// Helper function to compute PWM value from timer period and percent value.
// 'percent_in' can be an int or a float between 0 and 100 (out of range
// values are clamped).
STATIC uint32_t compute_pwm_value_from_percent(uint32_t period, mp_obj_t percent_in) {
uint32_t cmp;
if (0) {
#if MICROPY_PY_BUILTINS_FLOAT
} else if (MP_OBJ_IS_TYPE(percent_in, &mp_type_float)) {
float percent = mp_obj_get_float(percent_in);
if (percent <= 0.0) {
cmp = 0;
} else if (percent >= 100.0) {
cmp = period;
} else {
cmp = percent / 100.0 * ((float)period);
}
#endif
} else {
// For integer arithmetic, if period is large and 100*period will
// overflow, then divide period before multiplying by cmp. Otherwise
// do it the other way round to retain precision.
mp_int_t percent = mp_obj_get_int(percent_in);
if (percent <= 0) {
cmp = 0;
} else if (percent >= 100) {
cmp = period;
} else if (period > MAX_PERIOD_DIV_100) {
cmp = (uint32_t)percent * (period / 100);
} else {
cmp = ((uint32_t)percent * period) / 100;
}
}
return cmp;
}
// log(x[, base])
STATIC mp_obj_t mp_math_log(size_t n_args, const mp_obj_t *args) {
mp_float_t x = mp_obj_get_float(args[0]);
if (x <= (mp_float_t)0.0) {
math_error();
}
mp_float_t l = MICROPY_FLOAT_C_FUN(log)(x);
if (n_args == 1) {
return mp_obj_new_float(l);
} else {
mp_float_t base = mp_obj_get_float(args[1]);
if (base <= (mp_float_t)0.0) {
math_error();
}
return mp_obj_new_float(l / MICROPY_FLOAT_C_FUN(log)(base));
}
}
// Helper function to compute PWM value from timer period and percent value.
// 'val' can be an int or a float between 0 and 100 (out of range values are
// clamped).
STATIC uint32_t compute_pwm_value_from_percent(uint32_t period, mp_obj_t percent_in) {
uint32_t cmp;
if (0) {
#if MICROPY_PY_BUILTINS_FLOAT
} else if (MP_OBJ_IS_TYPE(percent_in, &mp_type_float)) {
float percent = mp_obj_get_float(percent_in);
if (percent <= 0.0) {
cmp = 0;
} else if (percent >= 100.0) {
cmp = period;
} else {
cmp = percent / 100.0 * ((float)period);
}
#endif
} else {
mp_int_t percent = mp_obj_get_int(percent_in);
if (percent <= 0) {
cmp = 0;
} else if (percent >= 100) {
cmp = period;
} else {
cmp = ((uint32_t)percent * period) / 100;
}
}
return cmp;
}
static mp_obj_t py_image_blend(mp_obj_t dst_image_obj,
mp_obj_t src_image_obj, mp_obj_t param_obj)
{
int x,y;
float alpha;
image_t *src_image = NULL;
image_t *dst_image = NULL;
/* get C image pointer */
src_image = py_image_cobj(src_image_obj);
dst_image = py_image_cobj(dst_image_obj);
/* get x,y,alpha */
mp_obj_t *array;
mp_obj_get_array_fixed_n(param_obj, 3, &array);
x = mp_obj_get_int(array[0]);
y = mp_obj_get_int(array[1]);
alpha = mp_obj_get_float(array[2]);
if ((src_image->w+x)>dst_image->w ||
(src_image->h+y)>dst_image->h) {
printf("src image > dst image\n");
return mp_const_none;
}
imlib_blend(src_image, dst_image, x, y, (uint8_t)(alpha*256));
return mp_const_none;
}
STATIC mp_obj_t mod_time_sleep(mp_obj_t arg) {
#if MICROPY_PY_BUILTINS_FLOAT
struct timeval tv;
mp_float_t val = mp_obj_get_float(arg);
double ipart;
tv.tv_usec = round(modf(val, &ipart) * 1000000);
tv.tv_sec = ipart;
int res;
while (1) {
MP_THREAD_GIL_EXIT();
res = sleep_select(0, NULL, NULL, NULL, &tv);
MP_THREAD_GIL_ENTER();
#if MICROPY_SELECT_REMAINING_TIME
// TODO: This assumes Linux behavior of modifying tv to the remaining
// time.
if (res != -1 || errno != EINTR) {
break;
}
if (MP_STATE_VM(mp_pending_exception) != MP_OBJ_NULL) {
return mp_const_none;
}
//printf("select: EINTR: %ld:%ld\n", tv.tv_sec, tv.tv_usec);
#else
break;
#endif
}
RAISE_ERRNO(res, errno);
#else
// TODO: Handle EINTR
MP_THREAD_GIL_EXIT();
sleep(mp_obj_get_int(arg));
MP_THREAD_GIL_ENTER();
#endif
return mp_const_none;
}
// Helper function to compute PWM value from timer period and percent value.
