extmod/modpupdevices: Add TiltSensor

This adds a very minimal implementation, exposing tilt relative to the
horizontal plane only (pitch, roll). Other more useful methods may be
added once the generic attitude/orientation API is in place and
implemented for the IMUs internal to the hubs.

Author: laurensvalk

extmod/modpupdevices.c

@@ -601,6 +601,55 @@ STATIC const mp_obj_type_t pupdevices_InfraredSensor_type = {
     .locals_dict = (mp_obj_dict_t *)&pupdevices_InfraredSensor_locals_dict,
 };
 
+// Class structure for TiltSensor
+typedef struct _pupdevices_TiltSensor_obj_t {
+    mp_obj_base_t base;
+    pbdevice_t *pbdev;
+} pupdevices_TiltSensor_obj_t;
+
+// pybricks.pupdevices.TiltSensor.__init__
+STATIC mp_obj_t pupdevices_TiltSensor_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
+    PB_PARSE_ARGS_CLASS(n_args, n_kw, args,
+        PB_ARG_REQUIRED(port));
+
+    pupdevices_TiltSensor_obj_t *self = m_new_obj(pupdevices_TiltSensor_obj_t);
+    self->base.type = (mp_obj_type_t *)type;
+
+    mp_int_t port_num = pb_type_enum_get_value(port, &pb_enum_type_Port);
+
+    // Get iodevice
+    self->pbdev = pbdevice_get_device(port_num, PBIO_IODEV_TYPE_ID_WEDO2_TILT_SENSOR);
+
+    return MP_OBJ_FROM_PTR(self);
+}
+
+// pybricks.pupdevices.TiltSensor.tilt
+STATIC mp_obj_t pupdevices_TiltSensor_tilt(mp_obj_t self_in) {
+    pupdevices_TiltSensor_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    int32_t tilt[2];
+    pbdevice_get_values(self->pbdev, PBIO_IODEV_MODE_PUP_WEDO2_TILT_SENSOR__ANGLE, tilt);
+    mp_obj_t ret[2];
+    ret[0] = mp_obj_new_int(tilt[1]);
+    ret[1] = mp_obj_new_int(tilt[0]);
+    return mp_obj_new_tuple(2, ret);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(pupdevices_TiltSensor_tilt_obj, pupdevices_TiltSensor_tilt);
+
+// dir(pybricks.pupdevices.TiltSensor)
+STATIC const mp_rom_map_elem_t pupdevices_TiltSensor_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_tilt),       MP_ROM_PTR(&pupdevices_TiltSensor_tilt_obj) },
+};
+STATIC MP_DEFINE_CONST_DICT(pupdevices_TiltSensor_locals_dict, pupdevices_TiltSensor_locals_dict_table);
+
+// type(pybricks.pupdevices.TiltSensor)
+STATIC const mp_obj_type_t pupdevices_TiltSensor_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_TiltSensor,
+    .make_new = pupdevices_TiltSensor_make_new,
+    .locals_dict = (mp_obj_dict_t *)&pupdevices_TiltSensor_locals_dict,
+};
+
+
 // Class structure for Light
 typedef struct _pupdevices_Light_obj_t {
     mp_obj_base_t base;
@@ -668,7 +717,8 @@ STATIC const mp_rom_map_elem_t pupdevices_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_ColorSensor),         MP_ROM_PTR(&pupdevices_ColorSensor_type)         },
     { MP_ROM_QSTR(MP_QSTR_UltrasonicSensor),    MP_ROM_PTR(&pupdevices_UltrasonicSensor_type)    },
     { MP_ROM_QSTR(MP_QSTR_ForceSensor),         MP_ROM_PTR(&pupdevices_ForceSensor_type)         },
-    { MP_ROM_QSTR(MP_QSTR_InfraredSensor),      MP_ROM_PTR(&pupdevices_InfraredSensor_type)         },
+    { MP_ROM_QSTR(MP_QSTR_InfraredSensor),      MP_ROM_PTR(&pupdevices_InfraredSensor_type)      },
+    { MP_ROM_QSTR(MP_QSTR_TiltSensor),          MP_ROM_PTR(&pupdevices_TiltSensor_type)          },
     { MP_ROM_QSTR(MP_QSTR_Light),               MP_ROM_PTR(&pupdevices_Light_type)               },
 };
 

extmod/pbdevice.h

@@ -118,6 +118,14 @@ enum {
     PBIO_IODEV_MODE_NXT_ENERGY_METER_ALL           = 7,
 };
 
+// LEGO POWERED UP WEDO 2.0 Tilt sensor
+enum {
+    PBIO_IODEV_MODE_PUP_WEDO2_TILT_SENSOR__ANGLE  = 0,  // read 2x int8_t
+    PBIO_IODEV_MODE_PUP_WEDO2_TILT_SENSOR__DIR    = 1,  // read 1x int8_t
+    PBIO_IODEV_MODE_PUP_WEDO2_TILT_SENSOR__CNT    = 2,  // read 3x int8_t
+    PBIO_IODEV_MODE_PUP_WEDO2_TILT_SENSOR__CAL    = 2,  // read 3x int8_t
+};
+
 // LEGO POWERED UP WEDO 2.0 Infrared "Motion" sensor
 enum {
     PBIO_IODEV_MODE_PUP_WEDO2_MOTION_SENSOR__DETECT = 0,  // read 1x int8_t