3. adc 4.ws2812_singe 5 ws2812_multi
-    def __init__(self):
-        self.reset()
-        time.sleep(0.05)
-        pass
-    
-    def clear(self):
-        self.write(1, 1)
-        self.reset()
-        time.sleep(0.05)
-    
-    def write(self, addr, val):
-        for i in range(0, 3):
-            try:
-                self.bus.write_byte_data(self.address, addr, val)
-                time.sleep(0.001) # 1ms
-                # print(addr, val) # debug
-                return True
-            except Exception:
-                time.sleep(0.01)
-                continue
-        return False
-
-    def read(self, addr):
-        for i in range(0, 3):
-            try:
-                tmp = self.bus.read_byte_data(self.address, addr)
-                time.sleep(0.001) # 1ms
-                # print(addr, tmp) # debug
-                return tmp
-            except Exception:
-                time.sleep(0.01)
-                continue
-        return None
-
-    def reset(self):
-        self.write(0, 1)
-        time.sleep(0.05) # 重启并配置需要时间
-
-    def dump(self):
-        for i in range(0, 32):
-            print(i, self.read(i))
-
-class singleRgb(stm8s):
-    def __init__(self):
-        self.valR=0
-        self.valG=0
-        self.valB=0
-        self.brightness=255
-        self.show()
-    
-    def setColor(self,r,g,b):
-        if(r>=0 and r<=255):
-            self.valR=int(r*self.brightness/255)
-        else:
-            self.valR=0
-        if(g>=0 and g<=255):
-            self.valG=int(g*self.brightness/255)
-        else:
-            self.valG=0
-        if(b>=0 and b<=255):
-            self.valB=int(b*self.brightness/255)
-        else:
-            self.valB=0
-            
-    def setBrightness(self,brightness):
-        if(brightness>=0 and brightness<=255):
-            self.brightness=brightness
-        else:
-            self.brightness=0
-    
-    def show(self):
-        self.write(31, self.valB)
-        self.write(30, self.valG)
-        self.write(29, self.valR)
-        self.write(28, 6)
-
-class dcMotor(stm8s):
-    def __init__(self,id):
-        self.id=id
-
-    def m1a(self,val=0):
-        self.write(4,5)    #M1A
-        self.write(5,0)
-        self.write(6,0)
-        self.write(7,val)
-        
-    def m1b(self,val=0):
-        self.write(8,5)    #M1B
-        self.write(9,0)
-        self.write(10,0)
-        self.write(11,val)
-        
-    def m2a(self,val=0):
-        self.write(12,5)    #M2A
-        self.write(13,0)
-        self.write(14,0)
-        self.write(15,val)
-        
-    def m2b(self,val=0):
-        self.write(16,5)    #M2B
-        self.write(17,0)
-        self.write(18,0)
-        self.write(19,val)
-        
-    def dcMotorCtrl(self,dir,speed):
-        if(0<=speed and speed<=255):
-            if(self.id ==1):                #Motor1
-                if(dir==0):
-                    self.m1a(speed)
-                    self.m1b(0)
-                else:
-                    self.m1a(255-speed)
-                    self.m1b(1)
-            elif(self.id ==2):
-                if(dir==0):
-                    self.m2a(speed)
-                    self.m2b(0)
-                else:
-                    self.m2a(255-speed)
-                    self.m2b(1)
-        else:
-            pass
-            
-class multiFuncGpio(stm8s):
-    def __init__(self,id=0,mode=0):
-        self.id=id
-        self.rgbId=0
-        self.brightness=255
-        self.mode=mode
-        self.write(20+self.id*4,self.mode)
-        self.reset()
-        time.sleep(0.05)
-    ##################################################
-    # mode |  0  |  1  |  2  |  3  |  4  |  5  |  6  |      
-    #-------------------------------------------------
-    # Func |free |servo|INPUT| OUT | ADC | PWM | BEEP|
-    ##################################################
-    # mode=0，为空闲状态，引脚不执行任何功能
-    # mode=1，为控制舵机模式，值控制范围为0°~180°
-    # mode=2，为数字输入模式，返回值0或1
-    # mode=3，为数字输出模式，输出值为0或1
-    # mode=4，为ADC采样模式，返回值为0~1023
-    # mode=5，为PWM输出模式，输出值范围为0~255
-    # mode=6，为控制蜂鸣器模式，控制范围为20hz~12000hz