// 'val' can be an int or a float between 0 and 100 (out of range values are
// clamped).
STATIC uint32_t compute_pwm_value_from_percent(uint32_t period, mp_obj_t val) {
uint32_t cmp;
if (0) {
#if MICROPY_PY_BUILTINS_FLOAT
} else if (MP_OBJ_IS_TYPE(val, &mp_type_float)) {
cmp = mp_obj_get_float(val) / 100.0 * period;
#endif
} else {
// For integer arithmetic, if period is large and 100*period will
// overflow, then divide period before multiplying by cmp. Otherwise
// do it the other way round to retain precision.
// TODO we really need an mp_obj_get_uint_clamped function here so
// that we can get long-int values as large as 0xffffffff.
cmp = mp_obj_get_int(val);
if (period > (1 << 31) / 100) {
cmp = cmp * (period / 100);
} else {
cmp = (cmp * period) / 100;
}
}
if (cmp < 0) {
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
return cmp;
}
/// \function sleep(seconds)
/// Sleep for the given number of seconds.
STATIC mp_obj_t time_sleep(mp_obj_t seconds_o) {
#if MICROPY_PY_BUILTINS_FLOAT
mp_hal_delay_ms(1000 * mp_obj_get_float(seconds_o));
#else
mp_hal_delay_ms(1000 * mp_obj_get_int(seconds_o));
#endif
return mp_const_none;
}
// Functions that return a tuple
mp_obj_t mp_math_frexp(mp_obj_t x_obj) {
int int_exponent = 0;
mp_float_t significand = MICROPY_FLOAT_C_FUN(frexp)(mp_obj_get_float(x_obj), &int_exponent);
mp_obj_t tuple[2];
tuple[0] = mp_obj_new_float(significand);
tuple[1] = mp_obj_new_int(int_exponent);
return mp_obj_new_tuple(2, tuple);
}
mp_obj_t mp_math_modf(mp_obj_t x_obj) {
mp_float_t int_part = 0.0;
mp_float_t fractional_part = MICROPY_FLOAT_C_FUN(modf)(mp_obj_get_float(x_obj), &int_part);
mp_obj_t tuple[2];
tuple[0] = mp_obj_new_float(fractional_part);
tuple[1] = mp_obj_new_float(int_part);
return mp_obj_new_tuple(2, tuple);
}
static mp_obj_t py_select(uint n_args, const mp_obj_t *args)
{
int nfds=0; //highest-numbered fd plus 1
timeval tv={0};
fd_set rfds, wfds, xfds;
mp_obj_t *rlist, *wlist, *xlist;
uint rlist_len, wlist_len, xlist_len;
/* read args */
mp_obj_get_array(args[0], &rlist_len, &rlist);
mp_obj_get_array(args[1], &wlist_len, &wlist);
mp_obj_get_array(args[2], &xlist_len, &xlist);
if (n_args == 4) {
float timeout = mp_obj_get_float(args[3]);
tv.tv_sec = (int)timeout;
tv.tv_usec = (timeout-(int)timeout)*1000*1000;
}
// add fds to their respective sets
set_fds(&nfds, rlist, rlist_len, &rfds);
set_fds(&nfds, wlist, wlist_len, &wfds);
set_fds(&nfds, xlist, xlist_len, &xfds);
// call select
nfds = select(nfds+1, &rfds, &wfds, &xfds, &tv);
// if any of the read sockets is closed, we add it to the read fd set,
// a subsequent call to recv() returns 0. This behavior is consistent with BSD.
