grovepi

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Purdue University *

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161

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Electrical Engineering

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Apr 3, 2024

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Uploaded by CountWorldMagpie35

#!/usr/bin/env python # # GrovePi Python library # v1.2.2 # # This file provides the basic functions for using the GrovePi # # The GrovePi connects the Raspberry Pi and Grove sensors. You can learn more about GrovePi here: http://www.dexterindustries.com/GrovePi # # Have a question about this example? Ask on the forums here: http://forum.dexterindustries.com/c/grovepi # ''' ## License The MIT License (MIT) GrovePi for the Raspberry Pi: an open source platform for connecting Grove Sensors to the Raspberry Pi. Copyright (C) 2017 Dexter Industries Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. ''' # Initial Date: 13 Feb 2014 # Last Updated: 11 Nov 2016 # http://www.dexterindustries.com/ # Author Date Comments # Karan 13 Feb 2014 Initial Authoring # 11 Nov 2016 I2C retries added for faster IO # DHT function updated to look for nan's import sys import time import math import struct debug =0 if sys.version_info<(3,0): p_version=2 else: p_version=3

if sys.platform == 'uwp': import winrt_smbus as smbus bus = smbus.SMBus(1) else: import smbus import RPi.GPIO as GPIO rev = GPIO.RPI_REVISION if rev == 2 or rev == 3: bus = smbus.SMBus(1) else: bus = smbus.SMBus(0) # I2C Address of Arduino address = 0x04 # Command Format # digitalRead() command format header dRead_cmd = [1] # digitalWrite() command format header dWrite_cmd = [2] # analogRead() command format header aRead_cmd = [3] # analogWrite() command format header aWrite_cmd = [4] # pinMode() command format header pMode_cmd = [5] # Ultrasonic read uRead_cmd = [7] # Get firmware version version_cmd = [8] # Accelerometer (+/- 1.5g) read acc_xyz_cmd = [20] # RTC get time rtc_getTime_cmd = [30] # DHT Pro sensor temperature dht_temp_cmd = [40] # Grove LED Bar commands # Initialise ledBarInit_cmd = [50] # Set orientation ledBarOrient_cmd = [51] # Set level ledBarLevel_cmd = [52] # Set single LED ledBarSetOne_cmd = [53] # Toggle single LED ledBarToggleOne_cmd = [54] # Set all LEDs ledBarSet_cmd = [55] # Get current state ledBarGet_cmd = [56] # Grove 4 Digit Display commands # Initialise fourDigitInit_cmd = [70] # Set brightness, not visible until next cmd fourDigitBrightness_cmd = [71]

# Set numeric value without leading zeros fourDigitValue_cmd = [72] # Set numeric value with leading zeros fourDigitValueZeros_cmd = [73] # Set individual digit fourDigitIndividualDigit_cmd = [74] # Set individual leds of a segment fourDigitIndividualLeds_cmd = [75] # Set left and right values with colon fourDigitScore_cmd = [76] # Analog read for n seconds fourDigitAnalogRead_cmd = [77] # Entire display on fourDigitAllOn_cmd = [78] # Entire display off fourDigitAllOff_cmd = [79] # Grove Chainable RGB LED commands # Store color for later use storeColor_cmd = [90] # Initialise chainableRgbLedInit_cmd = [91] # Initialise and test with a simple color chainableRgbLedTest_cmd = [92] # Set one or more leds to the stored color by pattern chainableRgbLedSetPattern_cmd = [93] # set one or more leds to the stored color by modulo chainableRgbLedSetModulo_cmd = [94] # sets leds similar to a bar graph, reversible chainableRgbLedSetLevel_cmd = [95] # Read the button from IR sensor ir_read_cmd=[21] # Set pin for the IR reciever ir_recv_pin_cmd=[22] dus_sensor_read_cmd=[10] dust_sensor_en_cmd=[14] dust_sensor_dis_cmd=[15] encoder_read_cmd=[11] encoder_en_cmd=[16] encoder_dis_cmd=[17] flow_read_cmd=[12] flow_disable_cmd=[13] flow_en_cmd=[18] # This allows us to be more specific about which commands contain unused bytes unused = 0 retries = 10 # Function declarations of the various functions used for encoding and sending # data from RPi to Arduino # Write I2C block def write_i2c_block(address, block): for i in range(retries): try: return bus.write_i2c_block_data(address, 1, block) except IOError: if debug:

