CocoPi_upgrade/CocoPi.py

'''
=========================================================
    ______                         ______
   /\  _  \                       /\  _  \  __
   \ \ \/\_\    ____    ____   ___\ \ \_\ \/\_\
    \ \ \/_/_  / __ \  / __ \ / __'\ \  __/\/_/_
     \ \ \_\ \/\ \_\ \/\ \__//\ \_\ \ \ \/   /\ \
      \ \____/\ \____/\ \____\ \____/\ \_\   \ \_\
       \/___/  \/___/  \/____/\/___/  \/_/    \/_/
  __
 /\ \       __                           ----------------
 \ \ \     /\_\    ____  __  __  __  _    pi.cocorobo.cn
  \ \ \    \/_/_ /  _  \/\ \/\ \/\ \/ \  ----------------
   \ \ \____ /\ \/\ \/\ \ \ \_\ \/>  </   SYSTEM VERSION
    \ \_____\\ \_\ \_\ \_\ \____//\_/\_\  -- 24.07.05 ---
     \/_____/ \/_/\/_/\/_/\/___/ \//\/_/ ----------------

=========================================================
'''
#########################################################
# ------------------------------------------------------
#|          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             |
#|-------------------------------------------------------
#|  2023.08.17:                  |                      |
#|  【更改】                     |    DCMOTOR           |
#|-------------------------------------------------------
#|  2023.08.25:                  |                      |
#|  【更改】                     |    BUZZER            |
#|-------------------------------------------------------
#|  2023.09.28:                  |                      |
#|  【更改】                     |    QMI8658           |
#########################################################
#|-------------------------------------------------------
#|  2024.02.22:                  |                      |
#|  【更改】                     |    QMI8658           |
#########################################################
#|  2024.02.28:                  |                      |
#|  【更改】                     |    STM8S             |
#########################################################
#|  2024.03.07:                  |                      |
#|  【添加】                     |    GPTrequest        |
#########################################################
#|  2024.03.11:                  |                      |
#|  【修改】                     |    LED               |
#|  【修改】                     |    DCMOTOR           |
#########################################################
#|  2024.03.22:                  |                      |
#|  【增加】                     |    RTC               |
#|  【增加】                     |    PCA9685           |
#########################################################
#|  2024.04.10:                  |                      |
#|  【修改】                     |    GPTrequest        |
#########################################################
#|  2024.07.05:                  |                      |
#|  【增加】                     |    LazyImport        |
#|      【针对】                 |    GPTrequest        |
#|      【针对】                 |    uuid              |
#|      【针对】                 |    json              |
#|      【针对】                 |    base64            |
#|  【修改】                     |    STM8S             |
#|  【修改】                     |    DCMOTOR           |
#|  【修改】                     |    multiFuncGpio     |
#|  【增加】                     |    DS3231            |
#|  【增加】                     |    SPI_WS2812        |
#|  【增加】                     |    HCSR04            |
#|  【增加】                     |    extDcMotor        |
#|  【增加】                     |    extServo          |
#|  【增加】                     |    extGpio           |
#|  【拆分】                     |    GPTrequest        |
#########################################################


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
#20240715
import threading
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:
    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:
    def __init__(self, gpioId=69):
        self.gpioId=gpioId
        SUNXI_GPIO.setcfg(self.gpioId, SUNXI_GPIO.OUT)
        SUNXI_GPIO.setcfg(259, 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)
        SUNXI_GPIO.output(259,self.value)

##################################
#          6、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):
        self._write_byte(0x02, 0x40)
        self._write_byte(0x08, 0x03)
        self._write_byte(0x03, 0x04)
        self._write_byte(0x04, 0x64)
        self._write_byte(0x06, 0x11)

    def Read_Raw_XYZ(self):
        xyz = [0, 0, 0, 0, 0, 0]
        vals={}
        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_xyz[(i*2)+1] << 8) | (raw_xyz[i*2])
            if xyz[i] >= 32767:
                xyz[i] = xyz[i]-65535
        vals["AcX"]=xyz[0]
        vals["AcY"]=xyz[1]
        vals["AcZ"]=xyz[2]
        vals["GyX"]=xyz[3]
        vals["GyY"]=xyz[4]
        vals["GyZ"]=xyz[5]
        return vals

    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
    
    def get_accel(self, samples=10, calibration=None):
        result = {}
        for _ in range(samples):
            v = self.Read_Raw_XYZ()
            for m in v.keys():
                result[m] = result.get(m, 0) + v[m] / samples
        if calibration:
            for m in calibration.keys():
                if m == "AcZ":
                    pass
                else:
                    result[m] -= calibration[m]
        return result

    def calibrate(self, threshold=50):
        print('Calibrating QMI8658... ', end='')
        while True:
            v1 = self.get_accel(100)
            v2 = self.get_accel(100)
            if all(abs(v1[m] - v2[m]) < threshold for m in v1.keys()):
                print('Done.')
                return v1
            
    def getPitchYawRollGxGyGz(self,calibration):
        caliData=self.get_accel(10, calibration)
        pitch=caliData["AcX"]/182.04
        yaw=caliData["AcY"]/182.04
        roll=caliData["AcZ"]/182.04
        groX=caliData["GyX"]
        groY=caliData["GyY"]
        groZ=caliData["GyZ"]
        if roll<0:
            if pitch >=0:
                pitch=180-pitch
            elif pitch <0:
                pitch=(180+pitch)*(-1)
            if yaw >=0:
                yaw=180-yaw
            elif pitch <0:
                yaw=(180+yaw)*(-1)
        return [pitch,yaw,roll,groX,groY,groZ]


