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software servo! this implements and will close #41. also fixed issue with softpwm cleanup(), update to version 0.4.0

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This commit is contained in:
Robert Wolterman
2017-02-07 04:17:09 +00:00
parent cd85e2b5eb
commit 6bd2e61450
12 changed files with 760 additions and 31 deletions
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8
CHANGELOG.rst
View File

@ -1,3 +1,11 @@
0.4.0
---
* Software Servo code added
- Only works on the LCD and CSI pins
* Fixed cleanup() for the SOFTPWM and SERVO
- The per pin cleanup for SOFTPWM doesn't work as stop() clears up the memory for the pin used
- SERVO code was based on SOFTPWM, so it inherited this issue
0.3.5
---
* Merged in brettcvz's code to read a byte of data from the GPIO

22
README.rst
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@ -285,10 +285,8 @@ Hardware PWM requires a DTB Overlay loaded on the CHIP to allow the kernel to kn
SPWM.set_frequency("XIO-P7", 10)
# To Stop SPWM
SPWM.stop("XIO-P7")
# Cleanup can have no argument to clean up all SoftPWM outputs
# Cleanup
SPWM.cleanup()
# Or you can specify a single SoftPWM output to cleanup (keeping the rest intact)
SPWM.cleanup("XIO-P7")
#For specific polarity: this example sets polarity to 1 on start:
SPWM.start("XIO-P7", 50, 2000, 1)
@ -296,6 +294,24 @@ Use SOFTPWM at low speeds (hundreds of Hz) for the best results. Do not use for
If using SOFTPWM and PWM at the same time, import CHIP_IO.SOFTPWM as SPWM or something different than PWM as to not confuse the library.
**SERVO**::
import CHIP_IO.SERVO as SERVO
# Enable/Disable Debug
SERVO.toggle_debug()
#SPWM.start(channel, angle=0, range=180)
#angle values are between +/- range/2)
#you can choose any pin except the XIO's
SERVO.start("CSID4", 50)
SERVO.set_angle("CSID4", 25.5)
SERVO.set_range("CSID4", 90)
# To Stop Servo
SERVO.stop("CSID4")
# Cleanup
SERVO.cleanup()
The Software Servo control only works on the LCD and CSI pins. The XIO is too slow to control.
**LRADC**::
The LRADC was enabled in the 4.4.13-ntc-mlc. This is a 6 bit ADC that is 2 Volt tolerant.

5
setup.py
View File

@ -20,7 +20,7 @@ classifiers = ['Development Status :: 3 - Alpha',
'Topic :: System :: Hardware']
setup(name = 'CHIP_IO',
version = '0.3.5',
version = '0.4.0',
author = 'Robert Wolterman',
author_email = 'robert.wolterman@gmail.com',
description = 'A module to control CHIP IO channels',
@ -32,5 +32,6 @@ setup(name = 'CHIP_IO',
packages = find_packages(),
ext_modules = [Extension('CHIP_IO.GPIO', ['source/py_gpio.c', 'source/event_gpio.c', 'source/constants.c', 'source/common.c'], extra_compile_args=['-Wno-format-security']),
Extension('CHIP_IO.PWM', ['source/py_pwm.c', 'source/c_pwm.c', 'source/constants.c', 'source/common.c'], extra_compile_args=['-Wno-format-security']),
Extension('CHIP_IO.SOFTPWM', ['source/py_softpwm.c', 'source/c_softpwm.c', 'source/constants.c', 'source/common.c', 'source/event_gpio.c'], extra_compile_args=['-Wno-format-security'])]) #,
Extension('CHIP_IO.SOFTPWM', ['source/py_softpwm.c', 'source/c_softpwm.c', 'source/constants.c', 'source/common.c', 'source/event_gpio.c'], extra_compile_args=['-Wno-format-security']),
Extension('CHIP_IO.SERVO', ['source/py_servo.c', 'source/c_softservo.c', 'source/constants.c', 'source/common.c', 'source/event_gpio.c'], extra_compile_args=['-Wno-format-security'])]) #,
# Extension('CHIP_IO.ADC', ['source/py_adc.c', 'source/c_adc.c', 'source/constants.c', 'source/common.c'], extra_compile_args=['-Wno-format-security']),

2
source/c_softpwm.c
View File

@ -39,7 +39,7 @@ SOFTWARE.
#include <unistd.h>
#include <pthread.h>
#include <time.h>
#include "c_pwm.h"
#include "c_softpwm.h"
#include "common.h"
#include "event_gpio.h"

