def __init__(self,
ina,
inb,
enable,
ctrl,
enable_pwm=True,
gpio=GPIO.get_platform_gpio(),
pwm=PWM.get_platform_pwm()):
# Save GPIO state and pin numbers
self._en = enable
self._ina = ina
self._inb = inb
self._ctrl = ctrl
# Save libraries
self._enable_pwm = enable_pwm
self._pwm = pwm
self._gpio = gpio
# Setup all pins as outputs
for pin in (ina, inb, enable):
self._gpio.setup(pin, GPIO.OUT)
# Setup the PWM speed control
if (enable_pwm):
self._pwm.start(ctrl, 0)
else:
gpio.setup(ctrl, GPIO.OUT)
self._gpio.output(ctrl, False)
# Enable Motor
self._gpio.output(self._en, True)
# Initialise the motor (stationary)
self.setBrake(0)
def __init__(self,
m1ina=VNH_SHIELD_M1INA,
m1inb=VNH_SHIELD_M1INB,
m1en=VNH_SHIELD_M1EN,
m1pwm=VNH_SHIELD_M1PWM,
m2ina=VNH_SHIELD_M2INA,
m2inb=VNH_SHIELD_M2INB,
m2en=VNH_SHIELD_M2EN,
m2pwm=VNH_SHIELD_M2PWM,
pwm_enabled=True,
gpio=GPIO.get_platform_gpio(),
pwm=PWM.get_platform_pwm()):
# Initialise Motors
# Left Motor
self._M1 = Pololu_VNH5019(m1ina,
m1inb,
m1en,
m1pwm,
enable_pwm=pwm_enabled,
gpio=gpio,
pwm=pwm)
# Right Motor
self._M2 = Pololu_VNH5019(m2ina,
m2inb,
m2en,
m2pwm,
enable_pwm=pwm_enabled,
gpio=gpio,
pwm=pwm)
self.motors = [self._M1, self._M2]
# Initialise Motors
self.setBrakes(0, 0)
self._gpio = gpio
def __init__(self, rs, en, d4, d5, d6, d7, cols, lines, red, green, blue,
gpio=GPIO.get_platform_gpio(),
invert_polarity=True,
enable_pwm=False,
pwm=PWM.get_platform_pwm(),
initial_color=(1.0, 1.0, 1.0),
long_delay_us=DEFAULT_LONG_DELAY_US):
"""Initialize the LCD with RGB backlight. RS, EN, and D4...D7 parameters
should be the pins connected to the LCD RS, clock enable, and data line
4 through 7 connections. The LCD will be used in its 4-bit mode so these
6 lines are the only ones required to use the LCD. You must also pass in
the number of columns and lines on the LCD.
The red, green, and blue parameters define the pins which are connected
to the appropriate backlight LEDs. The invert_polarity parameter is a
boolean that controls if the LEDs are on with a LOW or HIGH signal. By
default invert_polarity is True, i.e. the backlight LEDs are on with a
low signal. If you want to enable PWM on the backlight LEDs (for finer
control of colors) and the hardware supports PWM on the provided pins,
set enable_pwm to True. Finally you can set an explicit initial backlight
color with the initial_color parameter. The default initial color is
white (all LEDs lit).
You can optionally pass in an explicit GPIO class,
for example if you want to use an MCP230xx GPIO extender. If you don't
pass in an GPIO instance, the default GPIO for the running platform will
be used.
"""
super(Adafruit_RGBCharLCD, self).__init__(rs, en, d4, d5, d6, d7,
cols,
lines,
enable_pwm=enable_pwm,
backlight=None,
invert_polarity=invert_polarity,
gpio=gpio,
pwm=pwm,
long_delay_us=long_delay_us)
self._red = red
self._green = green
self._blue = blue
# Setup backlight pins.
if enable_pwm:
