def __init__(self, address=0x40, debug=False):
"""
Setup a Pulse-Width Modulation object, for controlling an I2C device.
Parameters
address: The address of the I2C device in hex.
Find using `i2cdetect -y [0|1]`
debug: Boolean value specifying whether or not to print debug messages.
"""
wp.wiringPiSetupSys()
self.i2c = wp.I2C()
self.fd = self.i2c.setupInterface('/dev/i2c-' + str(PWM.getPiI2CBusNumber()), address)
self.address = address
self.debug = debug
if (self.debug):
print("Got an fd: %d" % self.fd)
print("Reseting PCA9685")
self.setAllPWM(0, 0)
#self.i2c.writeReg8(self.fd, self.__MODE1, 0x00)
self.i2c.writeReg8(self.fd, self.__MODE2, self.__OUTDRV) #set as totempole
###############test###self.i2c.writeReg8(self.fd, self.__MODE2, self.__INVRT) #set non-inverted
#self.i2c.writeReg8(self.fd, self.__MODE1, self.__ALLCALL)
time.sleep(0.005) # wait for oscillator
mode1 = self.i2c.readReg8(self.fd, self.__MODE1)
mode1 = mode1 & ~self.__SLEEP # wake up (reset sleep)
self.i2c.writeReg8(self.fd, self.__MODE1, mode1)
time.sleep(0.005)
def __init__(self, therm_pin, sensor_pin, target_temp=55):
self.target_temp = target_temp
self.THERM = therm_pin
self.sensor = Sensor(sensor_pin)
self.running = True
self.heat_on = False
self.current_temp = None
self.OUT = 1
self.IN = 0
self.PWM = 0
self.bounds = [55, 66, 80]
self.learner = learner.Events(self, 'therm', 55, 5, 5 * 60)
self.set_lock = RLock()
wiringpi.wiringPiSetupSys()
setupInCmd1 = 'echo "{}" > /sys/class/gpio/export'.format(sensor_pin)
setupOutCmd1 = 'echo "{}" > /sys/class/gpio/export'.format(self.THERM)
setupInCmd2 = 'echo "in" > /sys/class/gpio/gpio{}/direction'.format(sensor_pin)
setupOutCmd2 = 'echo "out" > /sys/class/gpio/gpio{}/direction'.format(self.THERM)
Popen( setupInCmd1, shell=True)
Popen( setupInCmd2, shell=True)
Popen(setupOutCmd1, shell=True)
Popen(setupOutCmd2, shell=True)
wiringpi.pinMode(self.THERM, self.OUT)
wiringpi.pinMode(sensor_pin, self.IN)
wiringpi.digitalWrite(self.THERM, 0)
# give some time to read an initial temperature
self.timer = Timer(15, self.tick)
self.timer.start()
self.temp_log_timer = Timer(5 * 60, self.logTemp)
self.temp_log_timer.start()
self.temp_logger = jsonlog.jsonLog('data/real-therm-data')
def test():
pin = 0
gpio.wiringPiSetup() #初始化
gpio.wiringPiSetupSys() #初始化
gpio.pinMode(pin, GPIO.OUTPUT) # 把pin25设置为输出模式
gpio.digitalWrite(pin, GPIO.HIGH) #pin25输出为高电平
print(gpio.digitalRead(pin)) #打印pin25的状态
def gpio_setup(pc):
_gpio_cleanup(pc)
_gpio_export(settings.PCS[pc]['gpio']['power'], 'out')
_gpio_export(settings.PCS[pc]['gpio']['mains_power'], 'out')
_gpio_export(settings.PCS[pc]['gpio']['power_led'], 'in')
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(settings.PCS[pc]['gpio']['power'], 1)
wiringpi.pinMode(settings.PCS[pc]['gpio']['mains_power'], 1)
wiringpi.pinMode(settings.PCS[pc]['gpio']['power_led'], 0)
def __init__(self, pinNumber):
threading.Thread.__init__(self)
self.daemon = True
self.pinNumber = pinNumber
wiringpi2.wiringPiSetupSys()
self.__initialState = wiringpi2.digitalRead(self.pinNumber)
self.__previousState = self.__initialState
def __init__(self):
self.log = logging.getLogger(__name__)