355
source/c_softservo.c Normal file
View File

@ -0,0 +1,355 @@
/*
Copyright (c) 2017 Robert Wolterman
Using CHIP_IO servo code from Brady Hurlburt as a basis for the servo code
Copyright (c) 2016 Brady Hurlburt
Original BBIO Author Justin Cooper
Modified for CHIP_IO Author Brady Hurlburt
This file incorporates work covered by the following copyright and
permission notice, all modified code adopts the original license:
Copyright (c) 2013 Adafruit
Author: Justin Cooper
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <sys/types.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <pthread.h>
#include <time.h>
#include "c_softservo.h"
#include "common.h"
#include "event_gpio.h"
#define KEYLEN 7
#define PERIOD 0
#define DUTY 1
#define MSTONS 1000000
#define BLOCKNS 20 * MSTONS
#define FUDGEFACTOR 450
#define MSTOMICROS 1000
#define MICROSTONS 1000
#define MINMICROS 1000
#define NEUTRAL 1500
#define MAXMICROS 2000
int servo_initialized = 0;
struct servo_params
{
float range;
float min_angle;
float max_angle;
float current_angle;
bool enabled;
bool stop_flag;
};
struct servo
{
char key[KEYLEN+1]; /* leave room for terminating NUL byte */
int gpio;
struct servo_params params;
pthread_mutex_t* params_lock;
pthread_t thread;
struct servo *next;
};
struct servo *exported_servos = NULL;
struct servo *lookup_exported_servo(const char *key)
{
struct servo *srv = exported_servos;
while (srv != NULL)
{
if (strcmp(srv->key, key) == 0) {
return srv;
}
srv = srv->next;
}
return NULL; /* standard for pointers */
}
void *servo_thread_toggle(void *arg)
{
struct servo *srv = (struct servo *)arg;
int gpio = srv->gpio;
struct timespec tim_on;
struct timespec tim_off;
float on_time_microsec = 0;
unsigned int on_ns;
unsigned int off_ns;
/* Used to determine if something has
* has changed
*/
float angle_local = 0;
float range_local = 0;
bool stop_flag_local = false;
bool enabled_local = false;
bool recalculate_timing = false;
while (!stop_flag_local) {
/* Take a snapshot of the parameter block */
pthread_mutex_lock(srv->params_lock);
if ((angle_local != srv->params.current_angle) || (range_local != srv->params.range)) {
recalculate_timing = true;
}
angle_local = srv->params.current_angle;
range_local = srv->params.range;
enabled_local = srv->params.enabled;
stop_flag_local = srv->params.stop_flag;
pthread_mutex_unlock(srv->params_lock);
/* If freq or duty has been changed, update the
* sleep times
*/
if (recalculate_timing) {
if (DEBUG)
printf(" ** servo updating timing: new angle: (%.2f)\n",angle_local);
on_time_microsec = (((MAXMICROS - MINMICROS) / range_local) * angle_local) + NEUTRAL;
on_ns = (unsigned long)(on_time_microsec * MICROSTONS - FUDGEFACTOR);
off_ns = BLOCKNS - on_ns;
tim_on.tv_sec = 0;
tim_on.tv_nsec = on_ns;
tim_off.tv_sec = 0;
tim_off.tv_nsec = off_ns;
recalculate_timing = false;
}
if (enabled_local)
{
/* Set gpio */
gpio_set_value(gpio, HIGH);
nanosleep(&tim_on, NULL);
/* Unset gpio */
gpio_set_value(gpio, LOW);
nanosleep(&tim_off, NULL);
//printf("AFTER SECOND NANOSLEEP\n");
} /* if enabled_local */
} /* while !stop_flag_local */
gpio_set_value(gpio, LOW);
/* This servo has been disabled */
pthread_exit(NULL);
}
int servo_start(const char *key, float angle, float range)
{
struct servo *new_srv, *srv;
pthread_t new_thread;
pthread_mutex_t *new_params_lock;
int gpio;
int ret;
if (get_gpio_number(key, &gpio) < 0) {
if (DEBUG)
printf(" ** servo_start: invalid gpio specified **\n");
return -1;
}
if (gpio_export(gpio) < 0) {
char err[2000];
snprintf(err, sizeof(err), "Error setting up servo on pin %d, maybe already exported? (%s)", gpio, get_error_msg());
add_error_msg(err);
