# SPDX-FileCopyrightText: 2017 Dean Miller for Adafruit Industries
#
# SPDX-License-Identifier: MIT
"""
`adafruit_seesaw.seesaw`
====================================================
An I2C to whatever helper chip.
* Author(s): Dean Miller
Implementation Notes
--------------------
**Hardware:**
* Adafruit `ATSAMD09 Breakout with seesaw
<https://www.adafruit.com/product/3657>`_ (Product ID: 3657)
**Software and Dependencies:**
* Adafruit CircuitPython firmware: https://circuitpython.org/
* or Adafruit Blinka: https://circuitpython.org/blinka
* Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
"""
# This code needs to be broken up into analogio, busio, digitalio, and pulseio
# compatible classes so we won't bother with some lints until then.
# pylint: disable=missing-docstring,invalid-name,too-many-public-methods,no-name-in-module
import time
try:
import struct
except ImportError:
import ustruct as struct
try:
from micropython import const
except ImportError:
def const(x):
return x
from adafruit_bus_device.i2c_device import I2CDevice
__version__ = "0.0.0-auto.0"
__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_seesaw.git"
_STATUS_BASE = const(0x00)
_GPIO_BASE = const(0x01)
_SERCOM0_BASE = const(0x02)
_TIMER_BASE = const(0x08)
_ADC_BASE = const(0x09)
_DAC_BASE = const(0x0A)
_INTERRUPT_BASE = const(0x0B)
_DAP_BASE = const(0x0C)
_EEPROM_BASE = const(0x0D)
_NEOPIXEL_BASE = const(0x0E)
_TOUCH_BASE = const(0x0F)
_ENCODER_BASE = const(0x11)
_GPIO_DIRSET_BULK = const(0x02)
_GPIO_DIRCLR_BULK = const(0x03)
_GPIO_BULK = const(0x04)
_GPIO_BULK_SET = const(0x05)
_GPIO_BULK_CLR = const(0x06)
_GPIO_BULK_TOGGLE = const(0x07)
_GPIO_INTENSET = const(0x08)
_GPIO_INTENCLR = const(0x09)
_GPIO_INTFLAG = const(0x0A)
_GPIO_PULLENSET = const(0x0B)
_GPIO_PULLENCLR = const(0x0C)
_STATUS_HW_ID = const(0x01)
_STATUS_VERSION = const(0x02)
_STATUS_OPTIONS = const(0x03)
_STATUS_TEMP = const(0x04)
_STATUS_SWRST = const(0x7F)
_TIMER_STATUS = const(0x00)
_TIMER_PWM = const(0x01)
_TIMER_FREQ = const(0x02)
_ADC_STATUS = const(0x00)
_ADC_INTEN = const(0x02)
_ADC_INTENCLR = const(0x03)
_ADC_WINMODE = const(0x04)
_ADC_WINTHRESH = const(0x05)
_ADC_CHANNEL_OFFSET = const(0x07)
_SERCOM_STATUS = const(0x00)
_SERCOM_INTEN = const(0x02)
_SERCOM_INTENCLR = const(0x03)
_SERCOM_BAUD = const(0x04)
_SERCOM_DATA = const(0x05)
_NEOPIXEL_STATUS = const(0x00)
_NEOPIXEL_PIN = const(0x01)
_NEOPIXEL_SPEED = const(0x02)
_NEOPIXEL_BUF_LENGTH = const(0x03)
_NEOPIXEL_BUF = const(0x04)
_NEOPIXEL_SHOW = const(0x05)
_TOUCH_CHANNEL_OFFSET = const(0x10)
_HW_ID_CODE = const(0x55)
_EEPROM_I2C_ADDR = const(0x3F)
_ENCODER_STATUS = const(0x00)
_ENCODER_INTENSET = const(0x10)
_ENCODER_INTENCLR = const(0x20)
_ENCODER_POSITION = const(0x30)
_ENCODER_DELTA = const(0x40)
# TODO: update when we get real PID
_CRICKIT_PID = const(9999)
_ROBOHATMM1_PID = const(9998)
[docs]class Seesaw:
"""Driver for Seesaw i2c generic conversion trip
:param ~busio.I2C i2c_bus: Bus the SeeSaw is connected to
:param int addr: I2C address of the SeeSaw device
:param ~digitalio.DigitalInOut drdy: Pin connected to SeeSaw's 'ready' output"""
INPUT = const(0x00)
OUTPUT = const(0x01)
INPUT_PULLUP = const(0x02)
INPUT_PULLDOWN = const(0x03)
def __init__(self, i2c_bus, addr=0x49, drdy=None):
self._drdy = drdy
if drdy is not None:
drdy.switch_to_input()
self.i2c_device = I2CDevice(i2c_bus, addr)
self.sw_reset()
[docs] def sw_reset(self):
"""Trigger a software reset of the SeeSaw chip"""
self.write8(_STATUS_BASE, _STATUS_SWRST, 0xFF)
time.sleep(0.500)
chip_id = self.read8(_STATUS_BASE, _STATUS_HW_ID)
if chip_id != _HW_ID_CODE:
raise RuntimeError(