# Determine initial backlight duty cycles.
rdc, gdc, bdc = self._rgb_to_duty_cycle(initial_color)
pwm.start(red, rdc)
pwm.start(green, gdc)
pwm.start(blue, bdc)
else:
gpio.setup(red, GPIO.OUT)
gpio.setup(green, GPIO.OUT)
gpio.setup(blue, GPIO.OUT)
self._gpio.output_pins(self._rgb_to_pins(initial_color))
def __init__(self, rs, en, d4, d5, d6, d7, cols, lines, red, green, blue,
gpio=GPIO.get_platform_gpio(),
invert_polarity=True,
enable_pwm=False,
pwm=PWM.get_platform_pwm(),
initial_color=(1.0, 1.0, 1.0)):
"""Initialize the LCD with RGB backlight. RS, EN, and D4...D7 parameters
should be the pins connected to the LCD RS, clock enable, and data line
4 through 7 connections. The LCD will be used in its 4-bit mode so these
6 lines are the only ones required to use the LCD. You must also pass in
the number of columns and lines on the LCD.
The red, green, and blue parameters define the pins which are connected
to the appropriate backlight LEDs. The invert_polarity parameter is a
boolean that controls if the LEDs are on with a LOW or HIGH signal. By
default invert_polarity is True, i.e. the backlight LEDs are on with a
low signal. If you want to enable PWM on the backlight LEDs (for finer
control of colors) and the hardware supports PWM on the provided pins,
set enable_pwm to True. Finally you can set an explicit initial backlight
color with the initial_color parameter. The default initial color is
white (all LEDs lit).
You can optionally pass in an explicit GPIO class,
for example if you want to use an MCP230xx GPIO extender. If you don't
pass in an GPIO instance, the default GPIO for the running platform will
be used.
"""
super(Adafruit_RGBCharLCD, self).__init__(rs, en, d4, d5, d6, d7,
cols,
lines,
enable_pwm=enable_pwm,
backlight=None,
invert_polarity=invert_polarity,
gpio=gpio,
pwm=pwm)
self._red = red
self._green = green
self._blue = blue
# Setup backlight pins.
if enable_pwm:
# Determine initial backlight duty cycles.
rdc, gdc, bdc = self._rgb_to_duty_cycle(initial_color)
pwm.start(red, rdc)
pwm.start(green, gdc)
pwm.start(blue, bdc)
else:
gpio.setup(red, GPIO.OUT)
gpio.setup(green, GPIO.OUT)
gpio.setup(blue, GPIO.OUT)
self._gpio.output_pins(self._rgb_to_pins(initial_color))
def test_fan():
print("[+] Starting Fan Test")
fan1_frequency = 25000
fan1_pin = config['pin_outs']['fan_1']
fan2_frequency = 25000
fan2_pin = config['pin_outs']['fan_2']
pwm = PWMLib.get_platform_pwm()
pwm.start(fan1_pin, globals.fan_speed, fan1_frequency)
if (fan2_pin):
pwm.start(fan2_pin, globals.fan_speed, fan2_frequency)
while (globals.fan_speed != 100):
print("[+] Fan Speed at {}%".format(globals.fan_speed))
time.sleep(5)
globals.fan_speed += 10
pwm.set_duty_cycle(fan1_pin, globals.fan_speed)
if (fan2_pin):
pwm.set_duty_cycle(fan2_pin, globals.fan_speed)
pwm.stop(fan1_pin)
if (fan2_pin):
pwm.stop(fan2_pin)
def test_raspberrypi(self):
pwm = PWM.get_platform_pwm()
self.assertIsInstance(pwm, PWM.RPi_PWM_Adapter)
def test_set_frequency(self):
bbio_pwm = Mock()
pwm = PWM.BBIO_PWM_Adapter(bbio_pwm)
