diff --git a/.devcontainer/cortex-m-toolchain.sh b/.devcontainer/cortex-m-toolchain.sh index de1ccde62742a..38ecdb72a7b96 100755 --- a/.devcontainer/cortex-m-toolchain.sh +++ b/.devcontainer/cortex-m-toolchain.sh @@ -14,10 +14,10 @@ echo -e "[cortex-m-toolchain.sh] downloading and installing gcc-arm-non-eabi too cd /workspaces wget -qO gcc-arm-none-eabi.tar.xz \ - https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi.tar.xz + https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz tar -xJf gcc-arm-none-eabi.tar.xz -ln -s arm-gnu-toolchain-13.2.Rel1-x86_64-arm-none-eabi gcc-arm-none-eabi +ln -s arm-gnu-toolchain-14.2.Rel1-x86_64-arm-none-eabi gcc-arm-none-eabi rm -f gcc-arm-none-eabi.tar.xz echo -e "[cortex-m-toolchain.sh] update PATH in environment" diff --git a/.github/actions/deps/external/action.yml b/.github/actions/deps/external/action.yml index 0b1444a820da2..10aace1134ec5 100644 --- a/.github/actions/deps/external/action.yml +++ b/.github/actions/deps/external/action.yml @@ -27,7 +27,7 @@ runs: uses: carlosperate/arm-none-eabi-gcc-action@v1 with: # When changing this update what Windows grabs too! - release: '13.2.Rel1' + release: '14.2.Rel1' # espressif - name: Get espressif toolchain diff --git a/.github/actions/deps/ports/broadcom/action.yml b/.github/actions/deps/ports/broadcom/action.yml index f936f8e7edfde..9ad0e361bda1b 100644 --- a/.github/actions/deps/ports/broadcom/action.yml +++ b/.github/actions/deps/ports/broadcom/action.yml @@ -5,8 +5,8 @@ runs: steps: - name: Get broadcom toolchain run: | - wget --no-verbose https://adafruit-circuit-python.s3.amazonaws.com/arm-gnu-toolchain-13.3.rel1-x86_64-aarch64-none-elf.tar.xz - sudo tar -C /usr --strip-components=1 -xaf arm-gnu-toolchain-13.3.rel1-x86_64-aarch64-none-elf.tar.xz + wget --no-verbose https://adafruit-circuit-python.s3.amazonaws.com/arm-gnu-toolchain-14.2.rel1-x86_64-aarch64-none-elf.tar.xz + sudo tar -C /usr --strip-components=1 -xaf arm-gnu-toolchain-14.2.rel1-x86_64-aarch64-none-elf.tar.xz sudo apt-get update sudo apt-get install -y mtools shell: bash diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index eb6a9a0c26325..0f837d793bddc 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -261,9 +261,9 @@ jobs: python3 -c "import sys, locale; print(sys.getdefaultencoding(), locale.getpreferredencoding(False))" - name: Install dependencies run: | - wget --no-verbose -O gcc-arm.zip https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-mingw-w64-i686-arm-none-eabi.zip - unzip -q -d /tmp gcc-arm.zip - tar -C /tmp/arm-gnu-toolchain* -cf - . | tar -C /usr/local -xf - + wget --no-verbose -O gcc-arm.zip https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-mingw-w64-i686-arm-none-eabi.zip + unzip -q -d /tmp/arm-gnu-toolchain gcc-arm.zip + tar -C /tmp/arm-gnu-toolchain -cf - . | tar -C /usr/local -xf - # We could use a venv instead, but that requires entering the venv on each run step # that runs in its own shell. There are some actions that help with that, but not for msys2 # that I can find. (dhalbert) diff --git a/.github/workflows/notify-on-issue-label.yml b/.github/workflows/notify-on-issue-label.yml index da1ac0a18e28a..2b229156811f8 100644 --- a/.github/workflows/notify-on-issue-label.yml +++ b/.github/workflows/notify-on-issue-label.yml @@ -10,7 +10,7 @@ jobs: permissions: issues: write steps: - - uses: tekktrik/issue-labeled-ping@v1 + - uses: tekktrik/issue-labeled-ping@v2 with: github-token: ${{ secrets.GITHUB_TOKEN }} user: v923z diff --git a/.gitignore b/.gitignore index 6725b901b92bf..7f798c415c784 100644 --- a/.gitignore +++ b/.gitignore @@ -9,6 +9,7 @@ *.o *.a !atmel-samd/asf/**/*.a +!ports/espressif/microros-lib/**/*.a *.elf *.bin !*.toml.bin diff --git a/.gitmodules b/.gitmodules index a5226ffafdd52..067dd612b8038 100644 --- a/.gitmodules +++ b/.gitmodules @@ -412,3 +412,6 @@ [submodule "ports/analog/msdk"] path = ports/analog/msdk url = https://github.com/analogdevicesinc/msdk.git +[submodule "ports/espressif/microros-lib"] + path = ports/espressif/microros-lib + url = https://github.com/hierophect/microros-lib.git diff --git a/devices/ble_hci/common-hal/_bleio/__init__.c b/devices/ble_hci/common-hal/_bleio/__init__.c index 9663e70699807..6376f6f10c8c9 100644 --- a/devices/ble_hci/common-hal/_bleio/__init__.c +++ b/devices/ble_hci/common-hal/_bleio/__init__.c @@ -40,13 +40,13 @@ bool vm_used_ble; void common_hal_bleio_init(void) { } -void bleio_user_reset() { +void bleio_user_reset(void) { // HCI doesn't support the BLE workflow so just do a full reset. bleio_reset(); } // Turn off BLE on a reset or reload. -void bleio_reset() { +void bleio_reset(void) { // Create a UUID object for all CCCD's. cccd_uuid.base.type = &bleio_uuid_type; common_hal_bleio_uuid_construct(&cccd_uuid, BLE_UUID_CCCD, NULL); diff --git a/locale/ID.po b/locale/ID.po index 0eedaf07868d4..1a7d2a7735e69 100644 --- a/locale/ID.po +++ b/locale/ID.po @@ -871,6 +871,10 @@ msgstr "Deretan koordinat memiliki panjang yang berbeda" msgid "Coordinate arrays types have different sizes" msgstr "Tipe array koordinat memiliki ukuran yang berbeda" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Tidak dapat mengatur alamat" @@ -883,6 +887,11 @@ msgstr "Tidak dapat memulai interupsi, RX sibuk" msgid "Couldn't allocate decoder" msgstr "Tidak dapat mengalokasikan dekoder" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Terjadi kesalahan saat menginisialisasi kanal DAC" @@ -1312,6 +1321,10 @@ msgstr "" msgid "Invalid MAC address" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Argumen tidak valid" @@ -1874,6 +1887,10 @@ msgstr "Ukuran program tidak valid" msgid "Program too long" msgstr "Program terlalu lama" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Pull tidak digunakan saat arah output." @@ -1894,6 +1911,26 @@ msgstr "Kesalahan DeInit RNG" msgid "RNG Init Error" msgstr "Kesalahan Init RNG" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/circuitpython.pot b/locale/circuitpython.pot index 1c6fcce1d417a..c43e3a945f478 100644 --- a/locale/circuitpython.pot +++ b/locale/circuitpython.pot @@ -848,6 +848,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "" @@ -860,6 +864,11 @@ msgstr "" msgid "Couldn't allocate decoder" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "" @@ -1287,6 +1296,10 @@ msgstr "" msgid "Invalid MAC address" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "" @@ -1841,6 +1854,10 @@ msgstr "" msgid "Program too long" msgstr "" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "" @@ -1861,6 +1878,26 @@ msgstr "" msgid "RNG Init Error" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/cs.po b/locale/cs.po index f9e5f9f670350..6b7a48dbeb24a 100644 --- a/locale/cs.po +++ b/locale/cs.po @@ -865,6 +865,10 @@ msgstr "Pole souřadnic mají různé délky" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Není možné nastavit adresu" @@ -877,6 +881,11 @@ msgstr "Nelze začít přerušení, RX je zaneprázdněn" msgid "Couldn't allocate decoder" msgstr "Dekodér nelze přiřadit" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Chyba inicializace kanálu DAC" @@ -1307,6 +1316,10 @@ msgstr "Chybné BSSID" msgid "Invalid MAC address" msgstr "Chybná MAC adresa" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Neplatný argument" @@ -1864,6 +1877,10 @@ msgstr "Velikost programu je nesprávná" msgid "Program too long" msgstr "Program je příliš dlouhý" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "" @@ -1884,6 +1901,26 @@ msgstr "" msgid "RNG Init Error" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/de_DE.po b/locale/de_DE.po index 8d509153cbf2c..1bf83fe64b9b7 100644 --- a/locale/de_DE.po +++ b/locale/de_DE.po @@ -6,14 +6,14 @@ msgstr "" "Project-Id-Version: \n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2021-01-04 12:55-0600\n" -"PO-Revision-Date: 2024-12-15 14:00+0000\n" -"Last-Translator: Exp3rt \n" +"PO-Revision-Date: 2025-06-07 16:03+0000\n" +"Last-Translator: MAE \n" "Language: de_DE\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=2; plural=n != 1;\n" -"X-Generator: Weblate 5.9-rc\n" +"X-Generator: Weblate 5.12-dev\n" #: main.c msgid "" @@ -117,7 +117,7 @@ msgstr "%q Fehler: %d" #: shared-module/audiodelays/MultiTapDelay.c msgid "%q in %q must be of type %q or %q, not %q" -msgstr "" +msgstr "%q in %q muss vom Typ %q oder %q sein, nicht %q" #: py/argcheck.c shared-module/audiofilters/Filter.c msgid "%q in %q must be of type %q, not %q" @@ -304,7 +304,7 @@ msgstr "%q[%u] schiebt mehr Bits raus als Pins vorhanden sind" #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c msgid "%q[%u] uses extra pin" -msgstr "" +msgstr "%q[%u] verwendet zusätzlichen Pin" #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c msgid "%q[%u] waits on input outside of count" @@ -495,7 +495,7 @@ msgstr "Adressbereich nicht erlaubt" #: shared-bindings/memorymap/AddressRange.c msgid "Address range wraps around" -msgstr "" +msgstr "Der Adressbereich umfasst folgende Bereiche" #: ports/espressif/common-hal/canio/CAN.c msgid "All CAN peripherals are in use" @@ -573,7 +573,7 @@ msgstr "All-Matchers-Listener bereits vorhanden" #: ports/espressif/common-hal/_bleio/__init__.c msgid "Already in progress" -msgstr "" +msgstr "Bereits in Arbeit" #: ports/espressif/bindings/espnow/ESPNow.c #: ports/espressif/common-hal/espulp/ULP.c @@ -613,7 +613,7 @@ msgstr "Array-Werte sollten aus Einzelbytes bestehen." #: ports/atmel-samd/common-hal/spitarget/SPITarget.c msgid "Async SPI transfer in progress on this bus, keep awaiting." -msgstr "" +msgstr "Asynchroner SPI-Transfer auf diesem Bus im Gange, warten Sie weiter." #: shared-module/memorymonitor/AllocationAlarm.c #, c-format @@ -627,7 +627,7 @@ msgstr "Audio-Konvertierung nicht implementiert" #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c #: ports/raspberrypi/common-hal/audiopwmio/PWMAudioOut.c msgid "Audio source error" -msgstr "" +msgstr "Audioquellenfehler" #: shared-bindings/wifi/Radio.c msgid "AuthMode.OPEN is not used with password" @@ -660,7 +660,7 @@ msgstr "Unterhalb der minimalen Frame Rate" #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c msgid "Bit clock and word select must be sequential GPIO pins" -msgstr "" +msgstr "Bittakt und Wortauswahl müssen aufeinanderfolgende GPIO-Pins sein" #: shared-bindings/bitmaptools/__init__.c msgid "Bitmap size and bits per value must match" @@ -767,6 +767,8 @@ msgstr "Kann nur auf zwei Pins Alarm als low aus Deep Sleep auslösen." #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Can't construct AudioOut because continuous channel already open" msgstr "" +"AudioOut kann nicht erstellt werden, da ein kontinuierlicher Kanal bereits " +"geöffnet ist" #: ports/espressif/common-hal/_bleio/Characteristic.c #: ports/nordic/common-hal/_bleio/Characteristic.c @@ -816,6 +818,7 @@ msgstr "Aufnahme in eine Datei nicht möglich" #: shared-module/storage/__init__.c msgid "Cannot remount path when visible via USB." msgstr "" +"Der Pfad kann nicht neu gemountet werden, wenn er über USB sichtbar ist." #: shared-bindings/digitalio/DigitalInOut.c msgid "Cannot set value when direction is input." @@ -832,7 +835,7 @@ msgstr "Slice kann keine sub-klasse sein" #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c msgid "Cannot use GPIO0..15 together with GPIO32..47" -msgstr "" +msgstr "GPIO0..15 kann nicht zusammen mit GPIO32..47 verwendet werden" #: ports/nordic/common-hal/alarm/pin/PinAlarm.c msgid "Cannot wake on pin edge, only level" @@ -870,6 +873,10 @@ msgstr "Koordinaten-Arrays haben unterschiedliche Längen" msgid "Coordinate arrays types have different sizes" msgstr "Typen der Koordinaten-Arrays haben unterschiedliche Längen" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Konnte Adresse nicht setzen" @@ -882,6 +889,11 @@ msgstr "Interrupt konnte nicht gestartet werden, RX beschäftigt" msgid "Couldn't allocate decoder" msgstr "Decoder konnte nicht zugeordnet werden" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "DAC-Kanal-Initialisierungsfehler" @@ -1000,12 +1012,14 @@ msgstr "Mutex konnte nicht akquiriert werden. Status: 0x%04x" #: ports/raspberrypi/common-hal/mdns/Server.c msgid "Failed to add service TXT record" -msgstr "" +msgstr "Fehler beim Hinzufügen des TXT-Diensteintrags" #: shared-bindings/mdns/Server.c msgid "" "Failed to add service TXT record; non-string or bytes found in txt_records" msgstr "" +"Fehler beim Hinzufügen des TXT-Diensteintrags; Nicht-Zeichenfolge oder Bytes " +"in txt_records gefunden" #: shared-module/rgbmatrix/RGBMatrix.c msgid "Failed to allocate %q buffer" @@ -1034,23 +1048,24 @@ msgstr "Verbindung nicht erfolgreich: timeout" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Failed to create continuous channels: invalid arg" -msgstr "" +msgstr "Erstellen kontinuierlicher Kanäle fehlgeschlagen: ungültiges Argument" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Failed to create continuous channels: invalid state" msgstr "" +"Kontinuierliche Kanäle konnten nicht erstellt werden: ungültiger Status" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Failed to create continuous channels: no mem" -msgstr "" +msgstr "Erstellen von kontinuierlichen Kanälen fehlgeschlagen: kein Speicher" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Failed to create continuous channels: not found" -msgstr "" +msgstr "Kontinuierliche Kanäle konnten nicht erstellt werden: nicht gefunden" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Failed to enable continuous" -msgstr "" +msgstr "ntinuierliche Aktivierung fehlgeschlagen" #: shared-module/audiomp3/MP3Decoder.c msgid "Failed to parse MP3 file" @@ -1058,7 +1073,7 @@ msgstr "MP3-Datei konnte nicht analysiert werden" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Failed to register continuous events callback" -msgstr "" +msgstr "Rüclruf für kontinuierliche Ereignisse konnte nicht registriert werden" #: ports/nordic/sd_mutex.c #, c-format @@ -1067,11 +1082,11 @@ msgstr "Mutex konnte nicht freigegeben werden. Status: 0x%04x" #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "Failed to set hostname" -msgstr "" +msgstr "Hostname konnte nicht gesetzt werden" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Failed to start async audio" -msgstr "" +msgstr "Start von asynchronem Audio fehlgeschlagen" #: supervisor/shared/safe_mode.c msgid "Failed to write internal flash." @@ -1224,7 +1239,7 @@ msgstr "Unzureichender Speicherpool für das Bild" #: shared-module/jpegio/JpegDecoder.c msgid "Insufficient stream input buffer" -msgstr "" +msgstr "Unzureichender Stream-Eingabepuffer" #: ports/espressif/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c @@ -1318,6 +1333,10 @@ msgstr "Ungültige BSSID" msgid "Invalid MAC address" msgstr "Ungültige MAC-Adresse" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Ungültiges Argument" @@ -1397,6 +1416,8 @@ msgstr "Ebene muss eine Gruppe oder eine TileGrid Subklasse sein" #: shared-bindings/audiocore/RawSample.c msgid "Length of %q must be an even multiple of channel_count * type_size" msgstr "" +"Die Länge von %q muss ein gerades Vielfaches von channel_count * type_size " +"sein" #: ports/espressif/common-hal/espidf/__init__.c msgid "MAC address was invalid" @@ -1410,7 +1431,7 @@ msgstr "MITM-Sicherheit wird nicht unterstützt" #: ports/stm/common-hal/sdioio/SDCard.c #, c-format msgid "MMC/SDIO Clock Error %x" -msgstr "" +msgstr "MMC/SDIO-Taktfehler %x" #: shared-bindings/is31fl3741/IS31FL3741.c msgid "Mapping must be a tuple" @@ -1600,7 +1621,7 @@ msgstr "Kein Pulldown-Widerstand am Pin; 1 MOhm wird vorgeschlagen" #: shared-module/touchio/TouchIn.c msgid "No pullup on pin; 1Mohm recommended" -msgstr "" +msgstr "Kein Pullup-Widerstand am Pin; 1Mohm wird vorgeschlagen" #: py/moderrno.c msgid "No space left on device" @@ -1649,7 +1670,7 @@ msgstr "Nicht unterstützter JPEG-Standard" #: ports/espressif/common-hal/sdioio/SDCard.c #, c-format msgid "Number of data_pins must be %d or %d, not %d" -msgstr "" +msgstr "Die Anzahl der data_pins muss %d oder %d sein, nicht %d" #: shared-bindings/util.c msgid "" @@ -1778,6 +1799,7 @@ msgstr "PWM-Stück-Kanal A wird bereits verwendet" #: shared-bindings/spitarget/SPITarget.c msgid "Packet buffers for an SPI transfer must have the same length." msgstr "" +"Die Paketpuffer für eine SPI-Übertragung müssen die gleiche Länge haben." #: shared-module/jpegio/JpegDecoder.c msgid "Parameter error" @@ -1884,6 +1906,10 @@ msgstr "Programm-Größe ist ungültig" msgid "Program too long" msgstr "Programm zu lang" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Pull wird nicht verwendet, wenn die Richtung output ist." @@ -1904,6 +1930,26 @@ msgstr "RNG DeInit-Fehler" msgid "RNG Init Error" msgstr "RNG-Init-Fehler" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" @@ -1986,7 +2032,7 @@ msgstr "SDIO GetCardInfo-Fehler %d" #: ports/stm/common-hal/sdioio/SDCard.c #, c-format msgid "SDIO Init Error %x" -msgstr "" +msgstr "SDIO-Init-Fehler %x" #: ports/espressif/common-hal/busio/SPI.c msgid "SPI configuration failed" @@ -2086,7 +2132,7 @@ msgstr "Die Länge von rgb_pins muss 6, 12, 18, 24 oder 30 betragen" #: shared-module/audiocore/__init__.c msgid "The sample's %q does not match" -msgstr "" +msgstr "Der %q-Wert der Probe stimmt nicht überein" #: supervisor/shared/safe_mode.c msgid "Third-party firmware fatal error." @@ -2120,7 +2166,7 @@ msgstr "Die Kachelbreite muss die Bitmap-Breite genau teilen" #: shared-module/tilepalettemapper/TilePaletteMapper.c msgid "TilePaletteMapper may only be bound to a TileGrid once" -msgstr "" +msgstr "TilePaletteMapper darf nur einmal an ein TileGrid gebunden werden" #: shared-bindings/alarm/time/TimeAlarm.c msgid "Time is in the past." @@ -2233,7 +2279,7 @@ msgstr "Konnte keine Buffer für Vorzeichenumwandlung allozieren" #: supervisor/shared/safe_mode.c msgid "Unable to allocate to the heap." -msgstr "" +msgstr "Die Zuweisung zum Heap ist nicht möglich." #: ports/espressif/common-hal/busio/I2C.c msgid "Unable to create lock" @@ -2256,6 +2302,8 @@ msgstr "Konnte Farbpalettendaten nicht lesen" #: ports/mimxrt10xx/common-hal/canio/CAN.c msgid "Unable to send CAN Message: all Tx message buffers are busy" msgstr "" +"CAN-Nachricht kann nicht gesendet werden: alle Sende-Nachrichtenpuffer sind " +"belegt" #: ports/espressif/common-hal/mdns/Server.c #: ports/raspberrypi/common-hal/mdns/Server.c @@ -2360,7 +2408,7 @@ msgstr "Hash Algorithmus wird nicht unterstützt" #: ports/espressif/common-hal/socketpool/Socket.c #: ports/zephyr-cp/common-hal/socketpool/Socket.c msgid "Unsupported socket type" -msgstr "" +msgstr "Nicht unterstützter Sockeltyp" #: ports/espressif/common-hal/_bleio/Adapter.c #: ports/espressif/common-hal/dualbank/__init__.c @@ -2421,7 +2469,7 @@ msgstr "Wi-Fi: " #: ports/raspberrypi/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "WiFi is not enabled" -msgstr "" +msgstr "WiFi ist nicht aktiviert" #: main.c msgid "Woken up by alarm.\n" @@ -2520,7 +2568,7 @@ msgstr "addresses ist leer" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "already playing" -msgstr "" +msgstr "spielt bereits" #: py/compile.c msgid "annotation must be an identifier" @@ -2549,6 +2597,7 @@ msgstr "argsort ist für flattened Arrays nicht implementiert" #: extmod/ulab/code/numpy/random/random.c msgid "argument must be None, an integer or a tuple of integers" msgstr "" +"Das Argument muss None, eine Ganzzahl oder ein Tupel von Ganzzahlen sein" #: py/compile.c msgid "argument name reused" @@ -2602,7 +2651,7 @@ msgstr "Attribute werden nicht unterstützt" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "audio format not supported" -msgstr "" +msgstr "Audioformat wird nicht unterstützt" #: extmod/ulab/code/ulab_tools.c msgid "axis is out of bounds" @@ -2642,7 +2691,7 @@ msgstr "Der binäre Operator %q ist nicht implementiert" #: ports/espressif/common-hal/audiobusio/PDMIn.c msgid "bit_depth must be 8, 16, 24, or 32." -msgstr "" +msgstr "bit_depth muss 8, 16, 24 oder 32 sein." #: shared-module/bitmapfilter/__init__.c msgid "bitmap size and depth must match" @@ -2658,7 +2707,7 @@ msgstr "bits müssen 32 oder kleiner sein" #: shared-bindings/audiofreeverb/Freeverb.c msgid "bits_per_sample must be 16" -msgstr "" +msgstr "bits_per_sample muss 16 sein" #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c #: shared-bindings/audiodelays/MultiTapDelay.c @@ -2873,7 +2922,7 @@ msgstr "" #: py/objcomplex.c msgid "can't truncate-divide a complex number" -msgstr "" +msgstr "kann eine komplexe Zahl nicht kürzen und dividieren" #: extmod/modasyncio.c msgid "can't wait" @@ -3965,7 +4014,7 @@ msgstr "Ausgabe-Array ist zu klein" #: extmod/ulab/code/numpy/random/random.c msgid "out has wrong type" -msgstr "" +msgstr "Ausgabe hat den falschen Typ" #: extmod/ulab/code/numpy/vector.c msgid "out keyword is not supported for complex dtype" @@ -3993,11 +4042,11 @@ msgstr "Außerhalb des Bereichs des Ziels" #: extmod/ulab/code/numpy/random/random.c msgid "output array has wrong type" -msgstr "" +msgstr "Ausgabe-Array hat einen falschen Typ" #: extmod/ulab/code/numpy/random/random.c msgid "output array must be contiguous" -msgstr "" +msgstr "Ausgabe-Array muss zusammenhängend sein" #: py/objint_mpz.c msgid "overflow converting long int to machine word" @@ -4110,7 +4159,7 @@ msgstr "rsplit(None,n)" #: shared-bindings/audiofreeverb/Freeverb.c msgid "samples_signed must be true" -msgstr "" +msgstr "samples_signed muss wahr sein" #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c @@ -4131,7 +4180,7 @@ msgstr "nicht unterstützt" #: extmod/ulab/code/numpy/random/random.c msgid "shape must be None, and integer or a tuple of integers" -msgstr "" +msgstr "Form muss Keine, eine Ganzzahl oder ein Tupel von Ganzenahlen sein" #: extmod/ulab/code/ndarray.c msgid "shape must be integer or tuple of integers" @@ -4155,7 +4204,7 @@ msgstr "Größe ist nur für ndarrays definiert" #: extmod/ulab/code/numpy/random/random.c msgid "size must match out.shape when used together" -msgstr "" +msgstr "size muss bei gemeinsamer Verwendung mit out.shape übereinstimmen" #: py/nativeglue.c msgid "slice unsupported" @@ -4203,7 +4252,7 @@ msgstr "source_bitmap muss value_count von 8 haben" #: extmod/modre.c msgid "splitting with sub-captures" -msgstr "" +msgstr "Aufteilung mit Untererfassungen" #: py/objstr.c msgid "start/end indices" @@ -4244,7 +4293,7 @@ msgstr "Syntaxfehler in JSON" #: extmod/modtime.c msgid "ticks interval overflow" -msgstr "" +msgstr "Ticks Intervallüberlauf" #: ports/nordic/common-hal/watchdog/WatchDogTimer.c msgid "timeout duration exceeded the maximum supported value" @@ -4256,12 +4305,12 @@ msgstr "timeout muss kleiner als 655.35 Sekunden sein" #: ports/raspberrypi/common-hal/floppyio/__init__.c msgid "timeout waiting for flux" -msgstr "" +msgstr "Zeitüberschreitung beim Warten auf Fluss" #: ports/raspberrypi/common-hal/floppyio/__init__.c #: shared-module/floppyio/__init__.c msgid "timeout waiting for index pulse" -msgstr "" +msgstr "Zeitüberschreitung beim Warten auf Indeximpuls" #: shared-module/sdcardio/SDCard.c msgid "timeout waiting for v1 card" diff --git a/locale/el.po b/locale/el.po index 8eb66311bd74a..eb7887a5ac3d2 100644 --- a/locale/el.po +++ b/locale/el.po @@ -871,6 +871,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Δεν μπόρεσε να ρυθμιστεί η διεύθυνση" @@ -883,6 +887,11 @@ msgstr "Δεν μπόρεσε να εκκινηθεί το interrupt, RX κατ msgid "Couldn't allocate decoder" msgstr "Δεν μπόρεσε να δεσμευτεί decoder" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Σφάλμα εκκίνησης καναλιού DAC" @@ -1313,6 +1322,10 @@ msgstr "" msgid "Invalid MAC address" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "" @@ -1869,6 +1882,10 @@ msgstr "" msgid "Program too long" msgstr "" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "" @@ -1889,6 +1906,26 @@ msgstr "" msgid "RNG Init Error" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/en_GB.po b/locale/en_GB.po index f62a09e1db378..fff7179902c53 100644 --- a/locale/en_GB.po +++ b/locale/en_GB.po @@ -7,7 +7,7 @@ msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" -"PO-Revision-Date: 2025-04-25 15:04+0000\n" +"PO-Revision-Date: 2025-06-04 14:01+0000\n" "Last-Translator: Andi Chandler \n" "Language-Team: none\n" "Language: en_GB\n" @@ -865,6 +865,10 @@ msgstr "Coordinate arrays have different lengths" msgid "Coordinate arrays types have different sizes" msgstr "Coordinate arrays types have different sizes" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Could not set address" @@ -877,6 +881,11 @@ msgstr "Could not start interrupt, RX busy" msgid "Couldn't allocate decoder" msgstr "Couldn't allocate decoder" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "DAC channel init error" @@ -1306,6 +1315,10 @@ msgstr "Invalid BSSID" msgid "Invalid MAC address" msgstr "Invalid MAC address" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Invalid argument" @@ -1865,6 +1878,10 @@ msgstr "Program size invalid" msgid "Program too long" msgstr "Program too long" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Pull not used when direction is output." @@ -1885,6 +1902,26 @@ msgstr "RNG deinit Error" msgid "RNG Init Error" msgstr "RNG init Error" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" @@ -2098,7 +2135,7 @@ msgstr "Tile width must exactly divide bitmap width" #: shared-module/tilepalettemapper/TilePaletteMapper.c msgid "TilePaletteMapper may only be bound to a TileGrid once" -msgstr "" +msgstr "TilePaletteMapper may only be bound to a TileGrid once" #: shared-bindings/alarm/time/TimeAlarm.c msgid "Time is in the past." @@ -2393,7 +2430,7 @@ msgstr "Wi-Fi: " #: ports/raspberrypi/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "WiFi is not enabled" -msgstr "" +msgstr "WiFi is not enabled" #: main.c msgid "Woken up by alarm.