Compass sensor and bug fix

README.md

@@ -18,3 +18,4 @@ mip.install("github:leaphy-robotics/leaphy-micropython")
 * Maker Nano RP2040
 * Pico W
 * Nano RP2040 Connect
+

examples/compass_example.py

@@ -0,0 +1,10 @@
+from time import sleep
+from leaphymicropython.sensors.compass import Compass
+
+
+compass = Compass()
+
+while True:
+    x, y, z = compass.read_compass()
+    print(compass.get_azimuth(x, y))
+    sleep(1)

leaphymicropython/sensors/compass.py

@@ -0,0 +1,297 @@
+import struct
+from time import sleep
+from micropython import const
+
+# Constants for register addresses
+_REGISTER_WHOAMI = const(0x0D)
+_REGISTER_SET_RESET = const(0x0B)
+_REGISTER_OPERATION_MODE = const(0x09)
+_REGISTER_STATUS = const(0x06)
+
+# Constants for sensor configurations
+OVERSAMPLE_64 = const(0b11)
+OVERSAMPLE_128 = const(0b10)
+OVERSAMPLE_256 = const(0b01)
+OVERSAMPLE_512 = const(0b00)
+
+FIELD_RANGE_2G = const(0b00)
+FIELD_RANGE_8G = const(0b01)
+
+OUTPUT_DATA_RATE_10 = const(0b00)
+OUTPUT_DATA_RATE_50 = const(0b01)
+OUTPUT_DATA_RATE_100 = const(0b10)
+OUTPUT_DATA_RATE_200 = const(0b11)
+
+MODE_STANDBY = const(0b00)
+MODE_CONTINUOUS = const(0b01)
+
+RESET_VALUE = const(0b01)
+
+
+class ChangeBitsToBytes:
+    """
+    Class to handle manipulation of bits within a byte register.
+    """
+
+    def __init__(
+        self,
+        num_bits: int,
+        register_address: int,
+        start_bit_position: int,
+        register_width: int = 1,
+        is_lsb_first: bool = True,
+    ) -> None:
+        """
+        Initialize ChangeBitsToBytes object.
+
+        :param num_bits: int, the number of bits in the register
+        :param register_address: int, the address of the register
+        :param start_bit_position: int, the position of the starting bit
+        :param register_width: int, the width of the register (default is 1)
+        :param is_lsb_first: bool, indicates whether the least significant bit is first (default is True)
+        """
+        self.bit_mask = ((1 << num_bits) - 1) << start_bit_position
+        self.register_address = register_address
+        self.start_bit_position = start_bit_position
+        self.register_width = register_width
+        self.is_lsb_first = is_lsb_first
+
+    def get_register_value(self, obj) -> int:
+        """
+        Read a value from the specified register.
+
+        :param obj: The object representing the device to read from.
+        :return: The value read from the register.
+        """
+        memory_value = obj._i2c.readfrom_mem(  # pylint: disable=protected-access
+            obj.address, self.register_address, self.register_width
+        )
+        register_value = 0
+        byte_order = range(len(memory_value) - 1, -1, -1)
+        if not self.is_lsb_first:
+            byte_order = reversed(byte_order)
+        for i in byte_order:
+            register_value = (register_value << 8) | memory_value[i]
+        register_value = (register_value & self.bit_mask) >> self.start_bit_position
+        return register_value
+
+    def __set__(self, obj, value: int) -> None:
+        """
+        Set the value to the specified register.
+
+        :param obj: The object representing the device to write to.
+        :param value: The value to set in the register.
+        """
+        memory_value = obj._i2c.readfrom_mem(
+            obj.address, self.register_address, self.register_width
+        )  # pylint: disable=protected-access
+
+        register_value = 0
+        byte_order = range(len(memory_value) - 1, -1, -1)
+        if not self.is_lsb_first:
+            byte_order = range(len(memory_value))
+        for i in byte_order:
+            register_value = (register_value << 8) | memory_value[i]
+        register_value &= ~self.bit_mask
+
+        value <<= self.start_bit_position
+        register_value |= value
+        register_value = register_value.to_bytes(self.register_width, "big")
+        obj._i2c.writeto_mem(
+            obj.address, self.register_address, register_value
+        )  # pylint: disable=protected-access
+
+
+class RegisterStruct:
+    """
+    Class representing a structure for handling register data.
+    """
+
+    def __init__(self, register_address: int, format_string: str) -> None:
+        """
+        Initialize RegisterStruct object with given register address and format string.
+
+        :param register_address: int, the address of the register
+        :param format_string: str, the format string specifying the data structure
+        """
+        self.format = format_string
+        self.register = register_address
+        self.length = struct.calcsize(format_string)
+
+    def __get__(self, obj, obj_type=None) -> tuple:
+        """
+        Get the value of the register.
+
+        :param obj: The object representing the device.
+        :param obj_type: The type of the object.
+        :return: The value of the register.
+        """
+        mem_value = obj._i2c.readfrom_mem(
+            obj.address, self.register, self.length
+        )  # pylint: disable=protected-access
+        if self.length <= 2:
+            value = struct.unpack(self.format, mem_value)[0]
+        else:
+            value = struct.unpack(self.format, mem_value)