return -1;
}
if (DEBUG)
printf(" ** servo_start: %d exported **\n", gpio);
if (gpio_set_direction(gpio, OUTPUT) < 0) {
if (DEBUG)
printf(" ** servo_start: gpio_set_direction failed **\n");
return -1;
}
printf("c_softservo.c: servo_start(%d,%.2f,%.2f)\n",gpio,angle,range);
// add to list
new_srv = malloc(sizeof(struct servo)); ASSRT(new_srv != NULL);
new_params_lock = (pthread_mutex_t *)malloc(sizeof(pthread_mutex_t));
if (new_srv == 0) {
return -1; // out of memory
}
pthread_mutex_init(new_params_lock, NULL);
pthread_mutex_lock(new_params_lock);
strncpy(new_srv->key, key, KEYLEN); /* can leave string unterminated */
new_srv->key[KEYLEN] = '\0'; /* terminate string */
new_srv->gpio = gpio;
new_srv->params.enabled = true;
new_srv->params.stop_flag = false;
new_srv->params_lock = new_params_lock;
new_srv->next = NULL;
if (exported_servos == NULL)
{
// create new list
exported_servos = new_srv;
} else {
// add to end of existing list
srv = exported_servos;
while (srv->next != NULL)
srv = srv->next;
srv->next = new_srv;
}
pthread_mutex_unlock(new_params_lock);
if (DEBUG)
printf(" ** servo_enable: setting servo parameters **\n");
ASSRT(servo_set_range(new_srv->key, range) == 0);
ASSRT(servo_set_angle(new_srv->key, angle) == 0);
pthread_mutex_lock(new_params_lock);
// create thread for srv
if (DEBUG)
printf(" ** servo_enable: creating thread **\n");
ret = pthread_create(&new_thread, NULL, servo_thread_toggle, (void *)new_srv);
ASSRT(ret == 0);
new_srv->thread = new_thread;
pthread_mutex_unlock(new_params_lock);
return 1;
}
int servo_disable(const char *key)
{
struct servo *srv, *temp, *prev_srv = NULL;
if (DEBUG)
printf(" ** in servo_disable **\n");
// remove from list
srv = exported_servos;
while (srv != NULL)
{
if (strcmp(srv->key, key) == 0)
{
if (DEBUG)
printf(" ** servo_disable: found pin **\n");
pthread_mutex_lock(srv->params_lock);
srv->params.stop_flag = true;
pthread_mutex_unlock(srv->params_lock);
pthread_join(srv->thread, NULL); /* wait for thread to exit */
if (DEBUG)
printf(" ** servo_disable: unexporting %d **\n", srv->gpio);
gpio_unexport(srv->gpio);
if (prev_srv == NULL)
{
exported_servos = srv->next;
prev_srv = srv;
} else {
prev_srv->next = srv->next;
}
temp = srv;
srv = srv->next;
free(temp->params_lock);
free(temp);
} else {
prev_srv = srv;
srv = srv->next;
}
}
return 0;
}
int servo_set_range(const char *key, float range)
{
struct servo *srv;
float min_angle, max_angle;
srv = lookup_exported_servo(key);
if (srv == NULL) {
return -1;
}
// Compute the min and max angle
max_angle = range / 2.0;
min_angle = -max_angle;
if (DEBUG)
printf(" ** servo_set_range(%d,%.2f = %.2f,%.2f)\n",srv->gpio,range,min_angle,max_angle);
pthread_mutex_lock(srv->params_lock);
srv->params.range = range;
srv->params.min_angle = min_angle;
srv->params.max_angle = max_angle;
pthread_mutex_unlock(srv->params_lock);
return 0;
}
int servo_set_angle(const char *key, float angle)
{
struct servo *srv;
srv = lookup_exported_servo(key);
if (srv == NULL) {
return -1;
}
// Make sure we're between the range of allowable angles
if (angle < srv->params.min_angle || angle > srv->params.max_angle) {
char err[2000];
snprintf(err, sizeof(err), "Angle specified (%.2f) for pin %d, is outside allowable range (%.2f,%.2f)", angle, srv->gpio, srv->params.min_angle,srv->params.max_angle);
add_error_msg(err);
return -1;
}
if (DEBUG)
printf(" ** servo_set_angle(%d,%.2f)\n",srv->gpio,angle);
pthread_mutex_lock(srv->params_lock);
srv->params.current_angle = angle;
pthread_mutex_unlock(srv->params_lock);
return 0;
}
void servo_cleanup(void)
{
while (exported_servos != NULL) {
servo_disable(exported_servos->key);
}
}