# Setup GPIO pins
# This routine uses /sys/class/gpio for non-root access.
# Attention: export all pins beforehand (done by launcher.sh at the moment)
wiringpi2.wiringPiSetupSys()
# Inputs
for key, value in self.PINS.items():
self.log.debug('Setting up pin %d for "%s"', value, key)
# Set input mode
wiringpi2.pinMode(value, self.GPIO_INPUT)
# Pull pin down to ground
wiringpi2.pullUpDnControl(value, self.GPIO_PUD_DOWN)
def __init__(self):
self.log = logging.getLogger(__name__)
# Setup GPIO pins
# This routine uses /sys/class/gpio for non-root access.
# Attention: export all pins beforehand (done by launcher.sh at the moment)
wiringpi2.wiringPiSetupSys()
# Inputs
for key, value in self.PINS.items():
self.log.debug('Setting up pin %d for "%s"', value, key)
# Set input mode
wiringpi2.pinMode(value, self.GPIO_INPUT)
# Pull pin down to ground
wiringpi2.pullUpDnControl(value, self.GPIO_PUD_DOWN)
def __init__(self): wiringpi.wiringPiSetupSys() self._power_on_pin = 5 self._btn_1_pin = 7 self._btn_2_pin = 8 self._btn_3_pin = 25 self._last_value_1 = 0 self._last_value_2 = 0 self._last_value_3 = 0 self._worker = threading.Thread(target=self._work) self._worker.daemon = True self._worker.start()
def __init__(self, name, brew_time, pin):
super(RaspCoffeePot, self).__init__(name)
self.gpio_pin = pin
try:
subprocess.check_call('gpio export {} out'.format(self.gpio_pin).split())
except OSError:
logger.warn('Not running in a Raspberry Pi environment or wiringpi is not installed. Continuing in simulation mode.')
self.simulate = True
else:
self.simulate = False
wiringpi2.wiringPiSetupSys()
self.busy = False
self.brew_time = brew_time
def __init__(self, name, brew_time, pin):
super(RaspCoffeePot, self).__init__(name)
self.gpio_pin = pin
try:
subprocess.check_call('gpio export {} out'.format(
self.gpio_pin).split())
except OSError:
logger.warn(
'Not running in a Raspberry Pi environment or wiringpi is not installed. Continuing in simulation mode.'
)
self.simulate = True
else:
self.simulate = False
wiringpi2.wiringPiSetupSys()
self.busy = False
self.brew_time = brew_time
def initialize():
"""Set pins as outputs and start all lights in the off state."""
if _EXPORT_PINS:
logging.info("Running as non root user, disabling pwm mode on "
"all pins")
for pin in xrange(GPIOLEN):
PIN_MODES[pin] = "onoff"
is_pin_pwm[pin] = False
wiringpi.wiringPiSetupSys()
else:
# TODO(mdietz): Configrable pin mode or GPIO mode
#wiringpi.wiringPiSetup()
wiringpi.wiringPiSetupGpio()
enable_device()
set_all_pins_as_outputs()
turn_off_all_lights()
def __init__(self, address=0x40, debug=False):
"""
Setup a Pulse-Width Modulation object, for controlling an I2C device.
Parameters
address: The address of the I2C device in hex.
Find using `i2cdetect -y [0|1]`
debug: Boolean value specifying whether or not to print debug messages.