+        return value
+
+    def __set__(self, obj, value):
+        """
+        Set the value of the register.
+
+        :param obj: The object representing the device.
+        :param value: The value to set.
+        """
+        mem_value = struct.pack(self.format, value)
+        obj._i2c.writeto_mem(
+            obj.address, self.register, mem_value
+        )  # pylint: disable=protected-access
+
+
+# pylint: disable=too-many-instance-attributes
+class Compass:
+    """
+    Class representing a compass sensor.
+    """
+
+    _device_id = RegisterStruct(_REGISTER_WHOAMI, "H")
+    _reset = RegisterStruct(_REGISTER_SET_RESET, "H")
+    _conf_reg = RegisterStruct(_REGISTER_OPERATION_MODE, "H")
+    _oversample = ChangeBitsToBytes(2, _REGISTER_OPERATION_MODE, 6)
+    _field_range = ChangeBitsToBytes(2, _REGISTER_OPERATION_MODE, 4)
+    _output_data_rate = ChangeBitsToBytes(2, _REGISTER_OPERATION_MODE, 2)
+    _mode_control = ChangeBitsToBytes(2, _REGISTER_OPERATION_MODE, 0)
+    _data_ready_register = ChangeBitsToBytes(1, _REGISTER_STATUS, 2)
+    _measures = RegisterStruct(0x00, "<hhhBh")
+
+    def __init__(self, i2c, address: int = 0xD) -> None:
+        """
+        Initialize Compass object.
+
+        :param i2c: The I2C bus object.
+        :param address: int, the address of the compass sensor (default is 0xD)
+        """
+        self._i2c = i2c
+        self._address = address
+
+        if self._device_id != 0xFF:
+            raise RuntimeError("Failed to find the QMC5883L!")
+        self._reset = 0x01
+
+        self.oversample = OVERSAMPLE_128
+        self.field_range = FIELD_RANGE_2G
+        self.output_data_rate = OUTPUT_DATA_RATE_200
+        self.mode_control = MODE_CONTINUOUS
+
+    @property
+    def oversample(self) -> int:
+        """
+        Get the oversample setting.
+        :return: int, the oversample setting.
+        """
+        oversample_values = (
+            OVERSAMPLE_512,
+            OVERSAMPLE_256,
+            OVERSAMPLE_128,
+            OVERSAMPLE_64,
+        )
+        return oversample_values[self.oversample]
+
+    @oversample.setter
+    def oversample(self, value: int) -> None:
+        """
+        Set the oversample setting.
+        :param value: int, the value to set as oversample.
+        """
+        if value not in (OVERSAMPLE_512, OVERSAMPLE_256, OVERSAMPLE_128, OVERSAMPLE_64):
+            raise ValueError("Value must be a valid oversample setting")
+        self._oversample = value
+
+    @property
+    def field_range(self) -> int:
+        """
+        Get the field range setting.
+        :return: int, the field range setting.
+        """
+        field_range_values = (FIELD_RANGE_2G, FIELD_RANGE_8G)
+        return field_range_values[self.field_range]
+
+    @field_range.setter
+    def field_range(self, value: int) -> None:
+        """
+        Set the field range setting.
+        :param value: int, the value to set as field range.
+        """
+        if value not in (FIELD_RANGE_2G, FIELD_RANGE_8G):
+            raise ValueError("Value must be a valid field range setting")
+
+        if value == 1:
+            self.resolution = 3000
+        else:
+            self.resolution = 12000
+
+        self._field_range = value
+
+    @property
+    def output_data_rate(self) -> int:
+        """
+        Get the output data rate setting.
+        :return: int, the output data rate setting.
+        """
+        data_rate_values = (
+            OUTPUT_DATA_RATE_10,
+            OUTPUT_DATA_RATE_50,
+            OUTPUT_DATA_RATE_100,
+            OUTPUT_DATA_RATE_200,
+            50,
+        )
+        return data_rate_values[self.output_data_rate]
+
+    @output_data_rate.setter
+    def output_data_rate(self, value: int) -> None:
+        """
+        Set the output data rate setting.
+        :param value: int, the value to set as output data rate.
+        """
+        if value not in (
+            OUTPUT_DATA_RATE_10,
+            OUTPUT_DATA_RATE_50,
+            OUTPUT_DATA_RATE_100,
+            OUTPUT_DATA_RATE_200,
+        ):
+            raise ValueError("Value must be a valid data rate setting")
+        self._output_data_rate = value
+
+    @property
+    def mode_control(self) -> int:
+        """
+        Get the mode control setting.
+
+        :return: int, the mode control setting.
+        """
+        mode_values = (MODE_STANDBY, MODE_CONTINUOUS)
+        return mode_values[self.mode_control]
+
+    @mode_control.setter
+    def mode_control(self, value: int) -> None:
+        """
+        Set the mode control setting.
+
+        :param value: int, the value to set as mode control.
+        """
+        if value not in (MODE_STANDBY, MODE_CONTINUOUS):
+            raise ValueError("Value must be a valid mode setting")
+        self._mode_control = value
+
+    @property
+    def magnetic(self):
+        """
+        Get the magnetic property.
+
+        :return: tuple, the magnetic property.
+        """
+        while self._data_ready_register != 1:
+            sleep(0.001)
+        x, y, z, _, _ = self._measures  # pylint: disable=unpacking-non-sequence
+
+        return x / self.resolution, y / self.resolution, z / self.resolution