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print ("IOError") return -1 # Read I2C byte def read_i2c_byte(address): for i in range(retries): try: return bus.read_byte(address) except IOError: if debug: print ("IOError") return -1 # Read I2C block def read_i2c_block(address): for i in range(retries): try: return bus.read_i2c_block_data(address, 1) except IOError: if debug: print ("IOError") return -1 # Arduino Digital Read def digitalRead(pin): write_i2c_block(address, dRead_cmd + [pin, unused, unused]) # time.sleep(.1) n = read_i2c_byte(address) return n # Arduino Digital Write def digitalWrite(pin, value): write_i2c_block(address, dWrite_cmd + [pin, value, unused]) return 1 # Setting Up Pin mode on Arduino def pinMode(pin, mode): if mode == "OUTPUT": write_i2c_block(address, pMode_cmd + [pin, 1, unused]) elif mode == "INPUT": write_i2c_block(address, pMode_cmd + [pin, 0, unused]) return 1 # Read analog value from Pin def analogRead(pin): write_i2c_block(address, aRead_cmd + [pin, unused, unused]) read_i2c_byte(address) number = read_i2c_block(address) return number[1] * 256 + number[2] # Write PWM def analogWrite(pin, value): write_i2c_block(address, aWrite_cmd + [pin, value, unused]) return 1

# Read temp in Celsius from Grove Temperature Sensor def temp(pin, model = '1.0'): # each of the sensor revisions use different thermistors, each with their own B value constant if model == '1.2': bValue = 4250 # sensor v1.2 uses thermistor ??? (assuming NCP18WF104F03RC until SeeedStudio clarifies) elif model == '1.1': bValue = 4250 # sensor v1.1 uses thermistor NCP18WF104F03RC else: bValue = 3975 # sensor v1.0 uses thermistor TTC3A103*39H a = analogRead(pin) resistance = (float)(1023 - a) * 10000 / a t = (float)(1 / (math.log(resistance / 10000) / bValue + 1 / 298.15) - 273.15) return t # Read value from Grove Ultrasonic def ultrasonicRead(pin): write_i2c_block(address, uRead_cmd + [pin, unused, unused]) time.sleep(.06) #firmware has a time of 50ms so wait for more than that read_i2c_byte(address) number = read_i2c_block(address) return (number[1] * 256 + number[2]) # Read the firmware version def version(): write_i2c_block(address, version_cmd + [unused, unused, unused]) time.sleep(.1) read_i2c_byte(address) number = read_i2c_block(address) return "%s.%s.%s" % (number[1], number[2], number[3]) # Read Grove Accelerometer (+/- 1.5g) XYZ value def acc_xyz(): write_i2c_block(address, acc_xyz_cmd + [unused, unused, unused]) time.sleep(.1) read_i2c_byte(address) number = read_i2c_block(address) if number[1] > 32: number[1] = - (number[1] - 224) if number[2] > 32: number[2] = - (number[2] - 224) if number[3] > 32: number[3] = - (number[3] - 224) return (number[1], number[2], number[3]) # Read from Grove RTC def rtc_getTime(): write_i2c_block(address, rtc_getTime_cmd + [unused, unused, unused]) time.sleep(.1) read_i2c_byte(address) number = read_i2c_block(address) return number

# Read and return temperature and humidity from Grove DHT Pro def dht(pin, module_type): write_i2c_block(address, dht_temp_cmd + [pin, module_type, unused]) # Delay necessary for proper reading fron DHT sensor # time.sleep(.6) try: read_i2c_byte(address) number = read_i2c_block(address) # time.sleep(.1) if number == -1: return [-1,-1] except (TypeError, IndexError): return [-1,-1] # data returned in IEEE format as a float in 4 bytes if p_version==2: h='' for element in (number[1:5]): h+=chr(element) t_val=struct.unpack('f', h) t = round(t_val[0], 2) h = '' for element in (number[5:9]): h+=chr(element) hum_val=struct.unpack('f',h) hum = round(hum_val[0], 2) else: t_val=bytearray(number[1:5]) h_val=bytearray(number[5:9]) t=round(struct.unpack('f',t_val)[0],2) hum=round(struct.unpack('f',h_val)[0],2) if t > -100.0 and t <150.0 and hum >= 0.0 and hum<=100.0: return [t, hum] else: return [float('nan'),float('nan')] # Grove LED Bar - initialise # orientation: (0 = red to green, 1 = green to red) def ledBar_init(pin, orientation): write_i2c_block(address, ledBarInit_cmd + [pin, orientation, unused]) return 1 # Grove LED Bar - set orientation # orientation: (0 = red to green, 1 = green to red) def ledBar_orientation(pin, orientation): write_i2c_block(address, ledBarOrient_cmd + [pin, orientation, unused]) return 1 # Grove LED Bar - set level # level: (0-10) def ledBar_setLevel(pin, level): write_i2c_block(address, ledBarLevel_cmd + [pin, level, unused]) return 1

