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‎GLCD ToF LASER Distance Sensor/PCD8544.py‎

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from micropython import const
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from pyb import Pin, SPI
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from utime import sleep_ms
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from ustruct import pack
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import framebuf
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PCD8544_DC_pin = 'X2'
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PCD8544_CS_pin = 'X3'
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PCD8544_RST_pin = 'X1'
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PCD8544_SCK_pin = 'X6'
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PCD8544_MOSI_pin = 'X8'
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PCD8544_FUNCTION_SET = const(0x20)
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PCD8544_POWER_DOWN = const(0x04)
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PCD8544_ADDRESSING_VERT = const(0x02)
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PCD8544_EXTENDED_INSTR = const(0x01)
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PCD8544_DISPLAY_BLANK = const(0x08)
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PCD8544_DISPLAY_ALL = const(0x09)
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PCD8544_DISPLAY_NORMAL = const(0x0C)
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PCD8544_DISPLAY_INVERSE = const(0x0D)
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PCD8544_TEMP_COEFF_0 = const(0x04)
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PCD8544_TEMP_COEFF_1 = const(0x05)
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PCD8544_TEMP_COEFF_2 = const(0x06)
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PCD8544_TEMP_COEFF_3 = const(0x07)
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PCD8544_BIAS_1_100 = const(0x10)
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PCD8544_BIAS_1_80 = const(0x11)
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PCD8544_BIAS_1_65 = const(0x12)
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PCD8544_BIAS_1_48 = const(0x13)
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PCD8544_BIAS_1_40 = const(0x14)
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PCD8544_BIAS_1_24 = const(0x15)
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PCD8544_BIAS_1_18 = const(0x16)
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PCD8544_BIAS_1_10 = const(0x17)
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PCD8544_SET_VOP = const(0x80)
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PCD8544_COL_ADDR = const(0x80)
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PCD8544_BANK_ADDR = const(0x40)
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CMD = False
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DAT = True
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LOW = False
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HIGH = True
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PCD8544_GLCD_WIDTH = const(84)
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PCD8544_GLCD_HEIGHT = const(48)
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class PCD8544(framebuf.FrameBuffer):
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def __init__(self):
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self.width = PCD8544_GLCD_WIDTH
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self.height = PCD8544_GLCD_HEIGHT
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self.BLACK = const(0xFF)
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self.WHITE = const(0x00)
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self.PCD8544_CS = Pin(PCD8544_CS_pin, Pin.OUT_PP)
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self.PCD8544_RST = Pin(PCD8544_RST_pin, Pin.OUT_PP)
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self.PCD8544_SCK = Pin(PCD8544_SCK_pin, Pin.OUT_PP)
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self.PCD8544_MOSI = Pin(PCD8544_MOSI_pin, Pin.OUT_PP)
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self.PCD8544_SPI = SPI(1, SPI.CONTROLLER, baudrate = 4_000_000, polarity = 0, phase = 0)
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self.PCD8544_DC = Pin(PCD8544_DC_pin, Pin.OUT_PP)
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self.buffer = bytearray((self.height * self.width) // 8) #84 x 48 = 504
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super().__init__(self.buffer, self.width, self.height, framebuf.MONO_VLSB)
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self.init()
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def init(self):
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self.function = PCD8544_FUNCTION_SET
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self.disp_reset()
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self.addressing(True)
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self.set_contrast(PCD8544_BIAS_1_40, PCD8544_TEMP_COEFF_2, 63)
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self.disp_invert(False)
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self.clear()
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def disp_reset(self):
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self.PCD8544_CS.value(HIGH)
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self.PCD8544_DC.value(HIGH)
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self.PCD8544_RST.value(HIGH)
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sleep_ms(10)
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self.PCD8544_RST.value(LOW)
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sleep_ms(20)
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self.PCD8544_RST.value(HIGH)
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def send(self, value, mode):
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self.PCD8544_CS.value(LOW)
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self.PCD8544_DC.value(mode)
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if(mode == DAT):
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self.PCD8544_SPI.write(pack('B'*len(value), *value))
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else:
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self.PCD8544_SPI.write(bytearray([value]))
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self.PCD8544_CS.value(HIGH)
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def set_xy(self, x_pos, y_pos):
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self.send((PCD8544_COL_ADDR | x_pos), CMD)
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self.send((PCD8544_BANK_ADDR | y_pos), CMD)
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def addressing(self, horizontal_or_vertical = True):
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if(horizontal_or_vertical == True):
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self.function &= ~PCD8544_ADDRESSING_VERT
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else:
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self.function |= PCD8544_ADDRESSING_VERT
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self.send(self.function, CMD)
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def clear(self):
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self.send(([0] * 504), DAT) #84 x 48 = 504
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self.set_xy(0, 0)
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def disp_invert(self, mode):