"Seesaw hardware ID returned (0x{:x}) is not "
"correct! Expected 0x{:x}. Please check your wiring.".format(
chip_id, _HW_ID_CODE
)
)
pid = self.get_version() >> 16
# pylint: disable=import-outside-toplevel
if pid == _CRICKIT_PID:
from adafruit_seesaw.crickit import Crickit_Pinmap
self.pin_mapping = Crickit_Pinmap
elif pid == _ROBOHATMM1_PID:
from adafruit_seesaw.robohat import MM1_Pinmap
self.pin_mapping = MM1_Pinmap
else:
from adafruit_seesaw.samd09 import SAMD09_Pinmap
self.pin_mapping = SAMD09_Pinmap
# pylint: enable=import-outside-toplevel
[docs] def get_options(self):
"""Retrieve the 'options' word from the SeeSaw board"""
buf = bytearray(4)
self.read(_STATUS_BASE, _STATUS_OPTIONS, buf)
ret = struct.unpack(">I", buf)[0]
return ret
[docs] def get_version(self):
"""Retrieve the 'version' word from the SeeSaw board"""
buf = bytearray(4)
self.read(_STATUS_BASE, _STATUS_VERSION, buf)
ret = struct.unpack(">I", buf)[0]
return ret
[docs] def pin_mode(self, pin, mode):
"""Set the mode of a pin by number"""
if pin >= 32:
self.pin_mode_bulk_b(1 << (pin - 32), mode)
else:
self.pin_mode_bulk(1 << pin, mode)
[docs] def digital_write(self, pin, value):
"""Set the value of an output pin by number"""
if pin >= 32:
self.digital_write_bulk_b(1 << (pin - 32), value)
else:
self.digital_write_bulk(1 << pin, value)
[docs] def digital_read(self, pin):
"""Get the value of an input pin by number"""
if pin >= 32:
return self.digital_read_bulk_b((1 << (pin - 32))) != 0
return self.digital_read_bulk((1 << pin)) != 0
[docs] def digital_read_bulk(self, pins, delay=0.008):
"""Get the values of all the pins on the 'A' port as a bitmask"""
buf = bytearray(4)
self.read(_GPIO_BASE, _GPIO_BULK, buf, delay=delay)
buf[0] = buf[0] & 0x3F
ret = struct.unpack(">I", buf)[0]
return ret & pins
[docs] def digital_read_bulk_b(self, pins, delay=0.008):
"""Get the values of all the pins on the 'B' port as a bitmask"""
buf = bytearray(8)
self.read(_GPIO_BASE, _GPIO_BULK, buf, delay=delay)
ret = struct.unpack(">I", buf[4:])[0]
return ret & pins
[docs] def set_GPIO_interrupts(self, pins, enabled):
"""Enable or disable the GPIO interrupt"""
cmd = struct.pack(">I", pins)
if enabled:
self.write(_GPIO_BASE, _GPIO_INTENSET, cmd)
else:
self.write(_GPIO_BASE, _GPIO_INTENCLR, cmd)
[docs] def get_GPIO_interrupt_flag(self, delay=0.008):
"""Read and clear GPIO interrupts that have fired"""
buf = bytearray(4)
self.read(_GPIO_BASE, _GPIO_INTFLAG, buf, delay=delay)
return struct.unpack(">I", buf)[0]
[docs] def analog_read(self, pin):
"""Read the value of an analog pin by number"""
buf = bytearray(2)
if pin not in self.pin_mapping.analog_pins:
raise ValueError("Invalid ADC pin")
self.read(
_ADC_BASE,
_ADC_CHANNEL_OFFSET + self.pin_mapping.analog_pins.index(pin),
buf,
)
ret = struct.unpack(">H", buf)[0]
time.sleep(0.001)
return ret
[docs] def touch_read(self, pin):
"""Read the value of a touch pin by number"""
buf = bytearray(2)
if pin not in self.pin_mapping.touch_pins:
raise ValueError("Invalid touch pin")
self.read(
_TOUCH_BASE,
_TOUCH_CHANNEL_OFFSET + self.pin_mapping.touch_pins.index(pin),
buf,
)
ret = struct.unpack(">H", buf)[0]
return ret
[docs] def moisture_read(self):
"""Read the value of the moisture sensor"""
buf = bytearray(2)
self.read(_TOUCH_BASE, _TOUCH_CHANNEL_OFFSET, buf, 0.005)
ret = struct.unpack(">H", buf)[0]
time.sleep(0.001)
# retry if reading was bad
count = 0
while ret > 4095:
self.read(_TOUCH_BASE, _TOUCH_CHANNEL_OFFSET, buf, 0.005)
ret = struct.unpack(">H", buf)[0]
time.sleep(0.001)
count += 1
if count > 3:
raise RuntimeError("Could not get a valid moisture reading.")
