Updated

Lib/ESP8266.py

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+from pyb import UART, udelay
+
+#AT commands for the ESP8266
+#For comprehensive instructions visit http://www.electrodragon.com/w/Wi07c
+#AT command strings must end with "\r\n" to trigger command processing.
+#Any commands takin ssid or passwords must have id or password surrounded by quotes.
+#AT - return "ok" if connection works.
+#AT+RST - reset.  Will write back a bunch of gibberish then "ready"
+#AT+GMR - firmware version.
+#AT+CIOBAUD? or AT+CIOBAUD=? - return baud rate, AT+CIOBAUD=xxx - set baud rate.
+#AT+CWMODE or CWMODE? 1=Sta, 2=AP, 3=both. AP for devices STA for router.
+#AT+CWJAP=ssid,pwd or CWJAP? Join or report AP.
+#AT+CWLAP - list APs.
+#AT+CWQAP - Quit AP.
+#AT+CWSAP=ssid,pwd,chnl,encryption or CWSAP? = Set AP params.
+#AT+CWLIF - Check join devices.
+#AT+CIPSTATUS - Get connection status.
+#AT+CIPSTART
+#AT+CIPMODE=mode - 0 no data mode, 1 data mode, CIPMODE? reports mode.
+#AT+CIPSEND=lengh - send data.
+#AT+CIPCLOSE - Close TCP/UDP connection.
+#AT+CIFSR - Get IP addresses
+#AT+CIPMUX=mode or CIPMUX? - set/get multiple connection mode.
+#AT+CIPSERVER=mode,port - Set as server.
+#AT+CIPSTO=timout or CIPSTO? - Set/get server timout.
+#AT+IPD - Receive data
+#AT+CSYSWDTENABLE or DISABLE - enable/disable restart on error watchdog.
+
+class WIFI:
+  """docstring for wifi"""
+
+  def __init__(self, uart, baudrate = 115200):
+    """ uart = uart #1-6, baudrate must match what is set on the ESP8266. """
+    self._uart = UART(uart, baudrate)
+
+  def write( self, aMsg ) :
+    self._uart.write(aMsg)
+    res = self._uart.readall()
+    if res:
+      print(res.decode("utf-8"))
+
+  def read( self ) : return self._uart.readall().decode("utf-8")
+
+  def _cmd( self, cmd ) :
+    """ Send AT command, wait a bit then return results. """
+    self._uart.write("AT+" + cmd + "\r\n")
+    udelay(500)
+    return self.read()
+
+  @property
+  def IP(self): return self._cmd("CIFSR")
+
+  @property
+  def networks( self ) : return self._cmd("CWLAP")
+
+  @property
+  def baudrate(self): return self._cmd("CIOBAUD?")
+
+  @baudrate.setter
+  def baudrate(self, value): return self._cmd("CIOBAUD=" + str(value))
+
+  @property
+  def mode(self): return self._cmd("CWMODE?")
+
+  @mode.setter
+  def mode(self, value): self._cmd("CWMODE=" + str(value))
+
+  def connect( self, ssid, password = "" ) :
+    """ Connect to the given network ssid with the given password """
+    constr = "CWJAP=\"" + ssid + "\",\"" + password + "\""
+    return self._cmd(constr)
+
+  def disconnect( self ) : return self._cmd("CWQAP")
+
+  def reset( self ) : return self._cmd("RST")
+

Lib/GY521.py

@@ -0,0 +1,561 @@
+#driver for GY-521 Accelerometer
+#Translated by Guy Carver from the MPU6050 sample code.