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# Grove LED Bar - set single led # led: which led (1-10) # state: off or on (0-1) def ledBar_setLed(pin, led, state): write_i2c_block(address, ledBarSetOne_cmd + [pin, led, state]) return 1 # Grove LED Bar - toggle single led # led: which led (1-10) def ledBar_toggleLed(pin, led): write_i2c_block(address, ledBarToggleOne_cmd + [pin, led, unused]) return 1 # Grove LED Bar - set all leds # state: (0-1023) or (0x00-0x3FF) or (0b0000000000-0b1111111111) or (int('0000000000',2)-int('1111111111',2)) def ledBar_setBits(pin, state): byte1 = state & 255 byte2 = state >> 8 write_i2c_block(address, ledBarSet_cmd + [pin, byte1, byte2]) return 1 # Grove LED Bar - get current state # state: (0-1023) a bit for each of the 10 LEDs def ledBar_getBits(pin): write_i2c_block(address, ledBarGet_cmd + [pin, unused, unused]) time.sleep(.2) read_i2c_byte(0x04) block = read_i2c_block(0x04) return block[1] ^ (block[2] << 8) # Grove 4 Digit Display - initialise def fourDigit_init(pin): write_i2c_block(address, fourDigitInit_cmd + [pin, unused, unused]) return 1 # Grove 4 Digit Display - set numeric value with or without leading zeros # value: (0-65535) or (0000-FFFF) def fourDigit_number(pin, value, leading_zero): # split the value into two bytes so we can render 0000-FFFF on the display byte1 = value & 255 byte2 = value >> 8 # separate commands to overcome current 4 bytes per command limitation if (leading_zero): write_i2c_block(address, fourDigitValue_cmd + [pin, byte1, byte2]) else: write_i2c_block(address, fourDigitValueZeros_cmd + [pin, byte1, byte2]) time.sleep(.05) return 1 # Grove 4 Digit Display - set brightness # brightness: (0-7) def fourDigit_brightness(pin, brightness): # not actually visible until next command is executed write_i2c_block(address, fourDigitBrightness_cmd + [pin, brightness, unused]) time.sleep(.05) return 1

# Grove 4 Digit Display - set individual segment (0-9,A-F) # segment: (0-3) # value: (0-15) or (0-F) def fourDigit_digit(pin, segment, value): write_i2c_block(address, fourDigitIndividualDigit_cmd + [pin, segment, value]) time.sleep(.05) return 1 # Grove 4 Digit Display - set 7 individual leds of a segment # segment: (0-3) # leds: (0-255) or (0-0xFF) one bit per led, segment 2 is special, 8th bit is the colon def fourDigit_segment(pin, segment, leds): write_i2c_block(address, fourDigitIndividualLeds_cmd + [pin, segment, leds]) time.sleep(.05) return 1 # Grove 4 Digit Display - set left and right values (0-99), with leading zeros and a colon # left: (0-255) or (0-FF) # right: (0-255) or (0-FF) # colon will be lit def fourDigit_score(pin, left, right): write_i2c_block(address, fourDigitScore_cmd + [pin, left, right]) time.sleep(.05) return 1 # Grove 4 Digit Display - display analogRead value for n seconds, 4 samples per second # analog: analog pin to read # duration: analog read for this many seconds def fourDigit_monitor(pin, analog, duration): write_i2c_block(address, fourDigitAnalogRead_cmd + [pin, analog, duration]) time.sleep(duration + .05) return 1 # Grove 4 Digit Display - turn entire display on (88:88) def fourDigit_on(pin): write_i2c_block(address, fourDigitAllOn_cmd + [pin, unused, unused]) time.sleep(.05) return 1 # Grove 4 Digit Display - turn entire display off def fourDigit_off(pin): write_i2c_block(address, fourDigitAllOff_cmd + [pin, unused, unused]) time.sleep(.05) return 1 # Grove Chainable RGB LED - store a color for later use # red: 0-255 # green: 0-255 # blue: 0-255 def storeColor(red, green, blue): write_i2c_block(address, storeColor_cmd + [red, green, blue]) time.sleep(.05) return 1

