# Author: 边城量子(QQ:1502692755)
# suport write and read for GPIO and I2C IO
# the GPIO port like 12, 26, or "12", "26"
# the I2C port like "I7", "I3", must starts with "I"
import i2c_io
import RPi.GPIO as GPIO
from log import debug, log
class G_IO:
# GPIO_mode: GPIO_BCM or GPIO_BOARD
# i2c_index: the i2c chip index ,
# using '$ sudo i2cdetect -l' to check how many i2c chip
# i2c_addr: the device address, e.g. 0x20, 0x23 , etc.
# usging '$ sudo i2cdetect -1' to check how many devices at chip 1
def __init__(self, GPIO_mode=None, i2c_index=None, i2c_addr=None):
if i2c_index != None and i2c_addr != None:
self.i2c_io = i2c_io.I2C_IO( i2c_index, i2c_addr)
if GPIO_mode != None:
GPIO.setmode(GPIO_mode)
# using the 'port' parameter to determin whether it is a GPIO port
def _is_GPIO(self, port):
# it is the GPIO port when its type is int
if type(port) == type(1):
return True
elif type(port) == type("str"):
# it is the GPIO port when it can be translate to int,
# because the i2c io start with 'I'
try:
int(port)
return True
except ValueError:
return False
else:
error( "G_IO::_is_GPIO():Error! the type of 'port' should be str or int. now is %s. " % port)
return None
# get the port value from a port string like 'I2', 'I7'
def get_port_value(self, port):
return int( port[1:] )
# setup the io direction, only effect to GPIO io
def setup(self, port, direction ):
#debug("G_IO::setup(): set direciton %d for port %s" % (direction,port) )
if self._is_GPIO(port):
GPIO.setup(port, direction)
else:
self.i2c_io.setup(port, direction)
# output to the port
# the value only suport the HIGH or LOW
def output(self, port, value):
debug("G_IO::output(): set output value %d for port %s" % (value,port) )
if self._is_GPIO(port):
GPIO.output(port, value)
else:
port = self.get_port_value(port)
self.i2c_io.output(port,value)
# input from a port
def input(self, port):
debug("G_IO::output(): get input value from port %s" % (port) )
if self._is_GPIO(port):
return GPIO.input(port)
else:
port = self.get_port_value(port)
return self.i2c_io.input(port)
class Moto_Ctrl:
def __init__(self):
#
# GPIO_mode: GPIO.BCM or GPIO.BOARD, 若用到GPIO端口需设置
# i2c_index: 树莓派3一般是1, 表示chip. i2cdetect -l查到
# i2c_addr: i2c 设备的地址, 例如0x20, 此处为PCF8574的I2C地址.
# 可使用i2cdetect -1 查到(其中1代表i2c_index的值)
self.gio = G_IO( GPIO_mode=GPIO.BCM, i2c_index=1, i2c_addr=0x20 )
for key in CTRL1:
port = CTRL1[key]
#debug("Moto_Ctrl::__init__(): set GPIO.OUT for port %s" % port )
self.gio.setup(port,GPIO.OUT)
for key in CTRL2:
port = CTRL2[key]
#debug("Moto_Ctrl::__init__(): set GPIO.OUT for port %s" % port )
self.gio.setup(port,GPIO.OUT)
# make all output port LOW
self.stop()
# setup the pwm for speed controller
self.pwms = []
# four control channels from two L198N controller
channels =[ CTRL1["ENDA"], CTRL1["ENDB"], CTRL2["ENDA"], CTRL2["ENDB"] ]
for channel in channels:
debug("Moto_Ctrl::__init__(): set pwm for channel %s" % channel )
# the frequency is set to 150HZ
p = GPIO.PWM( channel , 150)
# the duty cycle is init to zero
p.start( 0 )
self.pwms.append( p )
def __del__(self):
self.pwms = []
self.gio = None
# set the speed
# duty_cycle: [0,100]
def set_speed(self, duty_cycle):
# set the speed using the duty_cycle
for p in self.pwms:
debug("Moto_Ctrl::set_speed(): set ducy cycle for channel %s" % p )
p.ChangeDutyCycle( duty_cycle )
# stop
def stop(self):
for key in CTRL1:
if key.startswith("IN"):
port = CTRL1[key]
#debug("Moto_Ctrl::stop(): set GPIO.LOW port %s" % port )
self.gio.output(port,GPIO.LOW)
for key in CTRL2:
if key.startswith("IN"):
port = CTRL2[key]
#debug("Moto_Ctrl::stop(): set GPIO.LOW port %s" % port )
self.gio.output(port,GPIO.LOW)
# write and read the pin of PCF8574 which connect to raspberry pi over the i2c bus.
# only support the write and read of the pin;
# will support the event in the future
import smbus
from log import debug, log
class I2C_IO:
# i2c_index: the i2c chip index ,
# using '$ sudo i2cdetect -l' to check how many i2c chip
# i2c_addr: the device address, e.g. 0x20, 0x23 , etc.
# usging '$ sudo i2cdetect -1' to check how many devices at chip 1
def __init__(self, i2c_index, i2c_addr):
self.index= i2c_index
self.addr = i2c_addr
self.bus = smbus.SMBus(i2c_index)
# pin: pin number, from 0~7
# value: 0/1 or False/True or LOW/HIGH
# only modify the bit according to the pin
def output(self, pin, value):
data = self.bus.read_byte( self.addr )
if value == 1:
value = (1 << pin) | data
else:
value = (~(1 << pin)) & data
debug("I2C_IO::output(): old:%s, new: %s to pin %s" % (bin(data), bin(value),pin) )
return self.bus.write_byte( self.addr, value)
# pin: pin number, from 0~7
# return:
# the state of the pin, HIGH or LOW
# only return the bit according to the pin
def input(self, pin):
data = self.read_byte(self.addr)
mask = i<
if mask & data == mask:
return 1
else:
return 0
# Author: 边城量子(QQ:1502692755)
# suport write and read for GPIO and I2C IO using the unify class and functions
# the GPIO port like 12, 26, or "12", "26"
# the I2C port like "I7", "I3", must starts with "I"
import i2c_io
import RPi.GPIO as GPIO
from log import debug, log
class G_IO:
# GPIO_mode: GPIO_BCM or GPIO_BOARD
# i2c_index: the i2c chip index ,
# using '$ sudo i2cdetect -l' to check how many i2c chip
# i2c_addr: the device address, e.g. 0x20, 0x23 , etc.
# usging '$ sudo i2cdetect -1' to check how many devices at chip 1
def __init__(self, GPIO_mode=None, i2c_index=None, i2c_addr=None):
if i2c_index != None and i2c_addr != None:
self.i2c_io = i2c_io.I2C_IO( i2c_index, i2c_addr)
if GPIO_mode != None:
GPIO.setmode(GPIO_mode)
# using the 'port' parameter to determin whether it is a GPIO port
def _is_GPIO(self, port):
# it is the GPIO port when its type is int
if type(port) == type(1):
return True
elif type(port) == type("str"):
# it is the GPIO port when it can be translate to int,
# because the i2c io start with 'I'
try:
int(port)
return True
except ValueError:
return False
else:
error( "G_IO::_is_GPIO():Error! the type of 'port' should be str or int. now is %s. " % port)
return None
# get the port value from a port string like 'I2', 'I7'
def get_port_value(self, port):
return int( port[1:] )
# setup the io direction, only effect to GPIO io
def setup(self, port, direction ):
#debug("G_IO::setup(): set direciton %d for port %s" % (direction,port) )
if self._is_GPIO(port):
GPIO.setup(port, direction)
else:
self.i2c_io.setup(port, direction)
# output to the port
# the value only suport the HIGH or LOW
def output(self, port, value):
debug("G_IO::output(): set output value %d for port %s" % (value,port) )
if self._is_GPIO(port):
GPIO.output(port, value)
else:
port = self.get_port_value(port)
self.i2c_io.output(port,value)
# input from a port
def input(self, port):
debug("G_IO::output(): get input value from port %s" % (port) )
if self._is_GPIO(port):
return GPIO.input(port)
else:
port = self.get_port_value(port)
return self.i2c_io.input(port)
class Moto_Ctrl:
def __init__(self):
#
# GPIO_mode: GPIO.BCM or GPIO.BOARD, 若用到GPIO端口需设置
# i2c_index: 树莓派3一般是1, 表示chip. i2cdetect -l查到
# i2c_addr: i2c 设备的地址, 例如0x20, 此处为PCF8574的I2C地址.
# 可使用i2cdetect -1 查到(其中1代表i2c_index的值)
self.gio = G_IO( GPIO_mode=GPIO.BCM, i2c_index=1, i2c_addr=0x20 )
for key in CTRL1:
port = CTRL1[key]
#debug("Moto_Ctrl::__init__(): set GPIO.OUT for port %s" % port )
self.gio.setup(port,GPIO.OUT)
for key in CTRL2:
port = CTRL2[key]
#debug("Moto_Ctrl::__init__(): set GPIO.OUT for port %s" % port )
self.gio.setup(port,GPIO.OUT)
# make all output port LOW
self.stop()
# setup the pwm for speed controller
self.pwms = []
# four control channels from two L198N controller
channels =[ CTRL1["ENDA"], CTRL1["ENDB"], CTRL2["ENDA"], CTRL2["ENDB"] ]
for channel in channels:
debug("Moto_Ctrl::__init__(): set pwm for channel %s" % channel )
# the frequency is set to 150HZ
p = GPIO.PWM( channel , 150)
# the duty cycle is init to zero
p.start( 0 )
self.pwms.append( p )
def __del__(self):
self.pwms = []
self.gio = None
# set the speed
# duty_cycle: [0,100]
def set_speed(self, duty_cycle):
# set the speed using the duty_cycle
for p in self.pwms:
debug("Moto_Ctrl::set_speed(): set ducy cycle for channel %s" % p )
p.ChangeDutyCycle( duty_cycle )
# stop
def stop(self):
for key in CTRL1:
if key.startswith("IN"):
port = CTRL1[key]
#debug("Moto_Ctrl::stop(): set GPIO.LOW port %s" % port )
self.gio.output(port,GPIO.LOW)
for key in CTRL2:
if key.startswith("IN"):
port = CTRL2[key]
#debug("Moto_Ctrl::stop(): set GPIO.LOW port %s" % port )
self.gio.output(port,GPIO.LOW)
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PCF8574扩展IO支持L198N的代码例子.rar
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