+
+import pyb
+
+ADDRESS_LOW = 0x68  #address pin low (GND), default for InvenSense evaluation board
+ADDRESS_HIGH = 0x69 #address pin high (VCC)
+
+RA_XG_OFFS_TC     = 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+RA_YG_OFFS_TC     = 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+RA_ZG_OFFS_TC     = 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+RA_X_FINE_GAIN    = 0x03 //[7:0] X_FINE_GAIN
+RA_Y_FINE_GAIN    = 0x04 //[7:0] Y_FINE_GAIN
+RA_Z_FINE_GAIN    = 0x05 //[7:0] Z_FINE_GAIN
+RA_XA_OFFS_H      = 0x06 //[15:0] XA_OFFS
+RA_XA_OFFS_L_TC   = 0x07
+RA_YA_OFFS_H      = 0x08 //[15:0] YA_OFFS
+RA_YA_OFFS_L_TC   = 0x09
+RA_ZA_OFFS_H      = 0x0A //[15:0] ZA_OFFS
+RA_ZA_OFFS_L_TC   = 0x0B
+RA_XG_OFFS_USRH   = 0x13 //[15:0] XG_OFFS_USR
+RA_XG_OFFS_USRL   = 0x14
+RA_YG_OFFS_USRH   = 0x15 //[15:0] YG_OFFS_USR
+RA_YG_OFFS_USRL   = 0x16
+RA_ZG_OFFS_USRH   = 0x17 //[15:0] ZG_OFFS_USR
+RA_ZG_OFFS_USRL   = 0x18
+RA_SMPLRT_DIV     = 0x19
+RA_CONFIG         = 0x1A
+RA_GYRO_CONFIG    = 0x1B
+RA_ACCEL_CONFIG   = 0x1C
+RA_FF_THR         = 0x1D
+RA_FF_DUR         = 0x1E
+RA_MOT_THR        = 0x1F
+RA_MOT_DUR        = 0x20
+RA_ZRMOT_THR      = 0x21
+RA_ZRMOT_DUR      = 0x22
+RA_FIFO_EN        = 0x23
+RA_I2C_MST_CTRL   = 0x24
+RA_I2C_SLV0_ADDR  = 0x25
+RA_I2C_SLV0_REG   = 0x26
+RA_I2C_SLV0_CTRL  = 0x27
+RA_I2C_SLV1_ADDR  = 0x28
+RA_I2C_SLV1_REG   = 0x29
+RA_I2C_SLV1_CTRL  = 0x2A
+RA_I2C_SLV2_ADDR  = 0x2B
+RA_I2C_SLV2_REG   = 0x2C
+RA_I2C_SLV2_CTRL  = 0x2D
+RA_I2C_SLV3_ADDR  = 0x2E
+RA_I2C_SLV3_REG   = 0x2F
+RA_I2C_SLV3_CTRL  = 0x30
+RA_I2C_SLV4_ADDR  = 0x31
+RA_I2C_SLV4_REG   = 0x32
+RA_I2C_SLV4_DO    = 0x33
+RA_I2C_SLV4_CTRL  = 0x34
+RA_I2C_SLV4_DI    = 0x35
+RA_I2C_MST_STATUS = 0x36
+RA_INT_PIN_CFG    = 0x37
+RA_INT_ENABLE     = 0x38
+RA_DMP_INT_STATUS = 0x39
+RA_INT_STATUS     = 0x3A
+RA_ACCEL_XOUT_H   = 0x3B
+RA_ACCEL_XOUT_L   = 0x3C
+RA_ACCEL_YOUT_H   = 0x3D
+RA_ACCEL_YOUT_L   = 0x3E
+RA_ACCEL_ZOUT_H   = 0x3F
+RA_ACCEL_ZOUT_L   = 0x40
+RA_TEMP_OUT_H     = 0x41
+RA_TEMP_OUT_L     = 0x42
+RA_GYRO_XOUT_H    = 0x43
+RA_GYRO_XOUT_L    = 0x44
+RA_GYRO_YOUT_H    = 0x45
+RA_GYRO_YOUT_L    = 0x46
+RA_GYRO_ZOUT_H    = 0x47
+RA_GYRO_ZOUT_L    = 0x48
+RA_EXT_SENS_DATA_00 = 0x49
+RA_EXT_SENS_DATA_01 = 0x4A
+RA_EXT_SENS_DATA_02 = 0x4B
+RA_EXT_SENS_DATA_03 = 0x4C
+RA_EXT_SENS_DATA_04 = 0x4D
+RA_EXT_SENS_DATA_05 = 0x4E
+RA_EXT_SENS_DATA_06 = 0x4F
+RA_EXT_SENS_DATA_07 = 0x50
