Merge branch 'main' into i2cFIxes

mirte_telemetrix/config/mirte_user_config.yaml

@@ -16,17 +16,17 @@ distance:
     pins:
       trigger: GP9
       echo: GP8
-encoder:
-  left:
-    name: left
-    device: mirte
-    pins:
-      pin: GP15
-  right:
-    name: right
-    device: mirte
-    pins:
-      pin: GP14
+#encoder:
+#  left:
+#    name: left
+#    device: mirte
+#    pins:
+#      pin: GP15
+#  right:
+#    name: right
+#    device: mirte
+#    pins:
+#      pin: GP14
 intensity:
   left:
     name: left 
@@ -40,13 +40,13 @@ intensity:
     pins:
       analog: GP27
       digital: GP17
-oled:
-  left:
-    name: left
-    device: mirte
-    pins:
-      sda: GP4
-      scl: GP5
+#oled:
+#  left:
+#    name: left
+#    device: mirte
+#    pins:
+#      sda: GP4
+#      scl: GP5
 #  right:
 #    name: right
 #    device: mirte

mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py

@@ -32,7 +32,7 @@ async def analog_write(board, pin, value):
     if board_mapping.get_mcu() == "pico":
         await board.pwm_write(pin, value)
     else:
-        await board.analog_write(board, pin, value)
+        await board.analog_write(pin, value)
 
 
 # Import ROS message types
@@ -187,22 +187,25 @@ def get_data(self, req):
     async def start(self):
         await self.board.set_pin_mode_analog_input(
             self.pins["pin"] - board_mapping.get_analog_offset(),
-            self.differential,
-            self.publish_data,
+            differential=self.differential,
+            callback=self.publish_data,
         )
 
     async def publish_data(self, data):
         # Determine the key that is pressed
+        # TODO: these values were found on a 12 bits adc, and
+        # added a scaling for the actual bits used. We could
+        # calculate this with the R values used.
         key = ""
-        if data[2] < 70:
+        if data[2] < 70 / 4096 * (2 ** board_mapping.get_adc_bits()):
             key = "left"
-        elif data[2] < 230:
+        elif data[2] < 230 / 4096 * (2 ** board_mapping.get_adc_bits()):
             key = "up"
-        elif data[2] < 410:
+        elif data[2] < 410 / 4096 * (2 ** board_mapping.get_adc_bits()):
             key = "down"
-        elif data[2] < 620:
+        elif data[2] < 620 / 4096 * (2 ** board_mapping.get_adc_bits()):
             key = "right"
-        elif data[2] < 880:
+        elif data[2] < 880 / 4096 * (2 ** board_mapping.get_adc_bits()):
             key = "enter"
 
         # Do some debouncing
@@ -770,7 +773,6 @@ async def handle_set_led_value(req):
 # this one more often than another pin.
 async def data_callback(data):
     global pin_values
-    print("data callback")
     pin_number = data[1]
     if data[0] == 3:
         pin_number += board_mapping.get_analog_offset()
@@ -797,7 +799,6 @@ def handle_get_pin_value(req):
             asyncio.run(board.set_pin_mode_digital_input(pin, callback=data_callback))
 
     while not pin in pin_values:
-        # print("sleeping pinvalues")
         time.sleep(0.00001)
 
     value = pin_values[pin]

mirte_telemetrix/scripts/mappings/default.py

@@ -25,5 +25,9 @@ def get_analog_offset():
     return 0
 
 
+def get_adc_bits():
+    return 12
+
+
 def get_max_pwm_value():
     return 255

mirte_telemetrix/scripts/mappings/nanoatmega328.py

@@ -30,6 +30,10 @@ def get_analog_offset():
     return 14
 
 
+def get_adc_bits():
+    return 12
+
+
 def get_max_pwm_value():
     return 255
 

mirte_telemetrix/scripts/mappings/pcb.py

@@ -42,6 +42,10 @@ def get_analog_offset():
     return board_mapping.get_analog_offset()
 