for (int i=0; i<rlist_len; i++) {
socket_t *s = rlist[i];
if (wlan_get_fd_state(s->fd)) {
FD_SET(s->fd, &rfds);
nfds = max(nfds, s->fd);
}
}
// return value; a tuple of 3 lists
mp_obj_t fds[3] = {
mp_obj_new_list(0, NULL),
mp_obj_new_list(0, NULL),
mp_obj_new_list(0, NULL)
};
// On success, select() returns the number of file descriptors contained
// in the three returned descriptor sets which may be zero if the timeout
// expires before anything interesting happens, -1 is returned on error.
if (nfds == -1) { // select failed
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, "select failed"));
} else if (nfds) { // an fd is ready
get_fds(rlist, rlist_len, fds[0], &rfds);
get_fds(wlist, wlist_len, fds[1], &wfds);
get_fds(xlist, xlist_len, fds[2], &xfds);
} // select timedout
return mp_obj_new_tuple(3, fds);
}
STATIC mp_obj_t complex_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// TODO check n_kw == 0
switch (n_args) {
case 0:
return mp_obj_new_complex(0, 0);
case 1:
if (MP_OBJ_IS_STR(args[0])) {
// a string, parse it
uint l;
const char *s = mp_obj_str_get_data(args[0], &l);
return mp_parse_num_decimal(s, l, true, true);
} else if (MP_OBJ_IS_TYPE(args[0], &mp_type_complex)) {
// a complex, just return it
return args[0];
} else {
// something else, try to cast it to a complex
return mp_obj_new_complex(mp_obj_get_float(args[0]), 0);
}
case 2: {
mp_float_t real, imag;
if (MP_OBJ_IS_TYPE(args[0], &mp_type_complex)) {
mp_obj_complex_get(args[0], &real, &imag);
} else {
real = mp_obj_get_float(args[0]);
imag = 0;
}
if (MP_OBJ_IS_TYPE(args[1], &mp_type_complex)) {
mp_float_t real2, imag2;
mp_obj_complex_get(args[1], &real2, &imag2);
real -= imag2;
imag += real2;
} else {
imag += mp_obj_get_float(args[1]);
}
return mp_obj_new_complex(real, imag);
}
default:
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "complex takes at most 2 arguments, %d given", n_args));
}
}
STATIC mp_obj_t complex_make_new(const mp_obj_type_t *type_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
(void)type_in;
mp_arg_check_num(n_args, n_kw, 0, 2, false);
switch (n_args) {
case 0:
return mp_obj_new_complex(0, 0);
case 1:
if (MP_OBJ_IS_STR(args[0])) {
// a string, parse it
size_t l;
const char *s = mp_obj_str_get_data(args[0], &l);
return mp_parse_num_decimal(s, l, true, true, NULL);
} else if (MP_OBJ_IS_TYPE(args[0], &mp_type_complex)) {
// a complex, just return it
return args[0];
} else {
// something else, try to cast it to a complex
return mp_obj_new_complex(mp_obj_get_float(args[0]), 0);
}
case 2:
default: {
mp_float_t real, imag;
if (MP_OBJ_IS_TYPE(args[0], &mp_type_complex)) {
mp_obj_complex_get(args[0], &real, &imag);
} else {
real = mp_obj_get_float(args[0]);
imag = 0;
}
if (MP_OBJ_IS_TYPE(args[1], &mp_type_complex)) {
mp_float_t real2, imag2;
mp_obj_complex_get(args[1], &real2, &imag2);
real -= imag2;
imag += real2;
} else {
imag += mp_obj_get_float(args[1]);
}
return mp_obj_new_complex(real, imag);
}
}
}
mp_obj_t mp_obj_float_binary_op(mp_uint_t op, mp_float_t lhs_val, mp_obj_t rhs_in) {
mp_float_t rhs_val = mp_obj_get_float(rhs_in); // can be any type, this function will convert to float (if possible)
switch (op) {
case MP_BINARY_OP_ADD:
case MP_BINARY_OP_INPLACE_ADD: lhs_val += rhs_val; break;
case MP_BINARY_OP_SUBTRACT:
case MP_BINARY_OP_INPLACE_SUBTRACT: lhs_val -= rhs_val; break;
case MP_BINARY_OP_MULTIPLY:
case MP_BINARY_OP_INPLACE_MULTIPLY: lhs_val *= rhs_val; break;
case MP_BINARY_OP_FLOOR_DIVIDE:
case MP_BINARY_OP_INPLACE_FLOOR_DIVIDE:
if (rhs_val == 0) {
zero_division_error:
nlr_raise(mp_obj_new_exception_msg(&mp_type_ZeroDivisionError, "division by zero"));
}
// Python specs require that x == (x//y)*y + (x%y) so we must
// call divmod to compute the correct floor division, which
// returns the floor divide in lhs_val.