+RA_EXT_SENS_DATA_08 = 0x51
+RA_EXT_SENS_DATA_09 = 0x52
+RA_EXT_SENS_DATA_10 = 0x53
+RA_EXT_SENS_DATA_11 = 0x54
+RA_EXT_SENS_DATA_12 = 0x55
+RA_EXT_SENS_DATA_13 = 0x56
+RA_EXT_SENS_DATA_14 = 0x57
+RA_EXT_SENS_DATA_15 = 0x58
+RA_EXT_SENS_DATA_16 = 0x59
+RA_EXT_SENS_DATA_17 = 0x5A
+RA_EXT_SENS_DATA_18 = 0x5B
+RA_EXT_SENS_DATA_19 = 0x5C
+RA_EXT_SENS_DATA_20 = 0x5D
+RA_EXT_SENS_DATA_21 = 0x5E
+RA_EXT_SENS_DATA_22 = 0x5F
+RA_EXT_SENS_DATA_23 = 0x60
+RA_MOT_DETECT_STATUS = 0x61
+RA_I2C_SLV0_DO     = 0x63
+RA_I2C_SLV1_DO     = 0x64
+RA_I2C_SLV2_DO     = 0x65
+RA_I2C_SLV3_DO     = 0x66
+RA_I2C_MST_DELAY_CTRL = 0x67
+RA_SIGNAL_PATH_RESET  = 0x68
+RA_MOT_DETECT_CTRL    = 0x69
+RA_USER_CTRL       = 0x6A
+RA_PWR_MGMT_1      = 0x6B
+RA_PWR_MGMT_2      = 0x6C
+RA_BANK_SEL        = 0x6D
+RA_MEM_START_ADDR  = 0x6E
+RA_MEM_R_W         = 0x6F
+RA_DMP_CFG_1       = 0x70
+RA_DMP_CFG_2       = 0x71
+RA_FIFO_COUNTH     = 0x72
+RA_FIFO_COUNTL     = 0x73
+RA_FIFO_R_W        = 0x74
+RA_WHO_AM_I        = 0x75
+
+TC_PWR_MODE_BIT    = 7
+TC_OFFSET_BIT      = 6
+TC_OFFSET_LENGTH   = 6
+TC_OTP_BNK_VLD_BIT = 0
+
+VDDIO_LEVEL_VLOGIC = 0
+VDDIO_LEVEL_VDD    = 1
+
+CFG_EXT_SYNC_SET_BIT    = 5
+CFG_EXT_SYNC_SET_LENGTH = 3
+CFG_DLPF_CFG_BIT    = 2
+CFG_DLPF_CFG_LENGTH = 3
+
+EXT_SYNC_DISABLED     = 0x0
+EXT_SYNC_TEMP_OUT_L   = 0x1
+EXT_SYNC_GYRO_XOUT_L  = 0x2
+EXT_SYNC_GYRO_YOUT_L  = 0x3
+EXT_SYNC_GYRO_ZOUT_L  = 0x4
+EXT_SYNC_ACCEL_XOUT_L = 0x5
+EXT_SYNC_ACCEL_YOUT_L = 0x6
+EXT_SYNC_ACCEL_ZOUT_L = 0x7
+
+DLPF_BW_256        = 0x00
+DLPF_BW_188        = 0x01
+DLPF_BW_98         = 0x02
+DLPF_BW_42         = 0x03
+DLPF_BW_20         = 0x04
+DLPF_BW_10         = 0x05
+DLPF_BW_5          = 0x06
+
+GCONFIG_FS_SEL_BIT    = 4
+GCONFIG_FS_SEL_LENGTH = 2
+
+GYRO_FS_250       = 0x00
+GYRO_FS_500       = 0x01
+GYRO_FS_1000      = 0x02
+GYRO_FS_2000      = 0x03
+
+ACONFIG_XA_ST_BIT        = 7
+ACONFIG_YA_ST_BIT        = 6
+ACONFIG_ZA_ST_BIT        = 5
+ACONFIG_AFS_SEL_BIT      = 4
+ACONFIG_AFS_SEL_LENGTH   = 2
+ACONFIG_ACCEL_HPF_BIT    = 2
+ACONFIG_ACCEL_HPF_LENGTH = 3
+
+ACCEL_FS_2         = 0x00
+ACCEL_FS_4         = 0x01
+ACCEL_FS_8         = 0x02
+ACCEL_FS_16        = 0x03
+
+DHPF_RESET         = 0x00
+DHPF_5             = 0x01
+DHPF_2P5           = 0x02
+DHPF_1P25          = 0x03
+DHPF_0P63          = 0x04
+DHPF_HOLD          = 0x07
+
+TEMP_FIFO_EN_BIT   = 7
+XG_FIFO_EN_BIT     = 6
+YG_FIFO_EN_BIT     = 5
+ZG_FIFO_EN_BIT     = 4