 
+def get_adc_bits():
+    return board_mapping.get_adc_bits()
+
+
 def connector_to_pins(connector):
     if connector in connector_mapping:
         return connector_mapping[connector]
@@ -67,12 +71,15 @@ def set_version(new_version, mcu=""):
         if mcu == "" or mcu == "stm32":
             board_mapping = mappings.stm32
             connector_mapping = mirte_pcb04_stm_map
-        # else:
-        #     board_mapping = mappings.nano
-        #     connector_mapping = mirte_pcb04_nano_map
+        else:
+            board_mapping = mappings.nano
+            connector_mapping = mirte_pcb04_nano_map
+    if version == 0.3:
+        board_mapping = mappings.stm32
+        connector_mapping = mirte_pcb03_stm_map
     if version == 0.2:
         board_mapping = mappings.stm32
-        connector_mapping = mirte_pcb04_stm_map
+        connector_mapping = mirte_pcb02_stm_map
 
 
 def get_max_pwm_value():
@@ -83,23 +90,62 @@ def get_max_pwm_value():
 
 mirte_pcb04_stm_map = {
     "IR1": {"digital": "C15", "analog": "A0"},
-    "IR2": {"digital": "B0", "analog": "A1"},
+    "IR2": {"digital": "A2", "analog": "A1"},
     "SRF1": {"trigger": "A15", "echo": "C14"},
     "SRF2": {"trigger": "A5", "echo": "A6"},
     "I2C1": {"scl": "B6", "sda": "B7"},
     "I2C2": {"scl": "B10", "sda": "B11"},
-    "ENCA": {"pin": "B4"},
-    "ENCB": {"pin": "B12"},
+    "ENCA": {"pin": "B12"},
+    "ENCB": {"pin": "B4"},
+    "MISC1": {"pin": "B0"},
+    "MISC2": {"pin": "B1"},
     "Keypad": {"pin": "A4"},
-    "Servo1": {"pin": "B5"},
-    "Servo2": {"pin": "A7"},
+    "Servo1": {"pin": "B3"},
+    "Servo2": {"pin": "A3"},
     "LED": {"pin": "C13"},
-    "MA": {"1a": "A8", "1b": "B3"},
+    "MA": {"1a": "A8", "1b": "B5"},
     "MB": {"1a": "B14", "1b": "B15"},
-    "MC": {"1a": "B1", "1b": "A10"},
-    "MD": {"1a": "A9", "1b": "B13"},
+    "MC": {"1a": "A10", "1b": "A7"},
+    "MD": {"1a": "B13", "1b": "A9"},
+}
+
+mirte_pcb04_nano_map = {
+    "IR1": {"digital": "A7", "analog": "A1"},
+    "IR2": {"digital": "A6", "analog": "A0"},
+    "SRF1": {"trigger": "D9", "echo": "D8"},
+    "SRF2": {"trigger": "D11", "echo": "D10"},
+    "I2C1": {"scl": "A5", "sda": "A4"},
+    "ENCA": {"pin": "D2"},
+    "ENCB": {"pin": "D3"},
+    "Servo1": {"pin": "A3"},
+    "Servo2": {"pin": "D12"},
+    "LED": {"pin": "D13"},
+    "MA": {"1a": "D6", "1b": "D7"},
+    "MB": {"1a": "D4", "1b": "D5"},
 }
 
+mirte_pcb03_stm_map = {
+    "IR1": {"digital": "C15", "analog": "A0"},
+    "IR2": {"digital": "B0", "analog": "A1"},
+    "SRF1": {"trigger": "A5", "echo": "A6"},
+    "SRF2": {"trigger": "B7", "echo": "C14"},
+    "I2C1": {"scl": "B6", "sda": "B7"},
+    "I2C2": {"scl": "B10", "sda": "B11"},
+    "ENCA": {"pin": "B12"},
+    "ENCB": {"pin": "B4"},
+    "Keypad": {"pin": "A4"},
+    "Servo1": {"pin": "B5"},
+    "Servo1": {"pin": "A7"},
+    "A2": {"pin": "A2"},
+    "A3": {"pin": "A3"},
+    "LED": {"pin": "C13"},
+    "MC1A": {"1a": "A8", "1b": "B3"},
+    "MC1B": {"1a": "B14", "1b": "B15"},
+    "MC2A": {"1a": "A10", "1b": "B1"},
+    "MC2B": {"1a": "B13", "1b": "A9"},
+}
+
+
 mirte_pcb02_stm_map = {
     "IR1": {"digital": "B1", "analog": "A0"},
     "IR2": {"digital": "B0", "analog": "A1"},

mirte_telemetrix/scripts/mappings/pico.py

@@ -15,6 +15,12 @@ def get_analog_offset():
     return 26
 
 
+def get_adc_bits():
+    # NOTE: the pico itself has 12 bits, but micropython will upgrade to 16
+    # no clue why 14 works
+    return 14
+
+
 def get_max_pwm_value():
     return 100
 

mirte_telemetrix/scripts/mappings/stm32.py

@@ -43,6 +43,10 @@ def get_analog_offset():
     return 20
 
 
+def get_adc_bits():
+    return 12
+
+
 def pin_name_to_pin_number(pin):
     if pin in stm32_map:
         return stm32_map[pin]