-
Notifications
You must be signed in to change notification settings - Fork 4
Expand file tree
/
Copy pathtrill.py
More file actions
301 lines (240 loc) · 9.69 KB
/
Copy pathtrill.py
File metadata and controls
301 lines (240 loc) · 9.69 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
# MicroPython Trill Sensor library
# Copyright (C) 2021 H. Groefsema
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
# Implements an I2C Trill sensor
import time
import struct
REG_COMMAND = 0x00
REG_DATA = 0x04
COMMAND_NONE = 0x00
COMMAND_MODE = 0x01
COMMAND_SCAN_SETTINGS = 0x02
COMMAND_PRESCALER = 0x03
COMMAND_NOISE_THRESHOLD = 0x04
COMMAND_IDAC = 0x05
COMMAND_BASELINE_UPDATE = 0x06
COMMAND_MINIMUM_SIZE = 0x07
COMMAND_AUTO_SCAN_INTERVAL = 0x10
COMMAND_IDENTIFY = 0xFF
MODE_CENTROID = 0x00
MODE_RAW = 0x01
MODE_BASELINE = 0x02
MODE_DIFF = 0x03
TYPES = ["Unknown", "Bar", "Square", "Craft", "Ring", "Hex", "Flex"]
# Class that represents a generic Trill sensor
class TrillSensor(object):
# Initialize a generic Trill sensor, with
# i2c being an I2C bus instance
# address being the I2C address of the sensor,
# mode being the sensor mode, and
# sleep being the delay to use between I2C bus communication
def __init__(self, i2c, address=0x00, mode=None, sleep=10):
self.i2c = i2c
self.address=address
self.mode = mode
self.sleep = sleep
self.type = 0
self.identifiedType = 0
self.firmware = None
self.size = (1, 1)
self.channels = 0
self.maxTouches = 0
self.directions = 0
# Ask the sensor to identify itself and read its type and firmware version
def identify(self):
self.i2c.writeto(self.address, struct.pack("1B", REG_DATA))
time.sleep_ms(10)
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("1B", COMMAND_IDENTIFY))
time.sleep_ms(self.sleep + 15)
(_, self.identifiedType, self.firmware) = self.i2c.readfrom(self.address, 3)
print("Trill type", TYPES[self.identifiedType], "with firmware version", self.firmware)
if self.type is not self.identifiedType:
print("Warning: connected Trill device does not identify as", TYPES[self.type], "!!!")
# Get the sensor type
def get_type(self):
if self.identifiedType is 0:
self.identify()
return TYPES[self.identifiedType]
# Get the sensor firmware version
def get_firmware_version(self):
if self.firmware is None:
self.identify()
return self.firmware
# Get the size of the sensor as a tuple (x, y)
def get_size(self):
return self.size
# Get the number of channels of the sensor
def get_num_channels(self):
return self.channels
# Read the latest scan value from the sensor
def read(self):
self.i2c.writeto(self.address, struct.pack("1B", REG_DATA))
time.sleep_ms(self.sleep)
# Set the sensor mode
def set_mode(self, mode):
self.mode = mode
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("2B", COMMAND_MODE, mode))
time.sleep_ms(self.sleep)
# Get the sensor mode
# Returns None if mode hasn't been set
def get_mode(self):
return self.mode
# Set the scan speed and resolution (numBits) of the sensor, with
# speed being a value from 0 to 3, and
# resolution being a value from 9 to 16
def set_scan_settings(self, speed=0, resolution=12):
if speed < 0:
speed = 0
elif speed > 3:
speed = 3
if resolution < 9:
resolution = 9
elif resolution > 16:
resolution = 16
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("3B", COMMAND_SCAN_SETTINGS, speed, resolution))
time.sleep_ms(self.sleep)
# Update the baseline capacitance values of the sensor
def update_baseline(self):
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("1B", COMMAND_BASELINE_UPDATE))
time.sleep_ms(self.sleep)
# Set the prescaler of the sensor, with
# prescaler being a value from 1 to 8
def set_prescaler(self, prescaler=8):
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("2B", COMMAND_PRESCALER, prescaler))
time.sleep_ms(self.sleep)
# Set the noise threshold for the MODE_CENTROID and MODE_DIFF modes, with
# threshold being a value from 0 to 255
def set_noise_threshold(self, threshold):
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("2B", COMMAND_NOISE_THRESHOLD, threshold))
time.sleep_ms(self.sleep)