+ACCEL_FIFO_EN_BIT  = 3
+SLV2_FIFO_EN_BIT   = 2
+SLV1_FIFO_EN_BIT   = 1
+SLV0_FIFO_EN_BIT   = 0
+
+MULT_MST_EN_BIT    = 7
+WAIT_FOR_ES_BIT    = 6
+SLV_3_FIFO_EN_BIT  = 5
+I2C_MST_P_NSR_BIT  = 4
+I2C_MST_CLK_BIT    = 3
+I2C_MST_CLK_LENGTH = 4
+
+CLOCK_DIV_348      = 0x0
+CLOCK_DIV_333      = 0x1
+CLOCK_DIV_320      = 0x2
+CLOCK_DIV_308      = 0x3
+CLOCK_DIV_296      = 0x4
+CLOCK_DIV_286      = 0x5
+CLOCK_DIV_276      = 0x6
+CLOCK_DIV_267      = 0x7
+CLOCK_DIV_258      = 0x8
+CLOCK_DIV_500      = 0x9
+CLOCK_DIV_471      = 0xA
+CLOCK_DIV_444      = 0xB
+CLOCK_DIV_421      = 0xC
+CLOCK_DIV_400      = 0xD
+CLOCK_DIV_381      = 0xE
+CLOCK_DIV_364      = 0xF
+
+I2C_SLV_RW_BIT      = 7
+I2C_SLV_ADDR_BIT    = 6
+I2C_SLV_ADDR_LENGTH = 7
+I2C_SLV_EN_BIT      = 7
+I2C_SLV_BYTE_SW_BIT = 6
+I2C_SLV_REG_DIS_BIT = 5
+I2C_SLV_GRP_BIT     = 4
+I2C_SLV_LEN_BIT     = 3
+I2C_SLV_LEN_LENGTH  = 4
+
+I2C_SLV4_RW_BIT         = 7
+I2C_SLV4_ADDR_BIT       = 6
+I2C_SLV4_ADDR_LENGTH    = 7
+I2C_SLV4_EN_BIT         = 7
+I2C_SLV4_INT_EN_BIT     = 6
+I2C_SLV4_REG_DIS_BIT    = 5
+I2C_SLV4_MST_DLY_BIT    = 4
+I2C_SLV4_MST_DLY_LENGTH = 5
+
+MST_PASS_THROUGH_BIT   = 7
+MST_I2C_SLV4_DONE_BIT  = 6
+MST_I2C_LOST_ARB_BIT   = 5
+MST_I2C_SLV4_NACK_BIT  = 4
+MST_I2C_SLV3_NACK_BIT  = 3
+MST_I2C_SLV2_NACK_BIT  = 2
+MST_I2C_SLV1_NACK_BIT  = 1
+MST_I2C_SLV0_NACK_BIT  = 0
+
+INTCFG_INT_LEVEL_BIT       = 7
+INTCFG_INT_OPEN_BIT        = 6
+INTCFG_LATCH_INT_EN_BIT    = 5
+INTCFG_INT_RD_CLEAR_BIT    = 4
+INTCFG_FSYNC_INT_LEVEL_BIT = 3
+INTCFG_FSYNC_INT_EN_BIT    = 2
+INTCFG_I2C_BYPASS_EN_BIT   = 1
+INTCFG_CLKOUT_EN_BIT       = 0
+
+INTMODE_ACTIVEHIGH = 0x00
+INTMODE_ACTIVELOW  = 0x01
+
+INTDRV_PUSHPULL    = 0x00
+INTDRV_OPENDRAIN   = 0x01
+
+INTLATCH_50USPULSE = 0x00
+INTLATCH_WAITCLEAR = 0x01
+
+INTCLEAR_STATUSREAD = 0x00
+INTCLEAR_ANYREAD    = 0x01
+
+INTERRUPT_FF_BIT          = 7
+INTERRUPT_MOT_BIT         = 6
+INTERRUPT_ZMOT_BIT        = 5
+INTERRUPT_FIFO_OFLOW_BIT  = 4
+INTERRUPT_I2C_MST_INT_BIT = 3
+INTERRUPT_PLL_RDY_INT_BIT = 2
+INTERRUPT_DMP_INT_BIT     = 1
+INTERRUPT_DATA_RDY_BIT    = 0
+
+# TODO: figure out what these actually do
+# UMPL source code is not very obivous
+DMPINT_5_BIT           = 5
+DMPINT_4_BIT           = 4
+DMPINT_3_BIT           = 3
+DMPINT_2_BIT           = 2
+DMPINT_1_BIT           = 1
+DMPINT_0_BIT           = 0
+
+MOTION_MOT_XNEG_BIT    = 7
+MOTION_MOT_XPOS_BIT    = 6
+MOTION_MOT_YNEG_BIT    = 5