40
source/c_softservo.h Normal file
View File

@ -0,0 +1,40 @@
/*
Copyright (c) 2017 Robert Wolterman
Using CHIP_IO SoftPWM code from Brady Hurlburt as a basis for the servo code
Copyright (c) 2016 Brady Hurlburt
Original BBIO Author Justin Cooper
Modified for CHIP_IO Author Brady Hurlburt
This file incorporates work covered by the following copyright and
permission notice, all modified code adopts the original license:
Copyright (c) 2013 Adafruit
Author: Justin Cooper
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
int servo_start(const char *key, float angle, float range);
int servo_disable(const char *key);
int servo_set_range(const char *key, float range);
int servo_set_angle(const char *key, float angle);
void servo_cleanup(void);

2
source/constants.c
View File

@ -88,6 +88,6 @@ void define_constants(PyObject *module)
module_debug = Py_BuildValue("i", DEBUG ? Py_True: Py_False);
PyModule_AddObject(module, "DEBUG", module_debug);
version = Py_BuildValue("s", "0.3.5");
version = Py_BuildValue("s", "0.4.0");
PyModule_AddObject(module, "VERSION", version);
}

4
source/event_gpio.c
View File

@ -486,8 +486,8 @@ int gpio_set_value(int gpio, unsigned int value)
strncpy(vstr, "0", ARRAY_SIZE(vstr) - 1);
}
if (DEBUG)
printf(" ** gpio_set_value: writing %s **\n", vstr);
//if (DEBUG)
// printf(" ** gpio_set_value: writing %s **\n", vstr);
ssize_t s = write(fd, vstr, strlen(vstr)); e_no = errno;