pwm.start('P9_16', 50)
pwm.set_frequency('P9_16', 1000)
bbio_pwm.set_frequency.assert_called_with('P9_16', 1000)
def run_temperature_controller():
globals.log('info', 'Temperature Controller Started')
#Initialize Pid
pid = PID(Kp=aggressive_kp,
Ki=aggressive_ki,
Kd=aggressive_kd,
setpoint=globals.target_barrel_temp,
output_limits=(0, 100),
auto_mode=True,
proportional_on_measurement=True
) # See documentation on proportial on measurement flag
#Initialize temperature offset
temperature_offset = 0
if (simulated_mode == False):
#Initialize Fan
pwm = PWM.get_platform_pwm()
pwm.start(fan1_pin, globals.fan_speed, fan1_frequency)
#if a second fan is defined, initialize that as well
if (fan2_pin):
pwm.start(fan2_pin, globals.fan_speed, fan2_frequency)
#if lid switch pin is defined, set it up as input
if (lid_switch_pin):
gpio_platform.setup(lid_switch_pin, GPIO.IN)
#initialize thermocouples
TC1 = MAX6675.MAX6675(CLK_pin, TC1_CS_pin, DO_pin)
TC2 = MAX6675.MAX6675(CLK_pin, TC2_CS_pin, DO_pin)
TC3 = MAX6675.MAX6675(CLK_pin, TC3_CS_pin, DO_pin)
TC4 = MAX6675.MAX6675(CLK_pin, TC4_CS_pin, DO_pin)
TC5 = MAX6675.MAX6675(CLK_pin, TC5_CS_pin, DO_pin)
#Initialize Temperatures
#read sensors
TC1_temp = TC1.readTempC()
time.sleep(0.1)
TC2_temp = TC2.readTempC()
time.sleep(0.1)
TC3_temp = TC3.readTempC()
time.sleep(0.1)
TC4_temp = TC4.readTempC()
time.sleep(0.1)
TC5_temp = TC5.readTempC()
else:
#if in simulated mode, set to 20 degrees baseline
TC1_temp = 20
TC2_temp = 20
TC3_temp = 20
TC4_temp = 20
TC5_temp = 20
#and create empty pwm object
pwm = None
#set variables used in the loop
TC5_temp_last = TC5_temp
temp_weighted_avg_last = ((TC1_temp + TC2_temp + TC3_temp + TC4_temp) / 4)
#keep looping until instructed otherwise
while (globals.stop_threads == False):
#update setpoint if it differs
if (pid.setpoint != globals.target_barrel_temp):
globals.log(
'debug',
'Temperature Controller - PID Setpoint changed to: {}'.format(
globals.target_barrel_temp))
pid.setpoint = globals.target_barrel_temp
#read sensors and if in simulated mode, calculate based on fan speed
if (simulated_mode == False):
TC1_temp = TC1.readTempC()
time.sleep(0.1)
TC2_temp = TC2.readTempC()
time.sleep(0.1)
TC3_temp = TC3.readTempC()
time.sleep(0.1)
TC4_temp = TC4.readTempC()
time.sleep(0.1)
TC5_temp = TC5.readTempC()
else:
simulated_temp = simulate_temperature(TC1_temp)
TC1_temp = TC2_temp = TC3_temp = TC4_temp = simulated_temp
TC5_temp += 0.01
#Calculations
temp_weighted_avg = (
(TC1_temp + TC2_temp + TC3_temp + TC4_temp) / 4
) + globals.temperature_offset # + 45 From SmokeyTheBarrel: temperature compensation between outside and center of the barrel
temp_weighted_avg_last = (2 * temp_weighted_avg_last +
temp_weighted_avg) / 3
globals.current_barrel_temp = temp_weighted_avg_last
temperature_gap = globals.target_barrel_temp - temp_weighted_avg_last
globals.current_temp_gap = temperature_gap
TC5_temp_last = (2 * TC5_temp_last + TC5_temp) / 3
globals.current_meat_temp = TC5_temp_last
#use conservative pid profile for small temperature differences