"""
wiringpi.wiringPiSetupSys()
self.i2c = wiringpi.I2C()
self.fd = self.i2c.setupInterface('/dev/i2c-' + str(PWM.getPiI2CBusNumber()), address)
self.address = address
self.debug = debug
if (self.debug):
print("Got an fd: %d" % self.fd)
print("Reseting PCA9685")
self.i2c.writeReg8(address, self.__MODE1, 0x00)
def initialize():
"""Set pins as outputs and start all lights in the off state."""
if _EXPORT_PINS:
logging.info("Running as non root user, disabling pwm mode on "
"all pins")
for pin in xrange(GPIOLEN):
PIN_MODES[pin] = "onoff"
is_pin_pwm[pin] = False
wiringpi.wiringPiSetupSys()
else:
# TODO(mdietz): Configrable pin mode or GPIO mode
#wiringpi.wiringPiSetup()
wiringpi.wiringPiSetupGpio()
enable_device()
set_all_pins_as_outputs()
turn_off_all_lights()
def setup():
# use Gpio pin numbering
# w.wiringPiSetupGpio()
w.wiringPiSetupSys() # use the non-root mode. Needs to export pins via gpio first!
# polarity pins are outputs:
for pin in pins_pol:
w.pinMode(pin, 1) # defined as output
w.digitalWrite(pin,0) # all output off
# PWM pins:
for pin in pins_pwm:
w.softPwmCreate(pin,0,100) #define pin as pwm output
# all magnets turned off
magnet(0,0,0)
magnet(1,0,0)
magnet(2,0,0)
magnet(3,0,0)
def run(continuous=False, verbose=False, save=False, laser_position=None, as_pfc=False, rpc=None, ro=None):
global camera
assert laser_position in LASER_POSITIONS
def log(*args):
if verbose:
return ' '.join(map(str, args))
log('Initializing GPIO...')
wiringpi2.wiringPiSetupSys()
# Set laser control pin to output.
#wiringpi2.pinMode(LASER_EN_PIN, 1)#TODO:has no effect?!
pinMode(LASER_EN_PIN, 1)
log('GPIO initialized.')
# def process():
# while 1:
# t00 = time.clock()
#
# log('Recording reference image with laser off...')
# #time.sleep(capture_delay)
# stream = io.BytesIO()
# yield stream
# # camera.capture(
# # #os.path.expanduser('~/laser-off.jpg'),
# # stream,
# # format='jpeg',
# # quality=JPEG_QUALITY,
# # use_video_port=True,
# # )
# stream.seek(0)
# laser_off_image = Image.open(stream)
# if save:
# laser_off_image.save(os.path.expanduser('~/laser-off.jpg'))
#
# log('Turning laser on...')
# wiringpi2.digitalWrite(LASER_EN_PIN, 1)
#
# log('Recording reference image with laser on...')
# #time.sleep(capture_delay)
# stream = io.BytesIO()
# yield stream
# # camera.capture(
# # #os.path.expanduser('~/laser-on.jpg'),
# # stream,
# # format='jpeg',
# # quality=JPEG_QUALITY,
# # use_video_port=True,
# # )
# stream.seek(0)
# laser_on_image = Image.open(stream)
# if save:
# laser_on_image.save(os.path.expanduser('~/laser-on.jpg'))
#
# log('Turning laser off...')
# wiringpi2.digitalWrite(LASER_EN_PIN, 0)
#
# log('Calculating distance...')
# t0 = time.clock()
# distance = calculate_distance(
# # os.path.expanduser('~/laser-off.jpg'),
# # os.path.expanduser('~/laser-on.jpg'),
# laser_off_image,
# laser_on_image,
# save=save,
# )
# td = time.clock() - t0
# distance = map(int, compress_list(distance, bins=10))
# print 'distance calculation took %s seconds' % td
# print 'distance:', distance
#
# tdd = time.clock() - t00
# print 'fps:', 1./tdd
# print 'exposure_speed:', camera.exposure_speed
# print 'shutter_speed:', camera.shutter_speed
# print 'camera.framerate:', camera.framerate
#
# if not continuous:
# break
distance = None
with picamera.PiCamera() as camera:
log('Initializing camera...')