return ret
def _pin_mode_bulk_x(self, capacity, offset, pins, mode):
cmd = bytearray(capacity)
cmd[offset:] = struct.pack(">I", pins)
if mode == self.OUTPUT:
self.write(_GPIO_BASE, _GPIO_DIRSET_BULK, cmd)
elif mode == self.INPUT:
self.write(_GPIO_BASE, _GPIO_DIRCLR_BULK, cmd)
self.write(_GPIO_BASE, _GPIO_PULLENCLR, cmd)
elif mode == self.INPUT_PULLUP:
self.write(_GPIO_BASE, _GPIO_DIRCLR_BULK, cmd)
self.write(_GPIO_BASE, _GPIO_PULLENSET, cmd)
self.write(_GPIO_BASE, _GPIO_BULK_SET, cmd)
elif mode == self.INPUT_PULLDOWN:
self.write(_GPIO_BASE, _GPIO_DIRCLR_BULK, cmd)
self.write(_GPIO_BASE, _GPIO_PULLENSET, cmd)
self.write(_GPIO_BASE, _GPIO_BULK_CLR, cmd)
else:
raise ValueError("Invalid pin mode")
[docs] def pin_mode_bulk(self, pins, mode):
"""Set the mode of all the pins on the 'A' port as a bitmask"""
self._pin_mode_bulk_x(4, 0, pins, mode)
[docs] def pin_mode_bulk_b(self, pins, mode):
"""Set the mode of all the pins on the 'B' port as a bitmask"""
self._pin_mode_bulk_x(8, 4, pins, mode)
[docs] def digital_write_bulk(self, pins, value):
"""Set the mode of pins on the 'A' port as a bitmask"""
cmd = struct.pack(">I", pins)
if value:
self.write(_GPIO_BASE, _GPIO_BULK_SET, cmd)
else:
self.write(_GPIO_BASE, _GPIO_BULK_CLR, cmd)
[docs] def digital_write_bulk_b(self, pins, value):
"""Set the mode of pins on the 'B' port as a bitmask"""
cmd = bytearray(8)
cmd[4:] = struct.pack(">I", pins)
if value:
self.write(_GPIO_BASE, _GPIO_BULK_SET, cmd)
else:
self.write(_GPIO_BASE, _GPIO_BULK_CLR, cmd)
[docs] def analog_write(self, pin, value):
"""Set the value of an analog output by number"""
pin_found = False
if self.pin_mapping.pwm_width == 16:
if pin in self.pin_mapping.pwm_pins:
pin_found = True
cmd = bytearray(
[self.pin_mapping.pwm_pins.index(pin), (value >> 8), value & 0xFF]
)
else:
if pin in self.pin_mapping.pwm_pins:
pin_found = True
cmd = bytearray([self.pin_mapping.pwm_pins.index(pin), value])
if pin_found is False:
raise ValueError("Invalid PWM pin")
self.write(_TIMER_BASE, _TIMER_PWM, cmd)
time.sleep(0.001)
[docs] def get_temp(self):
"""Read the temperature"""
buf = bytearray(4)
self.read(_STATUS_BASE, _STATUS_TEMP, buf, 0.005)
buf[0] = buf[0] & 0x3F
ret = struct.unpack(">I", buf)[0]
return 0.00001525878 * ret
[docs] def set_pwm_freq(self, pin, freq):
"""Set the PWM frequency of a pin by number"""
if pin in self.pin_mapping.pwm_pins:
cmd = bytearray(
[self.pin_mapping.pwm_pins.index(pin), (freq >> 8), freq & 0xFF]
)
self.write(_TIMER_BASE, _TIMER_FREQ, cmd)
else:
raise ValueError("Invalid PWM pin")
[docs] def encoder_position(self, encoder=0):
"""The current position of the encoder"""
buf = bytearray(4)
self.read(_ENCODER_BASE, _ENCODER_POSITION + encoder, buf)
return struct.unpack(">i", buf)[0]
[docs] def set_encoder_position(self, pos, encoder=0):
"""Set the current position of the encoder"""
cmd = struct.pack(">i", pos)
