def find_DMA_available():
import RPIO.PWM as PWM
result = None
for i in range(0,15):
if not PWM.is_channel_initialized(i):
result = i
break
if result == None:
raise ValueError('No DMA channel available, error')
return result
def find_DMA_available():
import RPIO.PWM as PWM
result = None
for i in range(0, 15):
if not PWM.is_channel_initialized(i):
result = i
break
if result == None:
raise ValueError('No DMA channel available, error')
return result
def __init__(self, redPin, greenPin, bluePin):
if not PWM.is_setup():
PWM.setup(10,1)
self.pins = [redPin, greenPin, bluePin]
a=2
while PWM.is_channel_initialized(a):
a=a+1
self.channels = [a, a+1, a+2]
for channel_num in self.channels:
PWM.init_channel(channel_num, subcycle_time_us=10000)
def init_pwm(channel, frequency):
# channel_id = 2
# channel: pwm['A'][channel_id], pwm['B']channel_id, pwm['C']channel_id, pwm['D']channel_id
# frequency: Frequency in Hz
subcycle = (1/frequency)*1000000
# if not already initialized by other pwms initialize channeç
if not(PWM.is_channel_initialized(channel)):
PWM.init_channel(channel, subcycle)
# Test initialization
if not(PWM.is_channel_initialized(channel)):
print("ERROR: Channel could not be initialized!")
return -1
# Test Frequency
if not(PWM.get_channel_subcycle_time_us(channel) == subcycle):
print("ERROR: Frequency could not be setted!")
return -1
return 1
def getFreePwmChannel(self):
availableDmaChannels = {9, 10, 11}
try:
for channel in availableDmaChannels:
if PWM.is_channel_initialized(channel) == 0:
return channel
raise Exception("No uninitialized DMA channel available.")
except Exception, exception:
print exception
exit(0)
def __init__(self, channel=PWM_CHANNEL, pin=PWM_PIN, subcycle=PWM_SUBCYCLE, unit=PWM_UNIT):
self._channel = channel
self._pin = pin
self._subcycle = subcycle
self._range = int(subcycle / unit)
if not PWM.is_setup():
PWM.set_loglevel(PWM.LOG_LEVEL_ERRORS)
PWM.setup()
# work around bug in RPIO.PWM, https://www.raspberrypi.org/forums/viewtopic.php?p=509549
signal.signal(signal.SIGCHLD, signal.SIG_IGN)
if not PWM.is_channel_initialized(self._channel):
PWM.init_channel(self._channel, self._subcycle)
def getFreePwmChannel(self):
availableDmaChannels = {9, 10, 11}
try:
for channel in availableDmaChannels:
if PWM.is_channel_initialized(channel) == 0:
return channel
raise Exception("No uninitialized DMA channel available.")
except Exception, exception:
print exception
exit(0)
def main():
# Set up Frequency in Hertz
FREQUENCY = 1000
SUBCYCLE_US = ((1 / FREQUENCY) * 1000000)
CHANNEL = 0
# Set duty_cycle 0 -> 100
DUTY_CYCLE = 50
# Set Pin
PINO = PIN.CEL_A_1
# Setup PWM and DMA channel 0
PWM.setup()
PWM.init_channel(channel=CHANNEL, subcycle_time_us=SUBCYCLE_US)
# Test initialization
if not (PWM.is_channel_initialized(CHANNEL)):
print("ERROR: Channel could not be initialized!")
return -1
# Test Frequency
if not (PWM.get_channel_subcycle_time_us(CHANNEL) == SUBCYCLE_US):
print("ERROR: Frequency could not be setted!")
return -1
# Add pwm Pulse
PWM.add_channel_pulse(dma_channel=CHANNEL,
gpio=PINO,
start=0,
width=((SUBCYCLE_US / 10) * (DUTY_CYCLE / 100)))
# fake while
print("Press any key to stop")
input()
# Stop PWM for specific GPIO on channel 0
PWM.clear_channel_gpio(0, PINO)
# Shutdown all PWM and DMA activity
PWM.cleanup()
return 0
def start(self):
if not PWM.is_setup():
PWM.setup()
if not PWM.is_channel_initialized(0):
PWM.init_channel(0)
#same as look_forward() without clearing first
PWM.add_channel_pulse(0, self.pPanL, 0, self.pan_centerL)
PWM.add_channel_pulse(0, self.pTiltL, 0, self.tilt_centerL)
PWM.add_channel_pulse(0, self.pPanR, 0, self.pan_centerR)
PWM.add_channel_pulse(0, self.pTiltR, 0, self.tilt_centerR)
RPIO.setup(self.pPanicBtn, RPIO.IN)
RPIO.add_interrupt_callback(self.pPanicBtn,
edge='falling',
pull_up_down=RPIO.PUD_UP,
callback=self.cb_panic,
debounce_timeout_ms=200)
RPIO.wait_for_interrupts(threaded=True)
#set della granularity (è il default durante l'inizializzazione tic di incremento in microsecondi)
PWM.setup(granularity, 0) #default: pulse_incr_us=10, delay_hw=0
for i in canale_dma:
PWM.init_channel(i, subcycle_time[i]) #canale DMA con tempo subcycle
# PWM.setup(granularity, 0) #default: pulse_incr_us=10, delay_hw=0
#aggiungo un impulso nel canale DMA all'interno di ogni subcycle per ogni GPIO
#POSSO ANCHE NON AGGIUNGERE NIENTE :-), VOLENDO.
PWM.add_channel_pulse(i, gpio_port[i], pulse_start[i], pulse_width[i])
#setup per output su GPIO
for i in gpio_port:
RPIO.setup(i, RPIO.OUT)
for i in canale_dma:
PWM.print_channel(i)
if PWM.is_channel_initialized(i):
print ("canale ", i, " inizializzato")
else:
print ("canale ", i, " NON inizializzato")
if PWM.is_setup():
print ("setup canale ", i, "chiamato")
else:
print ("setup canale ", i, " NON chiamato")
try:
while True:
# LED per vedere se tutto funziona
for t in led_time:
for i in gpio_port:
RPIO.output(i, RPIO.HIGH)
sleep(t)
#aggiungo un impulso nel canale DMA all'interno di ogni subcycle per ogni GPIO
#POSSO ANCHE NON AGGIUNGERE NIENTE :-), VOLENDO.
# PWM.add_channel_pulse(i, gpio_port[i], pulse_start[i], pulse_width[i])
PWM.add_channel_pulse(0, gpio_port[0], pulse_start[0], pulse_width[0])
PWM.add_channel_pulse(1, gpio_port[1], pulse_start[1], pulse_width[1])
PWM.add_channel_pulse(2, gpio_port[2], pulse_start[2], pulse_width[2])
PWM.add_channel_pulse(3, gpio_port[3], pulse_start[3], pulse_width[3])
#setup per output su GPIO
for j in gpio_port:
RPIO.setup(j, RPIO.OUT)
for k in canale_dma:
PWM.print_channel(k)
if PWM.is_channel_initialized(k):
print ("canale ", k, " inizializzato")
else:
print ("canale ", k, " NON inizializzato")
if PWM.is_setup():
print ("setup canale ", k, "chiamato")
else:
print ("setup canale ", k, " NON chiamato")
try:
while True:
# LED per vedere se tutto funziona
for t in led_time:
for p in gpio_port:
RPIO.output(p, RPIO.HIGH)
sleep(t)