#camera.resolution = (1024, 768)
camera.resolution = (320, 240)
if laser_position == BOTTOM:
camera.rotation = 180
camera.meter_mode = 'backlit'
#camera.start_preview()
#camera.led = False
#camera.shutter_speed = 30000 # microseconds (default)
camera.shutter_speed = 10000 # microseconds
#camera.shutter_speed = 5000 # microseconds
#camera.shutter_speed = 1000 # microseconds
camera.framerate = 80
log('Camera initialized.')
#TODO:fix? ignores KeyboardInterrupt?
# camera.capture_sequence(process(), format='jpeg', use_video_port=True)
if rpc is not None:
rpc = float(rpc)
if ro is not None:
ro = float(ro)
while 1:
t00 = time.clock()
log('Recording reference image with laser off...')
#time.sleep(capture_delay)
# Take at least two images to ensure proper exposure.
for _i in xrange(2):
stream = io.BytesIO()
camera.capture(
#os.path.expanduser('~/laser-off.jpg'),
stream,
format='jpeg',
quality=JPEG_QUALITY,
use_video_port=True,
)
stream.seek(0)
laser_off_image = Image.open(stream)
if save:
laser_off_image.save(os.path.expanduser('~/laser-off%i.jpg' % _i))
log('Turning laser on...')
wiringpi2.digitalWrite(LASER_EN_PIN, 1)
log('Recording reference image with laser on...')
#time.sleep(capture_delay)
stream = io.BytesIO()
camera.capture(
#os.path.expanduser('~/laser-on.jpg'),
stream,
format='jpeg',
quality=JPEG_QUALITY,
use_video_port=True,
)
stream.seek(0)
laser_on_image = Image.open(stream)
if save:
laser_on_image.save(os.path.expanduser('~/laser-on.jpg'))
log('Turning laser off...')
wiringpi2.digitalWrite(LASER_EN_PIN, 0)
try:
log('Calculating distance...')
t0 = time.clock()
lrf = LaserRangeFinder(
laser_position=laser_position,
rpc=rpc or 0.00103721750257,
ro=ro or 0.418921972295,
)
distances = lrf.get_distance(
off_img=laser_off_image,#os.path.join(CURRENT_DIR, '../../docs/images/sample1/sample-a-0.jpg'),
on_img=laser_on_image,#os.path.join(CURRENT_DIR, '../../docs/images/sample1/sample-b-0.jpg'),
save_images_dir='~',
as_pfc=as_pfc,
)
# distance = calculate_distance(
# # os.path.expanduser('~/laser-off.jpg'),
# # os.path.expanduser('~/laser-on.jpg'),
# laser_off_image,
# laser_on_image,
# save=save,
# )
td = time.clock() - t0
#distance = map(int, compress_list(distance, bins=10))
print 'distance calculation took %s seconds' % td
print 'distances:', distances
distances_10 = utils.compress_list(distances, bins=10, as_int=True)
print 'distances_10:', distances_10
tdd = time.clock() - t00
print 'fps:', 1./tdd
print 'exposure_speed:', camera.exposure_speed
print 'shutter_speed:', camera.shutter_speed
print 'camera.framerate:', camera.framerate
except IOError as e:
# On rare occassions we see:
# IOError: broken data stream when reading image file
print>>sys.stderr, e
if not continuous:
break
return distance
#!/usr/bin/env python ''' Program: Bit_rPiw.py Version: 0.1.2w Date: 23-Nov-2013 Purpose: To define useful functions for controlling bits (GPIOs). Converted to use WiringPi2 Dependencies: WiringPi2 Copyright (2013) by Dale Weber, [email protected], @hybotics (Twitter and App.Net) ALL Rights Reserved. ''' # This is specific to the Raspberry Pi import wiringpi2 wiringpi2.wiringPiSetupSys() # For /sys/class/gpio with GPIO pin numbering wiringpi2.wiringPiSetupGpio() # For GPIO pin numbering #import RPi.GPIO as GPIO ''' wiringpi2.pinMode(1,1) # Set pin 1 to output wiringpi2.digitalWrite(1,1) # Write 1 HIGH to pin 1 wiringpi2.digitalRead(1) # Read pin 1 ''' from hybotics import zilch from time import sleep ''' Functions ''' '''