if (temperature_gap >= -10 and temperature_gap <= 10):
set_pid_profile(pid, 'conservative')
#otherwise use the aggresive profile
else:
set_pid_profile(pid, 'aggressive')
#if lid switch pin is defined, check its state. If the lid is open, kill the fan. If the pin is not defined calculate and set the speed as required
if (lid_switch_pin):
lid_state = gpio_platform.input(lid_switch_pin)
if (lid_state == GPIO.HIGH):
set_fan_speed(pwm, 0)
globals.lid_open = True
else:
#calculate new fan speed and set the fan speed
#only do the pid calculation when the lid is closed to prevent confusing the pid
pid_output = pid(temp_weighted_avg_last)
set_fan_speed(pwm, pid_output)
globals.lid_open = False
else:
#calculate new fan speed and set the fan speed
pid_output = pid(temp_weighted_avg_last)
set_fan_speed(pwm, pid_output)
#if the calibrate option has been selected
if (globals.calibrate_temperature == True):
globals.log(
'info',
'Temperature Calibration Started, stopping PID controller')
#stop the pid
pid.auto_mode = False
#run the calibrate function
globals.temperature_offset = calibrate_temperature_offset(
TC1, TC2, TC3, TC4, TC5, pwm)
#reenable the pid
pid.auto_mode = True
globals.log(
'info',
'Temperature Calibration Finished, PID controller started')
#sleep for a second
time.sleep(1)
###### End of loop
if (simulated_mode == False):
pwm.stop(fan1_pin)
if (fan2_pin):
pwm.stop(fan2_pin)
globals.log('info', 'Temperature Controller Stopped')
#!/usr/bin/python
import Tkinter as tk
from Tkinter import *
import Adafruit_GPIO as GPIO
import Adafruit_GPIO.PWM as PWM
gpio = GPIO.get_platform_gpio()
pwm = PWM.get_platform_pwm()
MAINPIN = 19
RELIEFPIN = 16
VENTPIN = 26
IGNITIONPIN = 20
#GPIO.setmode(GPIO.BCM)
class MainApp:
def __init__(self, master):
#Check Buttons
self.propulsion = BooleanVar()
self.mission_control = BooleanVar()
self.safety = BooleanVar()
#Fill States
self.fill_state = BooleanVar()
self.relief_state = BooleanVar()
self.manual_state = BooleanVar()
self.propulsion.set(0)
self.mission_control.set(0)
def test_raspberrypi(self):
pwm = PWM.get_platform_pwm()
self.assertIsInstance(pwm, PWM.RPi_PWM_Adapter)
def test_set_duty_cycle_valid(self):
rpi_gpio = Mock()
pwm = PWM.RPi_PWM_Adapter(rpi_gpio)
pwm.start(1, 50)
pwm.set_duty_cycle(1, 75)
def test_setup(self):
rpi_gpio = Mock()
pwm = PWM.RPi_PWM_Adapter(rpi_gpio)
pwm.start(1, 50)
rpi_gpio.PWM.assert_called_with(1, 2000)
def test_beagleboneblack(self):
pwm = PWM.get_platform_pwm()
self.assertIsInstance(pwm, PWM.BBIO_PWM_Adapter)
app = create_app()
create_app()
try:
socketio = SocketIO(app, async_mode=async_mode)
except:
# Needed for sphinx documentation
socketio = SocketIO(app)
ws_thread = None
hb_thread = None
payload = None
try:
pwm = pwmLib.get_platform_pwm(pwmtype="softpwm")
gpio = gpioLib.get_platform_gpio()
except NameError:
print "Adafruit_GPIO lib is unavailable"
DEFAULT_SOFTPWM_FREQ = 100
binary_sensors = []
class BinarySensor:
"""
The binary sensor object contains information for each binary sensor.