##################################
#          7、STM8S              #
##################################
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 fastWrite(self,addr,valBlock):
        try:
            self.bus.write_i2c_block_data(self.address,addr,valBlock)
            return True
        except Exception:
            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):
        dir=1-dir
        if(0<speed and speed<255):
            if(self.id ==1):                #Motor1
                if(dir==0):
                    self.m1a(speed)
                    self.m1b(255)
                else:
                    self.m1a(255)
                    self.m1b(speed)
            elif(self.id ==2):
                if(dir==0):
                    self.m2a(speed)
                    self.m2b(255)
                else:
                    self.m2a(255)
                    self.m2b(speed)
        elif(0==speed):
            if(self.id ==1):                #Motor1
                if(dir==0):
                    self.m1a(255)
                    self.m1b(255)
                else:
                    self.m1a(255)
                    self.m1b(255)
            elif(self.id ==2):
                if(dir==0):
                    self.m2a(255)
                    self.m2b(255)
                else:
                    self.m2a(255)
                    self.m2b(255)
        elif(speed==255):
            if(self.id ==1):                #Motor1
                if(dir==0):
                    self.m1a(0)
                    self.m1b(255)
                else:
                    self.m1a(255)
                    self.m1b(0)
            elif(self.id ==2):
                if(dir==0):
                    self.m2a(0)
                    self.m2b(255)
                else:
                    self.m2a(255)
                    self.m2b(0)
        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.rgbSerial=[0,0,0]*10
        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 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 ((frequency>=20) and (frequency<=12000)):
            self.write(22+self.id*4,frequency>>8)
            self.write(23+self.id*4,frequency&0b11111111)
        else:
            pass
        
    def pixelInit_(self):
        for i in range(16):
            self.setPixelColor(i,0,0,0)
            self.pixelShow()
        self.write(23+self.id*4,1)
    
    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)
    def setRgbSerialColor(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.rgbSerial[self.rgbId*3]=self.valR
        self.rgbSerial[self.rgbId*3+1]=self.valG
        self.rgbSerial[self.rgbId*3+2]=self.valB
    
    def rgbSerialShow(self):
        self.fastWrite(32+self.id*48,self.rgbSerial)
        self.write(23+self.id*4,1)
        

##################################
#          8、UvcVideo           #
##################################

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



##################################
#          9、DS3231             #
##################################


from math import  floor

class DS3231(object):
    # create RTC instance
    def __init__(self):
        self.bus = smbus2.SMBus(2) # 2 indicates /dev/i2c-2
        self.address = 0x68
    
    def bcd_to_int(self,bcd, n=2):
        """Decode n least significant packed binary coded decimal digits to binary.
        Return binary result.
        n defaults to 2 (BCD digits).
        n=0 decodes all digits.
        """
        return int(('%x' % bcd)[-n:])


    def int_to_bcd(self,x, n=2):
        """
        Encode the n least significant decimal digits of x
        to packed binary coded decimal (BCD).
        Return packed BCD value.
        n defaults to 2 (digits).
        n=0 encodes all digits.
        """
        return int(str(x)[-n:], 0x10)
    
    
    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 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(0.001)
                continue
        return False

    # set times functions ----------------------------------------
    def setYear(self, year): 
        # only last two digits (last two digits are used if longer)
        self.write(0x06, self.int_to_bcd(year%100))

    def setMonth(self, month):
        if not 1 <= month <= 12:
            raise ValueError('Month is out of range [1,12].')
        self.write(0x05,self.int_to_bcd(month))
    
    def setDay(self, day):
        if not 1 <= day <= 31:
            raise ValueError('Day is out of range [1,31].')
        self.write(0x04,self.int_to_bcd(day))
    
    def setDayOfWeek(self, dayOfWeek):
        if not 1 <= dayOfWeek <= 7:
            raise ValueError('Day of week is out of range [1,7].')
        self.write(0x03,self.int_to_bcd(dayOfWeek))
        
    def setHour(self, hour):
        if not 0 <= hours < 24:
            raise ValueError('Hours is out of range [0,23].')
        self.write(0x02,self.int_to_bcd(hour)& 0x3F)
        
    def setMinutes(self, minutes):
        if not 0 <= minutes < 59:
            raise ValueError('Minutes is out of range [0,59].')
        self.write(0x01,self.int_to_bcd(minutes))
    
    def setSeconds(self, seconds):
        if not 0 <= seconds < 60:
            raise ValueError('Seconds is out of range [0,59].')
        self.write(0x00,self.int_to_bcd(seconds))
        
    def setDateTime(self, year, month, day, dayOfWeek, hour, minutes, seconds): 
        # set all the date and times (year is last two digits of year)
        self.setYear(year)
        self.setMonth(month)
        self.setDay(day)
        self.setDayOfWeek(dayOfWeek)
        self.setHour(hour)
        self.setMinutes(minutes)
        self.setSeconds(seconds)