def _init_picamera_led(self):
self.led = 5
os.system("gpio export " + str(self.led) + " out")
if gpio.wiringPiSetupSys() != 0:
rospy.logfatal("Unable to setup gpio")
gpio.digitalWrite(self.led,False)
def __init__(self, dev='/dev/spidev0.0', spd=1000000): spi.openSPI(device=dev,speed=spd) wiringpi2.wiringPiSetupSys() wiringpi2.pinMode(self.NRSTPD, 1) wiringpi2.digitalWrite(self.NRSTPD, 1) self.MFRC522_Init()
def gpio_ns_init():
call(
[
"gpio", "drive",
str(PADS_0_TO_27),
str(GPIO_DRIVE_STRENGTH_PADS_0_TO_27)
]
) #configure the output drive strength of the gpio - this is needed for the level translator
call(["gpio", "export", str(VOLTAGE_TEST_PIN),
"out"]) #configure bcm pin 4 as an output - Voltage Test
call(["gpio", "export", str(MFG_TRIG_PIN),
"out"]) #configure bcm pin 17 as an output - MFG Test
call(["gpio", "export", str(MFG_TOGGLE_PIN),
"in"]) #configure bcm pin 22 as an input - Toggle/Continue
call(["gpio", "export", str(POWER_PIN),
"out"]) #configure bcm pin 24 as an output.
call(["gpio", "export", str(FIXTURE_CLOSED_PIN),
"in"]) #configure bcm pin 2 as an input - Fixture Closed
call(["gpio", "export", str(FLASHER_OK_PIN),
"in"]) #configure bcm pin 7 as an input - Flasher Programmer OK
call(["gpio", "export", str(FLASHER_BUSY_PIN),
"in"]) #configure bcm pin 8 as an input - Flasher Programmer Busy
call(["gpio", "export", str(FLASHER_START_PIN), "out"
]) #configure bcm pin 25 as an output - Flasher Programmer Start
call(["gpio", "export", str(IN_JTAG_VCC_CTL), "out"
]) #configure bcm pin 11 as an output - Flasher Programmer Start
call(["gpio", "export", str(IN_MFG_INFO_CTL),
"out"]) #configure bcm pin 10 as an output - UART RX
call(["gpio", "export", str(POGOPIN_TEST_PIN),
"out"]) #configure bcm pin 5 as an output - Pogo Pin Test Pin
call(["gpio", "export", str(POGOPIN_RELAY_PIN),
"out"]) #configure bcm pin 6 as an output - Pogo Pin Test Pin
time.sleep(GP_DELAY_TIME)
call(["gpio", "-g", "mode",
str(MFG_TOGGLE_PIN),
"up"]) #configure bcm pin 22 to have a pull up resistor
call(["gpio", "-g", "mode",
str(FLASHER_OK_PIN),
"up"]) #configure bcm pin 7 to have a pull up resistor
call(["gpio", "-g", "mode",
str(FLASHER_BUSY_PIN),
"up"]) #configure bcm pin 8 to have a pull up resistor
call(["gpio", "-g", "mode",
str(MFG_INFO_PIN), "alt0"]) #configure bcm pin 15 to be a UART Rx
call(["gpio", "export", str(ENCODER_A0),
"in"]) #configure bcm pin 16 as an input - Encoder A0
call(["gpio", "export", str(ENCODER_A1),
"in"]) #configure bcm pin 20 as an input - Encoder A1
call(["gpio", "export", str(ENCODER_A2),
"in"]) #configure bcm pin 21 as an input - Encoder A2
call(["gpio", "export", str(PUSH1_ACTUATOR), "out"
]) #configure bcm pin 13 as an output - Actuate piston for PUSH1
call(["gpio", "export", str(PUSH2_ACTUATOR), "out"
]) #configure bcm pin 19 as an output - Actuate piston for PUSH2
call(["gpio", "export", str(PUSH3_ACTUATOR), "out"
]) #configure bcm pin 26 as an output - Actuate piston for PUSH3
call(["gpio", "export", str(CRYSTAL_CAL_PIN), "out"
]) #configure bcm pin 26 as an output - Actuate piston for PUSH3
# set the actuator pins to low.
gpio_ns_write(PUSH1_ACTUATOR, 0)
gpio_ns_write(PUSH2_ACTUATOR, 0)
gpio_ns_write(PUSH3_ACTUATOR, 0)
gpio_ns_write(POWER_PIN,
1) #initialize pin to 1 since the power is active low.