mp_obj_float_divmod(&lhs_val, &rhs_val);
break;
case MP_BINARY_OP_TRUE_DIVIDE:
case MP_BINARY_OP_INPLACE_TRUE_DIVIDE:
if (rhs_val == 0) {
goto zero_division_error;
}
lhs_val /= rhs_val;
break;
case MP_BINARY_OP_MODULO:
case MP_BINARY_OP_INPLACE_MODULO:
if (rhs_val == 0) {
goto zero_division_error;
}
lhs_val = MICROPY_FLOAT_C_FUN(fmod)(lhs_val, rhs_val);
// Python specs require that mod has same sign as second operand
if (lhs_val == 0.0) {
lhs_val = MICROPY_FLOAT_C_FUN(copysign)(0.0, rhs_val);
} else {
if ((lhs_val < 0.0) != (rhs_val < 0.0)) {
lhs_val += rhs_val;
}
}
break;
case MP_BINARY_OP_POWER:
case MP_BINARY_OP_INPLACE_POWER: lhs_val = MICROPY_FLOAT_C_FUN(pow)(lhs_val, rhs_val); break;
case MP_BINARY_OP_LESS: return MP_BOOL(lhs_val < rhs_val);
case MP_BINARY_OP_MORE: return MP_BOOL(lhs_val > rhs_val);
case MP_BINARY_OP_EQUAL: return MP_BOOL(lhs_val == rhs_val);
case MP_BINARY_OP_LESS_EQUAL: return MP_BOOL(lhs_val <= rhs_val);
case MP_BINARY_OP_MORE_EQUAL: return MP_BOOL(lhs_val >= rhs_val);
default:
return MP_OBJ_NULL; // op not supported
}
return mp_obj_new_float(lhs_val);
}
/// \function sleep(seconds)
/// Sleep for the given number of seconds. Seconds can be a floating-point number to
/// sleep for a fractional number of seconds.
STATIC mp_obj_t time_sleep(mp_obj_t seconds_o) {
#if MICROPY_PY_BUILTINS_FLOAT
if (MP_OBJ_IS_INT(seconds_o)) {
#endif
HAL_Delay(1000 * mp_obj_get_int(seconds_o));
#if MICROPY_PY_BUILTINS_FLOAT
} else {
HAL_Delay((uint32_t)(1000 * mp_obj_get_float(seconds_o)));
}
#endif
return mp_const_none;
}
STATIC mp_obj_t microbit_sleep(mp_obj_t ms_in) {
mp_int_t ms;
if (mp_obj_is_integer(ms_in)) {
ms = mp_obj_get_int(ms_in);
} else {
ms = (mp_int_t)mp_obj_get_float(ms_in);
}
if (ms > 0) {
mp_hal_delay_ms(ms);
}
return mp_const_none;
}
STATIC mp_obj_t mod_time_sleep(mp_obj_t arg) {
#if MICROPY_PY_BUILTINS_FLOAT
struct timeval tv;
mp_float_t val = mp_obj_get_float(arg);
double ipart;
tv.tv_usec = round(modf(val, &ipart) * 1000000);
tv.tv_sec = ipart;
sleep_select(0, NULL, NULL, NULL, &tv);
#else
sleep(mp_obj_get_int(arg));
#endif
return mp_const_none;
}
static mp_obj_t servo_obj_angle(mp_obj_t self_in, mp_obj_t angle) {
pyb_servo_obj_t *self = self_in;
machine_int_t v = 152 + 85.0 * mp_obj_get_float(angle) / 90.0;
if (v < 65) { v = 65; }
if (v > 210) { v = 210; }
switch (self->servo_id) {
case 1: TIM2->CCR1 = v; break;
case 2: TIM2->CCR2 = v; break;
case 3: TIM2->CCR3 = v; break;
case 4: TIM2->CCR4 = v; break;
}
return mp_const_none;
}
static mp_obj_t complex_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// TODO check n_kw == 0
switch (n_args) {
case 0:
return mp_obj_new_complex(0, 0);
case 1:
// TODO allow string as first arg and parse it
if (MP_OBJ_IS_TYPE(args[0], &complex_type)) {
return args[0];
} else {
return mp_obj_new_complex(mp_obj_get_float(args[0]), 0);
}
case 2:
{
mp_float_t real, imag;
if (MP_OBJ_IS_TYPE(args[0], &complex_type)) {