\n" diff --git a/locale/es.po b/locale/es.po index 065782c2b07e6..dc329988628a1 100644 --- a/locale/es.po +++ b/locale/es.po @@ -8,15 +8,15 @@ msgstr "" "Project-Id-Version: \n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2021-01-04 12:55-0600\n" -"PO-Revision-Date: 2025-02-09 17:02+0000\n" -"Last-Translator: karlos g liberal \n" +"PO-Revision-Date: 2025-06-09 12:01+0000\n" +"Last-Translator: MAE \n" "Language-Team: \n" "Language: es\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=2; plural=n != 1;\n" -"X-Generator: Weblate 5.10-dev\n" +"X-Generator: Weblate 5.12-dev\n" #: main.c msgid "" @@ -119,7 +119,7 @@ msgstr "%q fallo: %d" #: shared-module/audiodelays/MultiTapDelay.c msgid "%q in %q must be of type %q or %q, not %q" -msgstr "" +msgstr "%q en %q debe ser de tipo %q o %q, no %q" #: py/argcheck.c shared-module/audiofilters/Filter.c msgid "%q in %q must be of type %q, not %q" @@ -836,7 +836,7 @@ msgstr "No se puede manejar la partición en una subclase" #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c msgid "Cannot use GPIO0..15 together with GPIO32..47" -msgstr "" +msgstr "No se puede utilizar GPIO0..15 junto con GPIO32..47" #: ports/nordic/common-hal/alarm/pin/PinAlarm.c msgid "Cannot wake on pin edge, only level" @@ -874,6 +874,10 @@ msgstr "Las matrices de coordenadas tienen diferentes longitudes" msgid "Coordinate arrays types have different sizes" msgstr "Las matrices de coordenadas tienen diferentes tamaños" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "No se puede definir la dirección" @@ -886,6 +890,11 @@ msgstr "No se pudo iniciar la interrupción, RX ocupado" msgid "Couldn't allocate decoder" msgstr "No se pudo encontrar el decodificador" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Error de inicio del canal DAC" @@ -1071,7 +1080,7 @@ msgstr "No se puede liberar el mutex, err 0x%04x" #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "Failed to set hostname" -msgstr "" +msgstr "Fallo al establecer el nombre de host" #: ports/espressif/common-hal/audioio/AudioOut.c msgid "Failed to start async audio" @@ -1328,6 +1337,10 @@ msgstr "BSSID inválido" msgid "Invalid MAC address" msgstr "Dirección MAC inválida" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Argumento inválido" @@ -1611,7 +1624,7 @@ msgstr "No hay pulldown en el pin; 1Mohm recomendado" #: shared-module/touchio/TouchIn.c msgid "No pullup on pin; 1Mohm recommended" -msgstr "" +msgstr "Sin pullup en el pin; 1Mohm recomendado" #: py/moderrno.c msgid "No space left on device" @@ -1894,6 +1907,10 @@ msgstr "El tamaño del programa no es correcto" msgid "Program too long" msgstr "El programa es demasiado grande" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Pull no se usa cuando la dirección es output." @@ -1914,6 +1931,26 @@ msgstr "Error de desinicialización de RNG" msgid "RNG Init Error" msgstr "Error de inicialización de RNG" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" @@ -2430,7 +2467,7 @@ msgstr "Wi-Fi: " #: ports/raspberrypi/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "WiFi is not enabled" -msgstr "" +msgstr "WiFi no está habilitado" #: main.c msgid "Woken up by alarm.\n" @@ -2667,7 +2704,7 @@ msgstr "los bits deben ser 32 o menos" #: shared-bindings/audiofreeverb/Freeverb.c msgid "bits_per_sample must be 16" -msgstr "" +msgstr "bits_per_sample debe ser 16" #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c #: shared-bindings/audiodelays/MultiTapDelay.c @@ -4105,7 +4142,7 @@ msgstr "rsplit(None,n)" #: shared-bindings/audiofreeverb/Freeverb.c msgid "samples_signed must be true" -msgstr "" +msgstr "samples_signed debe ser true" #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c diff --git a/locale/fil.po b/locale/fil.po index 3069ed78c1dd5..3e6c32d9b2a58 100644 --- a/locale/fil.po +++ b/locale/fil.po @@ -857,6 +857,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "" @@ -869,6 +873,11 @@ msgstr "" msgid "Couldn't allocate decoder" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "" @@ -1299,6 +1308,10 @@ msgstr "" msgid "Invalid MAC address" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Maling argumento" @@ -1858,6 +1871,10 @@ msgstr "" msgid "Program too long" msgstr "" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Pull hindi ginagamit kapag ang direksyon ay output." @@ -1878,6 +1895,26 @@ msgstr "Error sa RNG DeInit" msgid "RNG Init Error" msgstr "Error sa RNG Init" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/fr.po b/locale/fr.po index e7516a609da30..e892971f872b0 100644 --- a/locale/fr.po +++ b/locale/fr.po @@ -8,15 +8,15 @@ msgstr "" "Project-Id-Version: 0.1\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2021-01-04 12:55-0600\n" -"PO-Revision-Date: 2025-02-19 11:46+0000\n" -"Last-Translator: Noel Gaetan \n" +"PO-Revision-Date: 2025-06-09 12:01+0000\n" +"Last-Translator: MAE \n" "Language-Team: \n" "Language: fr\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=utf-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=2; plural=n > 1;\n" -"X-Generator: Weblate 5.10.1-dev\n" +"X-Generator: Weblate 5.12-dev\n" #: main.c msgid "" @@ -118,7 +118,7 @@ msgstr "Échec de %q : %d" #: shared-module/audiodelays/MultiTapDelay.c msgid "%q in %q must be of type %q or %q, not %q" -msgstr "" +msgstr "%q dans %q doit être du type %q ou %q, pas %q" #: py/argcheck.c shared-module/audiofilters/Filter.c msgid "%q in %q must be of type %q, not %q" @@ -824,6 +824,7 @@ msgstr "Impossible d'enregistrer vers un fichier" #: shared-module/storage/__init__.c msgid "Cannot remount path when visible via USB." msgstr "" +"Impossible de remonter le chemin d'accès lorsqu'il est visible via USB." #: shared-bindings/digitalio/DigitalInOut.c msgid "Cannot set value when direction is input." @@ -880,6 +881,10 @@ msgstr "Les tableaux de coordonnées sont de longueur différentes" msgid "Coordinate arrays types have different sizes" msgstr "Les types des tableaux de coordonnées sont de longueur différentes" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Ne peux définir l'adresse" @@ -892,6 +897,11 @@ msgstr "Ne peux lancer l'interruption, RX occupé" msgid "Couldn't allocate decoder" msgstr "Ne peux allouer le décodeur" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Erreur init du canal DAC" @@ -1332,6 +1342,10 @@ msgstr "BSSID invalide" msgid "Invalid MAC address" msgstr "Adresse MAC invalide" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Paramètre invalide" @@ -1424,7 +1438,7 @@ msgstr "Sécurité MITM n'est pas supportée" #: ports/stm/common-hal/sdioio/SDCard.c #, c-format msgid "MMC/SDIO Clock Error %x" -msgstr "" +msgstr "Erreur d'horloge MMC/SDIO %x" #: shared-bindings/is31fl3741/IS31FL3741.c msgid "Mapping must be a tuple" @@ -1622,7 +1636,7 @@ msgstr "Pas de pulldown sur la broche ; 1Mohm requis" #: shared-module/touchio/TouchIn.c msgid "No pullup on pin; 1Mohm recommended" -msgstr "" +msgstr "Pas de pullup sur la broche ; 1Mohm recommandé" #: py/moderrno.c msgid "No space left on device" @@ -1904,6 +1918,10 @@ msgstr "Taille du programme invalide" msgid "Program too long" msgstr "Programme trop long" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Le tirage 'pull' n'est pas utilisé quand la direction est 'output'." @@ -1924,6 +1942,26 @@ msgstr "Erreur de désinitialisation du RNG" msgid "RNG Init Error" msgstr "Erreur d'initialisation du RNG" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" @@ -2139,6 +2177,8 @@ msgstr "La largeur de la tuile doit diviser exactement la largeur de l'image" #: shared-module/tilepalettemapper/TilePaletteMapper.c msgid "TilePaletteMapper may only be bound to a TileGrid once" msgstr "" +"Le TilePaletteMapper ne peut être lié à une grille de tuiles qu'une seule " +"fois" #: shared-bindings/alarm/time/TimeAlarm.c msgid "Time is in the past." @@ -2439,7 +2479,7 @@ msgstr "Wi-Fi : " #: ports/raspberrypi/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "WiFi is not enabled" -msgstr "" +msgstr "Le WiFi n'est pas activé" #: main.c msgid "Woken up by alarm.\n" @@ -2677,7 +2717,7 @@ msgstr "les bits doivent être 32 ou moins" #: shared-bindings/audiofreeverb/Freeverb.c msgid "bits_per_sample must be 16" -msgstr "" +msgstr "bits_par_échantillon doit être de 16" #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c #: shared-bindings/audiodelays/MultiTapDelay.c @@ -4126,7 +4166,7 @@ msgstr "rsplit(None, n)" #: shared-bindings/audiofreeverb/Freeverb.c msgid "samples_signed must be true" -msgstr "" +msgstr "samples_signed doit être vrai" #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c diff --git a/locale/hi.po b/locale/hi.po index abffcfe88cb52..fb3d72ea8f655 100644 --- a/locale/hi.po +++ b/locale/hi.po @@ -850,6 +850,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "" @@ -862,6 +866,11 @@ msgstr "" msgid "Couldn't allocate decoder" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "" @@ -1289,6 +1298,10 @@ msgstr "" msgid "Invalid MAC address" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "" @@ -1843,6 +1856,10 @@ msgstr "" msgid "Program too long" msgstr "" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "" @@ -1863,6 +1880,26 @@ msgstr "" msgid "RNG Init Error" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/it_IT.po b/locale/it_IT.po index 7ef52213ced3d..cb2d418e96725 100644 --- a/locale/it_IT.po +++ b/locale/it_IT.po @@ -856,6 +856,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "" @@ -868,6 +872,11 @@ msgstr "" msgid "Couldn't allocate decoder" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "" @@ -1297,6 +1306,10 @@ msgstr "" msgid "Invalid MAC address" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Argomento non valido" @@ -1856,6 +1869,10 @@ msgstr "" msgid "Program too long" msgstr "" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "" @@ -1876,6 +1893,26 @@ msgstr "" msgid "RNG Init Error" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/ja.po b/locale/ja.po index ef29c947b1316..63a9d40f84909 100644 --- a/locale/ja.po +++ b/locale/ja.po @@ -867,6 +867,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "アドレスをセットできません" @@ -879,6 +883,11 @@ msgstr "割り込みをスタートできません。RXビジー" msgid "Couldn't allocate decoder" msgstr "デコーダを確保できません" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "DACチャネル初期化エラー" @@ -1306,6 +1315,10 @@ msgstr "不正なBSSID" msgid "Invalid MAC address" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "不正な引数" @@ -1865,6 +1878,10 @@ msgstr "" msgid "Program too long" msgstr "" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "方向がoutputのときpullは使われません" @@ -1885,6 +1902,26 @@ msgstr "RNG解体エラー" msgid "RNG Init Error" msgstr "乱数生成器の初期化エラー" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/ko.po b/locale/ko.po index a06ff26372503..d843c74533cba 100644 --- a/locale/ko.po +++ b/locale/ko.po @@ -895,6 +895,10 @@ msgstr "좌표 배열의 길이가 다릅니다" msgid "Coordinate arrays types have different sizes" msgstr "좌표 배열 유형은 크기가 다릅니다" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "주소를 설정할 수 없습니다" @@ -907,6 +911,11 @@ msgstr "인터럽트를 시작할 수 없습니다, RX가 사용 중입니다" msgid "Couldn't allocate decoder" msgstr "디코더를 할당할 수 없습니다" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "DAC 채널 초기화 오류" @@ -1341,6 +1350,10 @@ msgstr "잘못된 BSSID" msgid "Invalid MAC address" msgstr "잘못된 MAC 주소" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "잘못된 인수" @@ -1917,6 +1930,10 @@ msgstr "프로그램 크기가 잘못되었습니다" msgid "Program too long" msgstr "프로그램이 너무 깁니다" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c #, fuzzy msgid "Pull not used when direction is output." @@ -1938,6 +1955,26 @@ msgstr "RNG DeInit 오류" msgid "RNG Init Error" msgstr "RNG 초기화 오류" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/nl.po b/locale/nl.po index ade9593a2cea1..9c9e1bda3321a 100644 --- a/locale/nl.po +++ b/locale/nl.po @@ -6,15 +6,15 @@ msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2021-01-04 12:55-0600\n" -"PO-Revision-Date: 2023-11-16 15:03+0000\n" -"Last-Translator: Jeff Epler \n" +"PO-Revision-Date: 2025-06-09 12:01+0000\n" +"Last-Translator: MAE \n" "Language-Team: none\n" "Language: nl\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=2; plural=n != 1;\n" -"X-Generator: Weblate 5.2\n" +"X-Generator: Weblate 5.12-dev\n" #: main.c msgid "" @@ -61,7 +61,7 @@ msgstr "" #: main.c msgid " not found.\n" -msgstr "" +msgstr " niet gevonden.\n" #: main.c msgid " output:\n" @@ -558,7 +558,7 @@ msgstr "Heeft al een luisteraar voor 'all-matches'" #: ports/espressif/common-hal/_bleio/__init__.c msgid "Already in progress" -msgstr "" +msgstr "Al in uitvoering" #: ports/espressif/bindings/espnow/ESPNow.c #: ports/espressif/common-hal/espulp/ULP.c @@ -612,7 +612,7 @@ msgstr "" #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c #: ports/raspberrypi/common-hal/audiopwmio/PWMAudioOut.c msgid "Audio source error" -msgstr "" +msgstr "Audiobronfout" #: shared-bindings/wifi/Radio.c msgid "AuthMode.OPEN is not used with password" @@ -701,7 +701,7 @@ msgstr "Buffer is %d bytes te klein" #: shared-bindings/framebufferio/FramebufferDisplay.c #: shared-bindings/struct/__init__.c shared-module/struct/__init__.c msgid "Buffer too small" -msgstr "" +msgstr "Buffer te klein" #: ports/atmel-samd/common-hal/paralleldisplaybus/ParallelBus.c #: ports/espressif/common-hal/paralleldisplaybus/ParallelBus.c @@ -853,6 +853,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Kan adres niet zetten" @@ -865,6 +869,11 @@ msgstr "Kan interrupt niet starten, RX is bezig" msgid "Couldn't allocate decoder" msgstr "Kan decoder niet alloceren" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "DAC kanaal Init Fout" @@ -925,7 +934,7 @@ msgstr "Beeldscherm rotatie moet in stappen van 90 graden" #: main.c msgid "Done" -msgstr "" +msgstr "Gedaan" #: shared-bindings/digitalio/DigitalInOut.c msgid "Drive mode not used when direction is input." @@ -1064,7 +1073,7 @@ msgstr "Bestand bestaat" #: shared-bindings/supervisor/__init__.c shared-module/lvfontio/OnDiskFont.c #: shared-module/os/getenv.c msgid "File not found" -msgstr "" +msgstr "Bestand niet gevonden" #: ports/atmel-samd/common-hal/canio/Listener.c #: ports/espressif/common-hal/canio/Listener.c @@ -1075,11 +1084,11 @@ msgstr "Filters zijn te complex" #: ports/espressif/common-hal/dualbank/__init__.c msgid "Firmware is duplicate" -msgstr "" +msgstr "Firmware is duplicaat" #: ports/espressif/common-hal/dualbank/__init__.c msgid "Firmware is invalid" -msgstr "" +msgstr "Firmware is ongeldig" #: ports/espressif/common-hal/dualbank/__init__.c msgid "Firmware is too big" @@ -1113,7 +1122,7 @@ msgstr "" #: ports/espressif/common-hal/espidf/__init__.c msgid "Generic Failure" -msgstr "" +msgstr "Generieke mislukking" #: shared-bindings/framebufferio/FramebufferDisplay.c #: shared-module/busdisplay/BusDisplay.c @@ -1215,7 +1224,7 @@ msgstr "Interne define fout" #: shared-bindings/pwmio/PWMOut.c shared-module/os/getenv.c msgid "Internal error" -msgstr "" +msgstr "Interne fout" #: shared-module/rgbmatrix/RGBMatrix.c #, c-format @@ -1241,7 +1250,7 @@ msgstr "" #: supervisor/shared/safe_mode.c msgid "Interrupt error." -msgstr "" +msgstr "Interruptfout." #: shared-module/jpegio/JpegDecoder.c msgid "Interrupted by output function" @@ -1282,7 +1291,7 @@ msgstr "Ongeldige ADC Unit waarde" #: ports/espressif/common-hal/_bleio/__init__.c #: ports/nordic/common-hal/_bleio/__init__.c msgid "Invalid BLE parameter" -msgstr "" +msgstr "Ongeldige BLE-parameter" #: shared-bindings/wifi/Radio.c msgid "Invalid BSSID" @@ -1290,6 +1299,10 @@ msgstr "Ongeldig BSSID" #: shared-bindings/wifi/Radio.c msgid "Invalid MAC address" +msgstr "Ongeldig MAC-adres" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" msgstr "" #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c @@ -1312,7 +1325,7 @@ msgstr "" #: shared-module/msgpack/__init__.c msgid "Invalid format" -msgstr "" +msgstr "Ongeldig formaat" #: shared-module/audiocore/WaveFile.c msgid "Invalid format chunk size" @@ -1329,7 +1342,7 @@ msgstr "" #: ports/espressif/common-hal/espidf/__init__.c msgid "Invalid size" -msgstr "" +msgstr "Ongeldige grootte" #: shared-module/ssl/SSLSocket.c msgid "Invalid socket for TLS" @@ -1338,11 +1351,11 @@ msgstr "" #: ports/espressif/common-hal/espidf/__init__.c #: ports/nordic/common-hal/_bleio/__init__.c msgid "Invalid state" -msgstr "" +msgstr "Ongeldige staat" #: shared-module/os/getenv.c msgid "Invalid unicode escape" -msgstr "" +msgstr "Ongeldige unicode escape" #: shared-bindings/aesio/aes.c msgid "Key must be 16, 24, or 32 bytes long" @@ -1350,7 +1363,7 @@ msgstr "Sleutel moet 16, 24, of 32 bytes lang zijn" #: shared-module/os/getenv.c msgid "Key not found" -msgstr "" +msgstr "Sleutel niet gevonden" #: shared-module/is31fl3741/FrameBuffer.c msgid "LED mappings must match display size" @@ -1855,6 +1868,10 @@ msgstr "" msgid "Program too long" msgstr "" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Pull niet gebruikt wanneer de richting output is." @@ -1875,10 +1892,30 @@ msgstr "RNG DeInit Fout" msgid "RNG Init Error" msgstr "RNG Init Fout" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" -msgstr "" +msgstr "RS485" #: ports/espressif/common-hal/busio/UART.c #: ports/mimxrt10xx/common-hal/busio/UART.c @@ -1910,7 +1947,7 @@ msgstr "" #: supervisor/shared/bluetooth/bluetooth.c msgid "Reconnecting" -msgstr "" +msgstr "Opnieuw aansluiten" #: shared-bindings/epaperdisplay/EPaperDisplay.c msgid "Refresh too soon" @@ -2378,7 +2415,7 @@ msgstr "" #: ports/raspberrypi/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "WiFi is not enabled" -msgstr "" +msgstr "WiFi is niet ingeschakeld" #: main.c msgid "Woken up by alarm.\n" @@ -4416,7 +4453,7 @@ msgstr "breedte moet groter dan nul zijn" #: ports/raspberrypi/common-hal/wifi/Monitor.c msgid "wifi.Monitor not available" -msgstr "" +msgstr "wifi.monitor niet beschikbaar" #: shared-bindings/_bleio/Adapter.c msgid "window must be <= interval" diff --git a/locale/pl.po b/locale/pl.po index 0c565f72d8d1c..c274764a6896a 100644 --- a/locale/pl.po +++ b/locale/pl.po @@ -7,16 +7,16 @@ msgstr "" "Project-Id-Version: \n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2021-01-04 12:55-0600\n" -"PO-Revision-Date: 2023-11-16 15:03+0000\n" -"Last-Translator: Szymon Jakubiak \n" +"PO-Revision-Date: 2025-06-09 12:01+0000\n" +"Last-Translator: MAE \n" "Language-Team: pl\n" "Language: pl\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" -"Plural-Forms: nplurals=3; plural=n==1 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 " -"|| n%100>=20) ? 1 : 2;\n" -"X-Generator: Weblate 5.2\n" +"Plural-Forms: nplurals=3; plural=(n==1 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 " +"|| n%100>=20) ? 1 : 2);\n" +"X-Generator: Weblate 5.12-dev\n" #: main.c msgid "" @@ -864,6 +864,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Nie można ustawić adresu" @@ -876,6 +880,11 @@ msgstr "Nie można rozpocząć przerwania, RX jest zajęty" msgid "Couldn't allocate decoder" msgstr "Nie udało się przydzielić dekodera" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Błąd inicjalizacji kanału DAC" @@ -1311,6 +1320,10 @@ msgstr "" msgid "Invalid MAC address" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Zły argument" @@ -1754,7 +1767,7 @@ msgstr "" #: ports/stm/common-hal/pwmio/PWMOut.c msgid "PWM restart" -msgstr "" +msgstr "Ponowne uruchomienie PWM" #: ports/raspberrypi/common-hal/countio/Counter.c msgid "PWM slice already in use" @@ -1770,7 +1783,7 @@ msgstr "" #: shared-module/jpegio/JpegDecoder.c msgid "Parameter error" -msgstr "" +msgstr "Błąd parametru" #: ports/espressif/common-hal/audiobusio/__init__.c msgid "Peripheral in use" @@ -1867,6 +1880,10 @@ msgstr "" #: ports/espressif/common-hal/espulp/ULP.c msgid "Program too long" +msgstr "Program zbyt długi" + +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" msgstr "" #: shared-bindings/digitalio/DigitalInOut.c @@ -1889,10 +1906,30 @@ msgstr "Błąd RNG DeInit" msgid "RNG Init Error" msgstr "Błąd inicjalizacji RNG" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" -msgstr "" +msgstr "RS485" #: ports/espressif/common-hal/busio/UART.c #: ports/mimxrt10xx/common-hal/busio/UART.c @@ -1924,7 +1961,7 @@ msgstr "Otrzymana odpowiedź była nieprawidłowa" #: supervisor/shared/bluetooth/bluetooth.c msgid "Reconnecting" -msgstr "" +msgstr "Ponowne połączenie" #: shared-bindings/epaperdisplay/EPaperDisplay.c msgid "Refresh too soon" @@ -2009,7 +2046,7 @@ msgstr "" #: ports/cxd56/common-hal/camera/Camera.c msgid "Size not supported" -msgstr "" +msgstr "Rozmiar nieobsługiwany" #: shared-bindings/alarm/SleepMemory.c shared-bindings/memorymap/AddressRange.c #: shared-bindings/nvm/ByteArray.c @@ -2140,7 +2177,7 @@ msgstr "" #: ports/raspberrypi/common-hal/alarm/touch/TouchAlarm.c #: ports/stm/common-hal/alarm/touch/TouchAlarm.c msgid "Touch alarms not available" -msgstr "" +msgstr "Alarmy dotykowe niedostępne" #: py/obj.c msgid "Traceback (most recent call last):\n" @@ -2169,7 +2206,7 @@ msgstr "" #: main.c msgid "UID:" -msgstr "" +msgstr "UID:" #: shared-module/usb_hid/Device.c msgid "USB busy" @@ -2185,7 +2222,7 @@ msgstr "" #: shared-module/usb_hid/Device.c msgid "USB error" -msgstr "" +msgstr "Błąd USB" #: shared-bindings/_bleio/UUID.c msgid "UUID integer value must be 0-0xffff" @@ -2251,7 +2288,7 @@ msgstr "" #: shared-bindings/alarm/SleepMemory.c msgid "Unable to write to sleep_memory." -msgstr "" +msgstr "Nie można zapisać do sleep_memory." #: ports/nordic/common-hal/_bleio/UUID.c msgid "Unexpected nrfx uuid type" @@ -2342,7 +2379,7 @@ msgstr "" #: ports/espressif/common-hal/_bleio/Adapter.c #: ports/espressif/common-hal/dualbank/__init__.c msgid "Update failed" -msgstr "" +msgstr "Aktualizacja nie powiodła się" #: ports/espressif/common-hal/_bleio/Characteristic.c #: ports/nordic/common-hal/_bleio/Characteristic.c @@ -2381,16 +2418,21 @@ msgid "" "\n" "To list built-in modules type `help(\"modules\")`.\n" msgstr "" +"Witamy w Adafruit CircuitPython %s!\n" +"\n" +"Odwiedź circuitpython.org po więcej informacji.\n" +"\n" +"Aby wyświetlić listę wbudowanych modułów wpisz `help(„modules”)`.\n" #: supervisor/shared/web_workflow/web_workflow.c msgid "Wi-Fi: " -msgstr "" +msgstr "Wi-Fi: " #: ports/espressif/common-hal/wifi/Radio.c #: ports/raspberrypi/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "WiFi is not enabled" -msgstr "" +msgstr "WiFi nie jest włączone" #: main.c msgid "Woken up by alarm.\n" @@ -2611,7 +2653,7 @@ msgstr "brak dwu-argumentowego operatora %q" #: ports/espressif/common-hal/audiobusio/PDMIn.c msgid "bit_depth must be 8, 16, 24, or 32." -msgstr "" +msgstr "bit_depth musi wynosić 8, 16, 24 lub 32." #: shared-module/bitmapfilter/__init__.c msgid "bitmap size and depth must match" @@ -2623,11 +2665,11 @@ msgstr "" #: extmod/modrandom.c msgid "bits must be 32 or less" -msgstr "" +msgstr "bitów musi wynosić 32 lub mniej" #: shared-bindings/audiofreeverb/Freeverb.c msgid "bits_per_sample must be 16" -msgstr "" +msgstr "bits_per_sample musi wynosić 16" #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c #: shared-bindings/audiodelays/MultiTapDelay.c @@ -2838,7 +2880,7 @@ msgstr "" #: extmod/modasyncio.c msgid "can't wait" -msgstr "" +msgstr "nie mogę się doczekać" #: extmod/ulab/code/ndarray.c msgid "cannot assign new shape" @@ -3025,7 +3067,7 @@ msgstr "" #: extmod/ulab/code/numpy/create.c msgid "divide by zero" -msgstr "" +msgstr "dziel przez zero" #: py/runtime.c msgid "division by zero" @@ -3045,7 +3087,7 @@ msgstr "puste" #: extmod/ulab/code/numpy/io/io.c msgid "empty file" -msgstr "" +msgstr "puste plik" #: extmod/modasyncio.c extmod/modheapq.c msgid "empty heap" @@ -3164,7 +3206,7 @@ msgstr "float zbyt wielki" #: py/nativeglue.c msgid "float unsupported" -msgstr "" +msgstr "float nieobsługiwany" #: shared-bindings/_stage/Text.c msgid "font must be 2048 bytes long" @@ -3172,7 +3214,7 @@ msgstr "font musi mieć 2048 bajtów długości" #: extmod/moddeflate.c msgid "format" -msgstr "" +msgstr "format" #: py/objstr.c msgid "format requires a dict" @@ -3273,7 +3315,7 @@ msgstr "" #: py/persistentcode.c msgid "incompatible .mpy file" -msgstr "" +msgstr "niekompatybilny plik .mpy" #: py/objstr.c msgid "incomplete format" @@ -3685,7 +3727,7 @@ msgstr "" #: shared-module/sdcardio/SDCard.c msgid "no SD card" -msgstr "" +msgstr "brak karty SD" #: py/vm.c msgid "no active exception to reraise" @@ -3766,7 +3808,7 @@ msgstr "liczba punktów musi wynosić co najmniej 2" #: py/builtinhelp.c msgid "object " -msgstr "" +msgstr "obiekt " #: py/obj.c #, c-format @@ -3820,7 +3862,7 @@ msgstr "łańcuch o nieparzystej długości" #: supervisor/shared/web_workflow/web_workflow.c msgid "off" -msgstr "" +msgstr "wył" #: extmod/ulab/code/utils/utils.c msgid "offset is too large" diff --git a/locale/pt_BR.po b/locale/pt_BR.po index a1b6b9ff5c6b5..0aef0b46159f3 100644 --- a/locale/pt_BR.po +++ b/locale/pt_BR.po @@ -6,15 +6,15 @@ msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2021-01-04 12:55-0600\n" -"PO-Revision-Date: 2025-03-09 18:40+0000\n" -"Last-Translator: Wellington Terumi Uemura \n" +"PO-Revision-Date: 2025-06-09 12:01+0000\n" +"Last-Translator: MAE \n" "Language-Team: \n" "Language: pt_BR\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=2; plural=n > 1;\n" -"X-Generator: Weblate 5.10.3-dev\n" +"X-Generator: Weblate 5.12-dev\n" #: main.c msgid "" @@ -117,7 +117,7 @@ msgstr "%q falha: %d" #: shared-module/audiodelays/MultiTapDelay.c msgid "%q in %q must be of type %q or %q, not %q" -msgstr "" +msgstr "%q em %q deve ser do tipo %q ou %q, não %q" #: py/argcheck.c shared-module/audiofilters/Filter.c msgid "%q in %q must be of type %q, not %q" @@ -874,6 +874,10 @@ msgstr "As coordenadas das matrizes possuem comprimentos diferentes" msgid "Coordinate arrays types have different sizes" msgstr "Os tipos das coordenadas das matrizes possuem tamanhos diferentes" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Não foi possível definir o endereço" @@ -886,6 +890,11 @@ msgstr "Não foi possível iniciar a interrupção, RX ocupado" msgid "Couldn't allocate decoder" msgstr "Não foi possível alocar o decodificador" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Erro de Inicialização do Canal DAC" @@ -1325,6 +1334,10 @@ msgstr "BSSID Inválido" msgid "Invalid MAC address" msgstr "Endereço MAC inválido" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Argumento inválido" @@ -1418,7 +1431,7 @@ msgstr "Não há suporte para segurança MITM" #: ports/stm/common-hal/sdioio/SDCard.c #, c-format msgid "MMC/SDIO Clock Error %x" -msgstr "" +msgstr "Erro de relógio MMC/SDIO %x" #: shared-bindings/is31fl3741/IS31FL3741.c msgid "Mapping must be a tuple" @@ -1897,6 +1910,10 @@ msgstr "O tamanho do programa é inválido" msgid "Program too long" msgstr "Programa muito longo" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "O Pull não foi usado quando a direção for gerada." @@ -1917,6 +1934,26 @@ msgstr "Erro DeInit RNG" msgid "RNG Init Error" msgstr "Houve um erro na inicialização do RNG" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" @@ -2435,7 +2472,7 @@ msgstr "Wi-Fi: " #: ports/raspberrypi/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "WiFi is not enabled" -msgstr "" +msgstr "O WiFi não está habilitado" #: main.c msgid "Woken up by alarm.