    # get times functions -------------------------------------------------
    def getYear(self):
        return self.bcd_to_int(self.read(0x06))
    
    def getMonth(self):
        temp = self.read(0x05)
        return self.bcd_to_int((temp<<4>>4) &0x7F)
        #return temp[0] & 0x7F
    
    def getDay(self):
        # 0 - 31
        return self.bcd_to_int(self.read(0x04))
        
    def getDayOfWeek(self):
        # 1 - 7
        return self.bcd_to_int(self.read(0x03))
    
    def getHour(self):
        temp = self.read(0x02)
        if temp==0x64:    #if hour is 24:00,convert it to 00:00
            temp=0x40
        return self.bcd_to_int((temp<< 4 >>4)& 0x3F)
        #return temp[0] & 0x3F
    
    def getMinutes(self):
        return self.bcd_to_int(self.read(0x01))
    
    def getSeconds(self):
        return self.bcd_to_int(self.read(0x00))
    
    def getDateTime(self): 
        # returns whole date and time as list 
        # (last two digits of year, month, day, day of week, hour, minutes, seconds)
        dateTime = [0, 0, 0, 0, 0, 0, 0]
        dateTime[0] = self.getYear()
        dateTime[1] = self.getMonth()
        dateTime[2] = self.getDay()
        dateTime[3] = self.getDayOfWeek()
        dateTime[4] = self.getHour()
        dateTime[5] = self.getMinutes()
        dateTime[6] = self.getSeconds()
        return dateTime

    def convertToByteType(self,number):
        return bytes([number])

    def decodeToDec(self,byte):
        return ((byte[0] >> 4) * 10) + (byte[0] & 0x0F)

    def encodeToByte(self,dec):
        tens = floor(dec / 10)
        ones = dec - tens*10
        return (tens << 4) + ones

    def decodeAlarmType(self,alarmTime):
        if(len(alarmTime) > 4):
            m1Bit = (alarmTime[3] & 0x80) >> 7
        else:
            m1Bit = False
        m2Bit = (alarmTime[2] & 0x80) >> 7
        m3Bit = (alarmTime[1] & 0x80) >> 7
        m4Bit = (alarmTime[0] & 0x80) >> 7
        dayBit = (alarmTime[0] & 0x40) >> 6
        
        if(m1Bit and m2Bit and m3Bit and m4Bit):
            return "everySecond"
        elif(not m1Bit and m2Bit and m3Bit and m4Bit):
            return "everyMinute"
        elif(not m1Bit and not m2Bit and m3Bit and m4Bit):
            return "everyHour"
        elif(not m1Bit and not m2Bit and not m3Bit and m4Bit):
            return "everyDay"
        elif(not dayBit and not m1Bit and not m2Bit and not m3Bit and not m4Bit):
            return "everyMonth"
        elif(dayBit and not m1Bit and not m2Bit and not m3Bit and not m4Bit):
            return "everyWeek"
        else:
            return "noValidAlarmType"
        
    def decodeAlarmTime(self,alarmTime):
        alarmTime[0] = decodeToDec(convertToByteType(alarmTime[0] & 0x3F))
        alarmTime[1] = decodeToDec(convertToByteType(alarmTime[1] & 0x3F))
        alarmTime[2] = decodeToDec(convertToByteType(alarmTime[2] & 0x7F))
        if(len(alarmTime) > 4):
            alarmTime[3] = decodeToDec(convertToByteType(alarmTime[3] & 0x7F))
        return alarmTime

    def encodeAlarmType(self,alarmType):
        if(alarmType == "everySecond"):
            return 15   #0b01111
        elif(alarmType == "everyMinute"):
            return 14   #0b01110
        elif(alarmType == "everyHour"):
            return 12   #0b01100
        elif(alarmType == "everyDay"):
            return 8    #0b01000
        elif(alarmType == "everyMonth"):
            return 0    #0b00000
        elif(alarmType == "everyWeek"):
            return 16   #0b10000
        else:
            raise ValueError("""Not a supported alarmType. Options are: 
            'everySecond' (only Alarm 1), 'everyMinute', 'everyHour', 'everyDay', 'everyMonth', 'everyWeek'""")

    def encodeDateTime(self,day, hour, minutes, seconds, alarmType):
        alarmBits = encodeAlarmType(alarmType)
        alarmTime = [0, 0, 0, 0]
        alarmTime[0] = (encodeToByte(day) & 0x3F) | ((alarmBits & 0x10) << 2) | ((alarmBits & 0x08) << 4)
        alarmTime[1] = (encodeToByte(hour) & 0x3F) | ((alarmBits & 0x04) << 5)
        alarmTime[2] = (encodeToByte(minutes) & 0x7F) | ((alarmBits & 0x02) << 6)
        alarmTime[3] = (encodeToByte(seconds) & 0x7F) | ((alarmBits & 0x01) << 7)
        return alarmTime


##################################
#          10、SPI_WS2812        #
##################################
class SPI_WS2812(object):
    from maix import spi
    spi = spi.SpiDev()
    
    def __init__(self,num):
        self.num=num
        self.spi.open(0, 0)
        self.spi.mode = 3
        self.spi.bits_per_word = 8
        self.spi.max_speed_hz = 20000000
        self.data=[[0,0,0]]*self.num
        self.brightness=255
    
    def setRgbColor(self,id,r,g,b):
        if id>(self.num-1):
            raise ValueError("Out of range!")
        else:
            self.data[id]=[int(g*self.brightness/255),int(r*self.brightness/255),int(b*self.brightness/255)]
            #print("set complete!")
    
    def setBrightness(self,brightness):
        if brightness>255 or brightness<0:
            raise ValueError("Out of range!")
        self.brightness=brightness
        

    def rgbShow(self):
        tx=[]
        for rgb in self.data:
            for byte in rgb:
                for ibit in range(3,-1,-1):
                    tx.append(((byte>>(2*ibit+1))&1)*0x60 +
                              ((byte>>(2*ibit+0))&1)*0x06 +
                              0x88)
        print([hex(v) for v in tx])
        tx[0]=0b1000000
        tx.append(0b1000000)
        self.spi.xfer(tx,int(4/1.05e-6))

    def __del__(self):
        self.data=[[0,0,0]]*self.num
        self.rgbShow()

