Merge pull request #6 from MrYsLab/spi

Release 1.1

README.md

@@ -1,6 +1,9 @@
+
 # Telemetrix-RPi-Pico
 
 Interact and monitor  a Raspberry  Pi Pico remotely  from your PC using Python.
+It is similar to Arduino Firmata, but written specifically for the Raspberry Pi
+Pico.
 
 ![](images/tmx.png)
 
@@ -17,6 +20,7 @@ The following functionality is implemented in this release:
 * PWM output
 * Loopback (for client/server link debugging)
 * I2C Support
+* SPI Support
 * NeoPixel Support
 * Servo Support
 * HC-SR04 Type Sonar Distance Sensor Support

examples/hc_sr04.py

@@ -15,10 +15,6 @@
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
  """
 
-
-
-
-
 import sys
 import time
 

examples/spi_mpu9250.py

@@ -0,0 +1,147 @@
+# noinspection GrazieInspection
+"""
+ Copyright (c) 2021 Alan Yorinks All rights reserved.
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU AFFERO GENERAL PUBLIC LICENSE
+ Version 3 as published by the Free Software Foundation; either
+ or (at your option) any later version.
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU AFFERO GENERAL PUBLIC LICENSE
+ along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+"""
+
+"""
+This example initializes an MPU9250 and then reads the accelerometer
+and gyro values and prints them to the screen.
+
+The processing of the data returned from the MPU9250 is done within 
+the callback functions.
+"""
+
+import sys
+import time
+
+from telemetrix_rpi_pico import telemetrix_rpi_pico
+
+# Instantiate the TelemetrixRpiPico class accepting all default parameters.
+pico = telemetrix_rpi_pico.TelemetrixRpiPico()
+
+"""
+ CALLBACKS
+ 
+ These functions process the data returned from the MPU9250
+"""
+
+
+def the_device_callback(report):
+    """
+    Verify the device ID
+    :param report: [SPI_REPORT, SPI_PORT, Number of bytes, device id]
+    """
+    if report[3] == 0x71:
+        print('MPU9250 Device ID confirmed.')
+    else:
+        print(f'Unexpected device ID: {report[3]}')
+
+
+# noinspection GrazieInspection
+def accel_callback(report):
+    """
+    Print the AX, AY and AZ values.
+    :param report: [SPI_REPORT, SPI_PORT, Number of bytes, AX-msb, AX-lsb
+    AY-msb, AY-lsb, AX-msb, AX-lsb]
+    """
+    print(f"AX = {int.from_bytes(report[3:5], byteorder='big', signed=True)}  "
+          f"AY = {int.from_bytes(report[5:7], byteorder='big', signed=True)}  "
+          f"AZ = {int.from_bytes(report[7:9], byteorder='big', signed=True)}  ")
+
+
+def gyro_callback(report):
+    # noinspection GrazieInspection
+    """
+        Print the GX, GY, and GZ values.
+
+        :param report: [SPI_REPORT, SPI_PORT, Number of bytes, GX-msb, GX-lsb
+        GY-msb, GY-lsb, GX-msb, GX-lsb]
+        """
+    print(f"GX = {int.from_bytes(report[3:5], byteorder='big', signed=True)}  "
+          f"GY = {int.from_bytes(report[5:7], byteorder='big', signed=True)}  "
+          f"GZ = {int.from_bytes(report[7:9], byteorder='big', signed=True)}  ")
+
+
+# This is a utility function to read SPI data
+def read_data_from_device(register, number_of_bytes, callback):
+    # noinspection GrazieInspection
+    """
+    This function reads the number of bytes using the register value.
+    Data is returned via the specified callback.
+
+    :param register: register value
+    :param number_of_bytes: number of bytes to read
+    :param callback: callback function
+    """
+    # OR in the read bit
+    data = register | 0x80
+
+    # activate chip select
+    pico.spi_cs_control(5, 0)
+
+    # select the register
+    pico.spi_write_blocking([data], 0)
+    time.sleep(.1)
+
+    # read the data back
+    pico.spi_read_blocking(number_of_bytes, 0, call_back=callback)
+
+    # deactivate chip select
+    pico.spi_cs_control(5, 1)
+    time.sleep(.1)
+
+
+# Convenience values for the pins.
+# Note that the CS value is within a list
+
+# These are "non-standard" pin-numbers, and therefore
+# the qualify_pins parameter is set to FALSe
+
+SPI_PORT = 0
+MISO = 4
+MOSI = 7
+CLK = 6
+CS = [5]
+CS_PIN = 5
+
+NUM_BYTES_TO_READ = 6
+FREQ = 500000
+
+# initialize the device
+pico.set_pin_mode_spi(SPI_PORT, MISO, MOSI, CLK,
+                      FREQ, CS, qualify_pins=False)
+
+# reset the device
+pico.spi_cs_control(CS_PIN, 0)
+pico.spi_write_blocking([0x6B, 0], SPI_PORT)
+pico.spi_cs_control(CS_PIN, 1)
+
+time.sleep(.3)
+
+# get the device ID
+read_data_from_device(0x75, 1, the_device_callback)
+
+while True:
+    try:
+        # get the acceleration values
+        read_data_from_device(0x3b | 0x80, 6, accel_callback)
+
+        # get the gyro values
+        read_data_from_device(0x43 | 0x80, 6, gyro_callback)
+        time.sleep(.1)
+    except KeyboardInterrupt:
+        pico.shutdown()
+        sys.exit(0)