+MOTION_MOT_YPOS_BIT    = 4
+MOTION_MOT_ZNEG_BIT    = 3
+MOTION_MOT_ZPOS_BIT    = 2
+MOTION_MOT_ZRMOT_BIT   = 0
+
+DELAYCTRL_DELAY_ES_SHADOW_BIT = 7
+DELAYCTRL_I2C_SLV4_DLY_EN_BIT = 4
+DELAYCTRL_I2C_SLV3_DLY_EN_BIT = 3
+DELAYCTRL_I2C_SLV2_DLY_EN_BIT = 2
+DELAYCTRL_I2C_SLV1_DLY_EN_BIT = 1
+DELAYCTRL_I2C_SLV0_DLY_EN_BIT = 0
+
+PATHRESET_GYRO_RESET_BIT  = 2
+PATHRESET_ACCEL_RESET_BIT = 1
+PATHRESET_TEMP_RESET_BIT  = 0
+
+DETECT_ACCEL_ON_DELAY_BIT    = 5
+DETECT_ACCEL_ON_DELAY_LENGTH = 2
+DETECT_FF_COUNT_BIT          = 3
+DETECT_FF_COUNT_LENGTH       = 2
+DETECT_MOT_COUNT_BIT         = 1
+DETECT_MOT_COUNT_LENGTH      = 2
+
+DETECT_DECREMENT_RESET = 0x0
+DETECT_DECREMENT_1     = 0x1
+DETECT_DECREMENT_2     = 0x2
+DETECT_DECREMENT_4     = 0x3
+
+USERCTRL_DMP_EN_BIT           = 7
+USERCTRL_FIFO_EN_BIT          = 6
+USERCTRL_I2C_MST_EN_BIT       = 5
+USERCTRL_I2C_IF_DIS_BIT       = 4
+USERCTRL_DMP_RESET_BIT        = 3
+USERCTRL_FIFO_RESET_BIT       = 2
+USERCTRL_I2C_MST_RESET_BIT    = 1
+USERCTRL_SIG_COND_RESET_BIT   = 0
+
+PWR1_DEVICE_RESET_BIT = 7
+PWR1_SLEEP_BIT        = 6
+PWR1_CYCLE_BIT        = 5
+PWR1_TEMP_DIS_BIT     = 3
+PWR1_CLKSEL_BIT       = 2
+PWR1_CLKSEL_LENGTH    = 3
+
+CLOCK_INTERNAL        = 0x00
+CLOCK_PLL_XGYRO       = 0x01
+CLOCK_PLL_YGYRO       = 0x02
+CLOCK_PLL_ZGYRO       = 0x03
+CLOCK_PLL_EXT32K      = 0x04
+CLOCK_PLL_EXT19M      = 0x05
+CLOCK_KEEP_RESET      = 0x07
+
+PWR2_LP_WAKE_CTRL_BIT    = 7
+PWR2_LP_WAKE_CTRL_LENGTH = 2
+PWR2_STBY_XA_BIT         = 5
+PWR2_STBY_YA_BIT         = 4
+PWR2_STBY_ZA_BIT         = 3
+PWR2_STBY_XG_BIT         = 2
+PWR2_STBY_YG_BIT         = 1
+PWR2_STBY_ZG_BIT         = 0
+
+WAKE_FREQ_1P25     = 0x0
+WAKE_FREQ_2P5      = 0x1
+WAKE_FREQ_5        = 0x2
+WAKE_FREQ_10       = 0x3
+
+BANKSEL_PRFTCH_EN_BIT     = 6
+BANKSEL_CFG_USER_BANK_BIT = 5
+BANKSEL_MEM_SEL_BIT       = 4
+BANKSEL_MEM_SEL_LENGTH    = 5
+
+WHO_AM_I_BIT       = 6
+WHO_AM_I_LENGTH    = 6
+
+DMP_MEMORY_BANKS      = 8
+DMP_MEMORY_BANK_SIZE  = 256
+DMP_MEMORY_CHUNK_SIZE = 16
+
+class Accel(object) :
+  """GY-521 Accelerometer."""
+
+  @staticmethod
+  def color( aR, aG, aB ) :
+    '''Create a 565 rgb TFTColor value'''
+    return TFTColor(aR, aG, aB)
+
+  def __init__( self, aLoc, aAddress = ADDRESS_LOW ) :
+    """aLoc I2C pin location is either 1 for 'X' or 2 for 'Y'.
+       aAddress is either ADDRESS_LOW or ADDRESS_HIGH."""
+
+    if 1 > aLoc > 2 :