leaphymicropython/utils/boards_config.py

@@ -143,7 +143,7 @@ def get_board_type():
         board = "RP_NANO_MAKER"
     elif str(decoded_id).startswith("E66164"):
         board = "PICO_W"
-    elif str(decoded_id).startswith("502365"):
+    elif str(decoded_id).startswith("503533"):
         board = "NANO_CONNECT"
     return board
 

leaphymicropython/utils/pins.py

@@ -24,7 +24,7 @@ def read_pwm(pin: int):
     """
     pin = pin_to_gpio(pin)
     pwm = PWM(Pin(pin))
-    return int(pwm.duty_u16() / 257)
+    return round(pwm.duty_u16() / 257)
 
 
 def set_pin(pin: int, value: int):
@@ -59,4 +59,4 @@ def read_adc(pin: int) -> int:
     """
     pin = pin_to_gpio(pin)
     adcpin = ADC(Pin(pin))
-    return int(adcpin.read_u16() / 257)
+    return round(adcpin.read_u16() / 257)

package.json

@@ -4,11 +4,11 @@
         ["leaphymicropython/utils/pins.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/utils/pins.py"],
         ["leaphymicropython/utils/timeschedule.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/utils/timeschedule.py"],
         ["leaphymicropython/utils/wifi.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/utils/wifi.py"],
-        ["leaphymicropython/utils/i2c.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/utils/i2c.py"],
         ["leaphymicropython/utils/i2c_address_finder.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/utils/i2c_address_finder.py"]
         ["leaphymicropython/sensors/sonar.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/sensors/sonar.py"],
         ["leaphymicropython/sensors/linesensor.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/sensors/linesensor.py"],
         ["leaphymicropython/sensors/dht22.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/sensors/dht22.py"],
+        ["leaphymicropython/sensors/compass.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/sensors/compass.py"],
         ["leaphymicropython/actuators/buzzer.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/actuators/buzzer.py"],
         ["leaphymicropython/actuators/dcmotor.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/actuators/dcmotor.py"],
         ["leaphymicropython/actuators/rgbled.py", "github:leaphy-robotics/leaphy-micropython/leaphymicropython/actuators/rgbled.py"],