pybricks.nxtdevices: Add TemperatureSensor.

Author: laurensvalk

pybricks/nxtdevices/nxtdevices.h

@@ -14,12 +14,12 @@ extern const mp_obj_type_t pb_type_nxtdevices_TouchSensor;
 extern const mp_obj_type_t pb_type_nxtdevices_LightSensor;
 extern const mp_obj_type_t pb_type_nxtdevices_ColorSensor;
 extern const mp_obj_type_t pb_type_nxtdevices_UltrasonicSensor;
+extern const mp_obj_type_t pb_type_nxtdevices_TemperatureSensor;
 
 #if PYBRICKS_PY_EV3DEVDEVICES
 
 extern const mp_obj_type_t pb_type_nxtdevices_EnergyMeter;
 extern const mp_obj_type_t pb_type_nxtdevices_SoundSensor;
-extern const mp_obj_type_t pb_type_nxtdevices_TemperatureSensor;
 
 int32_t analog_scale(int32_t mvolts, int32_t mvolts_min, int32_t mvolts_max, bool invert);
 

pybricks/nxtdevices/pb_module_nxtdevices.c

@@ -17,10 +17,10 @@ static const mp_rom_map_elem_t nxtdevices_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_LightSensor),       MP_ROM_PTR(&pb_type_nxtdevices_LightSensor)      },
     { MP_ROM_QSTR(MP_QSTR_ColorSensor),       MP_ROM_PTR(&pb_type_nxtdevices_ColorSensor)      },
     { MP_ROM_QSTR(MP_QSTR_UltrasonicSensor),  MP_ROM_PTR(&pb_type_nxtdevices_UltrasonicSensor) },
+    { MP_ROM_QSTR(MP_QSTR_TemperatureSensor), MP_ROM_PTR(&pb_type_nxtdevices_TemperatureSensor)},
     #if PYBRICKS_PY_EV3DEVDEVICES
     { MP_ROM_QSTR(MP_QSTR_EnergyMeter),       MP_ROM_PTR(&pb_type_nxtdevices_EnergyMeter)      },
     { MP_ROM_QSTR(MP_QSTR_SoundSensor),       MP_ROM_PTR(&pb_type_nxtdevices_SoundSensor)      },
-    { MP_ROM_QSTR(MP_QSTR_TemperatureSensor), MP_ROM_PTR(&pb_type_nxtdevices_TemperatureSensor)},
     #endif
 };
 static MP_DEFINE_CONST_DICT(pb_module_nxtdevices_globals, nxtdevices_globals_table);

pybricks/nxtdevices/pb_type_nxtdevices_temperaturesensor.c

@@ -1,21 +1,27 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2023 The Pybricks Authors
+// Copyright (c) 2018-2025 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
-#if PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVDEVICES
+#if PYBRICKS_PY_NXTDEVICES
+
+#include "py/mphal.h"
+
+#include <pbdrv/i2c.h>
+#include <pbio/port_interface.h>
 
 #include <pybricks/common.h>
-#include <pybricks/nxtdevices.h>
+#include <pybricks/iodevices/iodevices.h>
 #include <pybricks/parameters.h>
 
 #include <pybricks/util_mp/pb_kwarg_helper.h>
 #include <pybricks/util_mp/pb_obj_helper.h>
-#include <pybricks/common/pb_type_device.h>
+#include <pybricks/util_pb/pb_error.h>
 
 // pybricks.nxtdevices.TemperatureSensor class object
 typedef struct _nxtdevices_TemperatureSensor_obj_t {
-    pb_type_device_obj_base_t device_base;
+    mp_obj_base_t base;
+    mp_obj_t *i2c_device_obj;
 } nxtdevices_TemperatureSensor_obj_t;
 
 // pybricks.nxtdevices.TemperatureSensor.__init__
@@ -24,21 +30,31 @@ static mp_obj_t nxtdevices_TemperatureSensor_make_new(const mp_obj_type_t *type,
         PB_ARG_REQUIRED(port));
 
     nxtdevices_TemperatureSensor_obj_t *self = mp_obj_malloc(nxtdevices_TemperatureSensor_obj_t, type);
-    pb_type_device_init_class(&self->device_base, port_in, LEGO_DEVICE_TYPE_ID_NXT_TEMPERATURE_SENSOR);
+    self->i2c_device_obj = pb_type_i2c_device_make_new(port_in, 0x4C, true, false, false);
+
+    // Set resolution to 0.125 degrees as a fair balance between speed and accuracy.
+    const uint8_t write_data[] = { 0x01, (1 << 6) | (0 << 5) };
+    pb_type_i2c_device_start_operation(self->i2c_device_obj, write_data, MP_ARRAY_SIZE(write_data), 0, NULL);
+
     return MP_OBJ_FROM_PTR(self);
 }
 
+static mp_obj_t map_temperature(const uint8_t *data, size_t len) {
+    int16_t combined = ((uint16_t)data[0] << 8) | data[1];
+    return mp_obj_new_float_from_f((combined >> 4) / 16.0f);
+}
+
 // pybricks.nxtdevices.TemperatureSensor.temperature
 static mp_obj_t nxtdevices_TemperatureSensor_temperature(mp_obj_t self_in) {
-    int16_t *temperature_scaled = pb_type_device_get_data_blocking(self_in, LEGO_DEVICE_MODE_NXT_TEMPERATURE_SENSOR_CELSIUS);
-    // FIXME: ENDIANNESS
-    return mp_obj_new_float((temperature_scaled[0] >> 4) / 16.0);
+    nxtdevices_TemperatureSensor_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    const uint8_t write_data[] = { 0x00 };
+    return pb_type_i2c_device_start_operation(self->i2c_device_obj, write_data, MP_ARRAY_SIZE(write_data), 2, map_temperature);
 }
 static MP_DEFINE_CONST_FUN_OBJ_1(nxtdevices_TemperatureSensor_temperature_obj, nxtdevices_TemperatureSensor_temperature);
 
-// dir(pybricks.ev3devices.TemperatureSensor)
+// dir(pybricks.nxtdevices.TemperatureSensor)
 static const mp_rom_map_elem_t nxtdevices_TemperatureSensor_locals_dict_table[] = {
-    { MP_ROM_QSTR(MP_QSTR_temperature),    MP_ROM_PTR(&nxtdevices_TemperatureSensor_temperature_obj) },
+    { MP_ROM_QSTR(MP_QSTR_temperature), MP_ROM_PTR(&nxtdevices_TemperatureSensor_temperature_obj) },
 };
 static MP_DEFINE_CONST_DICT(nxtdevices_TemperatureSensor_locals_dict, nxtdevices_TemperatureSensor_locals_dict_table);
 
@@ -49,4 +65,4 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_TemperatureSensor,
     make_new, nxtdevices_TemperatureSensor_make_new,
     locals_dict, &nxtdevices_TemperatureSensor_locals_dict);
 
-#endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVDEVICES
+#endif // PYBRICKS_PY_NXTDEVICES