+      raise Exception("aLoc must be 1 or 2.")
+
+    self._data = bytearray(1)
+    self._data6 = bytearray(6)
+    self._data14 = bytearray(14)
+    self._address = aAddress
+    self._i2c = pyb.I2C(aLoc, pyb.I2C.MASTER, baudrate = 400000)
+
+    self.setclocksource(CLOCK_PLL_XGYRO)
+    self.setfullscalegyrorange(GYRO_FS_250)
+    self.setfulscaleaccelrange(ACCEL_FS_2)
+    self.setsleepenabled(False)
+
+  def getrate( self ) :
+    self._readdata(RA_SMPLRT_DIV, self._data)
+    return self._data[0]
+
+  def setrate( self, aRate ) :
+    self._writedata(RA_SMPLRT_DIV, aRate)
+
+  def getDLPF( self ) :
+    return self._readbits(RA_CONFIG, CFG_DLPF_CFG_BIT, CFG_DLPF_CFG_LENGTH)
+
+  def setDLPF( self, aMode ) :
+    self._writebits(RA_CONFIG, CFG_DLPF_CFG_BIT, CFG_DLPF_CFG_LENGTH, aMode)
+
+  def setclocksource( self, aSource ) :
+    self._writebits(RA_PWR_MGMT_1, PWR1_CLKSEL_BIT, PWR1_CLKSEL_LENGTH, aSource)
+
+  def getfullscalegyrorange( self ) :
+    return self._readbits(RA_GYRO_CONFIG, GCONFIG_FS_SEL_BIT, GCONFIG_FS_SEL_LENGTH)
+
+  def setfullscalegyrorange( self, aRange ) :
+    self._writebits(RA_GYRO_CONFIG, GCONFIG_FS_SEL_BIT, GCONFIG_FS_SEL_LENGTH, aRange)
+
+  def getfullscaleaccelrange( self ) :
+    self._readbits(RA_ACCEL_CONFIG, ACONFIG_AFS_SEL_BIT, ACONFIG_AFS_SEL_LENGTH)
+
+  def setfullscaleaccelrange( self, aRange ) :
+    self._writebits(RA_ACCEL_CONFIG, ACONFIG_AFS_SEL_BIT, ACONFIG_AFS_SEL_LENGTH, aRange)
+
+  def getsleepenabled( self ) :
+    self._readbits(RA_PWR_MGMT_1, PWR1_SLEEP_BIT, 1)
+
+  def setsleepenabled( self, aTF ) :
+    self._writebits(RA_PWR_MGMT_1, PWR1_SLEEP_BIT, 1, aTF)
+
+  def getfreefalldetectionthreshold( self ) :
+    self._readdata(RA_FF_THR, self._data)
+    return self._data[0]
+
+  def setfreefalldetectionthreshold( self, aValue ) :
+    self._writedata(RA_FF_THR, aValue)
+
+  def getfreefalldetectionduration( self ) :
+    self._readdata(RA_FF_DUR, self._data)
+    return self._data[0]
+
+  def setfreefalldetectionduration( self, aValue ) :
+    self._writedata(RA_FF_DUR, aValue)
+
+  def getmotiondetectionthreshold( self ) :
+    self._readdata(RA_MOT_THR, self._data)
+    return self._data[0]
+
+  def setmotiondetectionthreshold( self, aValue ) :
+    self._writedata(RA_MOT_THR, aValue)
+
+  def getmotiondetectionduration( self ) :
+    self._readdata(RA_MOT_DUR, self._data)
+    return self._data[0]
+
+  def setmotiondetectionduration( self, aValue ) :