:param name:
The human readable name of the sensor
:param pin:
def run_temperature_controller():
globals.log('info', 'Temperature Controller Started')
#Initialize Pid
pid = PID(Kp=aggressive_kp, Ki=aggressive_ki, Kd=aggressive_kd, setpoint=globals.target_barrel_temp, output_limits=(0, 100), auto_mode=True, proportional_on_measurement=False)
if (simulated_mode == False):
#Initialize Fan
pwm = PWMLib.get_platform_pwm()
pwm.start(fan1_pin, globals.fan_speed, fan1_frequency)
#if a second fan is defined, initialize that as well
if(fan2_pin) :
pwm.start(fan2_pin, globals.fan_speed, fan2_frequency)
#initialize thermocouples
TC1 = MAX6675.MAX6675(CLK_pin, TC1_CS_pin, DO_pin)
TC2 = MAX6675.MAX6675(CLK_pin, TC2_CS_pin, DO_pin)
TC3 = MAX6675.MAX6675(CLK_pin, TC3_CS_pin, DO_pin)
TC4 = MAX6675.MAX6675(CLK_pin, TC4_CS_pin, DO_pin)
TC5 = MAX6675.MAX6675(CLK_pin, TC5_CS_pin, DO_pin)
#Initialize Temperatures
#read sensors
TC1_temp = TC1.readTempC()
time.sleep(0.1)
TC2_temp = TC2.readTempC()
time.sleep(0.1)
TC3_temp = TC3.readTempC()
time.sleep(0.1)
TC4_temp = TC4.readTempC()
time.sleep(0.1)
TC5_temp = TC5.readTempC()
else:
#if in simulated mode, set to 20 degrees baseline
TC1_temp = 20
TC2_temp = 20
TC3_temp = 20
TC4_temp = 20
TC5_temp = 20
#and create empty pwm object
pwm = None
#set variables used in the loop
TC5_temp_last = TC5_temp
temp_weighted_avg_last = ((TC1_temp + TC2_temp + TC3_temp + TC4_temp) / 4)
#keep looping until instructed otherwise
while(globals.stop_threads == False):
#update setpoint if it differs
if (pid.setpoint != globals.target_barrel_temp):
globals.log('debug', 'Temperature Controller - PID Setpoint changed to: {}'.format(globals.target_barrel_temp))
pid.setpoint = globals.target_barrel_temp
#read sensors and if in simulated mode, calculate based on fan speed
if (simulated_mode == False):
TC1_temp = TC1.readTempC()
time.sleep(0.1)
TC2_temp = TC2.readTempC()
time.sleep(0.1)
TC3_temp = TC3.readTempC()
time.sleep(0.1)
TC4_temp = TC4.readTempC()
time.sleep(0.1)
TC5_temp = TC5.readTempC()
else:
simulated_temp = simulate_temperature(TC1_temp)
TC1_temp = TC2_temp = TC3_temp = TC4_temp = simulated_temp
TC5_temp += 0.01
#Calculations
temp_weighted_avg = ((TC1_temp + TC2_temp + TC3_temp + TC4_temp) / 4) # + 45 From SmokeyTheBarrel: temperature compensation between outside and center of the barrel
temp_weighted_avg_last=(2 * temp_weighted_avg_last + temp_weighted_avg) / 3
globals.current_barrel_temp = temp_weighted_avg_last
temperature_gap = globals.target_barrel_temp - temp_weighted_avg_last
globals.current_temp_gap = temperature_gap
TC5_temp_last=(2 * TC5_temp_last + TC5_temp)/3;
globals.current_meat_temp = TC5_temp_last
#use conservative pid profile for small temperature differences
if (temperature_gap >= -10 and temperature_gap <= 10):
set_pid_profile(pid, 'conservative')
#otherwise use the aggresive profile
else:
set_pid_profile(pid, 'aggressive')
#calculate new fan speed and set the fan speed
pid_output = pid(temp_weighted_avg_last)
set_fan_speed(pwm, pid_output)
#sleep for a second
time.sleep(1)
if (simulated_mode == False):
pwm.stop(fan1_pin)
if (fan2_pin):
pwm.stop(fan2_pin)
globals.log('info', 'Temperature Controller Stopped')
def __init__(self, pin):
self._pin = pin
self._motor = PWM.BBIO_PWM_Adapter(PWM.get_platform_pwm())
self._motor.set_frequency(self._pin, self._freq)
import Adafruit_GPIO.PWM as pwmLib from time import time, sleep #pwm = pwmLib.get_platform_pwm() pwm = pwmLib.CHIP_PWM_Adapter() pwm.start(5, 3, 1) pwm.start(6, 15, 1) sleep(3) pwm.set_duty_cycle(5, 12) pwm.set_frequency(5, 0.2) sleep(10) pwm.stop(5); pwm.stop(6);
def test_set_duty_cycle_invalid(self):
rpi_gpio = Mock()
pwm = PWM.RPi_PWM_Adapter(rpi_gpio)
pwm.start(1, 50)
self.assertRaises(ValueError, pwm.set_duty_cycle, 1, 150)
self.assertRaises(ValueError, pwm.set_duty_cycle, 1, -10)
def __init__(self, rs, en, d4, d5, d6, d7, cols, lines, backlight=None,
invert_polarity=True,
enable_pwm=False,
gpio=GPIO.get_platform_gpio(),
pwm=PWM.get_platform_pwm(),
initial_backlight=1.0):
"""Initialize the LCD. RS, EN, and D4...D7 parameters should be the pins
connected to the LCD RS, clock enable, and data line 4 through 7 connections.
