ulab
is a numpy
-like array manipulation library for micropython
and CircuitPython
.
The module is written in C, defines compact containers for numerical
data, and is fast. The library is a software-only standard micropython
user module,
i.e., it has no hardware dependencies, and can be compiled for any platform.
The float
implementation of micropython
(float
, or double
) is automatically detected.
ulab
implements numpy
's ndarray
with the ==
, !=
, <
, <=
, >
, >=
, +
, -
, /
, *
, and **
binary operators, and the len
, ~
, -
, +
, abs
unary operators that operate element-wise. Type-aware ndarray
s can be initialised from any micropython
iterable, lists of iterables, or by means of the ones
, zeros
, eye
, or linspace
functions.
ndarray
s can be iterated on, and have a number of their own methods, such as shape
, reshape
, transpose
, size
, and itemsize
.
In addition to the ndarray
's operators and methods, seven modules define a great number of functions that can take ndarray
s or micropython
iterables as their arguments. If flash space is a concern, unnecessary sub-modules can be excluded from the compiled firmware with a pre-processor switch.
The vector
sub-module implements all functions of the math
package (e.g., acos
, acosh
, ..., tan
, tanh
) of micropython
for ndarray
s and iterables. In addition, it also provided tools for vectorising generic, user-defined python
functions.
The numerical
sub-module defines the roll
, flip
, diff
, sort
and argsort
functions for ndarray
s, and, in addition, the min
, max
, argmin
, argmax
, sum
, mean
, std
functions that work with ndarray
s, as well as generic one-dimensional iterables.
The linalg
sub-module implements functions for matrix inversion, dot product, and the calculation of the determinant, eigenvalues, eigenvectors, Cholesky decomposition, and trace.
The poly
sub-module defines the polyval
, and polyfit
functions from numpy
.
The fft
sub-module implements the fast Fourier transform, and its inverse for one-dimensional ndarray
s.
The filter
sub-module implements one-dimensional convolution.
The compare
sub-module contains the implementation of the equal
, not_equal
, minimum
, maximum
, and clip
functions.
The approx
sub-module contains the implementation of the interp
function of numpy
, and newton
, bisect
, and fmin
from scipy
.
The extras
sub-module is meant as a user-extendable module, and currently implements the spectrogram
function of scipy
.
Documentation can be found on readthedocs under micropython-ulab, as well as at circuitpython-ulab. A number of practical examples are listed in the excellent circuitpython-ulab overview.
Firmware for pyboard.v.1.1, and PYBD_SF6 is released once in a while, and can be downloaded
from https://github.com/v923z/micropython-ulab/releases. Since a number of features can be
set in the firmware (threading, support for SD card, LEDs, user switch etc.), and it is
impossible to create something that suits everyone, these releases should only be used for
quick testing of ulab
. Otherwise, compilation from the source is required with
the appropriate settings, which are usually defined in the mpconfigboard.h
file of the port
in question.
ulab
is also included in most development builds of CircuitPython
for SAMD51 and nRF microcontrollers.
If you want to try the latest version of ulab
on micropython, or your hardware is
different to pyboard.v.1.1, or PYBD_SF6, the firmware can be compiled
from the source by following these steps:
First, you have to clone the micropython
repository by running
git clone https://github.com/micropython/micropython.git
on the command line. This will create a new repository with the name micropython
. Staying there, clone the ulab
repository with
git clone https://github.com/v923z/micropython-ulab.git ulab
If you don't have the cross-compiler installed, your might want to do that now, for instance on Linux by executing
sudo apt-get install gcc-arm-none-eabi
If this step was successful, you can try to run the make
command in the port's directory as
make BOARD=PYBV11 USER_C_MODULES=../../../ulab all
which will prepare the firmware for pyboard.v.11. Similarly,
make BOARD=PYBD_SF6 USER_C_MODULES=../../../ulab all
will compile for the SF6 member of the PYBD series. If your target is unix
, you don't need to specify the BOARD
parameter.
Provided that you managed to compile the firmware, you would upload that by running either
dfu-util --alt 0 -D firmware.dfu
or
python pydfu.py -u firmware.dfu
In case you got stuck somewhere in the process, a bit more detailed instructions can be found under https://github.com/micropython/micropython/wiki/Getting-Started, and https://github.com/micropython/micropython/wiki/Pyboard-Firmware-Update.