time.sleep(GP_DELAY_TIME)
wiringpi2.wiringPiSetupSys(
) #setup gpio to work with no sudo. must be called after 'gpio export' and 'gpio mode' calls
time.sleep(GP_DELAY_TIME)
time.sleep(GP_DELAY_TIME)
time.sleep(GP_DELAY_TIME)
def _init_led(self):
self.led = 5
os.system("gpio export " + str(self.led) + " out")
if gpio.wiringPiSetupSys() != 0:
rospy.logfatal("Unable to setup gpio")
gpio.digitalWrite(self.led, False)
#!/usr/bin/python
import time
import wiringpi2
wiringpi2.wiringPiSetup()
wiringpi2.wiringPiSetupSys()
wiringpi2.wiringPiSetupGpio()
#setup
wiringpi2.pinMode(11,1) # turn 11 into an output
#loop
while 1 :
wiringpi2.digitalWrite(11,1)
time.sleep(2)
wiringpi2.digitalWrite(11,0)
time.sleep(2)
import curses
import wiringpi2
import time
import serial
#importing necessary libraries
wiringpi2.wiringPiSetupSys(
) # For /sys/class/gpio with GPIO pin numbering - THE USED ONE
# OR
#wiringpi2.wiringPiSetup() # For sequential pin numbering, one of these MUST be called before using IO functions
# OR
#wiringpi2.wiringPiSetupGpio() # For GPIO pin numbering
# important MX-28 constants
AX_WRITE_DATA = 3
AX_READ_DATA = 4
s = serial.Serial() # create a serial port object
s.baudrate = 1000000 # baud rate, in bits/second
s.port = "/dev/ttySAC0" # this is whatever port your are using
s.open()
#function which takes input from keyboard without the need to press ENTER
def input_char(message):
try:
win = curses.initscr()
win.addstr(0, 0, message)
while (True):
ch = win.getch()
if ch in range(32, 127): break
def init_output(self):
"""Set the pin as output mode"""
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(self.write_bcm_pin, 1) # output mode
def init_input(self):
"""Set the pin as input mode"""
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(self.read_bcm_pin, 0) # input mode
def init_input(self):
"""Set the pin as input mode"""
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(self.read_bcm_pin, 0) # input mode
def init_output(self):
"""Set the pin as output mode"""
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(self.write_bcm_pin, 1) # output mode
def process_write_gpio(bcm_pin, value):
if value == "1":
pi.digitalWrite(bcm_pin, 1)
else:
pi.digitalWrite(bcm_pin, 0)
#this function is used to setup the thread for gpio writes
#use this one from python code
def write_gpio(bcm_pin, value):
p = Process(target=process_write_gpio, args=(bcm_pin, value))
p.start()
p.join()
call(["gpio", "export", "18", "out"]) #configure bcm pin 18 as an output
call(["gpio", "export", "17", "in"]) #configure bcm pin 17 as an input
call(["gpio", "-g", "mode", "17", "up"]) #configure bcm pin 17 to have a pull up resistor
pi.wiringPiSetupSys() #setup gpio to work with no sudo. must be called after 'gpio export' and 'gpio mode' calls
choice = raw_input("Enter '0' for low and '1' for high >")
write_gpio(18,choice) # example write of pin 18 of the user choice. choice must be 0 or 1
print(pi.digitalRead(18))
print(pi.digitalRead(17))
call(["gpio", "unexportall"]) #return gpio to raspi
print('just printing something to see if gets to end')