mp_obj_complex_get(args[0], &real, &imag);
} else {
real = mp_obj_get_float(args[0]);
imag = 0;
}
if (MP_OBJ_IS_TYPE(args[1], &complex_type)) {
mp_float_t real2, imag2;
mp_obj_complex_get(args[1], &real2, &imag2);
real -= imag2;
imag += real2;
} else {
imag += mp_obj_get_float(args[1]);
}
return mp_obj_new_complex(real, imag);
}
default:
nlr_jump(mp_obj_new_exception_msg_1_arg(MP_QSTR_TypeError, "complex takes at most 2 arguments, %d given", (void*)(machine_int_t)n_args));
}
}
STATIC mp_obj_t lwip_socket_settimeout(mp_obj_t self_in, mp_obj_t timeout_in) {
lwip_socket_obj_t *socket = self_in;
mp_uint_t timeout;
if (timeout_in == mp_const_none) {
timeout = -1;
} else {
#if MICROPY_PY_BUILTIN_FLOAT
timeout = 1000 * mp_obj_get_float(timeout_in);
#else
timeout = 1000 * mp_obj_get_int(timeout_in);
#endif
}
socket->timeout = timeout;
return mp_const_none;
}
STATIC mp_obj_t servo_obj_angle(mp_obj_t self_in, mp_obj_t angle) {
pyb_servo_obj_t *self = self_in;
#if MICROPY_ENABLE_FLOAT
machine_int_t v = 152 + 85.0 * mp_obj_get_float(angle) / 90.0;
#else
machine_int_t v = 152 + 85 * mp_obj_get_int(angle) / 90;
#endif
if (v < 65) { v = 65; }
if (v > 210) { v = 210; }
switch (self->servo_id) {
case 1: TIM2->CCR1 = v; break;
case 2: TIM2->CCR2 = v; break;
case 3: TIM2->CCR3 = v; break;
case 4: TIM2->CCR4 = v; break;
}
return mp_const_none;
}
static mp_obj_t float_make_new(mp_obj_t type_in, int n_args, const mp_obj_t *args) {
switch (n_args) {
case 0:
return mp_obj_new_float(0);
case 1:
// TODO allow string as arg and parse it
if (MP_OBJ_IS_TYPE(args[0], &float_type)) {
return args[0];
} else {
return mp_obj_new_float(mp_obj_get_float(args[0]));
}
default:
nlr_jump(mp_obj_new_exception_msg_1_arg(MP_QSTR_TypeError, "float takes at most 1 argument, %d given", (void*)(machine_int_t)n_args));
}
}
mp_obj_t mp_obj_float_binary_op(int op, mp_float_t lhs_val, mp_obj_t rhs_in) {
mp_float_t rhs_val = mp_obj_get_float(rhs_in); // can be any type, this function will convert to float (if possible)
switch (op) {
case RT_BINARY_OP_ADD:
case RT_BINARY_OP_INPLACE_ADD: lhs_val += rhs_val; break;
case RT_BINARY_OP_SUBTRACT:
case RT_BINARY_OP_INPLACE_SUBTRACT: lhs_val -= rhs_val; break;
case RT_BINARY_OP_MULTIPLY:
case RT_BINARY_OP_INPLACE_MULTIPLY: lhs_val *= rhs_val; break;
/* TODO floor(?) the value
case RT_BINARY_OP_FLOOR_DIVIDE:
case RT_BINARY_OP_INPLACE_FLOOR_DIVIDE: val = lhs_val / rhs_val; break;
*/
case RT_BINARY_OP_TRUE_DIVIDE:
case RT_BINARY_OP_INPLACE_TRUE_DIVIDE: lhs_val /= rhs_val; break;
return NULL; // op not supported
}
return mp_obj_new_float(lhs_val);
}
void _socket_settimeout(socket_obj_t *sock, uint64_t timeout_ms) {
// Rather than waiting for the entire timeout specified, we wait sock->retries times
// for SOCKET_POLL_US each, checking for a MicroPython interrupt between timeouts.
// with SOCKET_POLL_MS == 100ms, sock->retries allows for timeouts up to 13 years.