\n" @@ -2673,7 +2710,7 @@ msgstr "bits deve ser 32 ou menos" #: shared-bindings/audiofreeverb/Freeverb.c msgid "bits_per_sample must be 16" -msgstr "" +msgstr "bits_per_sample deve ser 16" #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c #: shared-bindings/audiodelays/MultiTapDelay.c @@ -4119,7 +4156,7 @@ msgstr "rsplit(Nenhum,n)" #: shared-bindings/audiofreeverb/Freeverb.c msgid "samples_signed must be true" -msgstr "" +msgstr "samples_signed deve ser verdadeiro" #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c diff --git a/locale/ru.po b/locale/ru.po index d2e11451a0d7d..6e4feb9826014 100644 --- a/locale/ru.po +++ b/locale/ru.po @@ -874,6 +874,10 @@ msgstr "Координатные массивы имеют разные длин msgid "Coordinate arrays types have different sizes" msgstr "Типы массивов координат имеют разные размеры" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Не удалось задать адрес" @@ -886,6 +890,11 @@ msgstr "Не удалось запустить прерывание, RX заня msgid "Couldn't allocate decoder" msgstr "Не удалось выделить место для декодера" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Ошибка инициализации канала DAC" @@ -1328,6 +1337,10 @@ msgstr "Неверный BSSID" msgid "Invalid MAC address" msgstr "Неверный MAC-адрес" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Недопустимый аргумент" @@ -1894,6 +1907,10 @@ msgstr "Недопустимый размер программы" msgid "Program too long" msgstr "Слишком длинная программа" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Тяга не используется, когда выводится направление." @@ -1914,6 +1931,26 @@ msgstr "Ошибка деинициализации генератора слу msgid "RNG Init Error" msgstr "Ошибка инициализации RNG" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/sv.po b/locale/sv.po index c8b9468f5c3b9..e42a3f9d5fc2e 100644 --- a/locale/sv.po +++ b/locale/sv.po @@ -868,6 +868,10 @@ msgstr "Arrayer för koordinater har olika längd" msgid "Coordinate arrays types have different sizes" msgstr "Arrayer för koordinater har olika storlek" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Kan inte ange adress" @@ -880,6 +884,11 @@ msgstr "Det gick inte att starta avbrott, RX upptagen" msgid "Couldn't allocate decoder" msgstr "Det gick inte att allokera avkodaren" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "Initieringsfel för DAC-kanal" @@ -1314,6 +1323,10 @@ msgstr "Ogiltig BSSID" msgid "Invalid MAC address" msgstr "Ogiltig MAC-adress" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Ogiltigt argument" @@ -1876,6 +1889,10 @@ msgstr "Programstorlek ogiltig" msgid "Program too long" msgstr "Programmet är för långt" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Pull används inte när riktningen är output." @@ -1896,6 +1913,26 @@ msgstr "RNG DeInit-fel" msgid "RNG Init Error" msgstr "RNG Init-fel" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/tr.po b/locale/tr.po index 30c8f3d107f71..53ae8d385abbe 100644 --- a/locale/tr.po +++ b/locale/tr.po @@ -864,6 +864,10 @@ msgstr "" msgid "Coordinate arrays types have different sizes" msgstr "" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "Adres ayarlanamadı" @@ -876,6 +880,11 @@ msgstr "Kesinti başlatılamadı, RX kullanımda" msgid "Couldn't allocate decoder" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "" @@ -1307,6 +1316,10 @@ msgstr "Geçersiz BSSID" msgid "Invalid MAC address" msgstr "Geçersiz MAC adresi" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Geçersiz argüman" @@ -1865,6 +1878,10 @@ msgstr "" msgid "Program too long" msgstr "" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "" @@ -1885,6 +1902,26 @@ msgstr "" msgid "RNG Init Error" msgstr "" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" diff --git a/locale/zh_Latn_pinyin.po b/locale/zh_Latn_pinyin.po index 85eb703d4db01..0cd2ccf17b163 100644 --- a/locale/zh_Latn_pinyin.po +++ b/locale/zh_Latn_pinyin.po @@ -7,7 +7,7 @@ msgstr "" "Project-Id-Version: circuitpython-cn\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2021-01-04 12:55-0600\n" -"PO-Revision-Date: 2025-04-25 15:04+0000\n" +"PO-Revision-Date: 2025-05-31 20:05+0000\n" "Last-Translator: hexthat \n" "Language-Team: Chinese Hanyu Pinyin\n" "Language: zh_Latn_pinyin\n" @@ -868,6 +868,10 @@ msgstr "zuòbiāo shùzǔ jùyǒu bùtóng de chángdù" msgid "Coordinate arrays types have different sizes" msgstr "zuòbiāo shùzǔ lèixíng jùyǒu bùtóng de dàxiǎo" +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "Could not publish to ROS topic" +msgstr "" + #: shared-bindings/_bleio/Adapter.c msgid "Could not set address" msgstr "wúfǎ shèzhì dìzhǐ" @@ -880,6 +884,11 @@ msgstr "Wúfǎ qǐdòng zhōngduàn,RX máng" msgid "Couldn't allocate decoder" msgstr "wúfǎ fēnpèi jiěmǎ qì" +#: ports/espressif/common-hal/rclcpy/__init__.c +#, c-format +msgid "Critical ROS failure during soft reboot, reset required: %d" +msgstr "" + #: ports/stm/common-hal/analogio/AnalogOut.c msgid "DAC Channel Init Error" msgstr "DAC tōngdào chūshǐhuà cuòwù" @@ -1320,6 +1329,10 @@ msgstr "Wúxiào de BSSID" msgid "Invalid MAC address" msgstr "wú xiào de MAC dì zhǐ" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "Invalid ROS domain ID" +msgstr "" + #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c msgid "Invalid argument" msgstr "Wúxiào de cānshù" @@ -1883,6 +1896,10 @@ msgstr "chéng xù dà xiǎo wú xiào" msgid "Program too long" msgstr "chéng xù tài cháng" +#: shared-bindings/rclcpy/Publisher.c +msgid "Publishers can only be created from a parent node" +msgstr "" + #: shared-bindings/digitalio/DigitalInOut.c msgid "Pull not used when direction is output." msgstr "Fāngxiàng shūchū shí Pull méiyǒu shǐyòng." @@ -1903,6 +1920,26 @@ msgstr "RNG qǔxiāo chūshǐhuà cuòwù" msgid "RNG Init Error" msgstr "RNG chūshǐhuà cuòwù" +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS failed to initialize. Is agent connected?" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS internal setup failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/__init__.c +msgid "ROS memory allocator failure" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Node.c +msgid "ROS node failed to initialize" +msgstr "" + +#: ports/espressif/common-hal/rclcpy/Publisher.c +msgid "ROS topic failed to initialize" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c msgid "RS485" @@ -2116,7 +2153,7 @@ msgstr "Píng pū kuāndù bìxū huàfēn wèi tú kuāndù" #: shared-module/tilepalettemapper/TilePaletteMapper.c msgid "TilePaletteMapper may only be bound to a TileGrid once" -msgstr "" +msgstr "TilePaletteMapper zhǐnéng bǎngdìng dào yígè TileGrid shàngyícì" #: shared-bindings/alarm/time/TimeAlarm.c msgid "Time is in the past." @@ -2411,7 +2448,7 @@ msgstr "Wi-Fi: " #: ports/raspberrypi/common-hal/wifi/Radio.c #: ports/zephyr-cp/common-hal/wifi/Radio.c msgid "WiFi is not enabled" -msgstr "" +msgstr "WiFi wèi qǐyòng" #: main.c msgid "Woken up by alarm.\n" diff --git a/main.c b/main.c index 45b7af2725435..1f387b7ca3ceb 100644 --- a/main.c +++ b/main.c @@ -582,8 +582,8 @@ static bool __attribute__((noinline)) run_code_py(safe_mode_t safe_mode, bool *s size_t total_time = blink_time + LED_SLEEP_TIME_MS; #endif - // This loop is waits after code completes. It waits for fake sleeps to - // finish, user input or autoreloads. + // This loop is run after code completes. It waits for fake sleeps to + // finish, waits for user input, or waits for an autoreload. #if CIRCUITPY_ALARM bool fake_sleeping = false; #endif @@ -1180,7 +1180,7 @@ void gc_collect(void) { } // Ports may provide an implementation of this function if it is needed -MP_WEAK void port_gc_collect() { +MP_WEAK void port_gc_collect(void) { } size_t gc_get_max_new_split(void) { diff --git a/mpy-cross/Makefile b/mpy-cross/Makefile index 9962e9bcbb246..bd9e0fb1f54d4 100644 --- a/mpy-cross/Makefile +++ b/mpy-cross/Makefile @@ -25,6 +25,12 @@ CFLAGS += -fdata-sections -ffunction-sections -fno-asynchronous-unwind-tables # CIRCUITPY-CHANGE CFLAGS += -DCIRCUITPY +# Build a static executable. +# Useful for builds that must run on multiple operating system versions. Used for published mpy-cross versions. +ifdef STATIC_BUILD +CFLAGS += -static -static-libgcc -static-libstdc++ +endif + # Debugging/Optimization ifdef DEBUG CFLAGS += -g @@ -47,6 +53,10 @@ LDFLAGS_ARCH = -Wl,-Map=$@.map,--cref -Wl,--gc-sections endif LDFLAGS += $(LDFLAGS_MOD) $(LDFLAGS_ARCH) -lm $(LDFLAGS_EXTRA) +ifdef STATIC_BUILD +LDFLAGS += -static -static-libgcc -static-libstdc++ +endif + # source files # CIRCUITPY-CHANGE: extra files SRC_C = \ diff --git a/ports/atmel-samd/Makefile b/ports/atmel-samd/Makefile index 888729c7b7f3d..9582eff212d60 100644 --- a/ports/atmel-samd/Makefile +++ b/ports/atmel-samd/Makefile @@ -107,7 +107,7 @@ else endif endif -CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes +CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition ifeq ($(CHIP_FAMILY), samd21) CFLAGS += \ diff --git a/ports/atmel-samd/audio_dma.c b/ports/atmel-samd/audio_dma.c index d5f841f371dd9..e25b74d9a2893 100644 --- a/ports/atmel-samd/audio_dma.c +++ b/ports/atmel-samd/audio_dma.c @@ -30,7 +30,7 @@ static audio_dma_t *audio_dma_state[AUDIO_DMA_CHANNEL_COUNT]; // This cannot be in audio_dma_state because it's volatile. static volatile bool audio_dma_pending[AUDIO_DMA_CHANNEL_COUNT]; -uint8_t find_sync_event_channel_raise() { +uint8_t find_sync_event_channel_raise(void) { uint8_t event_channel = find_sync_event_channel(); if (event_channel >= EVSYS_SYNCH_NUM) { mp_raise_RuntimeError(MP_ERROR_TEXT("All sync event channels in use")); diff --git a/ports/atmel-samd/boards/openbook_m4/board.c b/ports/atmel-samd/boards/openbook_m4/board.c index 032ebe9f628a7..3ad2e162ecf3c 100644 --- a/ports/atmel-samd/boards/openbook_m4/board.c +++ b/ports/atmel-samd/boards/openbook_m4/board.c @@ -85,6 +85,7 @@ void board_init(void) { false, // chip_select (don't always toggle chip select) false, // grayscale false, // acep + false, // spectra6 false, // two_byte_sequence_length false); // address_little_endian } diff --git a/ports/atmel-samd/common-hal/_pew/PewPew.c b/ports/atmel-samd/common-hal/_pew/PewPew.c index 84ff7bc16c734..c3f9330faaef9 100644 --- a/ports/atmel-samd/common-hal/_pew/PewPew.c +++ b/ports/atmel-samd/common-hal/_pew/PewPew.c @@ -38,7 +38,7 @@ void pewpew_interrupt_handler(uint8_t index) { tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; } -void pew_init() { +void pew_init(void) { pew_obj_t *pew = MP_STATE_VM(pew_singleton); common_hal_digitalio_digitalinout_switch_to_input(pew->buttons, PULL_UP); @@ -105,6 +105,6 @@ void pew_reset(void) { MP_STATE_VM(pew_singleton) = NULL; } -uint16_t pew_get_ticks() { +uint16_t pew_get_ticks(void) { return pewpew_ticks; } diff --git a/ports/atmel-samd/common-hal/analogio/AnalogIn.c b/ports/atmel-samd/common-hal/analogio/AnalogIn.c index c633cf44b678c..801ab18f7fd6d 100644 --- a/ports/atmel-samd/common-hal/analogio/AnalogIn.c +++ b/ports/atmel-samd/common-hal/analogio/AnalogIn.c @@ -64,7 +64,7 @@ void common_hal_analogio_analogin_deinit(analogio_analogin_obj_t *self) { self->pin = NULL; } -void analogin_reset() { +void analogin_reset(void) { } uint16_t common_hal_analogio_analogin_get_value(analogio_analogin_obj_t *self) { diff --git a/ports/atmel-samd/common-hal/touchio/TouchIn.c b/ports/atmel-samd/common-hal/touchio/TouchIn.c index dc31bfe634be5..822d614a60298 100644 --- a/ports/atmel-samd/common-hal/touchio/TouchIn.c +++ b/ports/atmel-samd/common-hal/touchio/TouchIn.c @@ -91,7 +91,7 @@ void common_hal_touchio_touchin_deinit(touchio_touchin_obj_t *self) { self->config.pin = NO_PIN; } -void touchin_reset() { +void touchin_reset(void) { Ptc *ptc = ((Ptc *)PTC); if (ptc->CTRLA.bit.ENABLE == 1) { ptc->CTRLA.bit.ENABLE = 0; diff --git a/ports/broadcom/Makefile b/ports/broadcom/Makefile index 240362e3de7f6..f60ebbf045e1f 100644 --- a/ports/broadcom/Makefile +++ b/ports/broadcom/Makefile @@ -95,7 +95,7 @@ else endif -CFLAGS += $(INC) -Wall -Werror -std=gnu11 $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) +CFLAGS += $(INC) -Wall -Werror -std=gnu11 $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=old-style-definition $(BUILD)/lib/tlsf/tlsf.o: CFLAGS += -Wno-cast-align diff --git a/ports/broadcom/mpconfigport.mk b/ports/broadcom/mpconfigport.mk index b4b3e2ebf8192..d906b5d2aa467 100644 --- a/ports/broadcom/mpconfigport.mk +++ b/ports/broadcom/mpconfigport.mk @@ -27,7 +27,7 @@ USB_HIGHSPEED = 1 CIRCUITPY_BUILD_EXTENSIONS ?= disk.img.zip,kernel8.img ifeq ($(CHIP_VARIANT), "bcm2711") -CIRCUITPY_MIN_GCC_VERSION ?= 10 +CIRCUITPY_MIN_GCC_VERSION ?= 14 else ifeq ($(CHIP_VARIANT), "bcm2837") -CIRCUITPY_MIN_GCC_VERSION ?= 10 +CIRCUITPY_MIN_GCC_VERSION ?= 14 endif diff --git a/ports/cxd56/common-hal/camera/Camera.c b/ports/cxd56/common-hal/camera/Camera.c index c3c935a168d42..b9fa2787ef767 100644 --- a/ports/cxd56/common-hal/camera/Camera.c +++ b/ports/cxd56/common-hal/camera/Camera.c @@ -44,7 +44,7 @@ static const image_size_t isx019_image_size_table[] = { { VIDEO_HSIZE_QUADVGA, VIDEO_VSIZE_QUADVGA }, }; -static const char *get_imgsensor_name() { +static const char *get_imgsensor_name(void) { static struct v4l2_capability cap; ioctl(camera_dev.fd, VIDIOC_QUERYCAP, (unsigned long)&cap); @@ -113,7 +113,7 @@ static void camera_start_streaming(enum v4l2_buf_type type) { ioctl(camera_dev.fd, VIDIOC_STREAMON, (unsigned long)&type); } -static void camera_start_preview() { +static void camera_start_preview(void) { camera_set_format(V4L2_BUF_TYPE_VIDEO_CAPTURE, V4L2_PIX_FMT_UYVY, VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA); v4l2_buffer_t buf; diff --git a/ports/espressif/Makefile b/ports/espressif/Makefile index 542083188e556..bbd39852bf2bd 100644 --- a/ports/espressif/Makefile +++ b/ports/espressif/Makefile @@ -191,7 +191,7 @@ endif # option to override compiler optimization level, set in boards/$(BOARD)/mpconfigboard.mk CFLAGS += $(OPTIMIZATION_FLAGS) -CFLAGS += $(INC) -Werror -Wall -std=gnu11 -Wl,--gc-sections $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes +CFLAGS += $(INC) -Werror -Wall -std=gnu11 -Wl,--gc-sections $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition # Most current ESPs have nano versions of newlib in ROM so we use them. ifneq ($(IDF_TARGET),esp32c6) @@ -440,6 +440,55 @@ CFLAGS += -isystem esp-camera/driver/include CFLAGS += -isystem esp-camera/conversions/include endif +ifneq ($(CIRCUITPY_RCLCPY),0) +CFLAGS += -isystem microros-lib/include +CFLAGS += -isystem microros-lib/include/rcl +CFLAGS += -isystem microros-lib/include/statistics_msgs +CFLAGS += -isystem microros-lib/include/composition_interfaces +CFLAGS += -isystem microros-lib/include/example_interfaces +CFLAGS += -isystem microros-lib/include/rmw_microxrcedds_c +CFLAGS += -isystem microros-lib/include/test_msgs +CFLAGS += -isystem microros-lib/include/std_msgs +CFLAGS += -isystem microros-lib/include/rcutils +CFLAGS += -isystem microros-lib/include/lifecycle_msgs +CFLAGS += -isystem microros-lib/include/rosidl_typesupport_interface +CFLAGS += -isystem microros-lib/include/service_msgs +CFLAGS += -isystem microros-lib/include/visualization_msgs +CFLAGS += -isystem microros-lib/include/rosidl_dynamic_typesupport +CFLAGS += -isystem microros-lib/include/stereo_msgs +CFLAGS += -isystem microros-lib/include/ucdr +CFLAGS += -isystem microros-lib/include/rosidl_typesupport_c +CFLAGS += -isystem microros-lib/include/std_srvs +CFLAGS += -isystem microros-lib/include/rcl_lifecycle +CFLAGS += -isystem microros-lib/include/action_msgs +CFLAGS += -isystem microros-lib/include/micro_ros_utilities +CFLAGS += -isystem microros-lib/include/rcl_action +CFLAGS += -isystem microros-lib/include/rcl_logging_interface +CFLAGS += -isystem microros-lib/include/type_description_interfaces +CFLAGS += -isystem microros-lib/include/nav_msgs +CFLAGS += -isystem microros-lib/include/actionlib_msgs +CFLAGS += -isystem microros-lib/include/rmw +CFLAGS += -isystem microros-lib/include/rclc_parameter +CFLAGS += -isystem microros-lib/include/geometry_msgs +CFLAGS += -isystem microros-lib/include/sensor_msgs +CFLAGS += -isystem microros-lib/include/trajectory_msgs +CFLAGS += -isystem microros-lib/include/shape_msgs +CFLAGS += -isystem microros-lib/include/rosidl_runtime_c +CFLAGS += -isystem microros-lib/include/rclc +CFLAGS += -isystem microros-lib/include/rosgraph_msgs +CFLAGS += -isystem microros-lib/include/rclc_lifecycle +CFLAGS += -isystem microros-lib/include/rcl_interfaces +CFLAGS += -isystem microros-lib/include/diagnostic_msgs +CFLAGS += -isystem microros-lib/include/micro_ros_msgs +CFLAGS += -isystem microros-lib/include/rosidl_typesupport_introspection_c +CFLAGS += -isystem microros-lib/include/uxr +CFLAGS += -isystem microros-lib/include/unique_identifier_msgs +CFLAGS += -isystem microros-lib/include/rosidl_typesupport_microxrcedds_c +CFLAGS += -isystem microros-lib/include/builtin_interfaces +CFLAGS += -isystem microros-lib/include/tracetools +CFLAGS += -isystem microros-lib/include/rmw_microros +endif + ifneq ($(CIRCUITPY_ESPIDF),0) SRC_ESPIDF := \ $(wildcard common-hal/espidf/*.c) \ @@ -685,6 +734,18 @@ ESP_IDF_COMPONENTS_EXPANDED += $(BUILD)/esp-idf/esp-idf/esp-camera/libesp-camera #$(error $(ESP_IDF_COMPONENTS_EXPANDED)) endif +ifneq ($(CIRCUITPY_RCLCPY),0) + ifeq ($(IDF_TARGET),esp32) + BINARY_BLOBS += microros-lib/esp32/libmicroros.a + else ifeq ($(IDF_TARGET),esp32s2) + BINARY_BLOBS+= microros-lib/esp32s2/libmicroros.a + else ifeq ($(IDF_TARGET),esp32s3) + BINARY_BLOBS += microros-lib/esp32s3/libmicroros.a + else + $(error Unsupported Espressif target for Micro-ROS: $(IDF_TARGET).) + endif +endif + ifneq ($(VALID_BOARD),) # From esp-idf/components/bootloader/Kconfig.projbuild # BOOTLOADER_OFFSET is determined by chip type, based on the ROM bootloader, and is not changeable. diff --git a/ports/espressif/boards/adafruit_magtag_2.9_grayscale/board.c b/ports/espressif/boards/adafruit_magtag_2.9_grayscale/board.c index 321a5a1f2c7a0..430079a94dad2 100644 --- a/ports/espressif/boards/adafruit_magtag_2.9_grayscale/board.c +++ b/ports/espressif/boards/adafruit_magtag_2.9_grayscale/board.c @@ -141,6 +141,7 @@ void board_init(void) { false, // always_toggle_chip_select true, // grayscale false, // acep + false, // spectra6 false, // two_byte_sequence_length false); // address_little_endian } diff --git a/ports/espressif/boards/adafruit_magtag_2.9_grayscale/mpconfigboard.mk b/ports/espressif/boards/adafruit_magtag_2.9_grayscale/mpconfigboard.mk index 01b9ec73e9c34..5ab8c995e331c 100644 --- a/ports/espressif/boards/adafruit_magtag_2.9_grayscale/mpconfigboard.mk +++ b/ports/espressif/boards/adafruit_magtag_2.9_grayscale/mpconfigboard.mk @@ -10,6 +10,7 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m CIRCUITPY_ESP_FLASH_SIZE = 4MB CIRCUITPY_ESPCAMERA = 0 +CIRCUITPY_PARALLELDISPLAYBUS = 0 # Include these Python libraries in firmware. FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_ConnectionManager diff --git a/ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk b/ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk index 1f47795002df9..076c3184e93f2 100644 --- a/ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk +++ b/ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk @@ -16,3 +16,4 @@ CIRCUITPY_CODEOP = 0 # Not enough pins. CIRCUITPY_PARALLELDISPLAYBUS = 0 +CIRCUITPY_RGBMATRIX = 0 diff --git a/ports/espressif/boards/adafruit_sparkle_motion_stick/pins.c b/ports/espressif/boards/adafruit_sparkle_motion_stick/pins.c index a73c0e63f2ef6..a5fdadac1e0f7 100644 --- a/ports/espressif/boards/adafruit_sparkle_motion_stick/pins.c +++ b/ports/espressif/boards/adafruit_sparkle_motion_stick/pins.c @@ -13,7 +13,7 @@ static const mp_rom_map_elem_t board_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_GPIO0) }, { MP_ROM_QSTR(MP_QSTR_D0), MP_ROM_PTR(&pin_GPIO0) }, - { MP_ROM_QSTR(MP_QSTR_IR_RX), MP_ROM_PTR(&pin_GPIO10) }, + { MP_ROM_QSTR(MP_QSTR_IR), MP_ROM_PTR(&pin_GPIO10) }, { MP_ROM_QSTR(MP_QSTR_D10), MP_ROM_PTR(&pin_GPIO10) }, { MP_ROM_QSTR(MP_QSTR_D12), MP_ROM_PTR(&pin_GPIO12) }, { MP_ROM_QSTR(MP_QSTR_D13), MP_ROM_PTR(&pin_GPIO13) }, diff --git a/ports/espressif/boards/elecrow_crowpanel_4_2_epaper/board.c b/ports/espressif/boards/elecrow_crowpanel_4_2_epaper/board.c index 4567e2c595627..88150dd401b97 100644 --- a/ports/espressif/boards/elecrow_crowpanel_4_2_epaper/board.c +++ b/ports/espressif/boards/elecrow_crowpanel_4_2_epaper/board.c @@ -96,6 +96,7 @@ void board_init(void) { false, // always_toggle_chip_select false, // grayscale false, // acep + false, // spectra6 false, // two_byte_sequence_length false); // address_little_endian } diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/board.c b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/board.c new file mode 100644 index 0000000000000..a3a9eec047145 --- /dev/null +++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/board.c @@ -0,0 +1,9 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#include "supervisor/board.h" + +// Use the MP_WEAK supervisor/shared/board.c versions of routines not defined here. diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.h b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.h new file mode 100644 index 0000000000000..02fe72fe4a709 --- /dev/null +++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.h @@ -0,0 +1,16 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2019 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#pragma once + +// Micropython setup +#define MICROPY_HW_BOARD_NAME "ESP32-S3-DevKitC-1-N8R2 (ROS version)" +#define MICROPY_HW_MCU_NAME "ESP32S3" + +#define MICROPY_HW_NEOPIXEL (&pin_GPIO48) + +#define DEFAULT_UART_BUS_RX (&pin_GPIO44) +#define DEFAULT_UART_BUS_TX (&pin_GPIO43) diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.mk b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.mk new file mode 100644 index 0000000000000..336b9f4dd8926 --- /dev/null +++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.mk @@ -0,0 +1,16 @@ +USB_VID = 0x303A +USB_PID = 0x7003 +USB_PRODUCT = "ESP32-S3-DevKitC-1-N8R2 CPY/ROS" +USB_MANUFACTURER = "Espressif" + +IDF_TARGET = esp32s3 + +CIRCUITPY_ESP_FLASH_SIZE = 8MB +CIRCUITPY_ESP_FLASH_MODE = qio +CIRCUITPY_ESP_FLASH_FREQ = 80m + +CIRCUITPY_ESP_PSRAM_SIZE = 2MB +CIRCUITPY_ESP_PSRAM_MODE = qio +CIRCUITPY_ESP_PSRAM_FREQ = 80m + +CIRCUITPY_RCLCPY = 1 diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/pins.c b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/pins.c new file mode 100644 index 0000000000000..3bb64f434d02f --- /dev/null +++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/pins.c @@ -0,0 +1,55 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#include "shared-bindings/board/__init__.h" + +static const mp_rom_map_elem_t board_module_globals_table[] = { + CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS + + { MP_ROM_QSTR(MP_QSTR_IO0), MP_ROM_PTR(&pin_GPIO0) }, + { MP_ROM_QSTR(MP_QSTR_IO1), MP_ROM_PTR(&pin_GPIO1) }, + { MP_ROM_QSTR(MP_QSTR_IO2), MP_ROM_PTR(&pin_GPIO2) }, + { MP_ROM_QSTR(MP_QSTR_IO3), MP_ROM_PTR(&pin_GPIO3) }, + { MP_ROM_QSTR(MP_QSTR_IO4), MP_ROM_PTR(&pin_GPIO4) }, + { MP_ROM_QSTR(MP_QSTR_IO5), MP_ROM_PTR(&pin_GPIO5) }, + { MP_ROM_QSTR(MP_QSTR_IO6), MP_ROM_PTR(&pin_GPIO6) }, + { MP_ROM_QSTR(MP_QSTR_IO7), MP_ROM_PTR(&pin_GPIO7) }, + { MP_ROM_QSTR(MP_QSTR_IO8), MP_ROM_PTR(&pin_GPIO8) }, + { MP_ROM_QSTR(MP_QSTR_IO9), MP_ROM_PTR(&pin_GPIO9) }, + { MP_ROM_QSTR(MP_QSTR_IO10), MP_ROM_PTR(&pin_GPIO10) }, + { MP_ROM_QSTR(MP_QSTR_IO11), MP_ROM_PTR(&pin_GPIO11) }, + { MP_ROM_QSTR(MP_QSTR_IO12), MP_ROM_PTR(&pin_GPIO12) }, + { MP_ROM_QSTR(MP_QSTR_IO13), MP_ROM_PTR(&pin_GPIO13) }, + { MP_ROM_QSTR(MP_QSTR_IO14), MP_ROM_PTR(&pin_GPIO14) }, + { MP_ROM_QSTR(MP_QSTR_IO15), MP_ROM_PTR(&pin_GPIO15) }, + { MP_ROM_QSTR(MP_QSTR_IO16), MP_ROM_PTR(&pin_GPIO16) }, + { MP_ROM_QSTR(MP_QSTR_IO17), MP_ROM_PTR(&pin_GPIO17) }, + { MP_ROM_QSTR(MP_QSTR_IO18), MP_ROM_PTR(&pin_GPIO18) }, + { MP_ROM_QSTR(MP_QSTR_IO19), MP_ROM_PTR(&pin_GPIO19) }, + { MP_ROM_QSTR(MP_QSTR_IO20), MP_ROM_PTR(&pin_GPIO20) }, + { MP_ROM_QSTR(MP_QSTR_IO21), MP_ROM_PTR(&pin_GPIO21) }, + { MP_ROM_QSTR(MP_QSTR_IO35), MP_ROM_PTR(&pin_GPIO35) }, + { MP_ROM_QSTR(MP_QSTR_IO36), MP_ROM_PTR(&pin_GPIO36) }, + { MP_ROM_QSTR(MP_QSTR_IO37), MP_ROM_PTR(&pin_GPIO37) }, + { MP_ROM_QSTR(MP_QSTR_IO38), MP_ROM_PTR(&pin_GPIO38) }, + { MP_ROM_QSTR(MP_QSTR_IO39), MP_ROM_PTR(&pin_GPIO39) }, + { MP_ROM_QSTR(MP_QSTR_IO40), MP_ROM_PTR(&pin_GPIO40) }, + { MP_ROM_QSTR(MP_QSTR_IO41), MP_ROM_PTR(&pin_GPIO41) }, + { MP_ROM_QSTR(MP_QSTR_IO42), MP_ROM_PTR(&pin_GPIO42) }, + { MP_ROM_QSTR(MP_QSTR_IO43), MP_ROM_PTR(&pin_GPIO43) }, + { MP_ROM_QSTR(MP_QSTR_IO44), MP_ROM_PTR(&pin_GPIO44) }, + { MP_ROM_QSTR(MP_QSTR_IO45), MP_ROM_PTR(&pin_GPIO45) }, + { MP_ROM_QSTR(MP_QSTR_IO46), MP_ROM_PTR(&pin_GPIO46) }, + { MP_ROM_QSTR(MP_QSTR_IO47), MP_ROM_PTR(&pin_GPIO47) }, + { MP_ROM_QSTR(MP_QSTR_IO48), MP_ROM_PTR(&pin_GPIO48) }, + { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO48) }, + + { MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_GPIO43) }, + { MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_GPIO44) }, + + { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) }, +}; +MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table); diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/sdkconfig b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/sdkconfig new file mode 100644 index 0000000000000..e962866216039 --- /dev/null +++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/sdkconfig @@ -0,0 +1,14 @@ +# +# Espressif IoT Development Framework Configuration +# +# +# Component config +# +# +# LWIP +# +# end of LWIP + +# end of Component config + +# end of Espressif IoT Development Framework Configuration diff --git a/ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c b/ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c index 317fb0d88a1f0..d0ae146504234 100644 --- a/ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c +++ b/ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c @@ -34,10 +34,10 @@ uint8_t display_init_sequence[] = { // SSD1306 digitalio_digitalinout_obj_t display_on; static void display_init(void) { - // Need to bring GPIO21 high or the screen doesn't get power + // Need to bring GPIO36 high or the screen doesn't get power // & the board can't see the i2c bus at all. - common_hal_digitalio_digitalinout_construct(&display_on, &pin_GPIO21); - common_hal_digitalio_digitalinout_switch_to_output(&display_on, true, DRIVE_MODE_PUSH_PULL); + common_hal_digitalio_digitalinout_construct(&display_on, &pin_GPIO36); + common_hal_digitalio_digitalinout_switch_to_output(&display_on, false, DRIVE_MODE_PUSH_PULL); common_hal_digitalio_digitalinout_never_reset(&display_on); busio_i2c_obj_t *i2c = common_hal_board_create_i2c(0); @@ -48,7 +48,7 @@ static void display_init(void) { bus, i2c, 0x3c, - NULL + &pin_GPIO21 // broken-out on V3 ); busdisplay_busdisplay_obj_t *display = &allocate_display()->display; diff --git a/ports/espressif/boards/heltec_vision_master_e290/board.c b/ports/espressif/boards/heltec_vision_master_e290/board.c index cc8afe226be95..e392f65a76432 100644 --- a/ports/espressif/boards/heltec_vision_master_e290/board.c +++ b/ports/espressif/boards/heltec_vision_master_e290/board.c @@ -94,6 +94,7 @@ void board_init(void) { false, // always_toggle_chip_select false, // grayscale false, // acep + false, // spectra6 false, // two_byte_sequence_length true); // address_little_endian } diff --git a/ports/espressif/boards/heltec_wireless_paper/board.c b/ports/espressif/boards/heltec_wireless_paper/board.c index 2807f2d1a2012..28fb6ae41b9a1 100644 --- a/ports/espressif/boards/heltec_wireless_paper/board.c +++ b/ports/espressif/boards/heltec_wireless_paper/board.c @@ -134,6 +134,7 @@ void board_init(void) { false, // always_toggle_chip_select false, // grayscale false, // acep + false, // spectra6 false, // two_byte_sequence_length false); // address_little_endian } diff --git a/ports/espressif/boards/m5stack_cardputer_ros/board.c b/ports/espressif/boards/m5stack_cardputer_ros/board.c new file mode 100644 index 0000000000000..6fdc2f8ea5c46 --- /dev/null +++ b/ports/espressif/boards/m5stack_cardputer_ros/board.c @@ -0,0 +1,95 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#include "mpconfigboard.h" +#include "supervisor/board.h" +#include "supervisor/shared/serial.h" +#include "shared-bindings/busio/SPI.h" +#include "shared-bindings/fourwire/FourWire.