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if(mode == True):
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self.send(PCD8544_DISPLAY_INVERSE, CMD)
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else:
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self.send(PCD8544_DISPLAY_NORMAL, CMD)
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def disp_power(self, mode):
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if(mode == True):
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self.function &= ~PCD8544_POWER_DOWN
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else:
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self.function |= PCD8544_POWER_DOWN
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self.send(self.function, CMD)
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def set_contrast(self, bias = PCD8544_BIAS_1_40, t_coff = PCD8544_TEMP_COEFF_2, contrast = 63):
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self.send((self.function | PCD8544_EXTENDED_INSTR), CMD)
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self.send(t_coff, CMD)
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self.send(bias, CMD)
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self.send(PCD8544_SET_VOP | contrast, CMD)
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self.send((self.function & ~PCD8544_EXTENDED_INSTR), CMD)
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def show(self):
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self.send(self.buffer, DAT)
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‎GLCD ToF LASER Distance Sensor/WS_ToF.py‎

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from micropython import const
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from utime import sleep_ms, ticks_ms
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ToF_TX_data_packet_size = const(32)
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ToF_RX_data_packet_size = const(32)
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ToF_output_frame_header = const(0x57)
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ToF_output_function_mark = const(0x00)
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ToF_inquire_function_mark = const(0x10)
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ToF_settings_frame_header = const(0x54)
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ToF_settings_function_mark = const(0x20)
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Tof_output_mode_active = const(0x00)
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Tof_output_mode_inquire = const(0x02)
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Tof_output_range_mode_short = const(0x00)
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Tof_output_range_mode_medium = const(0x08)
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Tof_output_range_mode_long = const(0x04)
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Tof_output_interface_UART = const(0x00)
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Tof_output_interface_CAN = const(0x01)
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Tof_output_interface_IO = const(0x10)
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Tof_output_interface_I2C = const(0x11)
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Tof_UART_Baud_115200 = const(115200)
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Tof_UART_Baud_230400 = const(230400)
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Tof_UART_Baud_460800 = const(460800)
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Tof_UART_Baud_921600 = const(921600)
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Tof_CAN_Baud_1000000 = const(1000000)
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Tof_CAN_Baud_1200000 = const(1200000)
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Tof_CAN_Baud_1500000 = const(1500000)
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Tof_CAN_Baud_2000000 = const(2000000)
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Tof_CAN_Baud_3000000 = const(3000000)
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class waveshare_ToF():
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def __init__(self, _uart):
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self.tx_data_frame = bytearray(ToF_TX_data_packet_size)
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self.rx_data_frame = bytearray(ToF_RX_data_packet_size)
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self.uart = _uart
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def settings(self,
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ID = 0,
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terminal_time = ticks_ms(),
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mode = (Tof_output_mode_inquire | Tof_output_range_mode_long | Tof_output_interface_UART),
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baud_rate = Tof_UART_Baud_115200,
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band_start = 0,
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bandwidth = 0):
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chk_sum = 0
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current_tick = terminal_time
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baud_value = baud_rate
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bs = band_start
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bw = bandwidth
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self.tx_data_frame[0] = ToF_settings_frame_header
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self.tx_data_frame[1] = ToF_settings_function_mark
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self.tx_data_frame[2] = 0
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self.tx_data_frame[3] = 0xFF
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self.tx_data_frame[4] = ID
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self.tx_data_frame[5] = (current_tick & 0x000F)
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self.tx_data_frame[6] = ((current_tick & 0x00F0) >> 8)
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self.tx_data_frame[7] = ((current_tick & 0x0F00) >> 16)
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self.tx_data_frame[8] = ((current_tick & 0xF000) >> 24)
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self.tx_data_frame[9] = mode
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self.tx_data_frame[10] = 0xFF
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self.tx_data_frame[11] = 0xFF
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self.tx_data_frame[12] = (baud_value & 0x000F)
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self.tx_data_frame[13] = ((baud_value & 0x00F0) >> 8)
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self.tx_data_frame[14] = ((baud_value & 0x0F00) >> 16)
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self.tx_data_frame[15] = 0xFF
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self.tx_data_frame[16] = 0xFF
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self.tx_data_frame[17] = 0xFF
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self.tx_data_frame[18] = 0xFF
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self.tx_data_frame[19] = (bs & 0x000F)
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self.tx_data_frame[20] = ((bs & 0x00F0) >> 8)
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self.tx_data_frame[21] = (bw & 0x000F)
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self.tx_data_frame[22] = ((bw & 0x00F0) >> 8)
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self.tx_data_frame[23] = 0xFF