##################################
#          11、HCSR04            #
##################################

class HCSR04:
    
    def __init__(self,Trig,Echo):
        pinNum={"TXD":"198","RXD":"199","CLK":"224","MOSI":"225","MISO":"226","CS":"227"}
        os.system("insmod /home/drivers/hcsr04.ko")
        pinCmd=pinNum.get(Trig)+","+pinNum.get(Echo)+",23200,0"
        os.system('echo "'+pinCmd+'" > /sys/class/hcsr04/value')
        
    def getDistance(self):
        startTime=round(time.time(),3)
        #print("startTime:"+str(startTime))
        while True:
            dis=os.popen("cat /sys/class/hcsr04/value").read()
            #print("dis:"+str(dis)+" len:"+str(len(dis)))
            if "-1" in dis:
                pass
            else:
                dis=round(int(dis)/58,2)
                if dis<250:
                    return dis
                else:
                    pass
            if((round(time.time(),3)-startTime)>=1.200):#超时时间
                return -1
    
    def __del__(self):
        os.system("rmmod /home/drivers/hcsr04.ko")
        

import struct
import math
import os

##################################
#          12、MCP23017          #
##################################

class MCP23017(object):

    bus = smbus2.SMBus(2) # 2 indicates /dev/i2c-2
    address = 0x20
    
    iodira=0x00         #A引脚方向寄存器地址。初始值为0xFF，输入模式
    iodirb=0x01         #B引脚方向寄存器地址。初始值为0xFF，输入模式
    gppua=0x0c          #A引脚上拉电阻配置寄存器地址。初始值为0x00，无上拉
    gppub=0x0d          #B引脚上拉电阻配置寄存器地址，初始值为0x00，无上拉    
    gpioa=0x12          #A端口寄存器，初始值为0x00，低电平
    gpiob=0x13          #B端口寄存器，初始值为0x00，低电平
    DIR_A_V=0xff        #A引脚方向初始值
    DIR_B_V=0xff        #B引脚方向初始值
    GPPU_A_V=0x00       #A引脚上拉设定初始值
    GPPU_B_V=0x00       #B引脚上拉设定初始值
    GPIO_A_V=0x00       #A引脚电平初始值
    GPIO_B_V=0x00       #B引脚电平初始值

    def __init__(self):
        self.reset()
        
    def reset(self):
        self.DIR_A=self.DIR_A_V
        self.DIR_B=self.DIR_B_V
        self.GPPU_A=self.GPPU_A_V
        self.GPPU_B=self.GPPU_B_V
        self.GPIO_A=self.GPIO_A_V
        self.GPIO_B=self.GPIO_B_V
        self.byteWrite(self.iodira,self.DIR_A_V)
        self.byteWrite(self.iodirb,self.DIR_B_V)
        self.byteWrite(self.gppua,self.GPPU_A_V)
        self.byteWrite(self.gppub,self.GPPU_B_V)
        self.byteWrite(self.gpioa,self.GPIO_A_V)
        self.byteWrite(self.gpiob,self.GPIO_B_V)
        print("mcp23017 reset completed!")
        
    def byteWrite(self, addr, val):
        try:
            self.bus.write_byte_data(self.address, addr, val)
            return True
        except Exception:
            pass
    
    def byteRead(self,addr):
        tmp = self.bus.read_byte_data(self.address, addr)
        return tmp
    
    def bitWrite(self,reg,num,val):    #寄存器值（byte类型），寄存器第...位(0-7)，该位的值（0/1）
        return (reg>>(num+1)<<(num+1))|(val << num)|(reg<<(8-num)&0xFF)>>(8-num)
        
    def bitRead(self,reg,num):         #寄存器值（byte类型），寄存器第...位(0-7)
        return ((reg<<(7-num)&0xFF)>>7)
    
    def setGpioDir(self,channel,pinId,direction):    #set gpio direction
        #channel:"A" or "B"
        #pinId:0~7
        #direction:[0:output],[1:input(default)]
        if channel=="A":
            self.DIR_A=self.bitWrite(self.DIR_A,pinId,direction)
            print("Dir_A="+str(self.DIR_A))
            self.byteWrite(self.iodira,self.DIR_A)
        elif channel=="B":
            self.DIR_B=self.bitWrite(self.DIR_B,pinId,direction)
            self.byteWrite(self.iodirb,self.DIR_B)
        else:
            raise ValueError("Error Channel!")
        
    def setGppuEnable(self,channel,pinId,pullup):        #set gpio pullup on or off
        #channel:"A" or "B"
        #pinId:0~7
        #pullup:[0:disable],[1:enable(default)]
        if channel=="A":
            self.GPPU_A=self.bitWrite(self.GPPU_A,pinId,pullup)
            self.byteWrite(self.gppua,self.GPPU_A)
        elif channel=="B":
            self.GPPU_B=self.bitWrite(self.GPPU_B,pinId,pullup)
            self.byteWrite(self.gppub,self.GPPU_B)
        else:
            raise ValueError("Error Channel!")
    
    def setGpioLevel(self,channel,pinId,level):    #set gpio volt level
        #channel:"A" or "B"
        #pinId:0~7
        #level:[0:low(default)],[1:high]
        if channel=="A":
            self.GPIO_A=self.bitWrite(self.GPIO_A,pinId,level)
            self.byteWrite(self.gpioa,self.GPIO_A)
        elif channel=="B":
            self.GPIO_B=self.bitWrite(self.GPIO_B,pinId,level)
            self.byteWrite(self.gpiob,self.GPIO_B)
        else:
            raise ValueError("Error Channel!")
    