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-module/displayio/__init__.h" +#include "shared-module/displayio/mipi_constants.h" +#include "shared-bindings/board/__init__.h" +#include "py/runtime.h" +#include "py/ringbuf.h" +#include "shared/runtime/interrupt_char.h" + + +#define DELAY 0x80 + +uint8_t display_init_sequence[] = { + // SWRESET and Delay 140ms + 0x01, 0 | DELAY, 140, + // SLPOUT and Delay 10ms + 0x11, 0 | DELAY, 10, + // COLMOD 65k colors and 16 bit 5-6-5 + 0x3A, 1, 0x55, + // INVON Iiversion on + 0x21, 0, + // NORON normal operation (full update) + 0x13, 0, + // MADCTL columns RTL, page/column reverse order + 0x36, 1, 0x60, + // RAMCTRL color word little endian + 0xB0, 2, 0x00, 0xF8, + // DIPON display on + 0x29, 0, +}; + + +// Overrides the weakly linked function from supervisor/shared/board.c +void board_init(void) { + busio_spi_obj_t *spi = common_hal_board_create_spi(0); + fourwire_fourwire_obj_t *bus = &allocate_display_bus()->fourwire_bus; + bus->base.type = &fourwire_fourwire_type; + + // see here for inspiration: https://github.com/m5stack/M5GFX/blob/33d7d3135e816a86a008fae8ab3757938cee95d2/src/M5GFX.cpp#L1350 + common_hal_fourwire_fourwire_construct( + bus, + spi, + &pin_GPIO34, // DC + &pin_GPIO37, // CS + &pin_GPIO33, // RST + 40000000, // baudrate + 0, // polarity + 0 // phase + ); + busdisplay_busdisplay_obj_t *display = &allocate_display()->display; + display->base.type = &busdisplay_busdisplay_type; + + common_hal_busdisplay_busdisplay_construct( + display, + bus, + 240, // width (after rotation) + 135, // height (after rotation) + 40, // column start + 53, // row start + 0, // rotation + 16, // color depth + false, // grayscale + false, // pixels in a byte share a row. Only valid for depths < 8 + 1, // bytes per cell. Only valid for depths < 8 + false, // reverse_pixels_in_byte. Only valid for depths < 8 + false, // reverse_pixels_in_word + MIPI_COMMAND_SET_COLUMN_ADDRESS, // set column command + MIPI_COMMAND_SET_PAGE_ADDRESS, // set row command + MIPI_COMMAND_WRITE_MEMORY_START, // write memory command + display_init_sequence, + sizeof(display_init_sequence), + &pin_GPIO38, // backlight pin + NO_BRIGHTNESS_COMMAND, + 1.0f, // brightness + false, // single_byte_bounds + false, // data_as_commands + true, // auto_refresh + 60, // native_frames_per_second + true, // backlight_on_high + false, // SH1107_addressing + 350 // backlight pwm frequency + ); +} + +// TODO: Should we turn off the display when asleep, in board_deinit() ? diff --git a/ports/espressif/boards/m5stack_cardputer_ros/cardputer_keyboard.c b/ports/espressif/boards/m5stack_cardputer_ros/cardputer_keyboard.c new file mode 100644 index 0000000000000..73880f66e19d9 --- /dev/null +++ b/ports/espressif/boards/m5stack_cardputer_ros/cardputer_keyboard.c @@ -0,0 +1,238 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2016 Scott Shawcroft +// +// SPDX-License-Identifier: MIT + +#include "py/obj.h" +#include "py/objstr.h" +#include "py/runtime.h" + +#include "supervisor/shared/serial.h" +#include "shared-bindings/keypad/EventQueue.h" +#include "shared-bindings/keypad_demux/DemuxKeyMatrix.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-module/keypad/EventQueue.h" +#include "shared-module/keypad_demux/DemuxKeyMatrix.h" +#include "supervisor/shared/reload.h" + +#include "keymap.h" + +//| """M5Stack Cardputer keyboard integration. +//| """ +//| +//| """The KEYBOARD object is an instance of DemuxKeyMatrix, configured with correct pins. +//| The pins cannot be used for any other purposes (even though exposed in the board module). +//| By default all keyboard events are consumed and routed to the standard input - there is +//| not much use of the KEYBOARD object in this configuration - just read the input via sys.stdin. +//| +//| If you need to manually process individual key up / key down events via KEYBOARD.events, +//| call `detach_serial()`. +//| """" +//| KEYBOARD: keypad_demux.DemuxKeymatrix +//| +keypad_demux_demuxkeymatrix_obj_t cardputer_keyboard_obj; +bool cardputer_keyboard_serial_attached = false; + +void cardputer_keyboard_init(void); +void keyboard_seq(const char *seq); +void update_keyboard(keypad_eventqueue_obj_t *queue); + +//| def detach_serial() -> None: +//| """Stops consuming keyboard events and routing them to sys.stdin.""" +//| ... +//| +static mp_obj_t detach_serial(void) { + cardputer_keyboard_serial_attached = false; + common_hal_keypad_eventqueue_set_event_handler(cardputer_keyboard_obj.events, NULL); + return mp_const_none; +} +static MP_DEFINE_CONST_FUN_OBJ_0(detach_serial_obj, detach_serial); + +//| def attach_serial() -> None: +//| """Starts consuming keyboard events and routing them to sys.stdin.""" +//| ... +//| +static mp_obj_t attach_serial(void) { + common_hal_keypad_eventqueue_set_event_handler(cardputer_keyboard_obj.events, update_keyboard); + cardputer_keyboard_serial_attached = true; + return mp_const_none; +} +static MP_DEFINE_CONST_FUN_OBJ_0(attach_serial_obj, attach_serial); + +//| def key_to_char(key: int, shifted: bool) -> str | None: +//| """Converts a key index to the respective key (with or without shift modifier). +//| Returns None for functional & modifier keys or whenever not 0 <= key < 56. +//| """ +//| ... +//| +static mp_obj_t key_to_char(mp_obj_t key_obj, mp_obj_t shifted_obj) { + mp_int_t key = mp_obj_get_int(key_obj); + if (key < 0 || key > (mp_int_t)(sizeof keymap / sizeof *keymap) || keymap[key] == 0) { + return mp_const_none; + } else if (shifted_obj == mp_const_true) { + return mp_obj_new_str(&keymap_shifted[key], 1); + } else { + return mp_obj_new_str(&keymap[key], 1); + } +} +static MP_DEFINE_CONST_FUN_OBJ_2(key_to_char_obj, key_to_char); + +// Ring buffer of characters consumed from keyboard events (when serial attached) +ringbuf_t keyqueue; +char keybuf[32]; + +keypad_event_obj_t event; +char keystate[56]; + +// Keyboard pins +const mcu_pin_obj_t *row_addr_pins[] = { + &pin_GPIO8, + &pin_GPIO9, + &pin_GPIO11, +}; + +const mcu_pin_obj_t *column_pins[] = { + &pin_GPIO13, + &pin_GPIO15, + &pin_GPIO3, + &pin_GPIO4, + &pin_GPIO5, + &pin_GPIO6, + &pin_GPIO7 +}; + +void cardputer_keyboard_init(void) { + cardputer_keyboard_obj.base.type = &keypad_demux_demuxkeymatrix_type; + common_hal_keypad_demux_demuxkeymatrix_construct( + &cardputer_keyboard_obj, // self + 3, // num_row_addr_pins + row_addr_pins, // row_addr_pins + 7, // num_column_pins + column_pins, // column_pins + true, // columns_to_anodes + false, // transpose + 0.01f, // interval + 20, // max_events + 2 // debounce_threshold + ); + demuxkeymatrix_never_reset(&cardputer_keyboard_obj); + + ringbuf_init(&keyqueue, (uint8_t *)keybuf, sizeof(keybuf)); + attach_serial(); +} + +// Overrides the weakly linked function from supervisor/shared/serial.c +void board_serial_init(void) { + cardputer_keyboard_init(); +} + +// Overrides the weakly linked function from supervisor/shared/serial.c +bool board_serial_connected(void) { + return cardputer_keyboard_serial_attached; +} + +// Overrides the weakly linked function from supervisor/shared/serial.c +uint32_t board_serial_bytes_available(void) { + if (cardputer_keyboard_serial_attached) { + return ringbuf_num_filled(&keyqueue); + } else { + return 0; + } +} + +// Overrides the weakly linked function from supervisor/shared/serial.c +char board_serial_read(void) { + if (cardputer_keyboard_serial_attached) { + return ringbuf_get(&keyqueue); + } else { + return 0; + } +} + +void keyboard_seq(const char *seq) { + while (*seq) { + ringbuf_put(&keyqueue, *seq++); + } +} + +void update_keyboard(keypad_eventqueue_obj_t *queue) { + uint8_t ascii = 0; + + if (common_hal_keypad_eventqueue_get_length(queue) == 0) { + return; + } + + while (common_hal_keypad_eventqueue_get_into(queue, &event)) { + if (event.pressed) { + keystate[event.key_number] = 1; + + if (keystate[KEY_CTRL]) { + if (keystate[KEY_ALT] && keystate[KEY_BACKSPACE]) { + reload_initiate(RUN_REASON_REPL_RELOAD); + } + ascii = keymap[event.key_number]; + if (ascii >= 'a' && ascii <= 'z') { + ascii -= 'a' - 1; + } + + if (ascii == mp_interrupt_char) { + mp_sched_keyboard_interrupt(); + } + } else if (keystate[KEY_SHIFT]) { + ascii = keymap_shifted[event.key_number]; + } else if (keystate[KEY_FN] && event.key_number != KEY_FN) { + switch (event.key_number | FN_MOD) + { + case KEY_DOWN: + keyboard_seq("\e[B"); + break; + case KEY_UP: + keyboard_seq("\e[A"); + break; + case KEY_DELETE: + keyboard_seq("\e[3~"); + break; + case KEY_LEFT: + keyboard_seq("\e[D"); + break; + case KEY_RIGHT: + keyboard_seq("\e[C"); + break; + case KEY_ESC: + ringbuf_put(&keyqueue, '\e'); + break; + } + } else { + ascii = keymap[event.key_number]; + } + + if (ascii > 0) { + if (keystate[KEY_ALT]) { + ringbuf_put(&keyqueue, '\e'); + } else if (keystate[KEY_OPT]) { + ringbuf_put(&keyqueue, '\x10'); + } + ringbuf_put(&keyqueue, ascii); + } + } else { + keystate[event.key_number] = 0; + } + } +} + +static const mp_rom_map_elem_t cardputer_keyboard_module_globals_table[] = { + {MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_cardputer_keyboard)}, + {MP_ROM_QSTR(MP_QSTR_KEYBOARD), MP_ROM_PTR(&cardputer_keyboard_obj)}, + {MP_ROM_QSTR(MP_QSTR_attach_serial), MP_ROM_PTR(&attach_serial_obj)}, + {MP_ROM_QSTR(MP_QSTR_detach_serial), MP_ROM_PTR(&detach_serial_obj)}, + {MP_ROM_QSTR(MP_QSTR_key_to_char), MP_ROM_PTR(&key_to_char_obj)}, +}; +MP_DEFINE_CONST_DICT(cardputer_keyboard_module_globals, cardputer_keyboard_module_globals_table); + +const mp_obj_module_t cardputer_keyboard_module = { + .base = {&mp_type_module}, + .globals = (mp_obj_dict_t *)&cardputer_keyboard_module_globals, +}; + +MP_REGISTER_MODULE(MP_QSTR_cardputer_keyboard, cardputer_keyboard_module); diff --git a/ports/espressif/boards/m5stack_cardputer_ros/keymap.h b/ports/espressif/boards/m5stack_cardputer_ros/keymap.h new file mode 100644 index 0000000000000..0256fafaa0f57 --- /dev/null +++ b/ports/espressif/boards/m5stack_cardputer_ros/keymap.h @@ -0,0 +1,214 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#pragma once + +#define SHIFT_MOD 0x40 +#define FN_MOD 0x80 + +#define KEY_OPT 0 +#define KEY_Z 1 +#define KEY_C 2 +#define KEY_B 3 +#define KEY_M 4 +#define KEY_DOT 5 +#define KEY_SPACE 6 +#define KEY_SHIFT 7 +#define KEY_S 8 +#define KEY_F 9 +#define KEY_H 10 +#define KEY_K 11 +#define KEY_SEMICOLON 12 +#define KEY_ENTER 13 +#define KEY_Q 14 +#define KEY_E 15 +#define KEY_T 16 +#define KEY_U 17 +#define KEY_O 18 +#define KEY_LEFT_BRACKET 19 +#define KEY_BACKSLASH 20 +#define KEY_1 21 +#define KEY_3 22 +#define KEY_5 23 +#define KEY_7 24 +#define KEY_9 25 +#define KEY_UNDERSCORE 26 +#define KEY_BACKSPACE 27 +#define KEY_CTRL 28 +#define KEY_ALT 29 +#define KEY_X 30 +#define KEY_V 31 +#define KEY_N 32 +#define KEY_COMMA 33 +#define KEY_SLASH 34 +#define KEY_FN 35 +#define KEY_A 36 +#define KEY_D 37 +#define KEY_G 38 +#define KEY_J 39 +#define KEY_L 40 +#define KEY_APOSTROPHE 41 +#define KEY_TAB 42 +#define KEY_W 43 +#define KEY_R 44 +#define KEY_Y 45 +#define KEY_I 46 +#define KEY_P 47 +#define KEY_RIGHT_BRACKET 48 +#define KEY_GRAVE 49 +#define KEY_2 50 +#define KEY_4 51 +#define KEY_6 52 +#define KEY_8 53 +#define KEY_0 54 +#define KEY_EQUALS 55 + +#define KEY_GREATER (5 | SHIFT_MOD) +#define KEY_COLON (12 | SHIFT_MOD) +#define KEY_LEFT_CURLY_BRACKET (19 | SHIFT_MOD) +#define KEY_PIPE (20 | SHIFT_MOD) +#define KEY_EXCLAMATION (21 | SHIFT_MOD) +#define KEY_HASH (22 | SHIFT_MOD) +#define KEY_PERCENT (23 | SHIFT_MOD) +#define KEY_AMPERSAND (24 | SHIFT_MOD) +#define KEY_OPEN_PARENTHESIS (25 | SHIFT_MOD) +#define KEY_MINUS (26 | SHIFT_MOD) +#define KEY_LESS (33 | SHIFT_MOD) +#define KEY_QUESTION (34 | SHIFT_MOD) +#define KEY_DOUBLE_QUOTE (41 | SHIFT_MOD) +#define KEY_RIGHT_CURLY_BRACKET (48 | SHIFT_MOD) +#define KEY_TILDE (49 | SHIFT_MOD) +#define KEY_AT (50 | SHIFT_MOD) +#define KEY_DOLLAR (51 | SHIFT_MOD) +#define KEY_CARET (52 | SHIFT_MOD) +#define KEY_ASTERISK (53 | SHIFT_MOD) +#define KEY_CLOSE_PARENTHESIS (54 | SHIFT_MOD) +#define KEY_PLUS (55 | SHIFT_MOD) + +#define KEY_DOWN (5 | FN_MOD) +#define KEY_UP (12 | FN_MOD) +#define KEY_DELETE (27 | FN_MOD) +#define KEY_LEFT (33 | FN_MOD) +#define KEY_RIGHT (34 | FN_MOD) +#define KEY_ESC (49 | FN_MOD) + +const char keymap[56] = { + 0, // KEY_OPT + 'z', // KEY_Z + 'c', // KEY_C + 'b', // KEY_B + 'm', // KEY_M + '.', // KEY_DOT + ' ', // KEY_SPACE + 0, // KEY_SHIFT + 's', // KEY_S + 'f', // KEY_F + 'h', // KEY_H + 'k', // KEY_K + ';', // KEY_SEMICOLON + '\r',// KEY_ENTER + 'q', // KEY_Q + 'e', // KEY_E + 't', // KEY_T + 'u', // KEY_U + 'o', // KEY_O + '[', // KEY_LEFT_BRACKET + '\\',// KEY_BACKSLASH + '1', // KEY_1 + '3', // KEY_3 + '5', // KEY_5 + '7', // KEY_7 + '9', // KEY_9 + '_', // KEY_UNDERSCORE + '\b',// KEY_BACKSPACE + 0, // KEY_CTRL + 0, // KEY_ALT + 'x', // KEY_X + 'v', // KEY_V + 'n', // KEY_N + ',', // KEY_COMMA + '/', // KEY_SLASH + 0, // KEY_FN + 'a', // KEY_A + 'd', // KEY_D + 'g', // KEY_G + 'j', // KEY_J + 'l', // KEY_L + '\'',// KEY_APOSTROPHE + '\t',// KEY_TAB + 'w', // KEY_W + 'r', // KEY_R + 'y', // KEY_Y + 'i', // KEY_I + 'p', // KEY_P + ']', // KEY_RIGHT_BRACKET + '`', // KEY_GRAVE + '2', // KEY_2 + '4', // KEY_4 + '6', // KEY_6 + '8', // KEY_8 + '0', // KEY_0 + '=' // KEY_EQUALS +}; + +const char keymap_shifted[56] = { + 0, // KEY_OPT + 'Z', // KEY_Z + 'C', // KEY_C + 'B', // KEY_B + 'M', // KEY_M + '>', // KEY_DOT -> '>' + ' ', // KEY_SPACE + 0, // KEY_SHIFT + 'S', // KEY_S + 'F', // KEY_F + 'H', // KEY_H + 'K', // KEY_K + ':', // KEY_SEMICOLON -> ':' + '\r',// KEY_ENTER + 'Q', // KEY_Q + 'E', // KEY_E + 'T', // KEY_T + 'U', // KEY_U + 'O', // KEY_O + '{', // KEY_LEFT_BRACKET -> '{' + '|', // KEY_BACKSLASH -> '|' + '!', // KEY_1 -> '!' + '#', // KEY_3 -> '#' + '%', // KEY_5 -> '%' + '&', // KEY_7 -> '&' + '(', // KEY_9 -> '(' + '-', // KEY_UNDERSCORE -> '-' + '\b',// KEY_BACKSPACE + 0, // KEY_CTRL + 0, // KEY_ALT + 'X', // KEY_X + 'V', // KEY_V + 'N', // KEY_N + '<', // KEY_COMMA -> '<' + '?', // KEY_SLASH -> '?' + 0, // KEY_FN + 'A', // KEY_A + 'D', // KEY_D + 'G', // KEY_G + 'J', // KEY_J + 'L', // KEY_L + '"', // KEY_APOSTROPHE -> '"' + '\t',// KEY_TAB + 'W', // KEY_W + 'R', // KEY_R + 'Y', // KEY_Y + 'I', // KEY_I + 'P', // KEY_P + '}', // KEY_RIGHT_BRACKET -> '}' + '~', // KEY_GRAVE -> '~' + '@', // KEY_2 -> '@' + '$', // KEY_4 -> '$' + '^', // KEY_6 -> '^' + '*', // KEY_8 -> '*' + ')', // KEY_0 -> ')' + '+' // KEY_EQUALS -> '+' +}; diff --git a/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.h b/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.h new file mode 100644 index 0000000000000..4b62c7d76e6a1 --- /dev/null +++ b/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.h @@ -0,0 +1,19 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2019 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#pragma once + +// Micropython setup + +#define MICROPY_HW_BOARD_NAME "M5Stack Cardputer (ROS version)" +#define MICROPY_HW_MCU_NAME "ESP32S3" + +#define MICROPY_HW_NEOPIXEL (&pin_GPIO21) +#define DEFAULT_I2C_BUS_SCL (&pin_GPIO1) +#define DEFAULT_I2C_BUS_SDA (&pin_GPIO2) +#define CIRCUITPY_BOARD_SPI (2) +#define CIRCUITPY_BOARD_SPI_PIN {{.clock = &pin_GPIO36, .mosi = &pin_GPIO35}, \ + {.clock = &pin_GPIO40, .mosi = &pin_GPIO14, .miso = &pin_GPIO39}} diff --git a/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.mk b/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.mk new file mode 100644 index 0000000000000..8d296939a1a7b --- /dev/null +++ b/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.mk @@ -0,0 +1,17 @@ +USB_VID = 0x303A +USB_PID = 0x81DA +USB_PRODUCT = "M5Stack Cardputer - Circuitpython/ROS" +USB_MANUFACTURER = "M5STACK" + +IDF_TARGET = esp32s3 + +CIRCUITPY_ESP_FLASH_MODE = qio +CIRCUITPY_ESP_FLASH_FREQ = 80m +CIRCUITPY_ESP_FLASH_SIZE = 8MB +CIRCUITPY_ESPCAMERA = 0 +CIRCUITPY_RCLCPY = 1 + +CIRCUITPY_GIFIO = 1 +CIRCUITPY_MAX3421E = 0 + +SRC_C += boards/$(BOARD)/cardputer_keyboard.c diff --git a/ports/espressif/boards/m5stack_cardputer_ros/pins.c b/ports/espressif/boards/m5stack_cardputer_ros/pins.c new file mode 100644 index 0000000000000..ba309e0dcbff1 --- /dev/null +++ b/ports/espressif/boards/m5stack_cardputer_ros/pins.c @@ -0,0 +1,86 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#include "shared-bindings/board/__init__.h" + +#include "shared-module/displayio/__init__.h" +CIRCUITPY_BOARD_BUS_SINGLETON(sd_spi, spi, 1) +static const mp_rom_map_elem_t board_module_globals_table[] = { + CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS + + // Port A + { MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_GPIO1) }, + { MP_ROM_QSTR(MP_QSTR_PORTA1), MP_ROM_PTR(&pin_GPIO1) }, + { MP_ROM_QSTR(MP_QSTR_D1), MP_ROM_PTR(&pin_GPIO1) }, + { MP_ROM_QSTR(MP_QSTR_G1), MP_ROM_PTR(&pin_GPIO1) }, + { MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_GPIO2) }, + { MP_ROM_QSTR(MP_QSTR_PORTA2), MP_ROM_PTR(&pin_GPIO2) }, + { MP_ROM_QSTR(MP_QSTR_D2), MP_ROM_PTR(&pin_GPIO2) }, + { MP_ROM_QSTR(MP_QSTR_G2), MP_ROM_PTR(&pin_GPIO2) }, + + // Keyboard + { MP_ROM_QSTR(MP_QSTR_KB_COL_0), MP_ROM_PTR(&pin_GPIO13) }, + { MP_ROM_QSTR(MP_QSTR_KB_COL_1), MP_ROM_PTR(&pin_GPIO15) }, + { MP_ROM_QSTR(MP_QSTR_KB_COL_2), MP_ROM_PTR(&pin_GPIO3) }, + { MP_ROM_QSTR(MP_QSTR_KB_COL_3), MP_ROM_PTR(&pin_GPIO4) }, + { MP_ROM_QSTR(MP_QSTR_KB_COL_4), MP_ROM_PTR(&pin_GPIO5) }, + { MP_ROM_QSTR(MP_QSTR_KB_COL_5), MP_ROM_PTR(&pin_GPIO6) }, + { MP_ROM_QSTR(MP_QSTR_KB_COL_6), MP_ROM_PTR(&pin_GPIO7) }, + { MP_ROM_QSTR(MP_QSTR_KB_A_0), MP_ROM_PTR(&pin_GPIO8) }, + { MP_ROM_QSTR(MP_QSTR_KB_A_1), MP_ROM_PTR(&pin_GPIO9) }, + { MP_ROM_QSTR(MP_QSTR_KB_A_2), MP_ROM_PTR(&pin_GPIO11) }, + + // Neopixel + { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO21) }, + + // Speaker + { MP_ROM_QSTR(MP_QSTR_I2S_BIT_CLOCK), MP_ROM_PTR(&pin_GPIO41) }, + { MP_ROM_QSTR(MP_QSTR_I2S_DATA), MP_ROM_PTR(&pin_GPIO42) }, + { MP_ROM_QSTR(MP_QSTR_I2S_WORD_SELECT), MP_ROM_PTR(&pin_GPIO43) }, + + // Mic + { MP_ROM_QSTR(MP_QSTR_MIC_DATA), MP_ROM_PTR(&pin_GPIO46) }, + { MP_ROM_QSTR(MP_QSTR_MIC_CLK), MP_ROM_PTR(&pin_GPIO43) }, + + // IR + { MP_ROM_QSTR(MP_QSTR_IR_TX), MP_ROM_PTR(&pin_GPIO44) }, + + // SD + { MP_ROM_QSTR(MP_QSTR_SD_MOSI), MP_ROM_PTR(&pin_GPIO14) }, + { MP_ROM_QSTR(MP_QSTR_SD_SCK), MP_ROM_PTR(&pin_GPIO40) }, + { MP_ROM_QSTR(MP_QSTR_SD_MISO), MP_ROM_PTR(&pin_GPIO39) }, + { MP_ROM_QSTR(MP_QSTR_SD_CS), MP_ROM_PTR(&pin_GPIO12) }, + + + // Display + { MP_ROM_QSTR(MP_QSTR_TFT_RST), MP_ROM_PTR(&pin_GPIO33) }, + { MP_ROM_QSTR(MP_QSTR_TFT_RESET), MP_ROM_PTR(&pin_GPIO33) }, + { MP_ROM_QSTR(MP_QSTR_TFT_DC), MP_ROM_PTR(&pin_GPIO34) }, + { MP_ROM_QSTR(MP_QSTR_TFT_RS), MP_ROM_PTR(&pin_GPIO34) }, + { MP_ROM_QSTR(MP_QSTR_TFT_MOSI), MP_ROM_PTR(&pin_GPIO35) }, + { MP_ROM_QSTR(MP_QSTR_TFT_DATA), MP_ROM_PTR(&pin_GPIO35) }, + { MP_ROM_QSTR(MP_QSTR_TFT_SCK), MP_ROM_PTR(&pin_GPIO36) }, + { MP_ROM_QSTR(MP_QSTR_TFT_CS), MP_ROM_PTR(&pin_GPIO37) }, + { MP_ROM_QSTR(MP_QSTR_TFT_BACKLIGHT), MP_ROM_PTR(&pin_GPIO38) }, + { MP_ROM_QSTR(MP_QSTR_TFT_BL), MP_ROM_PTR(&pin_GPIO38) }, + + // Button + { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_GPIO0) }, + { MP_ROM_QSTR(MP_QSTR_BOOT0), MP_ROM_PTR(&pin_GPIO0) }, + + // Battery + { MP_ROM_QSTR(MP_QSTR_BAT_ADC), MP_ROM_PTR(&pin_GPIO10) }, + + // Other + { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) }, + { MP_ROM_QSTR(MP_QSTR_PORTA_I2C), MP_ROM_PTR(&board_i2c_obj) }, + { MP_ROM_QSTR(MP_QSTR_TFT_SPI), MP_ROM_PTR(&board_spi_obj) }, + { MP_ROM_QSTR(MP_QSTR_SD_SPI), MP_ROM_PTR(&board_sd_spi_obj) }, + + // Display object + { MP_ROM_QSTR(MP_QSTR_DISPLAY), MP_ROM_PTR(&displays[0].display)}, +}; +MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table); diff --git a/ports/espressif/boards/m5stack_cardputer_ros/sdkconfig b/ports/espressif/boards/m5stack_cardputer_ros/sdkconfig new file mode 100644 index 0000000000000..e962866216039 --- /dev/null +++ b/ports/espressif/boards/m5stack_cardputer_ros/sdkconfig @@ -0,0 +1,14 @@ +# +# Espressif IoT Development Framework Configuration +# +# +# Component config +# +# +# LWIP +# +# end of LWIP + +# end of Component config + +# end of Espressif IoT Development Framework Configuration diff --git a/ports/espressif/boards/m5stack_m5paper/board.c b/ports/espressif/boards/m5stack_m5paper/board.c index fbf66fa5ccdf9..db68df79c4291 100644 --- a/ports/espressif/boards/m5stack_m5paper/board.c +++ b/ports/espressif/boards/m5stack_m5paper/board.c @@ -74,6 +74,7 @@ void board_init(void) { // false, // always_toggle_chip_select // false, // grayscale // true, // acep + // false, // spectra6 // false, // two_byte_sequence_length // false // address_little_endian // ); diff --git a/ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk b/ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk index 37c27203af31c..69576369d5faf 100644 --- a/ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk +++ b/ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk @@ -7,6 +7,8 @@ CIRCUITPY_ESP_FLASH_MODE=dio CIRCUITPY_ESP_FLASH_FREQ=80m CIRCUITPY_ESP_FLASH_SIZE=4MB +CIRCUITPY_CODEOP = 0 + CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1 diff --git a/ports/espressif/boards/sqfmi_watchy/board.c b/ports/espressif/boards/sqfmi_watchy/board.c index 25a7be4613c6e..393b8b759028a 100644 --- a/ports/espressif/boards/sqfmi_watchy/board.c +++ b/ports/espressif/boards/sqfmi_watchy/board.c @@ -190,6 +190,7 @@ void board_init(void) { false, // always_toggle_chip_select false, // grayscale false, // acep + false, // spectra6 false, // two_byte_sequence_length true // address_little_endian ); diff --git a/ports/espressif/boards/waveshare_esp32_s3_zero/pins.c b/ports/espressif/boards/waveshare_esp32_s3_zero/pins.c index 868c26be20140..15225b1c57c5d 100644 --- a/ports/espressif/boards/waveshare_esp32_s3_zero/pins.c +++ b/ports/espressif/boards/waveshare_esp32_s3_zero/pins.c @@ -152,8 +152,7 @@ static const mp_rom_map_elem_t board_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR_D21), MP_ROM_PTR(&pin_GPIO21) }, { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO21) }, - { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) }, - { MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj) }, + // UART - using TX RX on silkscreen { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) } }; MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table); diff --git a/ports/espressif/common-hal/_bleio/__init__.c b/ports/espressif/common-hal/_bleio/__init__.c index f3637a8fddb99..119fe55921e8a 100644 --- a/ports/espressif/common-hal/_bleio/__init__.c +++ b/ports/espressif/common-hal/_bleio/__init__.c @@ -31,7 +31,7 @@ static uint64_t _timeout_start_time; background_callback_t bleio_background_callback; -void bleio_user_reset() { +void bleio_user_reset(void) { // Stop any user scanning or