+    self._writedata(RA_MOT_DUR, aValue)
+
+  def getzeromotiondetectionthreshold( self ) :
+    self._readdata(RA_ZRMOT_THR, self._data)
+    return self._data[0]
+
+  def setzeromotiondetectionthreshold( self, aValue ) :
+    self._writedata(RA_ZRMOT_THR, aValue)
+
+  def getzeromotiondetectionduration( self ) :
+    self._readdata(RA_ZRMOT_DUR, self._data)
+    return self._data[0]
+
+  def setzeromotiondetectionduration( self, aValue ) :
+    self._writedata(RA_ZRMOT_DUR, aValue)
+
+  def getFIFOenabled( self ) :
+    return self._readbits(RA_USER_CTRL, USERCTRL_FIFO_EN_BIT, 1)
+
+  def setFIFFOenabled( self, aTF ) :
+    self._writebits(RA_USER_CTRL, USERCTRL_FIFO_EN_BIT, 1, aTF)
+
+  def gettempFIFOenabled( self ) :
+    return self._readbits(RA_FIFO_EN, TEMP_FIFO_EN_BIT, 1)
+
+  def settempFIFFOenabled( self, aTF ) :
+    self._writebits(RA_FIFO_EN, TEMP_FIFO_EN_BIT, 1, aTF)
+
+  def getxgyroFIFOenabled( self ) :
+    return self._readbits(RA_FIFO_EN, XG_FIFO_EN_BIT, 1)
+
+  def setxgyroFIFOenabled( self, aTF ) :
+    self._writebits(RA_FIFO_EN, XG_FIFO_EN_BIT, 1, aTF)
+
+  def getygyroFIFOenabled( self ) :
+    return self._readbits(RA_FIFO_EN, YG_FIFO_EN_BIT, 1)
+
+  def setygyroFIFOenabled( self, aTF ) :
+    self._writebits(RA_FIFO_EN, YG_FIFO_EN_BIT, 1, aTF)
+
+  def getzgyroFIFOenabled( self ) :
+    return self._readbits(RA_FIFO_EN, ZG_FIFO_EN_BIT, 1)
+
+  def setzgyroFIFOenabled( self, aTF ) :
+    self._writebits(RA_FIFO_EN, ZG_FIFO_EN_BIT, 1, aTF)
+
+  def getaccelFIFOenabled( self ) :
+    return self._readbits(RA_FIFO_EN, ACCEL_FIFO_EN_BIT, 1)
+
+  def setaccelFIFOenabled( self, aTF ) :
+    self._writebits(RA_FIFO_EN, ACCEL_FIFO_EN_BIT, 1, aTF)
+
+  def getmasterclockspeed( self ) :
+    return self._readbits(RA_I2C_MST_CTRL, I2C_MST_CLK_BIT, I2C_MST_CLK_LENGTH)
+
+  def setmasterclockspeed( self, aValue ) :
+    self._writebits(RA_I2C_MST_CTRL, I2C_MST_CLK_BIT, I2C_MST_CLK_LENGTH, aValue)
+
+  def getinterruptmode( self ) :
+    return self._readbits(RA_INT_PIN_CFG, INTCFG_INT_LEVEL_BIT, 1)
+
+  def setinterruptmode( self, aValue ) :
+    self._writebits(RA_INT_PIN_CFG, INTCFG_INT_LEVEL_BIT, 1, aValue)
+
+  def getinterruptdrive( self ) :
+    return self._readbits(RA_INT_PIN_CFG, INTCFG_INT_OPEN_BIT, 1)
+
+  def setinterruptdrive( self, aValue ) :
+    self._writebits(RA_INT_PIN_CFG, INTCFG_INT_OPEN_BIT, 1, aValue)
+
+  def getinterruptlatch( self ) :