    def getGpioLevel(self,channel,pinId):                #get gpio volt level
        #channel:"A" or "B"
        #pinId:0~7
        #level:[0:low(default)],[1:high]
        if channel=="A":
            return self.bitRead(self.byteRead(self.gpioa),pinId)
        elif channel=="B":
            return self.bitRead(self.byteRead(self.gpiob),pinId)
        else:
            raise ValueError("Error Channel!")
        
    def __del__(self):
        self.reset()
        time.sleep(0.001)
        print("del mcp23017")
        
        
class ADS1115(object):
    
    bus = smbus2.SMBus(2) # 2 indicates /dev/i2c-2
    # Registers in the ADS1115,设备的4个寄存器
    DEVICE_REG_CONVERSION           = 0x00                          #转换寄存器
    DEVICE_REG_CONFIG               = 0x01                          #配置寄存器
    DEVICE_REG_LO_THRESH            = 0x02                          #最低阈值寄存器
    DEVICE_REG_HI_THRESH            = 0x03                          #最高阈值寄存器

    # Configuration register fields                         #配置寄存器展开，共16bit

    # Operational Status                                    #操作状态，在第15位
    CONFIG_OS                                   = 0X8000                #无效
    CONFIG_OS_START                             = 0X8000                #开始单次转换（处于掉电状态）
    CONFIG_OS_PERFORMING_CONVERSION             = 0X0000                #转换进行中
    CONFIG_OS_NOT_PERFORMING_OPERATION          = 0X8000              #转换闲置

    # Differential measurements                             #测量模式设置，在第12-14位
    CONFIG_MUX_AIN0P_AIN1N                        = 0X0000 # (default)    #AIN0差分输入，AIN1作为参考
    CONFIG_MUX_AIN1P_AIN3N                        = 0X1000                #AIN1差分输入，AIN3作为参考
    CONFIG_MUX_AIN2P_AIN3N                        = 0X2000                #AIN2差分输入，AIN3作为参考
    CONFIG_MUX_AIN3P_AIN3N                        = 0X3000                #AIN3差分输入，AIN3作为参考
    # Single ended measurements                             #单端测量
    CONFIG_MUX_AIN0P_GNDN                        = 0X4000                #AIN0单端输入
    CONFIG_MUX_AIN1P_GNDN                        = 0X5000                #AIN1单端输入
    CONFIG_MUX_AIN2P_GNDN                        = 0X6000                #AIN2单端输入
    CONFIG_MUX_AIN3P_GNDN                        = 0X7000                #AIN3单端输入

    # Programmable gain amplifier configuration             #可编程增益放大器（量程选择）FSR:Feedback Shift Register，反馈移位寄存器，在第9-11位
    CONFIG_FSR_6V144                                 = 0X0000                #CocoPi 需选择
    CONFIG_FSR_4V096                                 = 0X0200
    CONFIG_FSR_2V048                                 = 0X0400 # (default)
    CONFIG_FSR_1V024                                 = 0X0600
    CONFIG_FSR_0V512                                 = 0X0800
    CONFIG_FSR_0V256                                 = 0X0A00
    CONFIG_FSR_0V256                                 = 0X0C00
    CONFIG_FSR_0V256                                 = 0X0E00

    # Continuous or single shot mode                        #设备运行模式：持续转换或者单次转换，在第8位
    CONFIG_MODE_CONTINUOUS                          = 0X0000                #持续转换
    CONFIG_MODE_SINGLE_SHOT                         = 0X0100 # (default)    #单次转换

    # Data rate                                             #转换速率，第5-7位
    CONFIG_DATA_RATE_8SPS                           = 0X0000                #SPS:Samples Per Second，每秒8次采样
    CONFIG_DATA_RATE_16SPS                          = 0X0020
    CONFIG_DATA_RATE_32SPS                          = 0X0040
    CONFIG_DATA_RATE_64SPS                          = 0X0060
    CONFIG_DATA_RATE_128SPS                         = 0X0080 #(default)
    CONFIG_DATA_RATE_2508SPS                        = 0X00A0
    CONFIG_DATA_RATE_475SPS                         = 0X00C0
    CONFIG_DATA_RATE_860SPS                         = 0X00E0

    # Comparitor mode                                       #比较器模式，第4位
    CONFIG_COMP_MODE_TRADITIONAL                    = 0X0000 #(default)     #传统比较器
    CONFIG_COMP_MODE_WINDOW                         = 0X0010                #窗口模式

    # Comparitor polarity                                   #比较器集型，第3位，控制ALRET/RDY引脚极性
    CONFIG_COMP_POL_ACTIVE_LOW                      = 0X0000 #(default)     #低电平有效（默认）
    CONFIG_COMP_POL_ACTIVE_HIGH                     = 0X0008                #高电平有效

    # Comparitor latching                                   #锁存比较器，第2位，该位控制ALERT/RDY引脚在被置为有效后锁存，还是在转换后处于上限和下限阈值范围内清零
    CONFIG_COMP_LAT                                 = 0X0004
    CONFIG_COMP_LAT_NON_LATCHING                    = 0X0000 #(default)     #默认不锁存
    CONFIG_COMP_LAT_LATCHING                        = 0X0004