258
source/py_servo.c Normal file
View File

@ -0,0 +1,258 @@
/*
Copyright (c) 2017 Robert Wolterman
Using CHIP_IO servo code from Brady Hurlburt as a basis for the servo code
Copyright (c) 2016 Brady Hurlburt
Original BBIO Author Justin Cooper
Modified for CHIP_IO Author Brady Hurlburt
This file incorporates work covered by the following copyright and
permission notice, all modified code adopts the original license:
Copyright (c) 2013 Adafruit
Author: Justin Cooper
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include "Python.h"
#include "constants.h"
#include "common.h"
#include "c_softservo.h"
// python function toggle_debug()
static PyObject *py_toggle_debug(PyObject *self, PyObject *args)
{
// toggle debug printing
toggle_debug();
Py_RETURN_NONE;
}
// python function cleanup()
static PyObject *py_cleanup(PyObject *self, PyObject *args)
{
// unexport the Servo
servo_cleanup();
Py_RETURN_NONE;
}
// python function start(channel, angle, range)
static PyObject *py_start_channel(PyObject *self, PyObject *args, PyObject *kwargs)
{
int gpio;
char key[8];
char *channel = NULL;
float angle = 0.0;
float range = 180.0;
static char *kwlist[] = {"channel", "angle", "range", NULL};
clear_error_msg();
if (!PyArg_ParseTupleAndKeywords(args, kwargs, "s|ff", kwlist, &channel, &angle, &range)) {
return NULL;
}
ASSRT(channel != NULL);
if (!get_key(channel, key)) {
PyErr_SetString(PyExc_ValueError, "Invalid Servo key or name.");
return NULL;
}
// check to ensure gpio is one of the allowed pins
// Not protecting the call as if the get_key() fails, we won't make it here
get_gpio_number(channel, &gpio);
if ((gpio >= lookup_gpio_by_name("XIO-P0") && gpio <= lookup_gpio_by_name("XIO-P7"))) {
PyErr_SetString(PyExc_ValueError, "Servo currently not available on XIO-P0 to XIO-P7");
return NULL;
}
if (servo_start(key, angle, range) < 0) {
printf("servo_start failed");
char err[2000];
snprintf(err, sizeof(err), "Error starting servo on pin %s (%s)", key, get_error_msg());
PyErr_SetString(PyExc_RuntimeError, err);
return NULL;
}
Py_RETURN_NONE;
}
// python function stop(channel)
static PyObject *py_stop_channel(PyObject *self, PyObject *args, PyObject *kwargs)
{
int gpio;
char key[8];
char *channel;
clear_error_msg();
if (!PyArg_ParseTuple(args, "s", &channel))
return NULL;
if (!get_key(channel, key)) {
PyErr_SetString(PyExc_ValueError, "Invalid key or name");
return NULL;
}
// check to ensure gpio is one of the allowed pins
// Not protecting the call as if the get_key() fails, we won't make it here
get_gpio_number(channel, &gpio);
if ((gpio >= lookup_gpio_by_name("XIO-P0") && gpio <= lookup_gpio_by_name("XIO-P7"))) {
PyErr_SetString(PyExc_ValueError, "Servo currently not available on XIO-P0 to XIO-P7");
return NULL;
}
servo_disable(key);
Py_RETURN_NONE;
}
// python method SERVO.set_range(channel, duty_cycle)
static PyObject *py_set_range(PyObject *self, PyObject *args, PyObject *kwargs)
{
int gpio;
char key[8];
char *channel;
float range = 180.0;
static char *kwlist[] = {"channel", "range", NULL};
clear_error_msg();
if (!PyArg_ParseTupleAndKeywords(args, kwargs, "s|f", kwlist, &channel, &range))
return NULL;
if (range > 360.0) {
PyErr_SetString(PyExc_ValueError, "range can not be greater than 360.0");
return NULL;
}
if (!get_key(channel, key)) {
PyErr_SetString(PyExc_ValueError, "Invalid key or name.");
return NULL;
}
// check to ensure gpio is one of the allowed pins
// Not protecting the call as if the get_key() fails, we won't make it here
get_gpio_number(channel, &gpio);
if ((gpio >= lookup_gpio_by_name("XIO-P0") && gpio <= lookup_gpio_by_name("XIO-P7"))) {
PyErr_SetString(PyExc_ValueError, "Servo currently not available on XIO-P0 to XIO-P7");
return NULL;
}
if (servo_set_range(key, range) == -1) {
PyErr_SetString(PyExc_RuntimeError, "You must start() the Servo channel first");
return NULL;
}
Py_RETURN_NONE;
}
// python method SERVO.set_angle(channel, duty_cycle)
static PyObject *py_set_angle(PyObject *self, PyObject *args, PyObject *kwargs)
{
int gpio;
char key[8];
char *channel;
float angle = 0.0;
static char *kwlist[] = {"channel", "angle", NULL};
clear_error_msg();
if (!PyArg_ParseTupleAndKeywords(args, kwargs, "s|f", kwlist, &channel, &angle))
return NULL;
//if (range > 360.0) {
// PyErr_SetString(PyExc_ValueError, "range can not be greater than 360.0");
// return NULL;
//}
if (!get_key(channel, key)) {
PyErr_SetString(PyExc_ValueError, "Invalid key or name.");
return NULL;
}
// check to ensure gpio is one of the allowed pins
// Not protecting the call as if the get_key() fails, we won't make it here
get_gpio_number(channel, &gpio);
if ((gpio >= lookup_gpio_by_name("XIO-P0") && gpio <= lookup_gpio_by_name("XIO-P7"))) {
PyErr_SetString(PyExc_ValueError, "Servo currently not available on XIO-P0 to XIO-P7");
return NULL;
}
if (servo_set_angle(key, angle) == -1) {
char err[2000];
snprintf(err, sizeof(err), "Error setting servo angle on pin %s (%s)", key, get_error_msg());
PyErr_SetString(PyExc_RuntimeError, err);
return NULL;
}
Py_RETURN_NONE;
}
static const char moduledocstring[] = "Software Servo functionality of a CHIP using Python";
PyMethodDef servo_methods[] = {
{"start", (PyCFunction)py_start_channel, METH_VARARGS | METH_KEYWORDS, "Set up and start the Servo. channel can be in the form of 'XIO-P0', or 'U14_13'"},
{"stop", (PyCFunction)py_stop_channel, METH_VARARGS | METH_KEYWORDS, "Stop the Servo. channel can be in the form of 'XIO-P0', or 'U14_13'"},
{"set_range", (PyCFunction)py_set_range, METH_VARARGS, "Change the servo range\nrange - max angular range of the servo" },
{"set_angle", (PyCFunction)py_set_angle, METH_VARARGS, "Change the servo angle\nangle - angle of the servo between +/-(range/2)" },
{"cleanup", (PyCFunction)py_cleanup, METH_VARARGS, "Clean up by resetting All or one Servo that have been used by this program."},
{"toggle_debug", py_toggle_debug, METH_VARARGS, "Toggles the enabling/disabling of Debug print output"},
{NULL, NULL, 0, NULL}
};
#if PY_MAJOR_VERSION > 2
static struct PyModuleDef chipservomodule = {
PyModuleDef_HEAD_INIT,
"SERVO", // name of module
moduledocstring, // module documentation, may be NULL
-1, // size of per-interpreter state of the module, or -1 if the module keeps state in global variables.
servo_methods
};
#endif
#if PY_MAJOR_VERSION > 2
PyMODINIT_FUNC PyInit_SERVO(void)
#else
PyMODINIT_FUNC initSERVO(void)
#endif
{
PyObject *module = NULL;
#if PY_MAJOR_VERSION > 2
if ((module = PyModule_Create(&chipservomodule)) == NULL)
return NULL;
#else
if ((module = Py_InitModule3("SERVO", servo_methods, moduledocstring)) == NULL)
return;
#endif
define_constants(module);
#if PY_MAJOR_VERSION > 2
return module;
#else
return;
#endif
}