self.write(_ENCODER_BASE, _ENCODER_POSITION + encoder, cmd)
[docs] def encoder_delta(self, encoder=0):
"""The change in encoder position since it was last read"""
buf = bytearray(4)
self.read(_ENCODER_BASE, _ENCODER_DELTA + encoder, buf)
return struct.unpack(">i", buf)[0]
[docs] def enable_encoder_interrupt(self, encoder=0):
"""Enable the interrupt to fire when the encoder changes position"""
self.write8(_ENCODER_BASE, _ENCODER_INTENSET + encoder, 0x01)
[docs] def disable_encoder_interrupt(self, encoder=0):
"""Disable the interrupt from firing when the encoder changes"""
self.write8(_ENCODER_BASE, _ENCODER_INTENCLR + encoder, 0x01)
# def enable_sercom_data_rdy_interrupt(self, sercom):
#
# _sercom_inten.DATA_RDY = 1
# self.write8(SEESAW_SERCOM0_BASE + sercom, SEESAW_SERCOM_INTEN, _sercom_inten.get())
#
#
# def disable_sercom_data_rdy_interrupt(self, sercom):
#
# _sercom_inten.DATA_RDY = 0
# self.write8(SEESAW_SERCOM0_BASE + sercom, SEESAW_SERCOM_INTEN, _sercom_inten.get())
#
#
# def read_sercom_data(self, sercom):
#
# return self.read8(SEESAW_SERCOM0_BASE + sercom, SEESAW_SERCOM_DATA)
[docs] def set_i2c_addr(self, addr):
"""Store a new address in the device's EEPROM and reboot it."""
self.eeprom_write8(_EEPROM_I2C_ADDR, addr)
time.sleep(0.250)
self.i2c_device.device_address = addr
self.sw_reset()
[docs] def get_i2c_addr(self):
"""Return the device's I2C address stored in its EEPROM"""
return self.read8(_EEPROM_BASE, _EEPROM_I2C_ADDR)
[docs] def eeprom_write8(self, addr, val):
"""Write a single byte directly to the device's EEPROM"""
self.eeprom_write(addr, bytearray([val]))
[docs] def eeprom_write(self, addr, buf):
"""Write multiple bytes directly to the device's EEPROM"""
self.write(_EEPROM_BASE, addr, buf)
[docs] def eeprom_read8(self, addr):
"""Read a single byte directly to the device's EEPROM"""
return self.read8(_EEPROM_BASE, addr)
[docs] def uart_set_baud(self, baud):
"""Set the serial baudrate of the device"""
cmd = struct.pack(">I", baud)
self.write(_SERCOM0_BASE, _SERCOM_BAUD, cmd)
[docs] def write8(self, reg_base, reg, value):
"""Write an arbitrary I2C byte register on the device"""
self.write(reg_base, reg, bytearray([value]))
[docs] def read8(self, reg_base, reg):
"""Read an arbitrary I2C byte register on the device"""
ret = bytearray(1)
self.read(reg_base, reg, ret)
return ret[0]
[docs] def read(self, reg_base, reg, buf, delay=0.008):
"""Read an arbitrary I2C register range on the device"""
self.write(reg_base, reg)
if self._drdy is not None:
while self._drdy.value is False:
pass
else:
time.sleep(delay)
with self.i2c_device as i2c:
i2c.readinto(buf)
[docs] def write(self, reg_base, reg, buf=None):
"""Write an arbitrary I2C register range on the device"""
full_buffer = bytearray([reg_base, reg])
if buf is not None:
full_buffer += buf
if self._drdy is not None:
while self._drdy.value is False:
pass
with self.i2c_device as i2c:
i2c.write(full_buffer)