    # comparitor queue and disable                          #比较器置位和禁用
    CONFIG_COMP_QUE                                 = 0X0003                #默认禁用比较器并将ALERT/RDY引脚设置为高阻抗
    CONFIG_COMP_QUE_1_CONV                          = 0X0000                #一次转换后断言
    CONFIG_COMP_QUE_2_CONV                          = 0X0001                #两次转换后置位
    CONFIG_COMP_QUE_4_CONV                          = 0X0002                #四次转换后置位
    CONFIG_COMP_QUE_DISABLE                         = 0X0003 #(default)     #默认禁用比较器并将ALERT/RDY引脚设置为高阻抗
    
    # Address for the device ,设备地址选择
    #addr=0x48       # ADDR tied to GND
    addr=0x49        # ADDR tied to VDD
    #addr=0x4A       # ADDR tied to SDA
    #addr=0x4B       # ADDR tied to SCL
    

    def __init__(self):
        self.address=0x49
        self.config=0x0000
        #time.sleep(0.05)
        pass
    
    def swap(self,val):
        return (((val&0xff00)>>8)|((val&0x00ff)<<8))                    #交换高8位与低8位
    ###
    def readAdc(self,channel):
        if (channel>3) or (channel<0):
            return False
        self.config=(self.CONFIG_OS_START +                                # start conversion 
            #self.CONFIG_MUX_AIN0P_GNDN  +                         # single ended conversion
            ((channel+4)<<12) +                                         # select channel
            self.CONFIG_FSR_6V144 +                                         # (5v signal)
            self.CONFIG_MODE_SINGLE_SHOT +                         # single conversion and shutdown
            self.CONFIG_DATA_RATE_128SPS +                         # data rate
            self.CONFIG_COMP_MODE_TRADITIONAL +                 # comp conventional 
            self.CONFIG_COMP_POL_ACTIVE_LOW  +                 # comp active low
            self.CONFIG_COMP_LAT_NON_LATCHING +                 # comp non latching
            self.CONFIG_COMP_QUE_DISABLE )                        # comp disabled
        ###
        self.bus.write_word_data(self.address, self.DEVICE_REG_CONFIG, self.swap(self.config))
        while True:
            # read status (note byte swap)
            status=self.swap(self.bus.read_word_data(self.address,self.DEVICE_REG_CONFIG))
            #print("status:"+str(status))
            # when the Operational Status is no longer performing a conversion
            # we can break out of this wait loop 
            if (status & self.CONFIG_OS) != self.CONFIG_OS_PERFORMING_CONVERSION:
                break
        # read result (note byte swap)
        result=self.swap(self.bus.read_word_data(self.address,self.DEVICE_REG_CONVERSION))
        # return 16 bit integer A2D result for the specified channel
        volt=round((result*6.144/32768),3)
        return [result,volt]

class PCA9685(object):
    bus=smbus2.SMBus(2)
    def __init__(self,freq=400,min_us=460,max_us=2400,address=0x40,degrees=180):
        self.address=address
        self.period=1000000/freq
        self.min_duty = self._us2duty(min_us)
        self.max_duty = self._us2duty(max_us)
        self.freq(freq)
        self.reset()
        #for i in range(0,16):
            #self.duty(i,0)
        print("Pca9685 init")
        
    def write(self, addr, val):
        for i in range(0, 2):
            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(0.001)
                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(0x00,0x00)        #初始化
    
    def freq(self,freq=None):
        if freq is None:
            return int(25000000.0/4096/(self.read(0xfe)-0.5))
        #设定频率freq,预分频prescale=int(25000000.0 / (4096.0 * freq) + 0.5)
        prescale=int(25000000.0/4096/freq+0.5)
        self.write(0x00,0x10)        #设定pca9685为睡眠模式
        self.write(0xfe,prescale)    #设定频率
        self.reset()
        time.sleep(0.01)
        self.write(0x00,0xa1)        #设定pca9685为活跃模式
    
    def pwm(self,index,on=None,off=None):            #on和off来调节PWM的占空比
        if not 0<= index <=15:
            raise ValueError("Pin ID out of range!")
        if on is None or off is None:
            data = self.bus.read_i2c_block_data(self.address,0x06+index*4,4)
            return data
        data= [0]*4
        data[0]=int(hex(on & 0xff),16)
        data[1]=int(hex((on >> 8) & 0xff),16)
        data[2]=int(hex(off & 0xff),16)
        data[3]=int(hex((off >> 8) & 0xff),16)
        # print(data)
        for i in range(0,4):
            self.write(0x06+i+index*4,data[i])
        
    def duty(self,index,value=None):
        if value == None:
            return self.pwm(index)
        elif not 0 <= value <=4095:
            raise ValueError("Out of range!")
        elif value==0:
            self.pwm(index,0,4096)
        elif value == 4095:
            self.pwm(index,4096,0)
        else:
            self.pwm(index,0,value)  

    def _us2duty(self,value):
        return 4095*value/self.period
        
    def __del__(self):
        print("del pac9685")
        time.sleep(1)
        for i in range(0,16):
            self.duty(i,0)
        time.sleep(0.001)
        

class extDcMotor(PCA9685):
    def __init__(self,motorId):
        PCA9685.__init__(self)
        self.motorPin=[11,12,13,10,9,8,5,6,7,4,3,2]
        self.motorId=motorId
        pass
        