The LCD will be used in its 4-bit mode so these 6 lines are the only ones
required to use the LCD. You must also pass in the number of columns and
lines on the LCD.
If you would like to control the backlight, pass in the pin connected to
the backlight with the backlight parameter. The invert_polarity boolean
controls if the backlight is one with a LOW signal or HIGH signal. The
default invert_polarity value is True, i.e. the backlight is on with a
LOW signal.
You can enable PWM of the backlight pin to have finer control on the
brightness. To enable PWM make sure your hardware supports PWM on the
provided backlight pin and set enable_pwm to True (the default is False).
The appropriate PWM library will be used depending on the platform, but
you can provide an explicit one with the pwm parameter.
The initial state of the backlight is ON, but you can set it to an
explicit initial state with the initial_backlight parameter (0 is off,
1 is on/full bright).
You can optionally pass in an explicit GPIO class,
for example if you want to use an MCP230xx GPIO extender. If you don't
pass in an GPIO instance, the default GPIO for the running platform will
be used.
"""
# Save column and line state.
self._cols = cols
self._lines = lines
# Save GPIO state and pin numbers.
self._gpio = gpio
self._rs = rs
self._en = en
self._d4 = d4
self._d5 = d5
self._d6 = d6
self._d7 = d7
# Save backlight state.
self._backlight = backlight
self._pwm_enabled = enable_pwm
self._pwm = pwm
self._blpol = not invert_polarity
# Setup all pins as outputs.
for pin in (rs, en, d4, d5, d6, d7):
gpio.setup(pin, GPIO.OUT)
# Setup backlight.
if backlight is not None:
if enable_pwm:
pwm.start(backlight, self._pwm_duty_cycle(initial_backlight))
else:
gpio.setup(backlight, GPIO.OUT)
gpio.output(backlight, self._blpol if initial_backlight else not self._blpol)
# Initialize the display.
self.write8(0x33)
self.write8(0x32)
# Initialize display control, function, and mode registers.
self.displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF
self.displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_2LINE | LCD_5x8DOTS
self.displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT
# Write registers.
self.write8(LCD_DISPLAYCONTROL | self.displaycontrol)
self.write8(LCD_FUNCTIONSET | self.displayfunction)
self.write8(LCD_ENTRYMODESET | self.displaymode) # set the entry mode
self.clear()
def test_set_frequency(self):
rpi_gpio = Mock()
pwm = PWM.RPi_PWM_Adapter(rpi_gpio)
pwm.start(1, 50)
pwm.set_frequency(1, 1000)
def test_beagleboneblack(self):
pwm = PWM.get_platform_pwm()
self.assertIsInstance(pwm, PWM.BBIO_PWM_Adapter)
def test_setup(self):
bbio_pwm = Mock()
pwm = PWM.BBIO_PWM_Adapter(bbio_pwm)
pwm.start('P9_16', 50)
bbio_pwm.start.assert_called_with('P9_16', 50, 2000)
# lcd_columns = 20
# lcd_rows = 4
# Initialize GPIO
gpio = GPIO.get_platform_gpio()
# Initialize One Wire Thermal Sensor
sensor = W1ThermSensor()
# Initialize the LCD using the pins
lcd = LCD.Adafruit_RGBCharLCD(lcd_rs, lcd_en, lcd_d4, lcd_d5, lcd_d6, lcd_d7,
lcd_columns,
lcd_rows, lcd_red, lcd_green, lcd_blue,
gpio=GPIO.get_platform_gpio(),
invert_polarity=True,
enable_pwm=True,
pwm=PWM.get_platform_pwm(pwmtype="softpwm"),
initial_color=(1.0, 1.0, 1.0))
# Blue startup screen
lcd.set_color(0.0, 0.0, 1.0)
lcd.clear()