advertising. common_hal_bleio_adapter_stop_scan(&common_hal_bleio_adapter_obj); common_hal_bleio_adapter_stop_advertising(&common_hal_bleio_adapter_obj); @@ -43,7 +43,7 @@ void bleio_user_reset() { } // Turn off BLE on a reset or reload. -void bleio_reset() { +void bleio_reset(void) { // Set this explicitly to save data. if (!common_hal_bleio_adapter_get_enabled(&common_hal_bleio_adapter_obj)) { return; diff --git a/ports/espressif/common-hal/audiobusio/__init__.c b/ports/espressif/common-hal/audiobusio/__init__.c index 226e371c5b0b0..d07a0b521ba9b 100644 --- a/ports/espressif/common-hal/audiobusio/__init__.c +++ b/ports/espressif/common-hal/audiobusio/__init__.c @@ -184,7 +184,7 @@ void port_i2s_play(i2s_t *self, mp_obj_t sample, bool loop) { self->next_buffer_size = sizeof(starting_frame); i2s_fill_buffer(self); i2s_channel_preload_data(self->handle, &starting_frame, sizeof(uint32_t), &bytes_loaded); - preloaded += 1; + preloaded += bytes_loaded; } // enable the channel diff --git a/ports/espressif/common-hal/pulseio/PulseIn.c b/ports/espressif/common-hal/pulseio/PulseIn.c index f7e500790562a..a90f9796ab8c5 100644 --- a/ports/espressif/common-hal/pulseio/PulseIn.c +++ b/ports/espressif/common-hal/pulseio/PulseIn.c @@ -80,8 +80,9 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self, const mcu } // We add one to the maxlen version to ensure that two symbols at lease are // captured because we may skip the first portion of a symbol. - self->raw_symbols_size = MIN(64, maxlen / 2 + 1) * sizeof(rmt_symbol_word_t); - self->raw_symbols = (rmt_symbol_word_t *)m_malloc_without_collect(self->raw_symbols_size); + self->raw_symbols_size = (maxlen / 2 + 1) * sizeof(rmt_symbol_word_t); + // RMT DMA mode cannot access PSRAM -> ensure raw_symbols is in internal ram + self->raw_symbols = (rmt_symbol_word_t *)port_malloc(self->raw_symbols_size, true); if (self->raw_symbols == NULL) { m_free(self->buffer); m_malloc_fail(self->raw_symbols_size); @@ -109,17 +110,26 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self, const mcu .clk_src = RMT_CLK_SRC_DEFAULT, // 2 us resolution so we can capture 65ms pulses. The RMT period is only 15 bits. .resolution_hz = 1000000 / 2, - .mem_block_symbols = SOC_RMT_MEM_WORDS_PER_CHANNEL, + .mem_block_symbols = self->raw_symbols_size, + .flags.with_dma = 1 }; - // If we fail here, the buffers allocated above will be garbage collected. - CHECK_ESP_RESULT(rmt_new_rx_channel(&config, &self->channel)); + // If we fail here, the self->buffer will be garbage collected. + esp_err_t result = rmt_new_rx_channel(&config, &self->channel); + if (result != ESP_OK) { + port_free(self->raw_symbols); + raise_esp_error(result); + } rmt_rx_event_callbacks_t rx_callback = { .on_recv_done = _done_callback }; rmt_rx_register_event_callbacks(self->channel, &rx_callback, self); rmt_enable(self->channel); - rmt_receive(self->channel, self->raw_symbols, self->raw_symbols_size, &rx_config); + result = rmt_receive(self->channel, self->raw_symbols, self->raw_symbols_size, &rx_config); + if (result != ESP_OK) { + port_free(self->raw_symbols); + raise_esp_error(result); + } } bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t *self) { diff --git a/ports/espressif/common-hal/rclcpy/Node.c b/ports/espressif/common-hal/rclcpy/Node.c new file mode 100644 index 0000000000000..f68daa44fc34d --- /dev/null +++ b/ports/espressif/common-hal/rclcpy/Node.c @@ -0,0 +1,47 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#include "shared-bindings/rclcpy/Node.h" +#include "shared-bindings/rclcpy/__init__.h" + +#include "esp_log.h" + +void common_hal_rclcpy_node_construct(rclcpy_node_obj_t *self, + const char *node_name, const char *node_namespace) { + + rclc_node_init_default(&self->rcl_node, node_name, node_namespace, &rclcpy_default_context.rcl_support); + if (!rcl_node_is_valid(&self->rcl_node)) { + mp_raise_RuntimeError(MP_ERROR_TEXT("ROS node failed to initialize")); + } + self->deinited = false; +} + +bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t *self) { + return self->deinited; +} + +void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t *self) { + if (common_hal_rclcpy_node_deinited(self)) { + return; + } + // Clean up Micro-ROS object + rcl_ret_t ret = rcl_node_fini(&self->rcl_node); + if (ret != RCL_RET_OK) { + // TODO: node_fini returns a fail here, but doesn't impede microros + // from restarting. Debug left for future investigation. + ESP_LOGW("RCLCPY", "Node cleanup error: %d", ret); + // rclcpy_default_context.critical_fail=RCLCPY_NODE_FAIL; + } + self->deinited = true; +} + +const char *common_hal_rclcpy_node_get_name(rclcpy_node_obj_t *self) { + return rcl_node_get_name(&self->rcl_node); +} + +const char *common_hal_rclcpy_node_get_namespace(rclcpy_node_obj_t *self) { + return rcl_node_get_namespace(&self->rcl_node); +} diff --git a/ports/espressif/common-hal/rclcpy/Node.h b/ports/espressif/common-hal/rclcpy/Node.h new file mode 100644 index 0000000000000..c019a654e5add --- /dev/null +++ b/ports/espressif/common-hal/rclcpy/Node.h @@ -0,0 +1,23 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#pragma once + +#include "py/obj.h" +#include "py/runtime.h" + +#include +#include +#include +#include +#include + + +typedef struct { + mp_obj_base_t base; + bool deinited; + rcl_node_t rcl_node; +} rclcpy_node_obj_t; diff --git a/ports/espressif/common-hal/rclcpy/Publisher.c b/ports/espressif/common-hal/rclcpy/Publisher.c new file mode 100644 index 0000000000000..81df154687ace --- /dev/null +++ b/ports/espressif/common-hal/rclcpy/Publisher.c @@ -0,0 +1,64 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#include "shared-bindings/rclcpy/Publisher.h" + +#include "esp_log.h" + +void common_hal_rclcpy_publisher_construct(rclcpy_publisher_obj_t *self, rclcpy_node_obj_t *node, + const char *topic_name) { + + // Create Int32 type object + // TODO: support other message types through class imports + const rosidl_message_type_support_t *type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32); + + // Creates a reliable Int32 publisher + rcl_ret_t rc = rclc_publisher_init_default( + &self->rcl_publisher, &node->rcl_node, + type_support, topic_name); + if (RCL_RET_OK != rc) { + mp_raise_RuntimeError(MP_ERROR_TEXT("ROS topic failed to initialize")); + } + + self->node = node; +} + +bool common_hal_rclcpy_publisher_deinited(rclcpy_publisher_obj_t *self) { + return self->node == NULL; +} + +void common_hal_rclcpy_publisher_deinit(rclcpy_publisher_obj_t *self) { + if (common_hal_rclcpy_publisher_deinited(self)) { + return; + } + // Clean up Micro-ROS object + rcl_ret_t ret = rcl_publisher_fini(&self->rcl_publisher, &self->node->rcl_node); + if (ret != RCL_RET_OK) { + // TODO: publisher_fini returns a fail here, but doesn't impede microros + // from restarting. Debug left for future investigation. + ESP_LOGW("RCLCPY", "Publisher cleanup error: %d", ret); + // rclcpy_default_context.critical_fail=RCLCPY_PUB_FAIL; + } + self->node = NULL; +} + +void common_hal_rclcpy_publisher_publish_int32(rclcpy_publisher_obj_t *self, int32_t data) { + // Int32 message object + std_msgs__msg__Int32 msg; + + // Set message value + msg.data = data; + + // Publish message + rcl_ret_t rc = rcl_publish(&self->rcl_publisher, &msg, NULL); + if (RCL_RET_OK != rc) { + mp_raise_RuntimeError(MP_ERROR_TEXT("Could not publish to ROS topic")); + } +} + +const char *common_hal_rclcpy_publisher_get_topic_name(rclcpy_publisher_obj_t *self) { + return rcl_publisher_get_topic_name(&self->rcl_publisher); +} diff --git a/ports/espressif/common-hal/rclcpy/Publisher.h b/ports/espressif/common-hal/rclcpy/Publisher.h new file mode 100644 index 0000000000000..fdc45293cd270 --- /dev/null +++ b/ports/espressif/common-hal/rclcpy/Publisher.h @@ -0,0 +1,26 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#pragma once + +#include "py/obj.h" + +#include "common-hal/rclcpy/Node.h" +#include "common-hal/rclcpy/__init__.h" + +#include +#include +#include +#include +#include +#include + + +typedef struct { + mp_obj_base_t base; + rclcpy_node_obj_t *node; + rcl_publisher_t rcl_publisher; +} rclcpy_publisher_obj_t; diff --git a/ports/espressif/common-hal/rclcpy/__init__.c b/ports/espressif/common-hal/rclcpy/__init__.c new file mode 100644 index 0000000000000..e0e6fd8b4f4fc --- /dev/null +++ b/ports/espressif/common-hal/rclcpy/__init__.c @@ -0,0 +1,122 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#include "shared-bindings/rclcpy/__init__.h" + +#include "esp_log.h" + +#define RCLCPY_SUPPORT_FAIL 1 +#define RCLCPY_OPTIONS_FAIL 2 + +rclcpy_context_t rclcpy_default_context = { + .initialized = false, + .critical_fail = 0, +}; + +static void *microros_allocate(size_t size, void *state) { + (void)state; + return m_malloc(size); +} + +static void microros_deallocate(void *pointer, void *state) { + (void)state; + m_free(pointer); +} + +static void *microros_reallocate(void *pointer, size_t size, void *state) { + (void)state; + return m_realloc(pointer, size); +} + +static void *microros_zero_allocate(size_t number_of_elements, size_t size_of_element, void *state) { + (void)state; + size_t total_size = number_of_elements * size_of_element; + void *ptr = m_malloc(total_size); + if (ptr != NULL) { + memset(ptr, 0, total_size); + } + return ptr; +} + +void rclcpy_reset(void) { + if (rclcpy_default_context.initialized) { + // Clean up micro-ROS objects + rcl_ret_t ret = rclc_support_fini(&rclcpy_default_context.rcl_support); + if (ret != RCL_RET_OK) { + // ESP_LOGW("RCLCPY", "Support cleanup error: %d", ret); + rclcpy_default_context.critical_fail = RCLCPY_SUPPORT_FAIL; + } + ret = rcl_init_options_fini(&rclcpy_default_context.init_options); + if (ret != RCL_RET_OK) { + // ESP_LOGW("RCLCPY", "Init options cleanup error: %d", ret); + rclcpy_default_context.critical_fail = RCLCPY_OPTIONS_FAIL; + } + + // Reset context state + memset(&rclcpy_default_context, 0, sizeof(rclcpy_default_context)); + rclcpy_default_context.initialized = false; + } +} + +void common_hal_rclcpy_init(const char *agent_ip, const char *agent_port, int16_t domain_id) { + if (rclcpy_default_context.critical_fail != 0) { + mp_raise_RuntimeError_varg(MP_ERROR_TEXT("Critical ROS failure during soft reboot, reset required: %d"), rclcpy_default_context.critical_fail); + } + + // Set up circuitpython-friendly allocator + rcl_allocator_t custom_allocator = rcutils_get_zero_initialized_allocator(); + custom_allocator.allocate = microros_allocate; + custom_allocator.deallocate = microros_deallocate; + custom_allocator.reallocate = microros_reallocate; + custom_allocator.zero_allocate = microros_zero_allocate; + if (!rcutils_set_default_allocator(&custom_allocator)) { + mp_raise_RuntimeError(MP_ERROR_TEXT("ROS memory allocator failure")); + } + rclcpy_default_context.rcl_allocator = custom_allocator; + + rcl_ret_t ret; + + // Micro-ROS options initialization + rclcpy_default_context.init_options = rcl_get_zero_initialized_init_options(); + ret = rcl_init_options_init(&rclcpy_default_context.init_options, rclcpy_default_context.rcl_allocator); + if (ret != RCL_RET_OK) { + mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure")); + } + if (domain_id < 0) { + mp_raise_RuntimeError(MP_ERROR_TEXT("Invalid ROS domain ID")); + } + ret = rcl_init_options_set_domain_id(&rclcpy_default_context.init_options, domain_id); + if (ret != RCL_RET_OK) { + mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure")); + } + + // Set up Micro-ROS Agent + rclcpy_default_context.rmw_options = rcl_init_options_get_rmw_init_options(&rclcpy_default_context.init_options); + ret = rmw_uros_options_set_udp_address(agent_ip, agent_port, rclcpy_default_context.rmw_options); + if (ret != RCL_RET_OK) { + mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure")); + } + + // Final support object init requires a connected agent + ret = rclc_support_init_with_options(&rclcpy_default_context.rcl_support, + 0, + NULL, + &rclcpy_default_context.init_options, + &rclcpy_default_context.rcl_allocator); + if (ret != RCL_RET_OK) { + mp_raise_RuntimeError(MP_ERROR_TEXT("ROS failed to initialize. Is agent connected?")); + } else { + rclcpy_default_context.initialized = true; + } +} + +rclcpy_context_t *common_hal_rclcpy_get_default_context(void) { + return &rclcpy_default_context; +} + +bool common_hal_rclcpy_default_context_is_initialized(void) { + return rclcpy_default_context.initialized; +} diff --git a/ports/espressif/common-hal/rclcpy/__init__.h b/ports/espressif/common-hal/rclcpy/__init__.h new file mode 100644 index 0000000000000..f3ebd4787e757 --- /dev/null +++ b/ports/espressif/common-hal/rclcpy/__init__.h @@ -0,0 +1,30 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#pragma once + +#include "py/obj.h" +#include "py/runtime.h" + +#include +#include +#include +#include +#include +#include + + +typedef struct { + bool initialized; + uint8_t critical_fail; + rcl_allocator_t rcl_allocator; + rclc_support_t rcl_support; + rcl_init_options_t init_options; + rmw_init_options_t *rmw_options; +} rclcpy_context_t; + +extern rclcpy_context_t rclcpy_default_context; +void rclcpy_reset(void); diff --git a/ports/espressif/common-hal/sdioio/SDCard.c b/ports/espressif/common-hal/sdioio/SDCard.c index 6fd27c289459c..87ba32f802095 100644 --- a/ports/espressif/common-hal/sdioio/SDCard.c +++ b/ports/espressif/common-hal/sdioio/SDCard.c @@ -245,7 +245,7 @@ void common_hal_sdioio_sdcard_never_reset(sdioio_sdcard_obj_t *self) { } } -void sdioio_reset() { +void sdioio_reset(void) { for (size_t i = 0; i < MP_ARRAY_SIZE(slot_in_use); i++) { if (!never_reset_sdio[i]) { slot_in_use[i] = false; diff --git a/ports/espressif/microros-lib b/ports/espressif/microros-lib new file mode 160000 index 0000000000000..4b2a696dec7f0 --- /dev/null +++ b/ports/espressif/microros-lib @@ -0,0 +1 @@ +Subproject commit 4b2a696dec7f0f865e014ea4b83f2332df7e9560 diff --git a/ports/espressif/mpconfigport.mk b/ports/espressif/mpconfigport.mk index ccc305761c4dc..516111e5a8586 100644 --- a/ports/espressif/mpconfigport.mk +++ b/ports/espressif/mpconfigport.mk @@ -64,6 +64,7 @@ CIRCUITPY_HASHLIB ?= 1 CIRCUITPY_I2CTARGET ?= 0 CIRCUITPY_MAX3421E ?= 1 CIRCUITPY_MEMORYMAP ?= 1 +CIRCUITPY_RCLCPY ?= 0 CIRCUITPY_NVM ?= 1 CIRCUITPY_PARALLELDISPLAYBUS ?= 1 CIRCUITPY_PS2IO ?= 1 diff --git a/ports/espressif/supervisor/port.c b/ports/espressif/supervisor/port.c index e72eab7e32a56..48ae29ab4f927 100644 --- a/ports/espressif/supervisor/port.c +++ b/ports/espressif/supervisor/port.c @@ -55,6 +55,10 @@ #include "esp_camera.h" #endif +#if CIRCUITPY_RCLCPY +#include "common-hal/rclcpy/__init__.h" +#endif + #include "soc/efuse_reg.h" #if defined(SOC_LP_AON_SUPPORTED) #include "soc/lp_aon_reg.h" @@ -304,18 +308,18 @@ void port_heap_init(void) { } void *port_malloc(size_t size, bool dma_capable) { - size_t caps = MALLOC_CAP_8BIT; if (dma_capable) { - caps |= MALLOC_CAP_DMA; + // SPIRAM is not DMA-capable, so don't bother to ask for it. + return heap_caps_malloc(size, MALLOC_CAP_8BIT | MALLOC_CAP_DMA); } void *ptr = NULL; - // Try SPIRAM first when available. + // Try SPIRAM first if available. #ifdef CONFIG_SPIRAM - ptr = heap_caps_malloc(size, caps | MALLOC_CAP_SPIRAM); + ptr = heap_caps_malloc(size, MALLOC_CAP_8BIT | MALLOC_CAP_SPIRAM); #endif if (ptr == NULL) { - ptr = heap_caps_malloc(size, caps); + ptr = heap_caps_malloc(size, MALLOC_CAP_8BIT); } return ptr; } @@ -378,6 +382,10 @@ void reset_port(void) { ps2_reset(); #endif + #if CIRCUITPY_RCLCPY + rclcpy_reset(); + #endif + #if CIRCUITPY_RTC rtc_reset(); #endif @@ -461,11 +469,11 @@ void port_disable_tick(void) { esp_timer_stop(_tick_timer); } -void port_wake_main_task() { +void port_wake_main_task(void) { xTaskNotifyGive(circuitpython_task); } -void port_wake_main_task_from_isr() { +void port_wake_main_task_from_isr(void) { BaseType_t xHigherPriorityTaskWoken = pdFALSE; vTaskNotifyGiveFromISR(circuitpython_task, &xHigherPriorityTaskWoken); if (xHigherPriorityTaskWoken == pdTRUE) { @@ -473,7 +481,7 @@ void port_wake_main_task_from_isr() { } } -void port_yield() { +void port_yield(void) { vTaskDelay(4); } diff --git a/ports/litex/Makefile b/ports/litex/Makefile index bb1d88e755201..98abe985699cf 100644 --- a/ports/litex/Makefile +++ b/ports/litex/Makefile @@ -38,7 +38,7 @@ endif # option to override compiler optimization level, set in boards/$(BOARD)/mpconfigboard.mk CFLAGS += $(OPTIMIZATION_FLAGS) -CFLAGS += $(INC) -Werror -Wall -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes +CFLAGS += $(INC) -Werror -Wall -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition # TODO: check this CFLAGS += -D__START=main -DFOMU diff --git a/ports/mimxrt10xx/Makefile b/ports/mimxrt10xx/Makefile index 57a8beb069129..e6928eead619d 100644 --- a/ports/mimxrt10xx/Makefile +++ b/ports/mimxrt10xx/Makefile @@ -45,7 +45,7 @@ ifeq ($(DEBUG), 1) CFLAGS += -fno-ipa-sra endif -CFLAGS += $(INC) -ggdb -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes +CFLAGS += $(INC) -ggdb -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition # TODO: add these when -Werror is applied # Disable some warnings, as do most ports. NXP SDK causes undef, tinyusb causes cast-align diff --git a/ports/mimxrt10xx/boards/teensy40/mpconfigboard.h b/ports/mimxrt10xx/boards/teensy40/mpconfigboard.h index e7565d64438f6..e6931752e3e58 100644 --- a/ports/mimxrt10xx/boards/teensy40/mpconfigboard.h +++ b/ports/mimxrt10xx/boards/teensy40/mpconfigboard.h @@ -25,3 +25,6 @@ #define DEFAULT_UART_BUS_RX (&pin_GPIO_AD_B0_03) #define DEFAULT_UART_BUS_TX (&pin_GPIO_AD_B0_02) + +#define CIRCUITPY_USB_DEVICE_INSTANCE 0 +#define CIRCUITPY_USB_HOST_INSTANCE 1 diff --git a/ports/mimxrt10xx/boards/teensy40/mpconfigboard.mk b/ports/mimxrt10xx/boards/teensy40/mpconfigboard.mk index 9cb1e636b6f33..f26f8dbd72b79 100644 --- a/ports/mimxrt10xx/boards/teensy40/mpconfigboard.mk +++ b/ports/mimxrt10xx/boards/teensy40/mpconfigboard.mk @@ -7,4 +7,5 @@ CHIP_VARIANT = MIMXRT1062DVJ6A CHIP_FAMILY = MIMXRT1062 FLASH = W25Q16JV CIRCUITPY__EVE = 1 +CIRCUITPY_USB_HOST = 1 CIRCUITPY_SETTABLE_PROCESSOR_FREQUENCY = 1 diff --git a/ports/mimxrt10xx/boards/teensy40/pins.c b/ports/mimxrt10xx/boards/teensy40/pins.c index 7aacdf95e15ff..dc8b07605b256 100644 --- a/ports/mimxrt10xx/boards/teensy40/pins.c +++ b/ports/mimxrt10xx/boards/teensy40/pins.c @@ -120,6 +120,10 @@ static const mp_rom_map_elem_t board_module_globals_table[] = { {MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj)}, {MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj)}, + // USB Host (pads) + {MP_ROM_QSTR(MP_QSTR_USB_HOST_DP), MP_ROM_PTR(&pin_USB_OTG2_DP)}, + {MP_ROM_QSTR(MP_QSTR_USB_HOST_DM), MP_ROM_PTR(&pin_USB_OTG2_DN)}, + // other i2c ports defined {MP_OBJ_NEW_QSTR(MP_QSTR_SDA1), MP_ROM_PTR(&pin_GPIO_AD_B1_06)}, {MP_OBJ_NEW_QSTR(MP_QSTR_SCL1), MP_ROM_PTR(&pin_GPIO_AD_B1_07)}, diff --git a/ports/mimxrt10xx/common-hal/audiobusio/__init__.c b/ports/mimxrt10xx/common-hal/audiobusio/__init__.c index 196e52dbf0369..f1030bfcd848c 100644 --- a/ports/mimxrt10xx/common-hal/audiobusio/__init__.c +++ b/ports/mimxrt10xx/common-hal/audiobusio/__init__.c @@ -439,6 +439,6 @@ void port_i2s_resume(i2s_t *self) { self->paused = false; } -void i2s_reset() { +void i2s_reset(void) { // this port relies on object finalizers for reset } diff --git a/ports/nordic/Makefile b/ports/nordic/Makefile index e60b4072a8d48..aa614e097ba3c 100755 --- a/ports/nordic/Makefile +++ b/ports/nordic/Makefile @@ -47,7 +47,7 @@ endif # option to override compiler optimization level, set in boards/$(BOARD)/mpconfigboard.mk CFLAGS += $(OPTIMIZATION_FLAGS) -CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes +CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition # Nordic Softdevice SDK header files contains inline assembler that has # broken constraints. As a result the IPA-modref pass, introduced in gcc-11, diff --git a/ports/nordic/boards/circuitplayground_bluefruit/mpconfigboard.h b/ports/nordic/boards/circuitplayground_bluefruit/mpconfigboard.h index 91cf68095d27d..d63a9ccd5d8d5 100644 --- a/ports/nordic/boards/circuitplayground_bluefruit/mpconfigboard.h +++ b/ports/nordic/boards/circuitplayground_bluefruit/mpconfigboard.h @@ -50,3 +50,7 @@ #define DEFAULT_UART_BUS_TX (&pin_P0_14) #define SPEAKER_ENABLE_PIN (&pin_P1_04) + +// Uncomment to allow debugging over console UART +// #define CIRCUITPY_CONSOLE_UART_TX (&pin_P0_14) +// #define CIRCUITPY_CONSOLE_UART_RX (&pin_P0_30) diff --git a/ports/nordic/common-hal/_bleio/__init__.c b/ports/nordic/common-hal/_bleio/__init__.c index 095723194cfbf..454937dcd354a 100644 --- a/ports/nordic/common-hal/_bleio/__init__.c +++ b/ports/nordic/common-hal/_bleio/__init__.c @@ -80,7 +80,7 @@ void check_sec_status(uint8_t sec_status) { void common_hal_bleio_init(void) { } -void bleio_user_reset() { +void bleio_user_reset(void) { if (common_hal_bleio_adapter_get_enabled(&common_hal_bleio_adapter_obj)) { // Stop any user scanning or advertising. common_hal_bleio_adapter_stop_scan(&common_hal_bleio_adapter_obj); @@ -94,7 +94,7 @@ void bleio_user_reset() { } // Turn off BLE on a reset or reload. -void bleio_reset() { +void bleio_reset(void) { // Set this explicitly to save data. common_hal_bleio_adapter_obj.base.type = &bleio_adapter_type; if (!common_hal_bleio_adapter_get_enabled(&common_hal_bleio_adapter_obj)) { diff --git a/ports/nordic/common-hal/alarm/__init__.h b/ports/nordic/common-hal/alarm/__init__.h index 91d717ccce273..336447689ff4e 100644 --- a/ports/nordic/common-hal/alarm/__init__.h +++ b/ports/nordic/common-hal/alarm/__init__.h @@ -13,7 +13,7 @@ #include "common-hal/alarm/touch/TouchAlarm.h" typedef enum { - NRF_SLEEP_WAKEUP_UNDEFINED, + NRF_SLEEP_WAKEUP_UNDEFINED = 0, NRF_SLEEP_WAKEUP_GPIO, NRF_SLEEP_WAKEUP_TIMER, NRF_SLEEP_WAKEUP_TOUCHPAD, @@ -33,8 +33,9 @@ extern const alarm_sleep_memory_obj_t alarm_sleep_memory_obj; enum { SLEEPMEM_WAKEUP_BY_NONE = 0, - SLEEPMEM_WAKEUP_BY_PIN = 1, - SLEEPMEM_WAKEUP_BY_TIMER = 2, + SLEEPMEM_WAKEUP_BY_PIN, + SLEEPMEM_WAKEUP_BY_TIMER, + SLEEPMEM_WAKEUP_BY_TOUCH, }; #define WAKEUP_PIN_UNDEF 0xFF extern uint8_t sleepmem_wakeup_event; diff --git a/ports/nordic/common-hal/audiopwmio/PWMAudioOut.c b/ports/nordic/common-hal/audiopwmio/PWMAudioOut.c index 53be11bcd7485..b48a03e09c601 100644 --- a/ports/nordic/common-hal/audiopwmio/PWMAudioOut.c +++ b/ports/nordic/common-hal/audiopwmio/PWMAudioOut.c @@ -136,7 +136,7 @@ static void audiopwmout_background_obj(audiopwmio_pwmaudioout_obj_t *self) { } } -void audiopwmout_background() { +void audiopwmout_background(void) { // Check the NVIC first because it is part of the CPU and fast to read. if (!NVIC_GetPendingIRQ(PWM0_IRQn) && !NVIC_GetPendingIRQ(PWM1_IRQn) && diff --git a/ports/nordic/common-hal/microcontroller/__init__.c b/ports/nordic/common-hal/microcontroller/__init__.c index 38a3b1ee60938..fbb40afe0449d 100644 --- a/ports/nordic/common-hal/microcontroller/__init__.c +++ b/ports/nordic/common-hal/microcontroller/__init__.c @@ -35,7 +35,7 @@ void common_hal_mcu_delay_us(uint32_t delay) { static volatile uint32_t nesting_count = 0; static uint8_t is_nested_critical_region; -void common_hal_mcu_disable_interrupts() { +void common_hal_mcu_disable_interrupts(void) { if (nesting_count == 0) { // Unlike __disable_irq(), this should only be called the first time // "is_nested_critical_region" is sd's equivalent of our nesting count @@ -51,7 +51,7 @@ void common_hal_mcu_disable_interrupts() { nesting_count++; } -void common_hal_mcu_enable_interrupts() { +void common_hal_mcu_enable_interrupts(void) { if (nesting_count == 0) { // This is very very bad because it means there was mismatched disable/enables. reset_into_safe_mode(SAFE_MODE_INTERRUPT_ERROR); diff --git a/ports/raspberrypi/Makefile b/ports/raspberrypi/Makefile index 582c04282734c..6565af79bf3e1 100644 --- a/ports/raspberrypi/Makefile +++ b/ports/raspberrypi/Makefile @@ -223,7 +223,7 @@ endif DISABLE_WARNINGS = -Wno-cast-align -CFLAGS += $(INC) -Wtype-limits -Wall -Werror -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=missing-prototypes +CFLAGS += $(INC) -Wtype-limits -Wall -Werror -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=missing-prototypes -Wold-style-definition PICO_LDFLAGS = --specs=nosys.specs --specs=nano.specs @@ -562,12 +562,15 @@ SRC_C += \ common-hal/picodvi/Framebuffer_$(CHIP_VARIANT).c \ ifeq ($(CHIP_VARIANT),RP2040) -SRC_C += \ +SRC_PICODVI := \ lib/PicoDVI/software/libdvi/dvi.c \ lib/PicoDVI/software/libdvi/dvi_serialiser.c \ lib/PicoDVI/software/libdvi/dvi_timing.c \ lib/PicoDVI/software/libdvi/tmds_encode.c \ +SRC_C += $(SRC_PICODVI) +$(patsubst %.c,$(BUILD)/%.o,$(SRC_PICODVI))): CFLAGS += -Wno-old-style-definition + endif endif diff --git a/ports/raspberrypi/bindings/cyw43/__init__.c b/ports/raspberrypi/bindings/cyw43/__init__.c index a699a5e91ebba..93755d6ce1e04 100644 --- a/ports/raspberrypi/bindings/cyw43/__init__.c +++ b/ports/raspberrypi/bindings/cyw43/__init__.c @@ -43,7 +43,7 @@ MP_DEFINE_CONST_OBJ_TYPE( print, shared_bindings_microcontroller_pin_print ); -uint32_t cyw43_get_power_management_value() { +uint32_t cyw43_get_power_management_value(void) { return power_management_value; } @@ -103,7 +103,7 @@ static MP_DEFINE_CONST_FUN_OBJ_1(cyw43_set_power_management_obj, cyw43_set_power //| """Retrieve the power management register""" //| //| -static mp_obj_t cyw43_get_power_management() { +static mp_obj_t cyw43_get_power_management(void) { return mp_obj_new_int(power_management_value); } static MP_DEFINE_CONST_FUN_OBJ_0(cyw43_get_power_management_obj, cyw43_get_power_management); diff --git a/ports/raspberrypi/boards/42keebs_frood/pins.c b/ports/raspberrypi/boards/42keebs_frood/pins.c index 4543625051869..2e7ac22475b22 100644 --- a/ports/raspberrypi/boards/42keebs_frood/pins.c +++ b/ports/raspberrypi/boards/42keebs_frood/pins.c @@ -49,6 +49,9 @@ static const mp_rom_map_elem_t