+    return self._readbits(RA_INT_PIN_CFG, INTCFG_LATCH_INT_EN_BIT, 1)
+
+  def setinterruptlatch( self, aValue ) :
+    self._writebits(RA_INT_PIN_CFG, INTCFG_LATCH_INT_EN_BIT, 1, aValue)
+
+  def getinterruptlatchclear( self ) :
+    return self._readbits(RA_INT_PIN_CFG, INTCFG_INT_RD_CLEAR_BIT, 1)
+
+  def setinterruptlatchclear( self, aValue ) :
+    self._writebits(RA_INT_PIN_CFG, INTCFG_INT_RD_CLEAR_BIT, 1, aValue)
+
+  def getacceltemprot( self ) :
+    self._readdata(RA_ACCEL_XOUT_H, self._data14)
+    return [(self._data14[i] << 8) | self._data14[i + 1] for i in range(0, len(self._data14), 2)]
+
+  def getacceleration( self ) :
+    self._readdata(RA_ACCEL_XOUT_H, self._data6)
+    return [(self._data6[i] << 8) | self._data6[i + 1] for i in range(0, len(self._data6), 2)]
+
+  def getrotation( self ) :
+    self._readdata(RA_GYRO_XOUT_H, self.data6)
+    return [(self._data6[i] << 8) | self._data6[i + 1] for i in range(0, len(self._data6), 2)]
+
+  def reset( self ) :
+    self._writebits(RA_PWR_MGMT_1, PWR1_DEVICE_RESET_BIT, 1, True)
+
+  def _writedata( self, aAddress, aData ) :
+    self._i2c.mem_write(aData, self._address, aAddress)
+
+  def _readdata( self, aAddress, aData ) :
+    self._i2c.mem_read(aData, self._address, aAddress)
+
+#  @micropython.native
+  def _readbits( self, aAddress, aStart, aLen ) :
+    self._readdata(aAddress, self._data)
+    b = (self._data[0] >> (aStart - aLen + 1)) & ((1 << aLen) - 1)
+
+#  @micropython.native
+  def _writebits( self, aAddress, aStart, aLen, aValue ) :
+    self._readdata(aAddress, self._data)
+    mask = ((1 << aLen) - 1) << (aStart - aLen + 1)
+    aValue = (buffer[0] << (aStart - aLen + 1)) & mask #shift data into correct position
+    val &= ~mask
+    self._data[0] |= aValue
+    self._writedata(aAddress, self._data)
+

main.py

@@ -67,9 +67,27 @@ else:
 
 # Bluetooth board ----------------------------------------
 
-from JYMCU import JYMCU
+# from JYMCU import JYMCU
 
-u = JYMCU(6, 57600)
-u.write("Testing.")
-u.readline()
-u.setrepl()
+# u = JYMCU(6, 57600)
+# u.write("Testing.")
+# u.readline()
+# u.setrepl()
+
+# from pyb import ExtInt
+
+# x = 0
+# def cb(line):
+#   global x
+#   x += 1
+#   print(x)
+
+# f = ExtInt("Y2", ExtInt.IRQ_RISING, pyb.Pin.PULL_UP, cb)
+
+from ESP8266 import WIFI
+
+v = WIFI(6)
+
+from pyb import Pin
+p = Pin("X11", Pin.IN, Pin.PULL_DOWN)
+def v(): return p.value()