// if timeout_ms == UINT64_MAX, wait forever.
sock->retries = (timeout_ms == UINT64_MAX) ? UINT_MAX : timeout_ms * 1000 / SOCKET_POLL_US;
struct timeval timeout = {
.tv_sec = 0,
.tv_usec = timeout_ms ? SOCKET_POLL_US : 0
};
lwip_setsockopt_r(sock->fd, SOL_SOCKET, SO_SNDTIMEO, (const void *)&timeout, sizeof(timeout));
lwip_setsockopt_r(sock->fd, SOL_SOCKET, SO_RCVTIMEO, (const void *)&timeout, sizeof(timeout));
lwip_fcntl_r(sock->fd, F_SETFL, timeout_ms ? 0 : O_NONBLOCK);
}
STATIC mp_obj_t socket_settimeout(const mp_obj_t arg0, const mp_obj_t arg1) {
socket_obj_t *self = MP_OBJ_TO_PTR(arg0);
if (arg1 == mp_const_none) _socket_settimeout(self, UINT64_MAX);
else _socket_settimeout(self, mp_obj_get_float(arg1) * 1000L);
return mp_const_none;
}
// method socket.settimeout(value)
// timeout=0 means non-blocking
// timeout=None means blocking
// otherwise, timeout is in seconds
STATIC mp_obj_t socket_settimeout(mp_obj_t self_in, mp_obj_t timeout_in) {
mod_network_socket_obj_t *self = self_in;
if (self->nic == MP_OBJ_NULL) {
// not connected
nlr_raise(mp_obj_new_exception_arg1(&mp_type_OSError, MP_OBJ_NEW_SMALL_INT(ENOTCONN)));
}
mp_uint_t timeout;
if (timeout_in == mp_const_none) {
timeout = -1;
} else {
#if MICROPY_PY_BUILTIN_FLOAT
timeout = 1000 * mp_obj_get_float(timeout_in);
#else
timeout = 1000 * mp_obj_get_int(timeout_in);
#endif
}
int _errno;
if (self->nic_type->settimeout(self, timeout, &_errno) != 0) {
nlr_raise(mp_obj_new_exception_arg1(&mp_type_OSError, MP_OBJ_NEW_SMALL_INT(_errno)));
}
return mp_const_none;
}
// method socket.settimeout(value)
// timeout=0 means non-blocking
// timeout=None means blocking
// otherwise, timeout is in seconds
STATIC mp_obj_t socket_settimeout(mp_obj_t self_in, mp_obj_t timeout_in) {
mod_network_socket_obj_t *self = self_in;
if (self->nic == MP_OBJ_NULL) {
// not connected
mp_raise_OSError(MP_ENOTCONN);
}
mp_uint_t timeout;
if (timeout_in == mp_const_none) {
timeout = -1;
} else {
#if MICROPY_PY_BUILTINS_FLOAT
timeout = 1000 * mp_obj_get_float(timeout_in);
#else
timeout = 1000 * mp_obj_get_int(timeout_in);
#endif
}
int _errno;
if (self->nic_type->settimeout(self, timeout, &_errno) != 0) {
mp_raise_OSError(_errno);
}
return mp_const_none;
}
mp_obj_t mp_obj_float_binary_op(int op, mp_float_t lhs_val, mp_obj_t rhs_in) {
mp_float_t rhs_val = mp_obj_get_float(rhs_in); // can be any type, this function will convert to float (if possible)
switch (op) {
case MP_BINARY_OP_ADD:
case MP_BINARY_OP_INPLACE_ADD: lhs_val += rhs_val; break;
case MP_BINARY_OP_SUBTRACT:
case MP_BINARY_OP_INPLACE_SUBTRACT: lhs_val -= rhs_val; break;
case MP_BINARY_OP_MULTIPLY:
case MP_BINARY_OP_INPLACE_MULTIPLY: lhs_val *= rhs_val; break;
// TODO: verify that C floor matches Python semantics
case MP_BINARY_OP_FLOOR_DIVIDE:
case MP_BINARY_OP_INPLACE_FLOOR_DIVIDE:
if (rhs_val == 0) {
zero_division_error:
nlr_raise(mp_obj_new_exception_msg(&mp_type_ZeroDivisionError, "float division by zero"));
}
lhs_val = MICROPY_FLOAT_C_FUN(floor)(lhs_val / rhs_val);
break;
case MP_BINARY_OP_TRUE_DIVIDE:
case MP_BINARY_OP_INPLACE_TRUE_DIVIDE:
if (rhs_val == 0) {
goto zero_division_error;
}
lhs_val /= rhs_val;
break;
case MP_BINARY_OP_POWER:
case MP_BINARY_OP_INPLACE_POWER: lhs_val = MICROPY_FLOAT_C_FUN(pow)(lhs_val, rhs_val); break;