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self.tx_data_frame[24] = 0xFF
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self.tx_data_frame[25] = 0xFF
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self.tx_data_frame[26] = 0xFF
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self.tx_data_frame[27] = 0xFF
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self.tx_data_frame[28] = 0xFF
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self.tx_data_frame[29] = 0xFF
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self.tx_data_frame[30] = 0xFF
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for i in range(0, 31):
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chk_sum += self.tx_data_frame[i]
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self.tx_data_frame[31] = (chk_sum & 0xFF)
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self.uart.write(self.tx_data_frame)
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sleep_ms(60)
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chk_sum = 0
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current_tick = 0
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baud_value = 0
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bs = 0
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bw = 0
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if(self.uart.any() > 0x00):
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self.rx_data_frame = self.uart.read(ToF_RX_data_packet_size)
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if(self.rx_data_frame[0] == ToF_settings_frame_header):
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if(self.rx_data_frame[1] == ToF_settings_function_mark):
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if(self.rx_data_frame[2] == 1):
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ID = self.rx_data_frame[4]
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current_tick = ((self.rx_data_frame[8] << 24) |
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(self.rx_data_frame[7] << 16) |
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(self.rx_data_frame[6] << 8) |
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self.rx_data_frame[5])
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mode = self.rx_data_frame[9]
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baud_value = ((self.rx_data_frame[14] << 16) |
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(self.rx_data_frame[13] << 8) |
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self.rx_data_frame[12])
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bs = ((self.rx_data_frame[20] << 8) |
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self.rx_data_frame[19])
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bw = ((self.rx_data_frame[22] << 8) |
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self.rx_data_frame[21])
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for i in range(0, 31):
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chk_sum += self.rx_data_frame[i]
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chk_sum = (chk_sum & 0xFF)
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if(chk_sum == self.rx_data_frame[31]):
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return ID, current_tick, mode, baud_value, bs, bw
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else:
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return 0, 0, 0, 0, 0, 0
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return -1, -1, -1, -1, -1, -1
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def inquire_sensor(self, ID = 0, delay = 60):
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chk_sum = 0
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self.tx_data_frame[0] = ToF_output_frame_header
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self.tx_data_frame[1] = ToF_inquire_function_mark
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self.tx_data_frame[2] = 0xFF
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self.tx_data_frame[3] = 0xFF
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self.tx_data_frame[4] = ID
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self.tx_data_frame[5] = 0xFF
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self.tx_data_frame[6] = 0xFF
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for i in range(0, 7):
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chk_sum += self.tx_data_frame[i]
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self.tx_data_frame[7] = chk_sum
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self.uart.write(self.tx_data_frame)
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sleep_ms(delay)
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def read_sensor(self, delay = 400):
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ID = 0
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sys_time = 0
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distance = 0
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status = 0
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sig_strength = 0
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precision = 0
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chk_sum = 0
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if(self.uart.any() > 0x00):
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self.rx_data_frame = self.uart.read(ToF_RX_data_packet_size)
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if(self.rx_data_frame[0] == ToF_output_frame_header):
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if(self.rx_data_frame[1] == ToF_output_function_mark):
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if(self.rx_data_frame[2] == 0xFF):
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ID = self.rx_data_frame[3]
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sys_time = ((self.rx_data_frame[7] << 24) |
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(self.rx_data_frame[6] << 16) |
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(self.rx_data_frame[5] << 8) |
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self.rx_data_frame[4])
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distance = ((self.rx_data_frame[10] << 16) |
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(self.rx_data_frame[9] << 8) |
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self.rx_data_frame[8])
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status = self.rx_data_frame[11]
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sig_strength = ((self.rx_data_frame[13] << 8) |
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self.rx_data_frame[12])
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precision = self.rx_data_frame[14]
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for i in range(0, 15):
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chk_sum += self.rx_data_frame[i]
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chk_sum = (chk_sum & 0xFF)
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sleep_ms(delay)
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if(chk_sum == self.rx_data_frame[15]):
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return ID, sys_time, distance, status, sig_strength, precision
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else:
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return 0, 0, 0, 0, 0, 0
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sleep_ms(delay)
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return -1, -1, -1, -1, -1, -1
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