board_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR_D15), MP_ROM_PTR(&pin_GPIO15) }, { MP_ROM_QSTR(MP_QSTR_D16), MP_ROM_PTR(&pin_GPIO16) }, + { MP_ROM_QSTR(MP_QSTR_D10), MP_ROM_PTR(&pin_GPIO10) }, + { MP_ROM_QSTR(MP_QSTR_D11), MP_ROM_PTR(&pin_GPIO11) }, + { MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pin_GPIO17) }, { MP_ROM_QSTR(MP_QSTR_D17), MP_ROM_PTR(&pin_GPIO17) }, { MP_ROM_QSTR(MP_QSTR_VBUS_SENSE), MP_ROM_PTR(&pin_GPIO19) }, diff --git a/ports/raspberrypi/boards/bradanlanestudio_explorer_rp2040/board.c b/ports/raspberrypi/boards/bradanlanestudio_explorer_rp2040/board.c index a20b16473174c..19e18bd544bee 100644 --- a/ports/raspberrypi/boards/bradanlanestudio_explorer_rp2040/board.c +++ b/ports/raspberrypi/boards/bradanlanestudio_explorer_rp2040/board.c @@ -281,6 +281,7 @@ void board_init(void) { true, // always_toggle_chip_select false, // not grayscale false, // not acep + false, // not spectra6 false, // not two_byte_sequence_length true); // address_little_endian } else if (vid_setting == 2) { // Explorer SSD1608 BW @@ -314,6 +315,7 @@ void board_init(void) { true, // always_toggle_chip_select false, // not grayscale false, // not acep + false, // not spectra6 false, // not two_byte_sequence_length true); // address_little_endian } else { diff --git a/ports/raspberrypi/boards/orpheus_pico/board.c b/ports/raspberrypi/boards/orpheus_pico/board.c new file mode 100644 index 0000000000000..e6a868ab21226 --- /dev/null +++ b/ports/raspberrypi/boards/orpheus_pico/board.c @@ -0,0 +1,9 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2021 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#include "supervisor/board.h" + +// Use the MP_WEAK supervisor/shared/board.c versions of routines not defined here. diff --git a/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.h b/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.h new file mode 100644 index 0000000000000..8c6269771fdfc --- /dev/null +++ b/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.h @@ -0,0 +1,13 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2021 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#pragma once + +#define MICROPY_HW_BOARD_NAME "Orpheus Pico" +#define MICROPY_HW_MCU_NAME "rp2040" + +#define MICROPY_HW_NEOPIXEL (&pin_GPIO25) +#define MICROPY_HW_LED_STATUS (&pin_GPIO23) diff --git a/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.mk b/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.mk new file mode 100644 index 0000000000000..9b570211c8f77 --- /dev/null +++ b/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.mk @@ -0,0 +1,11 @@ +USB_VID = 0x2E8A +USB_PID = 0x10D0 +USB_PRODUCT = "Orpheus Pico" +USB_MANUFACTURER = "Hack Club" + +CHIP_VARIANT = RP2040 +CHIP_FAMILY = rp2 + +EXTERNAL_FLASH_DEVICES = "W25Q64JVxQ" + +CIRCUITPY__EVE = 1 diff --git a/ports/raspberrypi/boards/orpheus_pico/pico-sdk-configboard.h b/ports/raspberrypi/boards/orpheus_pico/pico-sdk-configboard.h new file mode 100644 index 0000000000000..110195b779498 --- /dev/null +++ b/ports/raspberrypi/boards/orpheus_pico/pico-sdk-configboard.h @@ -0,0 +1,9 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2021 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#pragma once + +// Put board-specific pico-sdk definitions here. This file must exist. diff --git a/ports/raspberrypi/boards/orpheus_pico/pins.c b/ports/raspberrypi/boards/orpheus_pico/pins.c new file mode 100644 index 0000000000000..24d656c18c9e0 --- /dev/null +++ b/ports/raspberrypi/boards/orpheus_pico/pins.c @@ -0,0 +1,57 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2021 Scott Shawcroft for Adafruit Industries +// +// SPDX-License-Identifier: MIT + +#include "shared-bindings/board/__init__.h" + +static const mp_rom_map_elem_t board_module_globals_table[] = { + CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS + + { MP_ROM_QSTR(MP_QSTR_GP0), MP_ROM_PTR(&pin_GPIO0) }, + { MP_ROM_QSTR(MP_QSTR_GP1), MP_ROM_PTR(&pin_GPIO1) }, + { MP_ROM_QSTR(MP_QSTR_GP2), MP_ROM_PTR(&pin_GPIO2) }, + { MP_ROM_QSTR(MP_QSTR_GP3), MP_ROM_PTR(&pin_GPIO3) }, + { MP_ROM_QSTR(MP_QSTR_GP4), MP_ROM_PTR(&pin_GPIO4) }, + { MP_ROM_QSTR(MP_QSTR_GP5), MP_ROM_PTR(&pin_GPIO5) }, + { MP_ROM_QSTR(MP_QSTR_GP6), MP_ROM_PTR(&pin_GPIO6) }, + { MP_ROM_QSTR(MP_QSTR_GP7), MP_ROM_PTR(&pin_GPIO7) }, + { MP_ROM_QSTR(MP_QSTR_GP8), MP_ROM_PTR(&pin_GPIO8) }, + { MP_ROM_QSTR(MP_QSTR_GP9), MP_ROM_PTR(&pin_GPIO9) }, + { MP_ROM_QSTR(MP_QSTR_GP10), MP_ROM_PTR(&pin_GPIO10) }, + { MP_ROM_QSTR(MP_QSTR_GP11), MP_ROM_PTR(&pin_GPIO11) }, + { MP_ROM_QSTR(MP_QSTR_GP12), MP_ROM_PTR(&pin_GPIO12) }, + { MP_ROM_QSTR(MP_QSTR_GP13), MP_ROM_PTR(&pin_GPIO13) }, + { MP_ROM_QSTR(MP_QSTR_GP14), MP_ROM_PTR(&pin_GPIO14) }, + { MP_ROM_QSTR(MP_QSTR_GP15), MP_ROM_PTR(&pin_GPIO15) }, + { MP_ROM_QSTR(MP_QSTR_GP16), MP_ROM_PTR(&pin_GPIO16) }, + { MP_ROM_QSTR(MP_QSTR_GP17), MP_ROM_PTR(&pin_GPIO17) }, + { MP_ROM_QSTR(MP_QSTR_GP18), MP_ROM_PTR(&pin_GPIO18) }, + { MP_ROM_QSTR(MP_QSTR_GP19), MP_ROM_PTR(&pin_GPIO19) }, + { MP_ROM_QSTR(MP_QSTR_GP20), MP_ROM_PTR(&pin_GPIO20) }, + { MP_ROM_QSTR(MP_QSTR_GP21), MP_ROM_PTR(&pin_GPIO21) }, + { MP_ROM_QSTR(MP_QSTR_GP22), MP_ROM_PTR(&pin_GPIO22) }, + + { MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pin_GPIO23) }, + { MP_ROM_QSTR(MP_QSTR_GP23), MP_ROM_PTR(&pin_GPIO23) }, + + { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO24) }, + { MP_ROM_QSTR(MP_QSTR_GP24), MP_ROM_PTR(&pin_GPIO24) }, + + { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_GPIO25) }, + { MP_ROM_QSTR(MP_QSTR_GP25), MP_ROM_PTR(&pin_GPIO25) }, + + { MP_ROM_QSTR(MP_QSTR_GP26_A0), MP_ROM_PTR(&pin_GPIO26) }, + { MP_ROM_QSTR(MP_QSTR_GP26), MP_ROM_PTR(&pin_GPIO26) }, + { MP_ROM_QSTR(MP_QSTR_A0), MP_ROM_PTR(&pin_GPIO26) }, + + { MP_ROM_QSTR(MP_QSTR_GP27_A1), MP_ROM_PTR(&pin_GPIO27) }, + { MP_ROM_QSTR(MP_QSTR_GP27), MP_ROM_PTR(&pin_GPIO27) }, + { MP_ROM_QSTR(MP_QSTR_A1), MP_ROM_PTR(&pin_GPIO27) }, + + { MP_ROM_QSTR(MP_QSTR_GP28_A2), MP_ROM_PTR(&pin_GPIO28) }, + { MP_ROM_QSTR(MP_QSTR_GP28), MP_ROM_PTR(&pin_GPIO28) }, + { MP_ROM_QSTR(MP_QSTR_A2), MP_ROM_PTR(&pin_GPIO28) }, +}; +MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table); diff --git a/ports/raspberrypi/boards/pimoroni_badger2040/board.c b/ports/raspberrypi/boards/pimoroni_badger2040/board.c index 457bff33b4433..5950d11da8a11 100644 --- a/ports/raspberrypi/boards/pimoroni_badger2040/board.c +++ b/ports/raspberrypi/boards/pimoroni_badger2040/board.c @@ -303,6 +303,7 @@ void board_init(void) { false, // always_toggle_chip_select false, // grayscale false, // acep + false, // spectra6 false, // two_byte_sequence_length false); // address_little_endian } diff --git a/ports/raspberrypi/boards/pimoroni_badger2040w/board.c b/ports/raspberrypi/boards/pimoroni_badger2040w/board.c index 30c05273b9478..7dc11af01eca3 100644 --- a/ports/raspberrypi/boards/pimoroni_badger2040w/board.c +++ b/ports/raspberrypi/boards/pimoroni_badger2040w/board.c @@ -303,6 +303,7 @@ void board_init(void) { false, // always_toggle_chip_select false, // grayscale false, // acep + false, // spectra6 false, // two_byte_sequence_length false); // address_little_endian } diff --git a/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/board.c b/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/board.c index 650d307711e8e..7969143ec6621 100644 --- a/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/board.c +++ b/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/board.c @@ -97,6 +97,7 @@ void board_init(void) { false, // always_toggle_chip_select false, // grayscale true, // acep + false, // spectra6 false, // two_byte_sequence_length false); // address_little_endian } diff --git a/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/mpconfigboard.h b/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/mpconfigboard.h index d2547cc161568..a8c404c422501 100644 --- a/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/mpconfigboard.h +++ b/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/mpconfigboard.h @@ -14,8 +14,8 @@ #define MICROPY_HW_LED_STATUS (&pin_GPIO6) -#define DEFAULT_I2C_BUS_SCL (&pin_GPIO4) -#define DEFAULT_I2C_BUS_SDA (&pin_GPIO5) +#define DEFAULT_I2C_BUS_SDA (&pin_GPIO4) +#define DEFAULT_I2C_BUS_SCL (&pin_GPIO5) #define DEFAULT_UART_BUS_TX (&pin_GPIO0) #define DEFAULT_UART_BUS_RX (&pin_GPIO1) diff --git a/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/board.c b/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/board.c index a24c91e546da9..7c71e03b4281d 100644 --- a/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/board.c +++ b/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/board.c @@ -156,6 +156,7 @@ void board_init(void) { false, // always_toggle_chip_select false, // grayscale true, // acep + false, // spectra6 false, // two_byte_sequence_length false); // address_little_endian } diff --git a/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/mpconfigboard.h b/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/mpconfigboard.h index 42cb1196a5475..32477b12c299f 100644 --- a/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/mpconfigboard.h +++ b/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/mpconfigboard.h @@ -14,8 +14,8 @@ #define MICROPY_HW_LED_STATUS (&pin_GPIO6) -#define DEFAULT_I2C_BUS_SCL (&pin_GPIO4) -#define DEFAULT_I2C_BUS_SDA (&pin_GPIO5) +#define DEFAULT_I2C_BUS_SDA (&pin_GPIO4) +#define DEFAULT_I2C_BUS_SCL (&pin_GPIO5) #define DEFAULT_UART_BUS_TX (&pin_GPIO0) #define DEFAULT_UART_BUS_RX (&pin_GPIO1) diff --git a/ports/raspberrypi/common-hal/alarm/pin/PinAlarm.c b/ports/raspberrypi/common-hal/alarm/pin/PinAlarm.c index ecebb072775ed..350306390eefb 100644 --- a/ports/raspberrypi/common-hal/alarm/pin/PinAlarm.c +++ b/ports/raspberrypi/common-hal/alarm/pin/PinAlarm.c @@ -39,7 +39,7 @@ static void gpio_callback(uint gpio, uint32_t events) { } } -void alarm_pin_pinalarm_entering_deep_sleep() { +void alarm_pin_pinalarm_entering_deep_sleep(void) { _not_yet_deep_sleeping = false; } diff --git a/ports/raspberrypi/supervisor/port.c b/ports/raspberrypi/supervisor/port.c index f5bc67332af4b..4be42380491cb 100644 --- a/ports/raspberrypi/supervisor/port.c +++ b/ports/raspberrypi/supervisor/port.c @@ -584,7 +584,7 @@ __attribute__((used)) void __not_in_flash_func(isr_hardfault)(void) { } } -void port_yield() { +void port_yield(void) { #if CIRCUITPY_CYW43 cyw43_arch_poll(); #endif diff --git a/ports/renode/Makefile b/ports/renode/Makefile index 22e32f9d2fb6e..92541c03e77b9 100644 --- a/ports/renode/Makefile +++ b/ports/renode/Makefile @@ -21,7 +21,7 @@ INC += \ CFLAGS += -ggdb3 -Os DISABLE_WARNINGS = -Wno-cast-align -CFLAGS += $(INC) -Wall -Werror -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=missing-prototypes +CFLAGS += $(INC) -Wall -Werror -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=missing-prototypes -Werror=old-style-definition CFLAGS += \ -march=armv6-m \ diff --git a/ports/renode/supervisor/port.c b/ports/renode/supervisor/port.c index dae32b7bb8f2d..d12ebd2efddb9 100644 --- a/ports/renode/supervisor/port.c +++ b/ports/renode/supervisor/port.c @@ -210,7 +210,7 @@ __attribute__((used)) void HardFault_Handler(void) { } } -void port_yield() { +void port_yield(void) { } void port_boot_info(void) { diff --git a/ports/silabs/boards/devkit_xg24_brd2601b/sensor.c b/ports/silabs/boards/devkit_xg24_brd2601b/sensor.c index aaf698a6cb27f..1c991a4caafc7 100644 --- a/ports/silabs/boards/devkit_xg24_brd2601b/sensor.c +++ b/ports/silabs/boards/devkit_xg24_brd2601b/sensor.c @@ -75,7 +75,7 @@ static mp_obj_t sensor_init(mp_obj_t i2c_in) { return mp_const_true; } -static mp_obj_t sensor_deinit() { +static mp_obj_t sensor_deinit(void) { sl_sensor_hall_deinit(); sl_sensor_lux_deinit(); diff --git a/ports/silabs/common-hal/_bleio/CharacteristicBuffer.c b/ports/silabs/common-hal/_bleio/CharacteristicBuffer.c index d6a64db3a2e95..d08fa765c4f71 100644 --- a/ports/silabs/common-hal/_bleio/CharacteristicBuffer.c +++ b/ports/silabs/common-hal/_bleio/CharacteristicBuffer.c @@ -156,7 +156,7 @@ bool common_hal_bleio_characteristic_buffer_connected( common_hal_bleio_connection_get_connected(self->characteristic->service->connection))); } -void reset_characteristic_buffer_list() { +void reset_characteristic_buffer_list(void) { // Remove characteristic_buffer list memset(bleio_characteristic_buffer_list.data, 0, sizeof(bleio_characteristic_buffer_list.data)); diff --git a/ports/silabs/common-hal/_bleio/PacketBuffer.c b/ports/silabs/common-hal/_bleio/PacketBuffer.c index 1d2b140f7efef..dec833fe62f85 100644 --- a/ports/silabs/common-hal/_bleio/PacketBuffer.c +++ b/ports/silabs/common-hal/_bleio/PacketBuffer.c @@ -391,7 +391,7 @@ void common_hal_bleio_packet_buffer_deinit(bleio_packet_buffer_obj_t *self) { } // Remove packet_buffer list when reload -void reset_packet_buffer_list() { +void reset_packet_buffer_list(void) { // Remove packet_buffer list memset(bleio_packet_buffer_list.data, 0, sizeof(bleio_packet_buffer_list.data)); diff --git a/ports/silabs/common-hal/_bleio/Service.c b/ports/silabs/common-hal/_bleio/Service.c index 694841e66284f..abc8ffe74edff 100644 --- a/ports/silabs/common-hal/_bleio/Service.c +++ b/ports/silabs/common-hal/_bleio/Service.c @@ -230,7 +230,7 @@ void common_hal_bleio_service_add_characteristic(bleio_service_obj_t *self, } // Remove dynamic service when reload -void reset_dynamic_service() { +void reset_dynamic_service(void) { uint16_t gattdb_session; uint8_t svc_index; diff --git a/ports/silabs/common-hal/_bleio/__init__.c b/ports/silabs/common-hal/_bleio/__init__.c index a9ad7b32c36ba..c6ae8a0b606c8 100644 --- a/ports/silabs/common-hal/_bleio/__init__.c +++ b/ports/silabs/common-hal/_bleio/__init__.c @@ -54,7 +54,7 @@ const osMutexAttr_t bluetooth_connection_mutex_attr = { void common_hal_bleio_init(void) { } -void bleio_user_reset() { +void bleio_user_reset(void) { // Stop any user scanning or advertising. common_hal_bleio_adapter_stop_scan(&common_hal_bleio_adapter_obj); common_hal_bleio_adapter_stop_advertising(&common_hal_bleio_adapter_obj); @@ -63,7 +63,7 @@ void bleio_user_reset() { supervisor_bluetooth_background(); } -void bleio_reset() { +void bleio_reset(void) { reset_dynamic_service(); reset_packet_buffer_list(); reset_characteristic_buffer_list(); diff --git a/ports/stm/Makefile b/ports/stm/Makefile index baea6893a33d9..9db283767e0ec 100755 --- a/ports/stm/Makefile +++ b/ports/stm/Makefile @@ -51,7 +51,7 @@ CFLAGS += -ftree-vrp # STM32 MCU series must be defined. See supervisor/linker.h C_DEFS = -D$(MCU_PACKAGE) -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -D$(MCU_VARIANT) -DSTM32$(MCU_SERIES) -CFLAGS += $(INC) -Werror -Wall -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -nostdlib -nostartfiles +CFLAGS += $(INC) -Werror -Wall -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -nostdlib -nostartfiles -Werror=old-style-definition # Undo some warnings. # STM32 HAL uses undefined preprocessor variables, shadowed variables, casts that change alignment reqs diff --git a/ports/stm/common-hal/sdioio/SDCard.c b/ports/stm/common-hal/sdioio/SDCard.c index a5c8b0404a0fb..92e552c2e8984 100644 --- a/ports/stm/common-hal/sdioio/SDCard.c +++ b/ports/stm/common-hal/sdioio/SDCard.c @@ -338,7 +338,7 @@ void common_hal_sdioio_sdcard_never_reset(sdioio_sdcard_obj_t *self) { } } -void sdioio_reset() { +void sdioio_reset(void) { for (size_t i = 0; i < MP_ARRAY_SIZE(reserved_sdio); i++) { if (!never_reset_sdio[i]) { reserved_sdio[i] = false; diff --git a/ports/stm/supervisor/port.c b/ports/stm/supervisor/port.c index 4aa8c044122ce..c5a1685a7fddc 100644 --- a/ports/stm/supervisor/port.c +++ b/ports/stm/supervisor/port.c @@ -285,7 +285,7 @@ void HAL_Delay(uint32_t delay_ms) { } } -uint32_t HAL_GetTick() { +uint32_t HAL_GetTick(void) { if (SysTick->CTRL != 0) { return systick_ms; } else { diff --git a/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml index aecccebb9c850..222a325e346b6 100644 --- a/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml +++ b/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml @@ -78,6 +78,7 @@ pwmio = false qrio = false rainbowio = false random = true +rclcpy = false rgbmatrix = false rotaryio = false rtc = false diff --git a/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml index 27e4f35f22366..41631c3d6c02c 100644 --- a/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml +++ b/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml @@ -78,6 +78,7 @@ pwmio = false qrio = false rainbowio = false random = true +rclcpy = false rgbmatrix = false rotaryio = false rtc = false diff --git a/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml index 35e3791507023..ea009aa36e1ca 100644 --- a/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml +++ b/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml @@ -78,6 +78,7 @@ pwmio = false qrio = false rainbowio = false random = true +rclcpy = false rgbmatrix = false rotaryio = false rtc = false diff --git a/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml b/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml index 4f4ee95bd0296..a96d1bad1d2a6 100644 --- a/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml +++ b/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml @@ -78,6 +78,7 @@ pwmio = false qrio = false rainbowio = false random = true +rclcpy = false rgbmatrix = false rotaryio = false rtc = false diff --git a/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml b/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml index 90bb28c341ef6..e4946decb190b 100644 --- a/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml +++ b/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml @@ -78,6 +78,7 @@ pwmio = false qrio = false rainbowio = false random = true +rclcpy = false rgbmatrix = false rotaryio = false rtc = false diff --git a/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml b/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml index c6fa66037a9ac..7519d8817687b 100644 --- a/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml +++ b/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml @@ -78,6 +78,7 @@ pwmio = false qrio = false rainbowio = false random = true +rclcpy = false rgbmatrix = false rotaryio = false rtc = false diff --git a/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml b/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml index 9e117262b3f91..e029020982d20 100644 --- a/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml +++ b/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml @@ -78,6 +78,7 @@ pwmio = false qrio = false rainbowio = false random = true +rclcpy = false rgbmatrix = false rotaryio = false rtc = false diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index f73d52a6c4b12..d6569bc39bd8e 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -201,6 +201,9 @@ endif ifeq ($(CIRCUITPY_DISPLAYIO),1) SRC_PATTERNS += displayio/% endif +ifeq ($(CIRCUITPY_DUALBANK),1) +SRC_PATTERNS += dualbank/% +endif ifeq ($(CIRCUITPY__EVE),1) SRC_PATTERNS += _eve/% endif @@ -279,6 +282,9 @@ endif ifeq ($(CIRCUITPY_MAX3421E),1) SRC_PATTERNS += max3421e/% endif +ifeq ($(CIRCUITPY_MDNS),1) +SRC_PATTERNS += mdns/% +endif ifeq ($(CIRCUITPY_MEMORYMAP),1) SRC_PATTERNS += memorymap/% endif @@ -288,9 +294,6 @@ endif ifeq ($(CIRCUITPY_MICROCONTROLLER),1) SRC_PATTERNS += microcontroller/% endif -ifeq ($(CIRCUITPY_MDNS),1) -SRC_PATTERNS += mdns/% -endif ifeq ($(CIRCUITPY_MSGPACK),1) SRC_PATTERNS += msgpack/% endif @@ -306,9 +309,6 @@ endif ifeq ($(CIRCUITPY_OS),1) SRC_PATTERNS += os/% endif -ifeq ($(CIRCUITPY_DUALBANK),1) -SRC_PATTERNS += dualbank/% -endif ifeq ($(CIRCUITPY_PARALLELDISPLAYBUS),1) SRC_PATTERNS += paralleldisplaybus/% endif @@ -342,6 +342,9 @@ endif ifeq ($(CIRCUITPY_RANDOM),1) SRC_PATTERNS += random/% endif +ifeq ($(CIRCUITPY_RCLCPY),1) +SRC_PATTERNS += rclcpy/% +endif ifeq ($(CIRCUITPY_RGBMATRIX),1) SRC_PATTERNS += rgbmatrix/% endif @@ -540,6 +543,9 @@ SRC_COMMON_HAL_ALL = \ pulseio/__init__.c \ pwmio/PWMOut.c \ pwmio/__init__.c \ + rclcpy/__init__.c \ + rclcpy/Node.c \ + rclcpy/Publisher.c \ rgbmatrix/RGBMatrix.c \ rgbmatrix/__init__.c \ rotaryio/IncrementalEncoder.c \ diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index d6658867b7d1d..bc894e98606eb 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -639,7 +639,7 @@ void background_callback_run_all(void); #define MICROPY_PY_BUILTINS_COMPILE (1) #ifndef CIRCUITPY_MIN_GCC_VERSION -#define CIRCUITPY_MIN_GCC_VERSION 13 +#define CIRCUITPY_MIN_GCC_VERSION 14 #endif #ifndef CIRCUITPY_SAVES_PARTITION_SIZE diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index b081e0f52dbde..2009c4e177da6 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -379,6 +379,9 @@ CFLAGS += -DCIRCUITPY_MATH=$(CIRCUITPY_MATH) CIRCUITPY_MAX3421E ?= 0 CFLAGS += -DCIRCUITPY_MAX3421E=$(CIRCUITPY_MAX3421E) +CIRCUITPY_MDNS ?= $(CIRCUITPY_WIFI) +CFLAGS += -DCIRCUITPY_MDNS=$(CIRCUITPY_MDNS) + CIRCUITPY_MEMORYMAP ?= 0 CFLAGS += -DCIRCUITPY_MEMORYMAP=$(CIRCUITPY_MEMORYMAP) @@ -388,9 +391,6 @@ CFLAGS += -DCIRCUITPY_MEMORYMONITOR=$(CIRCUITPY_MEMORYMONITOR) CIRCUITPY_MICROCONTROLLER ?= 1 CFLAGS += -DCIRCUITPY_MICROCONTROLLER=$(CIRCUITPY_MICROCONTROLLER) -CIRCUITPY_MDNS ?= $(CIRCUITPY_WIFI) -CFLAGS += -DCIRCUITPY_MDNS=$(CIRCUITPY_MDNS) - CIRCUITPY_MSGPACK ?= $(CIRCUITPY_FULL_BUILD) CFLAGS += -DCIRCUITPY_MSGPACK=$(CIRCUITPY_MSGPACK) @@ -454,6 +454,9 @@ CFLAGS += -DCIRCUITPY_RAINBOWIO=$(CIRCUITPY_RAINBOWIO) CIRCUITPY_RANDOM ?= 1 CFLAGS += -DCIRCUITPY_RANDOM=$(CIRCUITPY_RANDOM) +CIRCUITPY_RCLCPY ?= 0 +CFLAGS += -DCIRCUITPY_RCLCPY=$(CIRCUITPY_RCLCPY) + CIRCUITPY_RE ?= $(CIRCUITPY_FULL_BUILD) CFLAGS += -DCIRCUITPY_RE=$(CIRCUITPY_RE) @@ -719,7 +722,7 @@ CIRCUITPY_SWO_TRACE ?= 0 CFLAGS += -DCIRCUITPY_SWO_TRACE=$(CIRCUITPY_SWO_TRACE) # Check for a minimum GCC version during build (set to 0 to disable) -CIRCUITPY_MIN_GCC_VERSION ?= 13 +CIRCUITPY_MIN_GCC_VERSION ?= 14 CFLAGS += -DCIRCUITPY_MIN_GCC_VERSION=$(CIRCUITPY_MIN_GCC_VERSION) # Define an equivalent for MICROPY_LONGINT_IMPL, to pass to $(MPY-TOOL) in py/mkrules.mk diff --git a/py/objdeque.c b/py/objdeque.c index 2edb6908f0b4c..c766c9cf8cf1b 100644 --- a/py/objdeque.c +++ b/py/objdeque.c @@ -209,7 +209,7 @@ static mp_obj_t deque_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value) { size_t offset = mp_get_index(self->base.type, deque_len(self), index, false); size_t index_val = self->i_get + offset; - if (index_val > self->alloc) { + if (index_val >= self->alloc) { index_val -= self->alloc; } diff --git a/shared-bindings/_eve/__init__.c b/shared-bindings/_eve/__init__.c index 000e3526ed567..a3914d07f324f 100644 --- a/shared-bindings/_eve/__init__.c +++ b/shared-bindings/_eve/__init__.c @@ -970,6 +970,7 @@ static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(vertex2ii_obj, 3, 5, _vertex2ii); { MP_ROM_QSTR(MP_QSTR_PaletteSource), MP_ROM_PTR(&palettesource_obj) }, \ { MP_ROM_QSTR(MP_QSTR_PaletteSourceH), MP_ROM_PTR(&palettesourceh_obj) }, \ { MP_ROM_QSTR(MP_QSTR_PointSize), MP_ROM_PTR(&pointsize_obj) }, \ + { MP_ROM_QSTR(MP_QSTR_Region), MP_ROM_PTR(®ion_obj) }, \ { MP_ROM_QSTR(MP_QSTR_RestoreContext), MP_ROM_PTR(&restorecontext_obj) }, \ { MP_ROM_QSTR(MP_QSTR_Return), MP_ROM_PTR(&return_obj) }, \ { MP_ROM_QSTR(MP_QSTR_SaveContext), MP_ROM_PTR(&savecontext_obj) }, \ @@ -1061,8 +1062,29 @@ static mp_obj_t _pointsize(mp_obj_t self, mp_obj_t a0) { common_hal__eve_PointSize(EVEHAL(self), size); return mp_const_none; } + static MP_DEFINE_CONST_FUN_OBJ_2(pointsize_obj, _pointsize); +//| def Region(self, y: int, h: int, dest: int) -> None: +//| """Specify a cull region in the display list +//| +//| :param int y: Starting Y band in the render buffer. Range 0-63 +//| :param int h: Y height in the render buffer. Range 0-63 +//| :param int dest: destination address in the display list if the raster is outside the region +//| +//| """ +//| ... +//| + +static mp_obj_t _region(size_t n_args, const mp_obj_t *args) { + uint32_t y = mp_obj_get_int_truncated(args[1]); + uint32_t h = mp_obj_get_int_truncated(args[2]); + uint32_t dest = mp_obj_get_int_truncated(args[3]); + common_hal__eve_Region(EVEHAL(args[0]), y, h, dest); + return mp_const_none; +} +static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(region_obj, 4, 4, _region); + //| def VertexTranslateX(self, x: float) -> None: //| """Set the vertex transformation's x translation component //| diff --git a/shared-bindings/_eve/__init__.h b/shared-bindings/_eve/__init__.h index e75f8db792840..13ae1b8a6cb50 100644 --- a/shared-bindings/_eve/__init__.h +++ b/shared-bindings/_eve/__init__.h @@ -49,6 +49,7 @@ void common_hal__eve_Nop(common_hal__eve_t *eve); void common_hal__eve_PaletteSource(common_hal__eve_t *eve, uint32_t addr); void common_hal__eve_PaletteSourceH(common_hal__eve_t *eve, uint32_t addr); void common_hal__eve_PointSize(common_hal__eve_t *eve, mp_float_t size); +void common_hal__eve_Region(common_hal__eve_t *eve, uint32_t y, uint32_t h, uint32_t dest); void common_hal__eve_RestoreContext(common_hal__eve_t *eve); void common_hal__eve_Return(common_hal__eve_t *eve); void common_hal__eve_SaveContext(common_hal__eve_t *eve); diff --git a/shared-bindings/alarm/SleepMemory.c b/shared-bindings/alarm/SleepMemory.c index d783983008c5f..e6d65de45551d 100644 --- a/shared-bindings/alarm/SleepMemory.c +++ b/shared-bindings/alarm/SleepMemory.c @@ -20,8 +20,6 @@ //| instance of :class:`SleepMemory` is available at //| :attr:`alarm.sleep_memory`. //| -//| **Limitations:** Not supported on RP2040. -//| //| Usage:: //| //| import alarm diff --git a/shared-bindings/epaperdisplay/EPaperDisplay.c b/shared-bindings/epaperdisplay/EPaperDisplay.c index 90828cb1f5a9a..5d72df815d0a7 100644 --- a/shared-bindings/epaperdisplay/EPaperDisplay.c +++ b/shared-bindings/epaperdisplay/EPaperDisplay.c @@ -62,6 +62,7 @@ //| always_toggle_chip_select: bool = False, //| grayscale: bool = False, //| advanced_color_epaper: bool = False, +//| spectra6: bool = False, //| two_byte_sequence_length: bool = False, //| start_up_time: float = 0, //| address_little_endian: bool = False, @@ -104,6 +105,7 @@ //| :param bool always_toggle_chip_select: When True, chip select is toggled every byte //| :param bool grayscale: When true, the color ram is the low bit of 2-bit grayscale //| :param bool advanced_color_epaper: When true, the display is a 7-color advanced color epaper (ACeP) +//| :param bool spectra6: When true, the display is a 6-color spectra6 epaper //| :param bool two_byte_sequence_length: When true, use two bytes to define sequence length //| :param float start_up_time: Time to wait after reset before sending commands //| :param bool address_little_endian: Send the least significant byte (not bit) of multi-byte addresses first. Ignored when ram is addressed with one byte @@ -117,7 +119,7 @@ static mp_obj_t epaperdisplay_epaperdisplay_make_new(const mp_obj_type_t *type, ARG_set_current_row_command, ARG_write_black_ram_command, ARG_black_bits_inverted, ARG_write_color_ram_command, ARG_color_bits_inverted, ARG_highlight_color, ARG_refresh_display_command, ARG_refresh_time, ARG_busy_pin, ARG_busy_state, - ARG_seconds_per_frame, ARG_always_toggle_chip_select, ARG_grayscale, ARG_advanced_color_epaper, + ARG_seconds_per_frame, ARG_always_toggle_chip_select, ARG_grayscale, ARG_advanced_color_epaper, ARG_spectra6, ARG_two_byte_sequence_length, ARG_start_up_time, ARG_address_little_endian }; static const mp_arg_t allowed_args[] = { { MP_QSTR_display_bus, MP_ARG_REQUIRED | MP_ARG_OBJ }, @@ -147,6 +149,7 @@ static mp_obj_t epaperdisplay_epaperdisplay_make_new(const mp_obj_type_t *type, { MP_QSTR_always_toggle_chip_select, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} }, { MP_QSTR_grayscale, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} }, { MP_QSTR_advanced_color_epaper, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} }, + { MP_QSTR_spectra6, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} }, { MP_QSTR_two_byte_sequence_length, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} }, { MP_QSTR_start_up_time, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_obj = MP_OBJ_NEW_SMALL_INT(0)} }, { MP_QSTR_address_little_endian, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} }, @@ -215,7 +218,7 @@ static mp_obj_t epaperdisplay_epaperdisplay_make_new(const mp_obj_type_t *type, args[ARG_write_black_ram_command].u_int, args[ARG_black_bits_inverted].u_bool, write_color_ram_command, args[ARG_color_bits_inverted].u_bool, highlight_color, refresh_buf, refresh_buf_len, refresh_time, busy_pin, args[ARG_busy_state].u_bool, seconds_per_frame, - args[ARG_always_toggle_chip_select].u_bool, args[ARG_grayscale].u_bool, args[ARG_advanced_color_epaper].u_bool, + args[ARG_always_toggle_chip_select].u_bool, args[ARG_grayscale].u_bool, args[ARG_advanced_color_epaper].u_bool, args[ARG_spectra6].u_bool, two_byte_sequence_length, args[ARG_address_little_endian].u_bool ); diff --git a/shared-bindings/epaperdisplay/EPaperDisplay.h b/shared-bindings/epaperdisplay/EPaperDisplay.h index d4475e0a6aa43..016a07f1490c5 100644 --- a/shared-bindings/epaperdisplay/EPaperDisplay.h +++ b/shared-bindings/epaperdisplay/EPaperDisplay.h @@ -26,7 +26,7 @@ void common_hal_epaperdisplay_epaperdisplay_construct(epaperdisplay_epaperdispla uint16_t write_color_ram_command, bool color_bits_inverted, uint32_t highlight_color, const uint8_t *refresh_sequence, uint16_t refresh_sequence_len, mp_float_t refresh_time, const mcu_pin_obj_t *busy_pin, bool busy_state, mp_float_t seconds_per_frame, - bool always_toggle_chip_select, bool grayscale, bool acep, bool two_byte_sequence_length, + bool always_toggle_chip_select, bool grayscale, bool acep, bool spectra6, bool two_byte_sequence_length, bool address_little_endian); bool common_hal_epaperdisplay_epaperdisplay_refresh(epaperdisplay_epaperdisplay_obj_t *self); diff --git a/shared-bindings/i2ctarget/I2CTarget.c b/shared-bindings/i2ctarget/I2CTarget.c index 728d9f60e2712..8586d1843cc77 100644 --- a/shared-bindings/i2ctarget/I2CTarget.c +++ b/shared-bindings/i2ctarget/I2CTarget.c @@ -21,7 +21,7 @@ static mp_obj_t mp_obj_new_i2ctarget_i2c_target_request(i2ctarget_i2c_target_obj_t *target, uint8_t address, bool is_read, bool is_restart) { i2ctarget_i2c_target_request_obj_t *self = - mp_obj_malloc(i2ctarget_i2c_target_request_obj_t, &i2ctarget_i2c_target_request_type); + mp_obj_malloc_with_finaliser(i2ctarget_i2c_target_request_obj_t, &i2ctarget_i2c_target_request_type); self->target = target; self->address = address; self->is_read = is_read; @@ -200,7 +200,7 @@ static MP_DEFINE_CONST_DICT(i2ctarget_i2c_target_locals_dict, i2ctarget_i2c_targ MP_DEFINE_CONST_OBJ_TYPE( i2ctarget_i2c_target_type, MP_QSTR_I2CTarget, - MP_TYPE_FLAG_NONE, + MP_TYPE_FLAG_HAS_SPECIAL_ACCESSORS, make_new, i2ctarget_i2c_target_make_new, locals_dict, &i2ctarget_i2c_target_locals_dict ); @@ -222,23 +222,38 @@ static mp_obj_t i2ctarget_i2c_target_request_make_new(const mp_obj_type_t *type, return mp_obj_new_i2ctarget_i2c_target_request(args[0], mp_obj_get_int(args[1]), mp_obj_is_true(args[2]), mp_obj_is_true(args[3])); } -//| def __enter__(self) -> I2CTargetRequest: -//| """No-op used in Context Managers.""" -//| ... -//| -// Provided by context manager helper. +static void target_request_check_for_deinit(i2ctarget_i2c_target_request_obj_t *self) { + if (self->target == NULL) { + raise_deinited_error(); + } + check_for_deinit(self->target); +} -//| def __exit__(self) -> None: -//| """Close the request.""" +//| def deinit(self) -> None: +//| """Disconnects from parent `I2CTarget`. +//| Called by `__exit__()` to indicate the `I2CTargetRequest` is no longer useful.""" //| ... //| -// Provided by context manager helper. +static mp_obj_t i2ctarget_i2c_target_request_deinit(mp_obj_t self_in) { + i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in); + target_request_check_for_deinit(self); + + i2ctarget_i2c_target_obj_t *target = self->target; + + // Deinit I2CTargetRequest first in case _close() fails. + self->target = NULL; + + common_hal_i2ctarget_i2c_target_close(target); + + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_1(i2ctarget_i2c_target_request_deinit_obj, i2ctarget_i2c_target_request_deinit); //| address: int //| """The I2C address of the request.""" static mp_obj_t i2ctarget_i2c_target_request_get_address(mp_obj_t self_in) { i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in); - check_for_deinit(self->target); + target_request_check_for_deinit(self); return mp_obj_new_int(self->address); } @@ -248,7 +263,7 @@ MP_DEFINE_CONST_PROP_GET(i2ctarget_i2c_target_request_address_obj, i2ctarget_i2c //| """The I2C main controller is reading from this target.""" static mp_obj_t i2ctarget_i2c_target_request_get_is_read(mp_obj_t self_in) { i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in); - check_for_deinit(self->target); + target_request_check_for_deinit(self); return mp_obj_new_bool(self->is_read); } @@ -259,7 +274,7 @@ MP_DEFINE_CONST_PROP_GET(i2ctarget_i2c_target_request_is_read_obj, i2ctarget_i2c //| static mp_obj_t i2ctarget_i2c_target_request_get_is_restart(mp_obj_t self_in) { i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in); - check_for_deinit(self->target); + target_request_check_for_deinit(self); return mp_obj_new_bool(self->is_restart); } @@ -276,7 +291,7 @@ MP_DEFINE_CONST_PROP_GET(i2ctarget_i2c_target_request_is_restart_obj, i2ctarget_ //| static mp_obj_t i2ctarget_i2c_target_request_read(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); - check_for_deinit(self->target); + target_request_check_for_deinit(self); enum { ARG_n, ARG_ack }; static const mp_arg_t allowed_args[] = { @@ -335,7 +350,7 @@ MP_DEFINE_CONST_FUN_OBJ_KW(i2ctarget_i2c_target_request_read_obj, 1, i2ctarget_i //| static mp_obj_t i2ctarget_i2c_target_request_write(mp_obj_t self_in, mp_obj_t buf_in) { i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in); - check_for_deinit(self->target); + target_request_check_for_deinit(self); if (!self->is_read) { mp_raise_OSError(MP_EACCES); @@ -370,7 +385,7 @@ static MP_DEFINE_CONST_FUN_OBJ_2(i2ctarget_i2c_target_request_write_obj, i2ctarg //| static mp_obj_t i2ctarget_i2c_target_request_ack(uint n_args, const mp_obj_t *args) { i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(args[0]); - check_for_deinit(self->target); + target_request_check_for_deinit(self); bool ack = (n_args == 1) ? true : mp_obj_is_true(args[1]); @@ -383,25 +398,29 @@ static mp_obj_t i2ctarget_i2c_target_request_ack(uint n_args, const mp_obj_t *ar } MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(i2ctarget_i2c_target_request_ack_obj, 1, 2, i2ctarget_i2c_target_request_ack); -static mp_obj_t i2ctarget_i2c_target_request_close(mp_obj_t self_in) { - i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in); - check_for_deinit(self->target); +//| def __enter__(self) -> I2CTargetRequest: +//| """No-op used in Context Managers.""" +//| ... +//| +// Provided by context manager helper. - common_hal_i2ctarget_i2c_target_close(self->target); - return mp_const_none; -} -static MP_DEFINE_CONST_FUN_OBJ_1(i2ctarget_i2c_target_request_close_obj, i2ctarget_i2c_target_request_close); +//| def __exit__(self) -> None: +//| """Close and deinit the request.""" +//| ... +//| +// Provided by context manager helper. static const mp_rom_map_elem_t i2ctarget_i2c_target_request_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) }, { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&default___exit___obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&i2ctarget_i2c_target_request_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR__del__), MP_ROM_PTR(&i2ctarget_i2c_target_request_deinit_obj) }, { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&i2ctarget_i2c_target_request_address_obj) }, { MP_ROM_QSTR(MP_QSTR_is_read), MP_ROM_PTR(&i2ctarget_i2c_target_request_is_read_obj) }, { MP_ROM_QSTR(MP_QSTR_is_restart), MP_ROM_PTR(&i2ctarget_i2c_target_request_is_restart_obj) }, { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&i2ctarget_i2c_target_request_read_obj) }, { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&i2ctarget_i2c_target_request_write_obj) }, { MP_ROM_QSTR(MP_QSTR_ack), MP_ROM_PTR(&i2ctarget_i2c_target_request_ack_obj) }, - { MP_ROM_QSTR(MP_QSTR_close), MP_ROM_PTR(&i2ctarget_i2c_target_request_close_obj) }, }; static MP_DEFINE_CONST_DICT(i2ctarget_i2c_target_request_locals_dict, i2ctarget_i2c_target_request_locals_dict_table); diff --git a/shared-bindings/keypad/KeyMatrix.c b/shared-bindings/keypad/KeyMatrix.c index 8303645f20183..edb32c2c5c700 100644 --- a/shared-bindings/keypad/KeyMatrix.c +++ b/shared-bindings/keypad/KeyMatrix.c @@ -67,6 +67,14 @@ //| in the respective state for ``debounce_threshold`` times on average. //| Successive measurements are spaced apart by ``interval`` seconds. //| The default is 1, which resolves immediately. The maximum is 127. +//| +//| .. warning:: On Raspberry Pi RP2350, using ``columns_to_anodes=False`` +//| normally depends on the internal pull-down resistors. +//| This will not work, due to an RP2350 issue. +//| The easiest fix is simply to swap the ``row_pins`` and ```column_pins`` and to set +//| ``columns_to_anodes=True``. This requires no external components. +//| An alternative is to add external pull-downs of 8.2 kohms or less, but that will draw more current. +//| See the Warning in `digitalio` for more information. //| """ //| ... //| diff --git a/shared-bindings/keypad/Keys.c b/shared-bindings/keypad/Keys.c index 10ac81cf1fb63..64e8e51a67ded 100644 --- a/shared-bindings/keypad/Keys.c +++ b/shared-bindings/keypad/Keys.c @@ -69,6 +69,12 @@ //| in the respective state for ``debounce_threshold`` times on average. //| Successive measurements are spaced apart by ``interval`` seconds. //| The default is 1, which resolves immediately. The maximum is 127. +//| +//| .. warning:: On Raspberry Pi RP2350, using ``value_when_pressed=True`` and ``pull=True``, +//| to enable using the internal pull-down resistor, will not work, due to an RP2350 +//| hardware issue. Instead, wire the switch to be ``value_when_pressed=False``, or add +//| an external pull-down resistor of 8.2 kohms or less. +//| See the Warning in `digitalio` for more information. //| """ //| ... //| diff --git a/shared-bindings/keypad/__init__.c b/shared-bindings/keypad/__init__.c index b29de197262f4..b182e977829d1 100644 --- a/shared-bindings/keypad/__init__.c +++ b/shared-bindings/keypad/__init__.c @@ -65,7 +65,7 @@ MP_PROPERTY_GETTER(keypad_generic_events_obj, //| due to a GPIO hardware issue that causes excessive leakage current (~120uA). //| A pin can read as high even when driven or pulled low, if the input signal is high //| impedance or if an attached pull-down resistor is too weak (has too high a value). -//| See the warning in `digitalio` for more information. +//| See the warnings in `keypad.Keys`, `keypad.KeyMatrix`, and `digitalio` for workarounds and more information. //| //| .. jinja //| """ diff --git a/shared-bindings/rclcpy/Node.c b/shared-bindings/rclcpy/Node.c new file mode 100644 index 0000000000000..a2fa9bd36a656 --- /dev/null +++ b/shared-bindings/rclcpy/Node.c @@ -0,0 +1,145 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#include +#include "shared-bindings/rclcpy/Node.h" +#include "shared-bindings/rclcpy/Publisher.h" +#include "shared-bindings/util.h" +#include "py/objproperty.h" +#include "py/objtype.h" +#include "py/runtime.h" + + +//| class Node: +//| """A ROS2 Node""" +//| +//| def __init__( +//| self, +//| node_name: str, +//| *, +//| namespace: str | None = None, +//| ) -> None: +//| """Create a Node. +//| +//| Creates an instance of a ROS2 Node. Nodes can be used to create other ROS +//| entities like publishers or subscribers. Nodes must have a unique name, and +//| may also be constructed from their class. +//| +//| :param str node_name: The name of the node. Must be a valid ROS 2 node name +//| :param str namespace: The namespace for the node. If None, the node will be +//| created in the root namespace +//| """ +//| ... +//| +static mp_obj_t rclcpy_node_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) { + enum { ARG_node_name, ARG_namespace }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_node_name, MP_ARG_REQUIRED | MP_ARG_OBJ }, + { MP_QSTR_namespace, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + const char *node_name = mp_obj_str_get_str(args[ARG_node_name].u_obj); + const char *namespace = ""; + if (args[ARG_namespace].u_obj != mp_const_none) { + namespace = mp_obj_str_get_str(args[ARG_namespace].u_obj); + } + + rclcpy_node_obj_t *self = mp_obj_malloc_with_finaliser(rclcpy_node_obj_t, &rclcpy_node_type); + common_hal_rclcpy_node_construct(self, node_name, namespace); + return (mp_obj_t)self; +} + +//| def deinit(self) -> None: +//| """Deinitializes the node and frees any hardware or remote agent resources +//| used by it. Deinitialized nodes cannot be used again. +//| """ +//| ... +//| +static mp_obj_t rclcpy_node_obj_deinit(mp_obj_t self_in) { + rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_rclcpy_node_deinit(self); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_deinit_obj, rclcpy_node_obj_deinit); + +static void check_for_deinit(rclcpy_node_obj_t *self) { + if (common_hal_rclcpy_node_deinited(self)) { + raise_deinited_error(); + } +} + +//| def create_publisher(self, topic: str) -> Publisher: +//| """Create a publisher for a given topic string. +//| +//| Creates an instance of a ROS2 Publisher. +//| +//| :param str topic: The name of the topic +//| :return: A new Publisher object for the specified topic +//| :rtype: Publisher +//| """ +//| ... +//| +static mp_obj_t rclcpy_node_create_publisher(mp_obj_t self_in, mp_obj_t topic) { + rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + const char *topic_name = mp_obj_str_get_str(topic); + + rclcpy_publisher_obj_t *publisher = mp_obj_malloc_with_finaliser(rclcpy_publisher_obj_t, &rclcpy_publisher_type); + common_hal_rclcpy_publisher_construct(publisher, self, topic_name); + return (mp_obj_t)publisher; +} +static MP_DEFINE_CONST_FUN_OBJ_2(rclcpy_node_create_publisher_obj, rclcpy_node_create_publisher); + +//| def get_name(self) -> str: +//| """Get the name of the node. +//| +//| :return: The node's name +//| :rtype: str +//| """ +//| ... +//| +static mp_obj_t rclcpy_node_get_name(mp_obj_t self_in) { + rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + const char *name_str = common_hal_rclcpy_node_get_name(self); + return mp_obj_new_str(name_str, strlen(name_str)); +} +static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_get_name_obj, rclcpy_node_get_name); + +//| def get_namespace(self) -> str: +//| """Get the namespace of the node. +//| +//| :return: The node's namespace +//| :rtype: str +//| """ +//| ... +//| +static mp_obj_t rclcpy_node_get_namespace(mp_obj_t self_in) { + rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + const char *namespace_str = common_hal_rclcpy_node_get_namespace(self); + return mp_obj_new_str(namespace_str, strlen(namespace_str)); +} +static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_get_namespace_obj, rclcpy_node_get_namespace); + +static const mp_rom_map_elem_t rclcpy_node_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&rclcpy_node_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&rclcpy_node_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_create_publisher), MP_ROM_PTR(&rclcpy_node_create_publisher_obj) }, + { MP_ROM_QSTR(MP_QSTR_get_name), MP_ROM_PTR(&rclcpy_node_get_name_obj) }, + { MP_ROM_QSTR(MP_QSTR_get_namespace), MP_ROM_PTR(&rclcpy_node_get_namespace_obj) }, +}; +static MP_DEFINE_CONST_DICT(rclcpy_node_locals_dict, rclcpy_node_locals_dict_table); + + +MP_DEFINE_CONST_OBJ_TYPE( + rclcpy_node_type, + MP_QSTR_Node, + MP_TYPE_FLAG_HAS_SPECIAL_ACCESSORS, + make_new, rclcpy_node_make_new, + locals_dict, &rclcpy_node_locals_dict + ); diff --git a/shared-bindings/rclcpy/Node.h b/shared-bindings/rclcpy/Node.h new file mode 100644 index 0000000000000..be0230846f6bd --- /dev/null +++ b/shared-bindings/rclcpy/Node.h @@ -0,0 +1,18 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#pragma once +#include "common-hal/rclcpy/Node.h" + + +extern const mp_obj_type_t rclcpy_node_type; + +void common_hal_rclcpy_node_construct(rclcpy_node_obj_t *self, + const char *node_name, const char *namespace); +bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t *self); +void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t *self); +const char *common_hal_rclcpy_node_get_name(rclcpy_node_obj_t *self); +const char *common_hal_rclcpy_node_get_namespace(rclcpy_node_obj_t *self); diff --git a/shared-bindings/rclcpy/Publisher.c b/shared-bindings/rclcpy/Publisher.c new file mode 100644 index 0000000000000..be1e229cce4f8 --- /dev/null +++ b/shared-bindings/rclcpy/Publisher.c @@ -0,0 +1,99 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#include +#include "shared-bindings/rclcpy/Publisher.h" +#include "shared-bindings/util.h" +#include "py/objproperty.h" +#include "py/objtype.h" +#include "py/runtime.h" + + +//| class Publisher: +//| """A ROS2 publisher""" +//| +//| def __init__(self) -> None: +//| """Publishers cannot be created directly. +//| +//| Use :meth:`Node.create_publisher` to create a publisher from a node. +//| +//| :raises NotImplementedError: Always, as direct instantiation is not supported +//| """ +//| ... +//| +static mp_obj_t rclcpy_publisher_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) { + mp_raise_NotImplementedError(MP_ERROR_TEXT("Publishers can only be created from a parent node")); +} + +//| def deinit(self) -> None: +//| """Deinitializes the publisher and frees any hardware or remote agent resources +//| used by it. Deinitialized publishers cannot be used again. +//| """ +//| ... +//| +static mp_obj_t rclcpy_publisher_obj_deinit(mp_obj_t self_in) { + rclcpy_publisher_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_rclcpy_publisher_deinit(self); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_publisher_deinit_obj, rclcpy_publisher_obj_deinit); + +static void check_for_deinit(rclcpy_publisher_obj_t *self) { + if (common_hal_rclcpy_publisher_deinited(self)) { + raise_deinited_error(); + } +} + +//| def publish_int32(self, message: int) -> None: +//| """Publish a 32-bit signed integer message to the topic. +//| +//| :param int message: The integer value to publish. Must be within the range +//| of a 32-bit signed integer (-2,147,483,648 to 2,147,483,647) +//| """ +//| ... +//| +static mp_obj_t rclcpy_publisher_publish_int32(mp_obj_t self_in, mp_obj_t in_msg) { + rclcpy_publisher_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + int32_t msg = mp_obj_get_int(in_msg); + common_hal_rclcpy_publisher_publish_int32(self, msg); + return mp_const_none; +} +static MP_DEFINE_CONST_FUN_OBJ_2(rclcpy_publisher_publish_int32_obj, rclcpy_publisher_publish_int32); + +//| def get_topic_name(self) -> str: +//| """Get the name of the topic this publisher publishes to. +//| +//| :return: The topic name as specified when the publisher was created +//| :rtype: str +//| """ +//| ... +//| +static mp_obj_t rclcpy_publisher_get_topic_name(mp_obj_t self_in) { + rclcpy_publisher_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + const char *topic_str = common_hal_rclcpy_publisher_get_topic_name(self); + return mp_obj_new_str(topic_str, strlen(topic_str)); +} +static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_publisher_get_topic_name_obj, rclcpy_publisher_get_topic_name); + + +static const mp_rom_map_elem_t rclcpy_publisher_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&rclcpy_publisher_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&rclcpy_publisher_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_publish_int32), MP_ROM_PTR(&rclcpy_publisher_publish_int32_obj) }, + { MP_ROM_QSTR(MP_QSTR_get_topic_name), MP_ROM_PTR(&rclcpy_publisher_get_topic_name_obj) }, +}; +static MP_DEFINE_CONST_DICT(rclcpy_publisher_locals_dict, rclcpy_publisher_locals_dict_table); + + +MP_DEFINE_CONST_OBJ_TYPE( + rclcpy_publisher_type, + MP_QSTR_Publisher, + MP_TYPE_FLAG_HAS_SPECIAL_ACCESSORS, + make_new, rclcpy_publisher_make_new, + locals_dict, &rclcpy_publisher_locals_dict + ); diff --git a/shared-bindings/rclcpy/Publisher.h b/shared-bindings/rclcpy/Publisher.h new file mode 100644 index 0000000000000..21909fe12bed9 --- /dev/null +++ b/shared-bindings/rclcpy/Publisher.h @@ -0,0 +1,18 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#pragma once +#include "common-hal/rclcpy/Publisher.h" + + +extern const mp_obj_type_t rclcpy_publisher_type; + +void common_hal_rclcpy_publisher_construct(rclcpy_publisher_obj_t *self, rclcpy_node_obj_t *node, + const char *topic_name); +bool common_hal_rclcpy_publisher_deinited(rclcpy_publisher_obj_t *self); +void common_hal_rclcpy_publisher_deinit(rclcpy_publisher_obj_t *self); +void common_hal_rclcpy_publisher_publish_int32(rclcpy_publisher_obj_t *self, int32_t data); +const char *common_hal_rclcpy_publisher_get_topic_name(rclcpy_publisher_obj_t *self); diff --git a/shared-bindings/rclcpy/__init__.c b/shared-bindings/rclcpy/__init__.c new file mode 100644 index 0000000000000..a6631642ea7c0 --- /dev/null +++ b/shared-bindings/rclcpy/__init__.c @@ -0,0 +1,134 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#include "shared-bindings/rclcpy/__init__.h" +#include "shared-bindings/rclcpy/Node.h" +#include "shared-bindings/rclcpy/Publisher.h" + +#include "py/obj.h" +#include "py/objproperty.h" +#include "py/objstr.h" +#include "py/runtime.h" + +//| """Robot Operating System (ROS2) connectivity through micro-ROS +//| +//| The `rclcpy` module contains basic classes and connectivity options for +//| communicating with a ROS network running on a linux machine, using the +//| eProsima's `micro-ROS client API `_. +//| +//| The underlying micro-ROS system uses a resource-constrained middleware layer +//| (XRCE-DDS) that must be connected to an agent running within ROS2 on a host +//| Linux computer. The API exposed by Circuitpython aims to be close to the +//| standard Python API for ROS2, ``rclpy`` with minor additions to support +//| connecting to this agent. +//| +//| Wifi must be connected before calling any `rclcpy` functions. As with +//| ``rclpy``, the `rclcpy.init()` function must be run before creating any ROS +//| objects. Child objects, such as publishers, must be created by their parent +//| objects. For example:: +//| +//| import os, wifi, time +//| import rclcpy +//| wifi.radio.connect(ssid=os.getenv('CIRCUITPY_WIFI_SSID'), +//| password=os.getenv('CIRCUITPY_WIFI_PASSWORD')) +//| rclcpy.init("192.168.10.111","8888") +//| mynode = rclcpy.Node("foo") +//| mypub = mynode.create_publisher("bar") +//| mypub.publish_int32(42) +//| """ + +//| def init( +//| agent_ip: str, +//| agent_port: str, +//| *, +//| domain_id: int = 0, +//| ) -> None: +//| """Initialize micro-ROS and connect to a micro-ROS agent. +//| +//| This function starts ROS communications and connects to the micro-ROS agent +//| on a linux computer. It must be called before creating ROS objects. +//| +//| :param str agent_ip: The IP address of the micro-ROS agent +//| :param str agent_port: The port number of the micro-ROS agent as a string +//| :param int domain_id: The ROS 2 domain ID for network isolation and organization. +//| Devices with the same domain ID can communicate with each other. +//| """ +//| ... +//| +static mp_obj_t rclcpy_init(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_agent_ip, ARG_agent_port, ARG_domain_id}; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_agent_ip, MP_ARG_REQUIRED | MP_ARG_OBJ }, + { MP_QSTR_agent_port, MP_ARG_REQUIRED | MP_ARG_OBJ }, + { MP_QSTR_domain_id, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + const char *agent_ip = mp_obj_str_get_str(args[ARG_agent_ip].u_obj); + const char *agent_port = mp_obj_str_get_str(args[ARG_agent_port].u_obj); + int16_t domain_id = args[ARG_domain_id].u_int; + + common_hal_rclcpy_init(agent_ip, agent_port, domain_id); + return mp_const_none; +} +static MP_DEFINE_CONST_FUN_OBJ_KW(rclcpy_init_obj, 2, rclcpy_init); + + +//| def create_node( +//| node_name: str, +//| *, +//| namespace: str | None = None +//| ) -> Node: +//| """Create a Node. +//| +//| Creates an instance of a ROS2 Node. Nodes can be used to create other ROS +//| entities like publishers or subscribers. Nodes must have a unique name, and +//| may also be constructed from their class. +//| +//| :param str node_name: The name of the node. Must be a valid ROS 2 node name. +//| :param str namespace: The namespace for the node. If None, the node will be +//| created in the root namespace. +//| :return: A new Node object +//| :rtype: Node +//| """ +//| ... +//| +static mp_obj_t rclcpy_create_node(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_node_name, ARG_namespace }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_node_name, MP_ARG_REQUIRED | MP_ARG_OBJ }, + { MP_QSTR_namespace, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + const char *node_name = mp_obj_str_get_str(args[ARG_node_name].u_obj); + const char *namespace = ""; + if (args[ARG_namespace].u_obj != mp_const_none) { + namespace = mp_obj_str_get_str(args[ARG_namespace].u_obj); + } + + rclcpy_node_obj_t *self = mp_obj_malloc_with_finaliser(rclcpy_node_obj_t, &rclcpy_node_type); + common_hal_rclcpy_node_construct(self, node_name, namespace); + return (mp_obj_t)self; +} +static MP_DEFINE_CONST_FUN_OBJ_KW(rclcpy_create_node_obj, 2, rclcpy_create_node); + +static const mp_rom_map_elem_t rclcpy_module_globals_table[] = { + { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_rclcpy) }, + { MP_ROM_QSTR(MP_QSTR_Node), MP_ROM_PTR(&rclcpy_node_type) }, + { MP_ROM_QSTR(MP_QSTR_Publisher), MP_ROM_PTR(&rclcpy_publisher_type) }, + { MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&rclcpy_init_obj) }, + { MP_ROM_QSTR(MP_QSTR_create_node), MP_ROM_PTR(&rclcpy_create_node_obj) }, +}; + +static MP_DEFINE_CONST_DICT(rclcpy_module_globals, rclcpy_module_globals_table); + +const mp_obj_module_t rclcpy_module = { + .base = { &mp_type_module }, + .globals = (mp_obj_dict_t *)&rclcpy_module_globals, +}; + +MP_REGISTER_MODULE(MP_QSTR_rclcpy, rclcpy_module); diff --git a/shared-bindings/rclcpy/__init__.h b/shared-bindings/rclcpy/__init__.h new file mode 100644 index 0000000000000..1b4734216889c --- /dev/null +++ b/shared-bindings/rclcpy/__init__.h @@ -0,0 +1,12 @@ +// This file is part of the CircuitPython project: https://circuitpython.org +// +// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland +// +// SPDX-License-Identifier: MIT + +#pragma once +#include "common-hal/rclcpy/__init__.h" + +void common_hal_rclcpy_init(const char *agent_ip, const char *agent_port, int16_t domain_id); +rclcpy_context_t *common_hal_rclcpy_get_default_context(void); +bool common_hal_rclcpy_default_context_is_initialized(void); diff --git a/shared-module/_eve/__init__.c b/shared-module/_eve/__init__.c index ecd310b55a3c1..ca084d9b43b36 100644 --- a/shared-module/_eve/__init__.c +++ b/shared-module/_eve/__init__.c @@ -246,6 +246,11 @@ void common_hal__eve_PointSize(common_hal__eve_t *eve, mp_float_t size) { } +void common_hal__eve_Region(common_hal__eve_t *eve, uint32_t y, uint32_t h, uint32_t dest) { + C4(eve, ((52 << 24) | ((y & 0x3f) << 18) | ((h & 0x3f) << 12) | (dest & 0xfff))); +} + + void common_hal__eve_RestoreContext(common_hal__eve_t *eve) { C4(eve, ((35 << 24))); } diff --git a/shared-module/audiodelays/Echo.c b/shared-module/audiodelays/Echo.c index 289d6699506b9..78764d9099a1c 100644 --- a/shared-module/audiodelays/Echo.c +++ b/shared-module/audiodelays/Echo.c @@ -98,11 +98,10 @@ void common_hal_audiodelays_echo_construct(audiodelays_echo_obj_t *self, uint32_ // read is where we read previous echo from delay_ms ago to play back now // write is where the store the latest playing sample to echo back later - self->echo_buffer_read_pos = self->buffer_len / sizeof(uint16_t); - self->echo_buffer_write_pos = 0; + self->echo_buffer_left_pos = 0; - // where we read the previous echo from delay_ms ago to play back now (for freq shift) - self->echo_buffer_left_pos = self->echo_buffer_right_pos = 0; + // use a separate buffer position for the right channel + self->echo_buffer_right_pos = 0; } void common_hal_audiodelays_echo_deinit(audiodelays_echo_obj_t *self) { @@ -128,30 +127,32 @@ void recalculate_delay(audiodelays_echo_obj_t *self, mp_float_t f_delay_ms) { // Require that delay is at least 1 sample long f_delay_ms = MAX(f_delay_ms, self->sample_ms); + // Calculate the maximum buffer size per channel in bytes + uint32_t max_echo_buffer_len = self->max_echo_buffer_len >> (self->base.channel_count - 1); + if (self->freq_shift) { // Calculate the rate of iteration over the echo buffer with 8 sub-bits self->echo_buffer_rate = (uint32_t)MAX(self->max_delay_ms / f_delay_ms * MICROPY_FLOAT_CONST(256.0), MICROPY_FLOAT_CONST(1.0)); - self->echo_buffer_len = self->max_echo_buffer_len; + // Only use half of the buffer per channel if stereo + self->echo_buffer_len = max_echo_buffer_len; } else { // Calculate the current echo buffer length in bytes - uint32_t new_echo_buffer_len = (uint32_t)(self->base.sample_rate / MICROPY_FLOAT_CONST(1000.0) * f_delay_ms) * (self->base.channel_count * sizeof(uint16_t)); - - // Check if our new echo is too long for our maximum buffer - if (new_echo_buffer_len > self->max_echo_buffer_len) { - return; - } else if (new_echo_buffer_len < 0.0) { // or too short! - return; - } - - // If the echo buffer is larger then our audio buffer weird things happen - if (new_echo_buffer_len < self->buffer_len) { - return; + uint32_t new_echo_buffer_len = (uint32_t)(self->base.sample_rate / MICROPY_FLOAT_CONST(1000.0) * f_delay_ms) * sizeof(uint16_t); + + // Limit to valid range + if (new_echo_buffer_len > max_echo_buffer_len) { + new_echo_buffer_len = max_echo_buffer_len; + } else if (new_echo_buffer_len < self->buffer_len) { + // If the echo buffer is smaller than our audio buffer, weird things happen + new_echo_buffer_len = self->buffer_len; } self->echo_buffer_len = new_echo_buffer_len; // Clear the now unused part of the buffer or some weird artifacts appear - memset(self->echo_buffer + self->echo_buffer_len, 0, self->max_echo_buffer_len - self->echo_buffer_len); + for (uint32_t i = 0; i < self->base.channel_count; i++) { + memset(self->echo_buffer + (i * max_echo_buffer_len) + self->echo_buffer_len, 0, max_echo_buffer_len - self->echo_buffer_len); + } } self->current_delay_ms = f_delay_ms; @@ -178,6 +179,12 @@ bool common_hal_audiodelays_echo_get_freq_shift(audiodelays_echo_obj_t *self) { } void common_hal_audiodelays_echo_set_freq_shift(audiodelays_echo_obj_t *self, bool freq_shift) { + // Clear the echo buffer and reset buffer position if changing freq_shift modes + if (self->freq_shift != freq_shift) { + memset(self->echo_buffer, 0, self->max_echo_buffer_len); + self->echo_buffer_left_pos = 0; + self->echo_buffer_right_pos = 0; + } self->freq_shift = freq_shift; uint32_t delay_ms = (uint32_t)synthio_block_slot_get(&self->delay_ms); recalculate_delay(self, delay_ms); @@ -277,15 +284,7 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t * } uint32_t echo_buf_len = self->echo_buffer_len / sizeof(uint16_t); - - // Set our echo buffer position accounting for stereo - uint32_t echo_buffer_pos = 0; - if (self->freq_shift) { - echo_buffer_pos = self->echo_buffer_left_pos; - if (channel == 1) { - echo_buffer_pos = self->echo_buffer_right_pos; - } - } + uint32_t max_echo_buf_len = (self->max_echo_buffer_len >> (self->base.channel_count - 1)) / sizeof(uint16_t); // If we have no sample keep the echo echoing if (self->sample == NULL) { @@ -309,18 +308,22 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t * int16_t echo, word = 0; uint32_t next_buffer_pos = 0; + // Get our echo buffer position and offset depending on current channel + uint32_t echo_buffer_offset = max_echo_buf_len * ((single_channel_output && channel == 1) || (!single_channel_output && (i % self->base.channel_count) == 1)); + uint32_t echo_buffer_pos = echo_buffer_offset ? self->echo_buffer_right_pos : self->echo_buffer_left_pos; + if (self->freq_shift) { - echo = echo_buffer[echo_buffer_pos >> 8]; + echo = echo_buffer[(echo_buffer_pos >> 8) + echo_buffer_offset]; next_buffer_pos = echo_buffer_pos + self->echo_buffer_rate; for (uint32_t j = echo_buffer_pos >> 8; j < next_buffer_pos >> 8; j++) { - word = (int16_t)(echo_buffer[j % echo_buf_len] * decay); - echo_buffer[j % echo_buf_len] = word; + word = (int16_t)(echo_buffer[(j % echo_buf_len) + echo_buffer_offset] * decay); + echo_buffer[(j % echo_buf_len) + echo_buffer_offset] = word; } } else { - echo = echo_buffer[self->echo_buffer_read_pos++]; + echo = echo_buffer[echo_buffer_pos + echo_buffer_offset]; word = (int16_t)(echo * decay); - echo_buffer[self->echo_buffer_write_pos++] = word; + echo_buffer[echo_buffer_pos++ + echo_buffer_offset] = word; } word = (int16_t)(echo * MIN(mix, MICROPY_FLOAT_CONST(1.0))); @@ -339,13 +342,15 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t * if (self->freq_shift) { echo_buffer_pos = next_buffer_pos % (echo_buf_len << 8); + } else if (!self->freq_shift && echo_buffer_pos >= echo_buf_len) { + echo_buffer_pos = 0; + } + + // Update buffer position + if (echo_buffer_offset) { + self->echo_buffer_right_pos = echo_buffer_pos; } else { - if (self->echo_buffer_read_pos >= echo_buf_len) { - self->echo_buffer_read_pos = 0; - } - if (self->echo_buffer_write_pos >= echo_buf_len) { - self->echo_buffer_write_pos = 0; - } + self->echo_buffer_left_pos = echo_buffer_pos; } } } @@ -380,37 +385,42 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t * int32_t echo, word = 0; uint32_t next_buffer_pos = 0; + + // Get our echo buffer position and offset depending on current channel + uint32_t echo_buffer_offset = max_echo_buf_len * ((single_channel_output && channel == 1) || (!single_channel_output && (i % self->base.channel_count) == 1)); + uint32_t echo_buffer_pos = echo_buffer_offset ? self->echo_buffer_right_pos : self->echo_buffer_left_pos; + if (self->freq_shift) { - echo = echo_buffer[echo_buffer_pos >> 8]; + echo = echo_buffer[(echo_buffer_pos >> 8) + echo_buffer_offset]; next_buffer_pos = echo_buffer_pos + self->echo_buffer_rate; } else { - echo = echo_buffer[self->echo_buffer_read_pos++]; + echo = echo_buffer[echo_buffer_pos + echo_buffer_offset]; word = (int32_t)(echo * decay + sample_word); } if (MP_LIKELY(self->base.bits_per_sample == 16)) { if (self->freq_shift) { for (uint32_t j = echo_buffer_pos >> 8; j < next_buffer_pos >> 8; j++) { - word = (int32_t)(echo_buffer[j % echo_buf_len] * decay + sample_word); + word = (int32_t)(echo_buffer[(j % echo_buf_len) + echo_buffer_offset] * decay + sample_word); word = synthio_mix_down_sample(word, SYNTHIO_MIX_DOWN_SCALE(2)); - echo_buffer[j % echo_buf_len] = (int16_t)word; + echo_buffer[(j % echo_buf_len) + echo_buffer_offset] = (int16_t)word; } } else { word = synthio_mix_down_sample(word, SYNTHIO_MIX_DOWN_SCALE(2)); - echo_buffer[self->echo_buffer_write_pos++] = (int16_t)word; + echo_buffer[echo_buffer_pos++ + echo_buffer_offset] = (int16_t)word; } } else { if (self->freq_shift) { for (uint32_t j = echo_buffer_pos >> 8; j < next_buffer_pos >> 8; j++) { - word = (int32_t)(echo_buffer[j % echo_buf_len] * decay + sample_word); + word = (int32_t)(echo_buffer[(j % echo_buf_len) + echo_buffer_offset] * decay + sample_word); // Do not have mix_down for 8 bit so just hard cap samples into 1 byte word = MIN(MAX(word, -128), 127); - echo_buffer[j % echo_buf_len] = (int8_t)word; + echo_buffer[(j % echo_buf_len) + echo_buffer_offset] = (int8_t)word; } } else { // Do not have mix_down for 8 bit so just hard cap samples into 1 byte word = MIN(MAX(word, -128), 127); - echo_buffer[self->echo_buffer_write_pos++] = (int8_t)word; + echo_buffer[echo_buffer_pos++ + echo_buffer_offset] = (int8_t)word; } } @@ -434,13 +444,15 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t * if (self->freq_shift) { echo_buffer_pos = next_buffer_pos % (echo_buf_len << 8); + } else if (!self->freq_shift && echo_buffer_pos >= echo_buf_len) { + echo_buffer_pos = 0; + } + + // Update buffer position + if (echo_buffer_offset) { + self->echo_buffer_right_pos = echo_buffer_pos; } else { - if (self->echo_buffer_read_pos >= echo_buf_len) { - self->echo_buffer_read_pos = 0; - } - if (self->echo_buffer_write_pos >= echo_buf_len) { - self->echo_buffer_write_pos = 0; - } + self->echo_buffer_left_pos = echo_buffer_pos; } } } @@ -452,14 +464,6 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t * self->sample_remaining_buffer += (n * (self->base.bits_per_sample / 8)); self->sample_buffer_length -= n; } - - if (self->freq_shift) { - if (channel == 0) { - self->echo_buffer_left_pos = echo_buffer_pos; - } else if (channel == 1) { - self->echo_buffer_right_pos = echo_buffer_pos; - } - } } // Finally pass our buffer and length to the calling audio function diff --git a/shared-module/audiodelays/Echo.h b/shared-module/audiodelays/Echo.h index 7f5dbb69f090a..cc37f7030be0e 100644 --- a/shared-module/audiodelays/Echo.h +++ b/shared-module/audiodelays/Echo.h @@ -37,12 +37,9 @@ typedef struct { uint32_t echo_buffer_len; // bytes uint32_t max_echo_buffer_len; // bytes - uint32_t echo_buffer_read_pos; // words - uint32_t echo_buffer_write_pos; // words - + uint32_t echo_buffer_left_pos; // words (<< 8 when freq_shift=True) + uint32_t echo_buffer_right_pos; // words (<< 8 when freq_shift=True) uint32_t echo_buffer_rate; // words << 8 - uint32_t echo_buffer_left_pos; // words << 8 - uint32_t echo_buffer_right_pos; // words << 8 mp_obj_t sample; } audiodelays_echo_obj_t; diff --git a/shared-module/displayio/ColorConverter.c b/shared-module/displayio/ColorConverter.c index cf5136f4e6bb6..ae7d3f02d5127 100644 --- a/shared-module/displayio/ColorConverter.c +++ b/shared-module/displayio/ColorConverter.c @@ -91,6 +91,40 @@ uint8_t displayio_colorconverter_compute_hue(uint32_t color_rgb888) { return hue; } +uint8_t displayio_colorconverter_compute_sixcolor(uint32_t color_rgb888) { + // This is DDX=1, the default for the displays. + uint8_t chroma = displayio_colorconverter_compute_chroma(color_rgb888); + if (chroma >= 64) { + uint8_t hue = displayio_colorconverter_compute_hue(color_rgb888); + // Red 0 + if (hue < 10) { + return 0x3; + } + // Yellow 42 + if (hue < 42 + 21) { + return 0x2; + } + // Green 85 + if (hue < 85 + 42) { + return 0x6; + } + // Blue 170 + if (hue < 170 + 42) { + return 0x5; + } + + // The rest is red to 255 + return 0x3; + } else { + uint8_t luma = displayio_colorconverter_compute_luma(color_rgb888); + if (luma >= 128) { + return 0x1; // White + } else { + return 0x0; // Black + } + } +} + uint8_t displayio_colorconverter_compute_sevencolor(uint32_t color_rgb888) { // This is DDX=1, the default for the displays. uint8_t chroma = displayio_colorconverter_compute_chroma(color_rgb888); @@ -309,7 +343,9 @@ void displayio_convert_color(const _displayio_colorspace_t *colorspace, bool dit return; } else if (colorspace->depth == 4) { uint8_t packed; - if (colorspace->sevencolor) { + if (colorspace->sixcolor) { + packed = displayio_colorconverter_compute_sixcolor(pixel); + } else if (colorspace->sevencolor) { packed = displayio_colorconverter_compute_sevencolor(pixel); } else { packed = displayio_colorconverter_compute_rgbd(pixel); diff --git a/shared-module/displayio/ColorConverter.h b/shared-module/displayio/ColorConverter.h index 60efc132f9ae5..d3dbedfe160ab 100644 --- a/shared-module/displayio/ColorConverter.h +++ b/shared-module/displayio/ColorConverter.h @@ -41,5 +41,6 @@ uint8_t displayio_colorconverter_compute_rgbd(uint32_t color_rgb888); uint8_t displayio_colorconverter_compute_luma(uint32_t color_rgb888); uint8_t displayio_colorconverter_compute_chroma(uint32_t color_rgb888); uint8_t displayio_colorconverter_compute_hue(uint32_t color_rgb888); +uint8_t displayio_colorconverter_compute_sixcolor(uint32_t color_rgb888); uint8_t displayio_colorconverter_compute_sevencolor(uint32_t color_rgb888); void displayio_colorconverter_compute_tricolor(const _displayio_colorspace_t *colorspace, uint8_t pixel_hue, uint32_t *color); diff --git a/shared-module/displayio/Palette.h b/shared-module/displayio/Palette.h index 092b934b66a24..bb87a93d98133 100644 --- a/shared-module/displayio/Palette.h +++ b/shared-module/displayio/Palette.h @@ -19,6 +19,7 @@ typedef struct { uint8_t grayscale_bit; // The lowest grayscale bit. Normally 8 - depth. bool grayscale; bool tricolor; + bool sixcolor; // Spectra6 e-ink screens. bool sevencolor; // Acep e-ink screens. bool pixels_in_byte_share_row; bool reverse_pixels_in_byte; diff --git a/shared-module/epaperdisplay/EPaperDisplay.c b/shared-module/epaperdisplay/EPaperDisplay.c index 86ecff29b1102..a5a303d82ae75 100644 --- a/shared-module/epaperdisplay/EPaperDisplay.c +++ b/shared-module/epaperdisplay/EPaperDisplay.c @@ -36,7 +36,7 @@ void common_hal_epaperdisplay_epaperdisplay_construct(epaperdisplay_epaperdispla uint16_t write_color_ram_command, bool color_bits_inverted, uint32_t highlight_color, const uint8_t *refresh_sequence, uint16_t refresh_sequence_len, mp_float_t refresh_time, const mcu_pin_obj_t *busy_pin, bool busy_state, mp_float_t seconds_per_frame, - bool chip_select, bool grayscale, bool acep, bool two_byte_sequence_length, bool address_little_endian) { + bool chip_select, bool grayscale, bool acep, bool spectra6, bool two_byte_sequence_length, bool address_little_endian) { uint16_t color_depth = 1; bool core_grayscale = true; if (highlight_color != 0x000000) { @@ -46,9 +46,10 @@ void common_hal_epaperdisplay_epaperdisplay_construct(epaperdisplay_epaperdispla } else { self->core.colorspace.tricolor = false; } - self->acep = acep; + self->acep = acep || spectra6; + self->core.colorspace.sixcolor = spectra6; self->core.colorspace.sevencolor = acep; - if (acep) { + if (self->acep) { color_depth = 4; // bits. 7 colors + clean grayscale = false; core_grayscale = false; @@ -338,7 +339,7 @@ static bool epaperdisplay_epaperdisplay_refresh_area(epaperdisplay_epaperdisplay } else if (self->core.colorspace.tricolor) { self->core.colorspace.grayscale = false; displayio_display_core_fill_area(&self->core, &subrectangle, mask, buffer); - } else if (self->core.colorspace.sevencolor) { + } else if (self->core.colorspace.sixcolor || self->core.colorspace.sevencolor) { displayio_display_core_fill_area(&self->core, &subrectangle, mask, buffer); } } else { diff --git a/shared-module/touchio/TouchIn.c b/shared-module/touchio/TouchIn.c index b81b52b44415f..268055d14bf53 100644 --- a/shared-module/touchio/TouchIn.c +++ b/shared-module/touchio/TouchIn.c @@ -86,7 +86,7 @@ void common_hal_touchio_touchin_deinit(touchio_touchin_obj_t *self) { self->digitalinout = MP_OBJ_NULL; } -void touchin_reset() { +void touchin_reset(void) { } bool common_hal_touchio_touchin_get_value(touchio_touchin_obj_t *self) { diff --git a/shared-module/usb_cdc/__init__.c b/shared-module/usb_cdc/__init__.c index 0248c0f180fdb..9a9f158f28cfb 100644 --- a/shared-module/usb_cdc/__init__.c +++ b/shared-module/usb_cdc/__init__.c @@ -356,10 +356,10 @@ size_t usb_vendor_descriptor_length(void) { static uint8_t *ms_os_20_descriptor = NULL; -size_t vendor_ms_os_20_descriptor_length() { +size_t vendor_ms_os_20_descriptor_length(void) { return ms_os_20_descriptor != NULL ? sizeof(ms_os_20_descriptor_template) : 0; } -uint8_t const *vendor_ms_os_20_descriptor() { +uint8_t const *vendor_ms_os_20_descriptor(void) { return ms_os_20_descriptor; } diff --git a/shared-module/vectorio/VectorShape.c b/shared-module/vectorio/VectorShape.c index 680a9f157c360..3ac752f327ce3 100644 --- a/shared-module/vectorio/VectorShape.c +++ b/shared-module/vectorio/VectorShape.c @@ -539,6 +539,7 @@ displayio_area_t *vectorio_vector_shape_get_refresh_areas(vectorio_vector_shape_ self->ephemeral_dirty_area.next = tail; tail = &self->ephemeral_dirty_area; } else { + self->current_area_dirty = true; self->current_area.next = tail; tail = &self->current_area; VECTORIO_SHAPE_DEBUG("%p get_refresh_area: redrawing current: {(%3d,%3d), (%3d,%3d)}\n", self, self->current_area.x1, self->current_area.y1, self->current_area.x2, self->current_area.y2); diff --git a/supervisor/shared/background_callback.c b/supervisor/shared/background_callback.c index 309210b7a12ae..ffeb78bbb8371 100644 --- a/supervisor/shared/background_callback.c +++ b/supervisor/shared/background_callback.c @@ -58,7 +58,7 @@ inline bool background_callback_pending(void) { static int background_prevention_count; -void PLACE_IN_ITCM(background_callback_run_all)() { +void PLACE_IN_ITCM(background_callback_run_all)(void) { port_background_task(); if (!background_callback_pending()) { return; @@ -89,13 +89,13 @@ void PLACE_IN_ITCM(background_callback_run_all)() { CALLBACK_CRITICAL_END; } -void background_callback_prevent() { +void background_callback_prevent(void) { CALLBACK_CRITICAL_BEGIN; ++background_prevention_count; CALLBACK_CRITICAL_END; } -void background_callback_allow() { +void background_callback_allow(void) { CALLBACK_CRITICAL_BEGIN; --background_prevention_count; CALLBACK_CRITICAL_END; @@ -103,7 +103,7 @@ void background_callback_allow() { // Filter out queued callbacks if they are allocated on the heap. -void background_callback_reset() { +void background_callback_reset(void) { background_callback_t *new_head = NULL; background_callback_t **previous_next = &new_head; background_callback_t *new_tail = NULL; diff --git a/supervisor/shared/bluetooth/bluetooth.c b/supervisor/shared/bluetooth/bluetooth.c index 73c05139eeea3..055a5cdf1fdfd 100644 --- a/supervisor/shared/bluetooth/bluetooth.c +++ b/supervisor/shared/bluetooth/bluetooth.c @@ -189,6 +189,7 @@ void supervisor_bluetooth_init(void) { boot_in_discovery_mode = false; if (reset_reason != RESET_REASON_POWER_ON && reset_reason != RESET_REASON_RESET_PIN && + reset_reason != RESET_REASON_DEEP_SLEEP_ALARM && reset_reason != RESET_REASON_UNKNOWN && reset_reason != RESET_REASON_SOFTWARE) { return; diff --git a/supervisor/shared/cpu_regs.h b/supervisor/shared/cpu_regs.h index 335201fe94231..8243c2388cd9b 100644 --- a/supervisor/shared/cpu_regs.h +++ b/supervisor/shared/cpu_regs.h @@ -7,7 +7,7 @@ #pragma once #ifdef __arm__ -#define INTEGER_REGS 8 +#define INTEGER_REGS 10 #ifdef __ARM_FP #define FLOATING_POINT_REGS 16 #endif diff --git a/supervisor/shared/reload.c b/supervisor/shared/reload.c index fb7ff0403c259..862c4ccebc7aa 100644 --- a/supervisor/shared/reload.c +++ b/supervisor/shared/reload.c @@ -35,16 +35,16 @@ void reload_initiate(supervisor_run_reason_t run_reason) { port_wake_main_task(); } -void autoreload_reset() { +void autoreload_reset(void) { last_autoreload_trigger = 0; } -void autoreload_enable() { +void autoreload_enable(void) { autoreload_enabled = true; last_autoreload_trigger = 0; } -void autoreload_disable() { +void autoreload_disable(void) { autoreload_enabled = false; } @@ -56,11 +56,11 @@ void autoreload_resume(uint32_t suspend_reason_mask) { autoreload_suspended &= ~suspend_reason_mask; } -inline bool autoreload_is_enabled() { +inline bool autoreload_is_enabled(void) { return autoreload_enabled; } -void autoreload_trigger() { +void autoreload_trigger(void) { if (!autoreload_enabled || autoreload_suspended != 0) { return; } @@ -78,7 +78,7 @@ void autoreload_trigger() { } } -bool autoreload_ready() { +bool autoreload_ready(void) { if (last_autoreload_trigger == 0 || autoreload_suspended != 0) { return false; } diff --git a/supervisor/shared/status_leds.c b/supervisor/shared/status_leds.c index 0742b6485ebfd..ffe8b46b20b7c 100644 --- a/supervisor/shared/status_leds.c +++ b/supervisor/shared/status_leds.c @@ -112,7 +112,7 @@ static uint32_t current_status_color = 0; #endif static bool status_led_init_in_progress = false; -void status_led_init() { +void status_led_init(void) { if (status_led_init_in_progress) { // Avoid recursion. return; @@ -186,7 +186,7 @@ void status_led_init() { status_led_init_in_progress = false; } -void status_led_deinit() { +void status_led_deinit(void) { #ifdef MICROPY_HW_NEOPIXEL // Make sure the pin stays low for the reset period. The pin reset may pull // it up and stop the reset period. diff --git a/supervisor/shared/tick.c b/supervisor/shared/tick.c index e19b7c4e68134..346ef9a93c4c5 100644 --- a/supervisor/shared/tick.c +++ b/supervisor/shared/tick.c @@ -92,14 +92,14 @@ static uint64_t _get_raw_subticks(void) { return (ticks << 5) | subticks; } -uint64_t supervisor_ticks_ms64() { +uint64_t supervisor_ticks_ms64(void) { uint64_t result; result = port_get_raw_ticks(NULL); result = result * 1000 / 1024; return result; } -uint32_t supervisor_ticks_ms32() { +uint32_t supervisor_ticks_ms32(void) { return supervisor_ticks_ms64(); } diff --git a/tests/basics/deque2.py b/tests/basics/deque2.py index 3552d5be37abe..ebc0872c7b4e0 100644 --- a/tests/basics/deque2.py +++ b/tests/basics/deque2.py @@ -31,6 +31,16 @@ d[3] = 5 print(d[3]) +# Access the last element via index, when the last element is at various locations +d = deque((), 2) +for i in range(4): + d.append(i) + print(i, d[-1]) + +# Write the last element then access all elements from the end +d[-1] = 4 +print(d[-2], d[-1]) + # Accessing indices out of bounds raises IndexError try: d[4] diff --git a/tools/ci_check_duplicate_usb_vid_pid.py b/tools/ci_check_duplicate_usb_vid_pid.py index 233c7acdffc42..5361914af199b 100644 --- a/tools/ci_check_duplicate_usb_vid_pid.py +++ b/tools/ci_check_duplicate_usb_vid_pid.py @@ -53,6 +53,7 @@ "0x303A:0x7003": [ "espressif_esp32s3_devkitc_1_n8", "espressif_esp32s3_devkitc_1_n8r2", + "espressif_esp32s3_devkitc_1_n8r2_ros", "espressif_esp32s3_devkitc_1_n8r8", "espressif_esp32s3_devkitc_1_n8r8_hacktablet", "espressif_esp32s3_devkitc_1_n16", @@ -63,6 +64,10 @@ "espressif_esp32s2_devkitc_1_n4r2", "espressif_esp32s2_devkitc_1_n8r2", ], + "0x303A:0x81DA": [ + "m5stack_cardputer", + "m5stack_cardputer_ros", + ], "0x239A:0x102E": ["weact_studio_pico", "weact_studio_pico_16mb"], "0x303A:0x8166": ["yd_esp32_s3_n8r8", "yd_esp32_s3_n16r8"], "0x2341:0x056B": ["arduino_nano_esp32s3", "arduino_nano_esp32s3_inverted_statusled"],