ulab

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.

Supported functions

ndarray

ulab implements numpy's ndarray with the ==, !=, <, <=, >, >=, +, -, /, *, and ** binary operators, and the len, ~, -, +, abs unary operators that operate element-wise. Type-aware ndarrays can be initialised from any micropython iterable, lists of iterables, or by means of the arange, eye, linspace, ones, or zeros functions.

ndarrays can be iterated on, and have a number of their own methods, such as shape, reshape, transpose, size, and itemsize.

Modules

In addition to the ndarray's operators and methods, seven modules define a great number of functions that can take ndarrays 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.

approx

The approx sub-module contains the implementation of the interp, and trapz functions of numpy, and newton, bisect, and fmin from scipy.

compare

The compare sub-module contains the implementation of the equal, not_equal, minimum, maximum, and clip functions.

fft

The fft sub-module implements the fast Fourier transform, and its inverse for one-dimensional ndarrays, as well as the spectrogram function from scipy.

filter

The filter sub-module implements convolve for one-dimensional convolution, as well as the cascaded second-order sections filter, sosfilt from scipy.

linalg

The linalg sub-module implements functions for matrix inversion, dot product, and the calculation of the determinant, eigenvalues, eigenvectors, Cholesky decomposition, and trace.

numerical

The numerical sub-module defines the roll, flip, diff, sort and argsort functions for ndarrays, and, in addition, the min, max, argmin, argmax, sum, mean, std functions that work with ndarrays, as well as generic one-dimensional iterables.

poly

The poly sub-module defines the polyval, and polyfit functions from numpy.

vector

The vector sub-module implements all functions of the math package (e.g., acos, acosh, ..., tan, tanh) of micropython for ndarrays and iterables. In addition, it also provided tools for vectorising generic, user-defined python functions.

user

The user sub-module is meant as a user-extendable module, and contains a dummy function only.

Finding help

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.

Benchmarks

Representative numbers on performance can be found under ulab samples.

Firmware

Compiled firmware for many hardware platforms can be downloaded from Roberto Colistete's gitlab repository. These include the pyboard, the ESP32, the ESP8266, and the Pycom boards. 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 the following compiled micropython variants and derivatives:

1. CircuitPython for SAMD51 and nRF microcontrollers https://github.com/adafruit/circuitpython
2. MicroPython for K210 https://github.com/loboris/MicroPython_K210_LoBo
3. MaixPy https://github.com/sipeed/MaixPy
4. OpenMV https://github.com/openmv/openmv

Compiling

If you want to try the latest version of ulab on micropython or one of its forks, 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.