-    # mode=7，为控制灯带模式，暂未实现
-    # id=0,控制多功能引脚1，向20号寄存器写入模式数据
-    # id=1,控制多功能引脚2，向24号寄存器写入模式数据
-    
-    def servoCtrl(self,angle):
-        if ((angle>=0) and (angle<=180)):
-            self.write(23+self.id*4,angle)
-        else:
-            pass
-            
-    def digitalRead(self):
-        try:
-            self.gpioVal= self.read(23+ self.id*4)
-            if(self.gpioVal != None):
-                return 1-self.gpioVal
-        except:
-            print("ERROR 233")
-    
-    def digitalWrite(self,val):
-        if ((val>=0) and (val<=1)):
-            self.write(23+self.id*4,val)
-        else:
-            pass
-            
-    def analogRead(self):
-        try:
-            self.adcValH= self.read(22+ self.id*4)
-            self.adcValL= self.read(23+ self.id*4)
-            if (self.adcValH != None and self.adcValL != None):
-            # adcValH adcValL 大小端合并 16bit
-                self.adcVal = self.adcValL + (self.adcValH << 8)
-                return self.adcVal
-        except:
-            print("ERROR 2333")
-        
-    def analogWrite(self,val):
-        if ((val>=0) and (val<=255)):
-            self.write(23+self.id*4,val)
-        else:
-            pass
-            
-    
-    def beep(self,frequency):
-        if ((val>=20) and (val<=12000)):
-            self.write(22+self.id*4,val>>8)
-            self.write(23+self.id*4,val&0b11111111)
-        else:
-            pass
-        
-    def pixelInit_(self):
-        for i in range(16):
-            self.setPixelColor(i,0,0,0)
-            self.pixelShow()
-    
-    def setBrightness(self,brightness):
-        if(brightness>=0 and brightness<=255):
-            self.brightness=brightness
-        else:
-            self.brightness=0
-    
-    def setPixelColor(self,rgbId,r,g,b):
-        if(rgbId >=0 and rgbId <=15):
-            self.rgbId=rgbId    #rgbId范围：0~15
-        else:
-            self.rgbId=0
-        if(r>=0 and r<=255):
-            self.valR=int(r*self.brightness/255)
-        else:
-            self.valR=0
-        if(g>=0 and g<=255):
-            self.valG=int(g*self.brightness/255)
-        else:
-            self.valG=0
-        if(b>=0 and b<=255):
-            self.valB=int(b*self.brightness/255)
-        else:
-            self.valB=0
-    
-    #self.id的值为0或1，用于控制灯带缓冲区（S1或者S2引脚）
-    def pixelShow(self):
-        self.write(32+ self.id*48+self.rgbId*3, self.valR)    
-        self.write(33+ self.id*48+self.rgbId*3, self.valG)
-        self.write(34+ self.id*48+self.rgbId*3, self.valB)
-        
-
-class UvcVideo(camera.MaixVideo):
-
-    def __init__(self, source="/dev/videoX"):
-        self.source = source
-        super(UvcVideo, self).__init__()
-        import os, time
-        usb_path = '/sys/devices/platform/soc/usbc0/otg_role'
-        # 确认 usb_path 内容为 usb_host 如果不是，自动设置为 usb_host
-        if os.popen('cat %s' % usb_path).read().strip() != 'usb_host':
-            os.system('echo "usb_host" > %s' % usb_path)
-            time.sleep(2) # 要设置 2s 左右才能初始化工作，否则会报 VIDIOC_S_FMT 失败。
-
-    def config(self, size=None, video=2, horizontal=0, vertical=0):
-        if size == None:
-            size = (320, 240)
-        super(UvcVideo, self).config(size)
-        print('[camera] config input size(%d, %d, %d)' %
-            (self.width(), self.height(), video))
-        if self.cam:
-            self.cam = None
-        try:
-            import _coco_camera
-            self.cam = _coco_camera.Camera(self.width(), self.height(), video, horizontal, vertical)
-        except Exception as e:
-            print(e)
-            self.cam = None
-
-    def read(self):
-        if self.cam == None:
-            self.config()
-        if self.cam:
-            ret, frame = self.cam.read()
-            if ret:
-                return frame  # bytes
-            else:
-                try:
-                    self.config()
-                except Exception as e:
-                    print(e)
-        return None
-
-    def __del__(self):
-        if self.cam:
-            self.cam = None