    def speedControl(self,speed):
        self.speed=abs(speed)
        if not -255<= speed<=255:
            raise ValueError("Out of range!")
        if self.motorId == "C":
            if speed<0:
                self.duty(self.motorPin[0],4095)
                self.duty(self.motorPin[1],0)
                self.duty(self.motorPin[2],int(self.speed*16))
            else:
                self.duty(self.motorPin[0],0)
                self.duty(self.motorPin[1],4095)
                self.duty(self.motorPin[2],int(self.speed*16))
        elif self.motorId == "D":
            if speed<0:
                self.duty(self.motorPin[3],4095)
                self.duty(self.motorPin[4],0)
                self.duty(self.motorPin[5],int(self.speed*16))
            else:
                self.duty(self.motorPin[3],0)
                self.duty(self.motorPin[4],4095)
                self.duty(self.motorPin[5],int(self.speed*16))
        elif self.motorId == "E":
            if speed<0:
                self.duty(self.motorPin[6],4095)
                self.duty(self.motorPin[7],0)
                self.duty(self.motorPin[8],int(self.speed*16))
            else:
                self.duty(self.motorPin[6],0)
                self.duty(self.motorPin[7],4095)
                self.duty(self.motorPin[8],int(self.speed*16))
        elif self.motorId == "F":
            if speed<0:
                self.duty(self.motorPin[9],4095)
                self.duty(self.motorPin[10],0)
                self.duty(self.motorPin[11],int(self.speed*16))
            else:
                self.duty(self.motorPin[9],0)
                self.duty(self.motorPin[10],4095)
                self.duty(self.motorPin[11],int(self.speed*16))
        else:
            pass
       
    
    def __del__(self):
        if self.motorId == "C":
            self.duty(self.motorPin[0],0)
            self.duty(self.motorPin[1],0)
            self.duty(self.motorPin[2],0)
        elif self.motorId == "D":
            self.duty(self.motorPin[3],0)
            self.duty(self.motorPin[4],0)
            self.duty(self.motorPin[5],0)
        elif self.motorId == "E":
            self.duty(self.motorPin[6],0)
            self.duty(self.motorPin[7],0)
            self.duty(self.motorPin[8],0)
        elif self.motorId == "F":
            self.duty(self.motorPin[9],0)
            self.duty(self.motorPin[10],0)
            self.duty(self.motorPin[11],0)
        else:
            pass
        time.sleep(0.001)
        
class extServo(PCA9685):
    def __init__(self,servoId):
        PCA9685.__init__(self)
        self.servoId=servoId
        self.servoPin=[14,15,1,0]
        self.degrees=180
        pass      
        
    def position(self,degrees=None):        #index:0,1,2,3
        span = self.max_duty - self.min_duty
        duty = self.min_duty + span * degrees / self.degrees
        duty = int(min(self.max_duty, max(self.min_duty, int(duty))))
        self.duty(self.servoPin[self.servoId], duty)
        
    def release(self):
        self.duty(self.servoPin[self.servoId],0)
    
    def __del__(self):  
        self.duty(self.servoPin[self.servoId],0)
    
        
class extOutputPin(PCA9685):
    def __init__(self):
        PCA9685.__init__(self)
        self.pin=[14,15,1,0]
        self.pinId=0
        pass
    
    def digitalSet(self,pinId,val):    #val:0/1
        self.pinId=pinId
        if val==0:
            self.duty(self.pin[self.pinId],0)
        else:
            self.duty(self.pin[self.pinId],4095)
    
    def pwmWrite(self,pinId,val):    #val:0~255
        self.pinId=pinId
        # print("pinid"+str(self.pin[self.pinId]))
        self.duty(self.pin[self.pinId],val*16)
    
    def __del__(self):
        self.duty(self.pin[self.pinId],0)
        # print("del extPin")
        
class extGpio(MCP23017,ADS1115,extOutputPin):
    def __init__(self):
        MCP23017.__init__(self) 
        ADS1115.__init__(self)
        extOutputPin.__init__(self)
        self.address=0x20    #初始默认为mcp23017的地址
   
    def pinMode(self,pinId,mode):    #控制mcp23017
        self.address=0x20
        #----------
        #pinId:
        #p0~p3:0~3
        #a0~a3:4~7
        #---------
        #mode:
        #output:1
        #input:0
        if pinId>=0 and pinId<=3:
            if mode==0:
                if pinId==0:            #p0
                    self.setGpioDir("B",2,0)    #output
                    self.setGpioLevel("B",2,1)    #high
                    self.setGpioDir("B",3,1)    #input
                elif pinId==1:            #p1
                    self.setGpioDir("B",1,0)
                    self.setGpioLevel("B",1,1)
                    self.setGpioDir("B",0,1)
                elif pinId==2:            #p2
                    self.setGpioDir("B",6,0)
                    self.setGpioLevel("B",6,1)
                    self.setGpioDir("A",1,1)
                elif pinId==3:            #p3
                    self.setGpioDir("B",5,0)
                    self.setGpioLevel("B",5,1)
                    self.setGpioDir("B",4,1)
                else:
                    pass
            elif mode==1:
                if pinId==0:
                    self.setGpioDir("B",2,0)    #output
                    self.setGpioLevel("B",2,1)    #high
                    self.setGpioDir("B",3,0)    #output
                elif pinId==1:
                    self.setGpioDir("B",1,0)
                    self.setGpioLevel("B",1,1)
                    self.setGpioDir("B",0,0)
                elif pinId==2:
                    self.setGpioDir("B",6,0)
                    self.setGpioLevel("B",6,1)
                    self.setGpioDir("A",1,0)
                elif pinId==3:
                    self.setGpioDir("B",5,0)
                    self.setGpioLevel("B",5,1)
                    self.setGpioDir("B",4,0)
                    # print("a")
                    time.sleep(1)
                else:
                    pass
            else:
                pass
        elif pinId>=4 and pinId<=7:
            if mode==0:
                if pinId==4:                #a0
                    self.setGpioDir("A",4,0)    #output
                    self.setGpioLevel("A",4,1)    #high
                    self.setGpioDir("A",5,1)    #input
                elif pinId==5:            #a1
                    self.setGpioDir("A",3,0)
                    self.setGpioLevel("A",3,1)
                    self.setGpioDir("A",7,1)
                elif pinId==6:            #a2
                    self.setGpioDir("A",2,0)
                    self.setGpioLevel("A",2,1)
                    self.setGpioDir("A",6,1)
                elif pinId==7:            #a3
                    self.setGpioDir("B",7,0)
                    self.setGpioLevel("B",7,1)
                    self.setGpioDir("A",0,1)
                else:
                    pass
            elif mode==1:
                if pinId==4:                #a0
                    self.setGpioDir("A",4,0)    #output
                    self.setGpioLevel("A",4,1)    #high
                    self.setGpioDir("A",5,0)    #output
                elif pinId==5:            #a1
                    self.setGpioDir("A",3,0)
                    self.setGpioLevel("A",3,1)
                    self.setGpioDir("A",7,0)
                elif pinId==6:            #a2
                    self.setGpioDir("A",2,0)
                    self.setGpioLevel("A",2,1)
                    self.setGpioDir("A",6,0)
                elif pinId==7:            #a3
                    self.setGpioDir("B",7,0)
                    self.setGpioLevel("B",7,1)
                    self.setGpioDir("A",0,0)
                else:
                    pass
            else:
                pass