# Set the IDAC value of the sensor, with
# value being a value from 0 to 255
def set_IDAC_value(self, value):
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("2B", COMMAND_IDAC, value))
time.sleep_ms(self.sleep)
# Set the minimum registered touch size
def set_minimum_touch_size(self, minSize):
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("BH", COMMAND_MINIMUM_SIZE, minSize))
time.sleep_ms(self.sleep)
# Set the automatic scan interval (used with the EVT pin)
def set_auto_scan_interval(self, interval=1):
self.i2c.writeto_mem(self.address, REG_COMMAND, struct.pack("2B", COMMAND_AUTO_SCAN_INTERVAL, interval))
time.sleep_ms(self.sleep)
# Returns True if the sensor is one-directional
def is_1D(self):
return self.directions is 1
# Returns True if the sensor is two-directional
def is_2D(self):
return self.directions is 2
# Class representing a Trill Bar
class Bar(TrillSensor):
def __init__(self, i2c, address=0x20, mode=MODE_CENTROID, sleep=10):
super(Bar, self).__init__(i2c, address, mode, sleep)
self.type = 1
self.size = (1, 3200)
self.channels = 26
self.maxTouches = 5
self.directions = 1
self.set_mode(mode)
self.set_scan_settings()
self.update_baseline()
def read(self):
super(Bar, self).read()
data = None
if self.mode is MODE_CENTROID:
data = struct.unpack(">10h", self.i2c.readfrom_mem(self.address, REG_DATA, 4 * self.maxTouches))
else:
data = struct.unpack(">26h", self.i2c.readfrom_mem(self.address, REG_DATA, 2 * self.channels))
return data
# Class representing a Trill Square
class Square(TrillSensor):
def __init__(self, i2c, address=0x28, mode=MODE_CENTROID, sleep=10):
super(Square, self).__init__(i2c, address, mode, sleep)
self.type = 2
self.size = (1792, 1792)
self.channels = 30
self.maxTouches = 4
self.directions = 2
self.set_mode(mode)
self.set_scan_settings()
self.update_baseline()
def read(self):
super(Square, self).read()
data = None
if self.mode is MODE_CENTROID:
data = struct.unpack(">16h", self.i2c.readfrom_mem(self.address, REG_DATA, 4 * self.directions * self.maxTouches))
else:
data = struct.unpack(">30h", self.i2c.readfrom_mem(self.address, REG_DATA, 2 * self.channels))
return data
# Class representing a Trill Craft
class Craft(TrillSensor):
def __init__(self, i2c, address=0x30, mode=MODE_CENTROID, sleep=10):
super(Craft, self).__init__(i2c, address, mode, sleep)
self.type = 3
self.size = (1, 4096)
self.channels = 30
self.maxTouches = 5
self.directions = 1
self.set_mode(mode)
self.set_scan_settings()
self.update_baseline()
def read(self):
super(Craft, self).read()
data = None
if self.mode is MODE_CENTROID:
data = struct.unpack(">10h", self.i2c.readfrom_mem(self.address, REG_DATA, 4 * self.maxTouches))
else:
data = struct.unpack(">26h", self.i2c.readfrom_mem(self.address, REG_DATA, 2 * self.channels))
return data
# Class representing a Trill Ring
class Ring(TrillSensor):
def __init__(self, i2c, address=0x38, mode=MODE_CENTROID, sleep=10):
super(Ring, self).__init__(i2c, address, mode, sleep)
self.type = 4
self.size = (1, 3584)
self.channels = 28
self.maxTouches = 5
self.directions = 1
self.set_mode(mode)
self.set_scan_settings()
self.update_baseline()
def read(self):
super(Ring, self).read()
data = None
if self.mode is MODE_CENTROID:
data = struct.unpack(">10h", self.i2c.readfrom_mem(self.address, REG_DATA, 4 * self.maxTouches))
else:
data = struct.unpack(">28h", self.i2c.readfrom_mem(self.address, REG_DATA, 2 * self.channels))
return data
# Class representing a Trill Hex
class Hex(TrillSensor):
def __init__(self, i2c, address=0x40, mode=MODE_CENTROID, sleep=10):
super(Hex, self).__init__(i2c, address, mode, sleep)
self.type = 5
self.size = (1664, 1920)
self.channels = 30
self.maxTouches = 4
self.directions = 2
self.set_mode(mode)
self.set_scan_settings()
self.update_baseline()
def read(self):
super(Hex, self).read()
data = None
if self.mode is MODE_CENTROID:
data = struct.unpack(">16h", self.i2c.readfrom_mem(self.address, REG_DATA, 4 * self.directions * self.maxTouches))
else:
data = struct.unpack(">30h", self.i2c.readfrom_mem(self.address, REG_DATA, 2 * self.channels))
return data