22
source/py_softpwm.c
View File

@ -43,29 +43,11 @@ static PyObject *py_toggle_debug(PyObject *self, PyObject *args)
Py_RETURN_NONE;
}
// python function cleanup(channel=None)
// python function cleanup()
static PyObject *py_cleanup(PyObject *self, PyObject *args)
{
// unexport the PWM
char key[8];
char *channel = NULL;
clear_error_msg();
// Channel is optional
if (!PyArg_ParseTuple(args, "|s", &channel))
return NULL;
// The !channel fixes issue #50
if (channel == NULL || strcmp(channel, "\0") == 0) {
softpwm_cleanup();
return NULL;
} else {
if (!get_key(channel, key)) {
softpwm_cleanup();
}
softpwm_disable(key);
}
softpwm_cleanup();
Py_RETURN_NONE;
}

2
test/lradc_test.py → test/lradctest.py
View File

@ -1,5 +1,3 @@
#!/usr/bin/python
import CHIP_IO.LRADC as ADC
# == ENABLE DEBUG ==

71
test/servotest.py Normal file
View File

@ -0,0 +1,71 @@
import CHIP_IO.SERVO as SERVO
import CHIP_IO.GPIO as GPIO
import time
import datetime
import threading
class ServoTestReceiver(threading.Thread):
def __init__(self,gpio,key,maxcount=20,sleeptime=0.005):
self.gpio = gpio
self.key = key
self.counter = 0
self.maxcount = maxcount
self.sleeptime = sleeptime
self.dead = False
threading.Thread.__init__(self)
def kill(self):
self.dead = True
def run(self):
print("SETTING UP RECEIVER GPIO")
self.gpio.cleanup()
self.gpio.setup(self.key, self.gpio.IN)
print("STARTING RECEIVE LOOP")
try:
#while self.counter < self.maxcount:
while not self.dead:
pwmval = self.gpio.input(self.key)
print("SERVO VALUE: {0} @ {1}".format(pwmval, datetime.datetime.now()))
time.sleep(self.sleeptime)
self.counter += 1
except KeyboardInterrupt:
self.gpio.cleanup(self.key)
if __name__ == "__main__":
# SETUP VARIABLES
SERVOGPIO = "CSID1" #"XIO-P7"
RECEIVERGPIO = "CSID7"
COUNT = 120
SLEEPTIME = 0.0001
RANGE = 180
# SETUP PWM
try:
print("SERVO START")
SERVO.toggle_debug()
SERVO.start(SERVOGPIO, 0, RANGE)
# SETUP SERVO RECEIVER
#rcvr = ServoTestReceiver(GPIO, RECEIVERGPIO, COUNT, SLEEPTIME)
#rcvr.start()
# LOOP THROUGH RANGE
for i in range(-(RANGE/2),(RANGE/2),5):
print("SETTING ANGLE: {0}".format(i))
SERVO.set_angle(SERVOGPIO, i)
time.sleep(1)
#rcvr.kill()
raw_input("PRESS ENTER WHEN DONE")
except:
raise
finally:
# CLEANUP
print("CLEANUP")
SERVO.stop(SERVOGPIO)
SERVO.cleanup(SERVOGPIO)