backup/CocoPi_intro_manual_hk.html

@@ -0,0 +1 @@
+<meta http-equiv="refresh" content="0; url=https://pi-help.cocorobo.hk/#/">

backup/CocoPi_online_programming_hk.html

@@ -0,0 +1 @@
+<meta http-equiv="refresh" content="0; url=https://pi.cocorobo.hk">

backup/readme.txt

@@ -1,8 +0,0 @@
-手动升级资源包方法：
-1、替换/root/main.py
-2、删除原本的/root/preset/app 目录全部文件并替换
-3、删除原本的/root/preset/fonts 目录全部文件并替换
-4、合并/root/preset/img 目录文件
-5、移除/home/cclb_launch 文件，将新的cclb_launch复制到/root/ 目录下，用 cp /root/cclb_launch /home/cclb_launch 将文件进行拷贝，切换到
-/home/ 目录，用 chmod 777 * 命令给权限
-6、 reboot 重启

backup/user_latest_code.py

@@ -1,118 +0,0 @@
-from maix import camera, display, zbar, image
-import socket
-import os
-import sys
-sys.path.append('/root/CocoPi.py')
-import http.client
-from CocoPi import BUTTON
-import time
-
-key_A = BUTTON(14)
-key_B = BUTTON(8)
-key_C = BUTTON(13)
-key_D = BUTTON(7)
-ScreenOrientation = False
-image.load_freetype("/root/preset/fonts/yahei-ttf.ttf")
-camera.camera.config(size=(240,320))
-def lcdRotation(inputImg,rotationAngle):
-    from maix import image
-    imageRotationBuffer = inputImg.crop(0, 0, 240, 320)
-    if ScreenOrientation:
-        imgRotationAim = image.new(size = (240, 320))
-    else:
-        imgRotationAim = image.new(size = (320, 240))
-    return imgRotationAim.draw_image(imageRotationBuffer.rotate(rotationAngle, adjust=1),0,0,alpha=1)
-
-if ScreenOrientation:
-    CAMERAROTATE = +180
-else:
-    CAMERAROTATE = +90
-
-def getNetworkDate_noexit():
-    global getDateNum
-    try:
-        coon = http.client.HTTPConnection('www.baidu.com')
-        coon.request("GET","/")
-        r = coon.getresponse()
-        ts = r.getheader('date')
-        GMT_time = time.strptime(ts[5:25],"%d %b %Y %H:%M:%S")
-        BeiJing_time = time.localtime(time.mktime(GMT_time) + 8*60*60)
-        format_time = time.strftime("%Y-%m-%d %H:%M:%S",BeiJing_time)
-        command = "date -s "+"\"{}\"".format(format_time)
-        os.system(command)
-        getDateNum = 1
-        # sys.exit()
-    except:
-        pass
-
-def wifi_is_content():
-    global getDateNum
-    cmd = "wifi_get_connection_info_test 1"
-
-    res = os.popen(cmd).read()
-    data = False
-    print(res)
-    if res.find('get connection infomation successfully!') != -1:
-        data = True
-
-    return data
-def extract_ip():
-    st = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
-    try:
-        st.connect(("10.255.255.255",1))
-        IP = st.getsockname()[0]
-    except Exception:
-        IP = "127.0.0.1"
-    finally:
-        st.close()
-    return IP
-
-SSID = ""
-PASS = ""
-isContent = True
-contentText = ""
-
-canvas1 = image.new(size = (320, 240))
-while True:
-    canvas = lcdRotation(camera.capture(),CAMERAROTATE)
-    IP = extract_ip()
-    mks = canvas.find_qrcodes()
-    for mk in mks:
-        #外框数据
-        X = mk['x']
-        Y = mk['y']
-        W = mk['w']
-        H = mk['h']            
-        #二维码信息
-        string = mk['payload']
-        codeData = string.split(";")
-        SSID = codeData[0].split(":")[1]
-        PASS = codeData[1].split(":")[1]
-        #画外框
-        canvas.draw_rectangle(X, Y, X + W, Y + H, color=(0, 0, 255), thickness = 2) 
-        #打印信息
-        canvas.draw_string(int(X) , int(Y - 35) , str(string), scale = 1, color = (255, 0, 0), thickness = 2)  #内框ID
-    if key_C.is_pressed():
-        while not (key_C.is_pressed() == False):
-            time.sleep(0.01)
-        os.system("wifi_disconnect_ap_test")
-        os.system('wifi_connect_chinese_ap_test '+SSID+' '+PASS+'')
-        isContent = False
-        contentText == ""
-    elif(contentText == "" and isContent == False):
-
-        if wifi_is_content():
-            contentText = "Wi-Fi success"
-            canvas1 = image.new(size = (320, 320), color = (255,255,255), mode = "RGB")
-        else:
-            contentText = "Wi-Fi failure"
-        isContent = True
-    # canvas1.draw_rectangle(0,0, 320,20, color=(255,255,255), thickness=-1)
-    canvas.draw_image(canvas1,0,0, alpha=0.6)
-    canvas.draw_string(10,50, contentText, scale = 1.5, color = (0,0,0) , thickness = 1)
-    canvas.draw_string(10,0, "Press C to take pictures for networking", scale = 1, color = (0,0,0) , thickness = 1)
-    canvas.draw_string(10,20, "Hold D to build and exit", scale = 1, color =(0,0,0) , thickness = 1)
-    if IP != "127.0.0.1" and contentText != "":
-        canvas.draw_string(10,80, "IP:" + extract_ip(), scale = 1.5, color = (0,0,0), thickness = 1)
-    display.show(canvas)
-