# Create Farenheight Degree Symbol
lcd.create_char(1, [0b11000,
0b11000,
0b00000,
0b00111,
0b00100,
0b00110,
0b00100,
def test_set_duty_cycle_valid(self):
bbio_pwm = Mock()
pwm = PWM.BBIO_PWM_Adapter(bbio_pwm)
pwm.start('P9_16', 50)
pwm.set_duty_cycle('P9_16', 75)
bbio_pwm.set_duty_cycle.assert_called_with('P9_16', 75)
def __init__(self, rs, en, d4, d5, d6, d7, cols, lines, backlight=None,
invert_polarity=True,
enable_pwm=False,
gpio=GPIO.get_platform_gpio(),
pwm=PWM.get_platform_pwm(),
initial_backlight=1.0):
"""Initialize the LCD. RS, EN, and D4...D7 parameters should be the pins
connected to the LCD RS, clock enable, and data line 4 through 7 connections.
The LCD will be used in its 4-bit mode so these 6 lines are the only ones
required to use the LCD. You must also pass in the number of columns and
lines on the LCD.
If you would like to control the backlight, pass in the pin connected to
the backlight with the backlight parameter. The invert_polarity boolean
controls if the backlight is one with a LOW signal or HIGH signal. The
default invert_polarity value is True, i.e. the backlight is on with a
LOW signal.
You can enable PWM of the backlight pin to have finer control on the
brightness. To enable PWM make sure your hardware supports PWM on the
provided backlight pin and set enable_pwm to True (the default is False).
The appropriate PWM library will be used depending on the platform, but
you can provide an explicit one with the pwm parameter.
The initial state of the backlight is ON, but you can set it to an
explicit initial state with the initial_backlight parameter (0 is off,
1 is on/full bright).
You can optionally pass in an explicit GPIO class,
for example if you want to use an MCP230xx GPIO extender. If you don't
pass in an GPIO instance, the default GPIO for the running platform will
be used.
"""
# Save column and line state.
self._cols = cols
self._lines = lines
# Save GPIO state and pin numbers.
self._gpio = gpio
self._rs = rs
self._en = en
self._d4 = d4
self._d5 = d5
self._d6 = d6
self._d7 = d7
# Save backlight state.
self._backlight = backlight
self._pwm_enabled = enable_pwm
self._pwm = pwm
self._blpol = not invert_polarity
# Setup all pins as outputs.
for pin in (rs, en, d4, d5, d6, d7):
gpio.setup(pin, GPIO.OUT)
# Setup backlight.
if backlight is not None:
if enable_pwm:
pwm.start(backlight, self._pwm_duty_cycle(initial_backlight))
else:
gpio.setup(backlight, GPIO.OUT)
gpio.output(backlight, self._blpol if initial_backlight else not self._blpol)
# Initialize the display.
self.write8(0x33)
self.write8(0x32)
# Initialize display control, function, and mode registers.
self.displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF
self.displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_2LINE | LCD_5x8DOTS
self.displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT
# Write registers.
self.write8(LCD_DISPLAYCONTROL | self.displaycontrol)
self.write8(LCD_FUNCTIONSET | self.displayfunction)
self.write8(LCD_ENTRYMODESET | self.displaymode) # set the entry mode
self.clear()
def test_set_duty_cycle_invalid(self):
bbio_pwm = Mock()
pwm = PWM.BBIO_PWM_Adapter(bbio_pwm)
pwm.start('P9_16', 50)
self.assertRaises(ValueError, pwm.set_duty_cycle, 'P9_16', 150)
self.assertRaises(ValueError, pwm.set_duty_cycle, 'P9_16', -10)