    def digitalWrite(self,pinId,level):    #控制mcp23017
        #----------
        #pinId:
        #p0~p3:0~3
        #a0~a3:4~7
        #---------
        #level:
        #5v:1
        #0v:0
        self.address=0x20
        if pinId>=0 and pinId<=3:
            if pinId==0:
                # print("digital write level")
                self.setGpioLevel("B",3,level)
            elif pinId==1:
                self.setGpioLevel("B",0,level)
            elif pinId==2:
                self.setGpioLevel("A",1,level)
            elif pinId==3:
                self.setGpioLevel("B",4,level)
            else:
                pass
        elif pinId>=4 and pinId<=7:
            if pinId==4:                #a0
                self.setGpioLevel("A",5,level)
            elif pinId==5:            #a1
                self.setGpioLevel("A",7,level)
            elif pinId==6:            #a2
                self.setGpioLevel("A",6,level)
            elif pinId==7:            #a3
                self.setGpioLevel("A",0,level)
            else:
                pass
        else:
            pass
    
    def digitalRead(self,pinId):    #控制mcp23017
        self.address=0x20
        #----------
        #pinId:
        #p0~p3:0~3
        #a0~a3:4~7
        if pinId>=0 and pinId<=3:
            if pinId==0:
                # print("get digital write level")
                return self.getGpioLevel("B",3)
            elif pinId==1:
                return self.getGpioLevel("B",0)
            elif pinId==2:
                return self.getGpioLevel("A",1)
            elif pinId==3:
                return self.getGpioLevel("B",4)
            else:
                pass
        elif pinId>=4 and pinId<=7:
            if pinId==4:                #a0
                return self.getGpioLevel("A",5)
            elif pinId==5:            #a1
                return self.getGpioLevel("A",7)
            elif pinId==6:            #a2
                return self.getGpioLevel("A",6)
            elif pinId==7:            #a3
                return self.getGpioLevel("A",0)
            else:
                pass
        else:
            pass
            
    def analogWrite(self,pinId,pwm):      #控制PCA9685，但是需要Mcp23017进行通道选择
        self.address=0x20                 #先用mcp23017进行通道选择
        #select X channel
        if pinId==0:            #p0
            self.setGpioDir("B",2,1)    #output
            self.setGpioLevel("B",2,0)    #low
        elif pinId==1:            #p1
            self.setGpioDir("B",1,1)
            self.setGpioLevel("B",1,0)
        elif pinId==2:            #p2
            self.setGpioDir("B",6,1)
            self.setGpioLevel("B",6,0)
        elif pinId==3:            #p3
            self.setGpioDir("B",5,1)
            self.setGpioLevel("B",5,0)
        else:
            pass
        self.address=0x40                #再用PCA9685进行控制
        self.pwmWrite(pinId,pwm)
        
    def analogRead(self,pinId):          #控制ADS1115，但是需要Mcp23017进行通道选择
        self.adcPin=[3,1,0,2]
        self.address=0x20                #先用mcp23017进行通道选择
        #select X channel
        if pinId==4:            #a0
            self.setGpioDir("A",4,1)    #input
            self.setGpioLevel("A",4,0)    #low
        elif pinId==5:            #a1
            self.setGpioDir("A",3,1)
            self.setGpioLevel("A",3,0)
        elif pinId==6:            #a2
            self.setGpioDir("A",2,1)
            self.setGpioLevel("A",2,0)
        elif pinId==7:            #a3
            self.setGpioDir("B",7,0)
            self.setGpioLevel("B",7,0)
        else:
            pass        
        self.address=0x49              #再用Ads1115进行ADC读取
        return self.readAdc(self.adcPin[pinId-4])
    def __del__(self):
        self.address=0x40
        extOutputPin.__del__(self)
        self.address=0x20
        MCP23017.__del__(self)        #最先init的配置最后再del
        print("del finished!")