# Grove Chainable RGB LED - initialise # numLeds: how many leds do you have in the chain def chainableRgbLed_init(pin, numLeds): write_i2c_block(address, chainableRgbLedInit_cmd + [pin, numLeds, unused]) time.sleep(.05) return 1 # Grove Chainable RGB LED - initialise and test with a simple color # numLeds: how many leds do you have in the chain # testColor: (0-7) 3 bits in total - a bit for red, green and blue, eg. 0x04 == 0b100 (0bRGB) == rgb(255, 0, 0) == #FF0000 == red # ie. 0 black, 1 blue, 2 green, 3 cyan, 4 red, 5 magenta, 6 yellow, 7 white def chainableRgbLed_test(pin, numLeds, testColor): write_i2c_block(address, chainableRgbLedTest_cmd + [pin, numLeds, testColor]) time.sleep(.05) return 1 # Grove Chainable RGB LED - set one or more leds to the stored color by pattern # pattern: (0-3) 0 = this led only, 1 all leds except this led, 2 this led and all leds inwards, 3 this led and all leds outwards # whichLed: index of led you wish to set counting outwards from the GrovePi, 0 = led closest to the GrovePi def chainableRgbLed_pattern(pin, pattern, whichLed): write_i2c_block(address, chainableRgbLedSetPattern_cmd + [pin, pattern, whichLed]) time.sleep(.05) return 1 # Grove Chainable RGB LED - set one or more leds to the stored color by modulo # offset: index of led you wish to start at, 0 = led closest to the GrovePi, counting outwards # divisor: when 1 (default) sets stored color on all leds >= offset, when 2 sets every 2nd led >= offset and so on def chainableRgbLed_modulo(pin, offset, divisor): write_i2c_block(address, chainableRgbLedSetModulo_cmd + [pin, offset, divisor]) time.sleep(.05) return 1 # Grove Chainable RGB LED - sets leds similar to a bar graph, reversible # level: (0-10) the number of leds you wish to set to the stored color # reversible (0-1) when 0 counting outwards from GrovePi, 0 = led closest to the GrovePi, otherwise counting inwards def chainableRgbLed_setLevel(pin, level, reverse): write_i2c_block(address, chainableRgbLedSetLevel_cmd + [pin, level, reverse]) time.sleep(.05) return 1 # Grove - Infrared Receiver- get the commands received from the Grove IR sensor def ir_read_signal(): try: write_i2c_block(address,ir_read_cmd+[unused,unused,unused]) time.sleep(.1) data_back= bus.read_i2c_block_data(address, 1)[0:21] if (data_back[1]!=255): return data_back return [-1]*21 except IOError:

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return [-1]*21 # Grove - Infrared Receiver- set the pin on which the Grove IR sensor is connected def ir_recv_pin(pin): write_i2c_block(address,ir_recv_pin_cmd+[pin,unused,unused]) def dust_sensor_en(): write_i2c_block(address, dust_sensor_en_cmd + [unused, unused, unused]) time.sleep(.2) def dust_sensor_dis(): write_i2c_block(address, dust_sensor_dis_cmd + [unused, unused, unused]) time.sleep(.2) def dustSensorRead(): write_i2c_block(address, dus_sensor_read_cmd + [unused, unused, unused]) time.sleep(.2) #read_i2c_byte(address) #number = read_i2c_block(address) #return (number[1] * 256 + number[2]) data_back= bus.read_i2c_block_data(address, 1)[0:4] #print data_back[:4] if data_back[0]!=255: lowpulseoccupancy=(data_back[3]*256*256+data_back[2]*256+data_back[1]) #print [data_back[0],lowpulseoccupancy] return [data_back[0],lowpulseoccupancy] else: return [-1,-1] print (data_back) def encoder_en(): write_i2c_block(address, encoder_en_cmd + [unused, unused, unused]) time.sleep(.2) def encoder_dis(): write_i2c_block(address, encoder_dis_cmd + [unused, unused, unused]) time.sleep(.2) def encoderRead(): write_i2c_block(address, encoder_read_cmd + [unused, unused, unused]) time.sleep(.2) data_back= bus.read_i2c_block_data(address, 1)[0:2] #print data_back if data_back[0]!=255: return [data_back[0],data_back[1]] else: return [-1,-1] def flowDisable(): write_i2c_block(address, flow_disable_cmd + [unused, unused, unused]) time.sleep(.2) def flowEnable(): write_i2c_block(address, flow_en_cmd + [unused, unused, unused]) time.sleep(.2) def flowRead(): write_i2c_block(address, flow_read_cmd + [unused, unused, unused]) time.sleep(.2)

data_back= bus.read_i2c_block_data(address, 1)[0:3] #print data_back if data_back[0]!=255: return [data_back[0],data_back[2]*256+data_back[1]] else: return [-1,-1]