case MP_BINARY_OP_LESS: return MP_BOOL(lhs_val < rhs_val);
case MP_BINARY_OP_MORE: return MP_BOOL(lhs_val > rhs_val);
case MP_BINARY_OP_EQUAL: return MP_BOOL(lhs_val == rhs_val);
case MP_BINARY_OP_LESS_EQUAL: return MP_BOOL(lhs_val <= rhs_val);
case MP_BINARY_OP_MORE_EQUAL: return MP_BOOL(lhs_val >= rhs_val);
default:
return MP_OBJ_NOT_SUPPORTED;
}
return mp_obj_new_float(lhs_val);
}
STATIC mp_obj_t float_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
mp_arg_check_num(n_args, n_kw, 0, 1, false);
switch (n_args) {
case 0:
return mp_obj_new_float(0);
case 1:
default:
if (MP_OBJ_IS_STR(args[0])) {
// a string, parse it
uint l;
const char *s = mp_obj_str_get_data(args[0], &l);
return mp_parse_num_decimal(s, l, false, false);
} else if (MP_OBJ_IS_TYPE(args[0], &mp_type_float)) {
// a float, just return it
return args[0];
} else {
// something else, try to cast it to a float
return mp_obj_new_float(mp_obj_get_float(args[0]));
}
}
}
/// \method speed([speed, time=0])
/// Get or set the speed of a continuous rotation servo.
///
/// - `speed` is the speed to move to change to, between -100 and 100.
/// - `time` is the number of milliseconds to take to get to the specified speed.
STATIC mp_obj_t pyb_servo_speed(mp_uint_t n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get speed
return mp_obj_new_int((self->pulse_cur - self->pulse_centre) * 100 / self->pulse_speed_100);
} else {
#if MICROPY_PY_BUILTINS_FLOAT
self->pulse_dest = self->pulse_centre + self->pulse_speed_100 * mp_obj_get_float(args[1]) / 100.0;
#else
self->pulse_dest = self->pulse_centre + self->pulse_speed_100 * mp_obj_get_int(args[1]) / 100;
#endif
if (n_args == 2) {
// set speed immediately
self->time_left = 0;
} else {
// set speed over a given time (given in milli seconds)
self->time_left = mp_obj_get_int(args[2]) / 20;
self->pulse_accum = 0;
}
servo_timer_irq_callback();
return mp_const_none;
}
}
/// \method angle([angle, time=0])
/// Get or set the angle of the servo.
///
/// - `angle` is the angle to move to in degrees.
/// - `time` is the number of milliseconds to take to get to the specified angle.
STATIC mp_obj_t pyb_servo_angle(uint n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get angle
return mp_obj_new_int((self->pulse_cur - self->pulse_centre) * 90 / self->pulse_angle_90);
} else {
#if MICROPY_ENABLE_FLOAT
self->pulse_dest = self->pulse_centre + self->pulse_angle_90 * mp_obj_get_float(args[1]) / 90.0;
#else
self->pulse_dest = self->pulse_centre + self->pulse_angle_90 * mp_obj_get_int(args[1]) / 90;
#endif
if (n_args == 2) {
// set angle immediately
self->time_left = 0;
} else {
// set angle over a given time (given in milli seconds)
self->time_left = mp_obj_get_int(args[2]) / 20;
self->pulse_accum = 0;
}
servo_timer_irq_callback();
return mp_const_none;
}
}
static mp_obj_t servo_obj_angle(int n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get
float angle = map_uint_to_float(servo_ticks[self->servo_id],
usToTicks(self->min_usecs),
usToTicks(self->max_usecs),
0.0, 180.0);
return mp_obj_new_float(angle);
}
// Set
float angle = mp_obj_get_float(args[1]);
if (angle < 0.0F) {
angle = 0.0F;
}
if (angle > 180.0F) {
angle = 180.0F;
}
servo_ticks[self->servo_id] = map_float_to_uint(angle,
0.0F, 180.0F,
usToTicks(self->min_usecs),
usToTicks(self->max_usecs));
return mp_const_none;
}
