From: Melissa LeBlanc-Williams Date: Fri, 22 Mar 2024 19:47:41 +0000 (-0700) Subject: Add PWM Support for Jetson Nano X-Git-Tag: 8.38.0^2~1 X-Git-Url: https://git.ayoreis.com/Adafruit_Blinka-hackapet.git/commitdiff_plain/e13c0662ce0da9e936c652953aa1d3f9d6b872d5 Add PWM Support for Jetson Nano --- diff --git a/requirements.txt b/requirements.txt index 0b8adb0..1ea7a34 100755 --- a/requirements.txt +++ b/requirements.txt @@ -1,4 +1,4 @@ -Adafruit-PlatformDetect>=3.53.0 +Adafruit-PlatformDetect>=3.62.0 Adafruit-PureIO>=1.1.7 Jetson.GPIO; platform_machine=='aarch64' RPi.GPIO; platform_machine=='armv7l' or platform_machine=='armv6l' or platform_machine=='aarch64' diff --git a/setup.py b/setup.py index e928389..28a8fc3 100755 --- a/setup.py +++ b/setup.py @@ -89,7 +89,7 @@ setup( }, include_package_data=True, install_requires=[ - "Adafruit-PlatformDetect>=3.53.0", + "Adafruit-PlatformDetect>=3.62.0", "Adafruit-PureIO>=1.1.7", "pyftdi>=0.40.0", "adafruit-circuitpython-typing", diff --git a/src/adafruit_blinka/microcontroller/tegra/PWMOut.py b/src/adafruit_blinka/microcontroller/tegra/PWMOut.py new file mode 100644 index 0000000..a74feb6 --- /dev/null +++ b/src/adafruit_blinka/microcontroller/tegra/PWMOut.py @@ -0,0 +1,159 @@ +# SPDX-FileCopyrightText: 2021 Melissa LeBlanc-Williams for Adafruit Industries +# +# SPDX-License-Identifier: MIT +"""Custom PWMOut Wrapper for Jetson GPIO PWM Class""" +from RPi import GPIO + +GPIO.setmode(GPIO.TEGRA_SOC) # Use BCM pins D4 = GPIO #4 +GPIO.setwarnings(True) # shh! + + +class PWMError(IOError): + """Base class for PWM errors.""" + + +class PWMOut: + """Pulse Width Modulation Output Class""" + + def __init__(self, pin, *, frequency=500, duty_cycle=0, variable_frequency=False): + self._pwmpin = None + self._period = 0 + self._open(pin, duty_cycle, frequency, variable_frequency) + + def __del__(self): + self.deinit() + + def __enter__(self): + return self + + def __exit__(self, t, value, traceback): + self.deinit() + + def _open(self, pin, duty=0, freq=500, variable_frequency=False): + self._pin = pin + GPIO.setup(pin.id, GPIO.OUT, initial=GPIO.HIGH) + self._pwmpin = GPIO.PWM(pin.id, freq) + + if variable_frequency: + print("Variable Frequency is not supported, continuing without it...") + + # set frequency + self.frequency = freq + # set duty + self.duty_cycle = duty + + self.enabled = True + + def deinit(self): + """Deinit the PWM.""" + if self._pwmpin is not None: + self._pwmpin.stop() + GPIO.cleanup(self._pin.id) + self._pwmpin = None + + def _is_deinited(self): + if self._pwmpin is None: + raise ValueError( + "Object has been deinitialize and can no longer " + "be used. Create a new object." + ) + + @property + def period(self): + """Get or set the PWM's output period in seconds. + + Raises: + PWMError: if an I/O or OS error occurs. + TypeError: if value type is not int or float. + + :type: int, float + """ + return 1.0 / self.frequency + + @period.setter + def period(self, period): + if not isinstance(period, (int, float)): + raise TypeError("Invalid period type, should be int or float.") + + self.frequency = 1.0 / period + + @property + def duty_cycle(self): + """Get or set the PWM's output duty cycle which is the fraction of + each pulse which is high. 16-bit + + Raises: + PWMError: if an I/O or OS error occurs. + TypeError: if value type is not int or float. + ValueError: if value is out of bounds of 0.0 to 1.0. + + :type: int, float + """ + return int(self._duty_cycle * 65535) + + @duty_cycle.setter + def duty_cycle(self, duty_cycle): + if not isinstance(duty_cycle, (int, float)): + raise TypeError("Invalid duty cycle type, should be int or float.") + + if not 0 <= duty_cycle <= 65535: + raise ValueError("Invalid duty cycle value, should be between 0 and 65535") + + # convert from 16-bit + duty_cycle /= 65535.0 + + self._duty_cycle = duty_cycle + self._pwmpin.ChangeDutyCycle(round(self._duty_cycle * 100)) + + @property + def frequency(self): + """Get or set the PWM's output frequency in Hertz. + + Raises: + PWMError: if an I/O or OS error occurs. + TypeError: if value type is not int or float. + + :type: int, float + """ + + return self._frequency + + @frequency.setter + def frequency(self, frequency): + if not isinstance(frequency, (int, float)): + raise TypeError("Invalid frequency type, should be int or float.") + + self._pwmpin.ChangeFrequency(round(frequency)) + self._frequency = frequency + + @property + def enabled(self): + """Get or set the PWM's output enabled state. + + Raises: + PWMError: if an I/O or OS error occurs. + TypeError: if value type is not bool. + + :type: bool + """ + return self._enabled + + @enabled.setter + def enabled(self, value): + if not isinstance(value, bool): + raise TypeError("Invalid enabled type, should be string.") + + if value: + self._pwmpin.start(round(self._duty_cycle * 100)) + else: + self._pwmpin.stop() + + self._enabled = value + + # String representation + def __str__(self): + return "pin %s (freq=%f Hz, duty_cycle=%f%%)" % ( + self._pin, + self.frequency, + self.duty_cycle, + ) diff --git a/src/adafruit_blinka/microcontroller/tegra/t210/pin.py b/src/adafruit_blinka/microcontroller/tegra/t210/pin.py index dafe810..61c7ef6 100644 --- a/src/adafruit_blinka/microcontroller/tegra/t210/pin.py +++ b/src/adafruit_blinka/microcontroller/tegra/t210/pin.py @@ -135,3 +135,9 @@ i2cPorts = ( # ordered as spiId, sckId, mosiId, misoId spiPorts = ((0, C02, C00, C01), (1, B06, B04, B05)) + +# SysFS pwm outputs, pwm channel and pin in first tuple +pwmOuts = ( + ((0, 0), V00), + ((0, 1), E06), +) diff --git a/src/pwmio.py b/src/pwmio.py index 397120b..11cb882 100644 --- a/src/pwmio.py +++ b/src/pwmio.py @@ -42,6 +42,8 @@ elif detector.board.any_lubancat: from adafruit_blinka.microcontroller.generic_linux.sysfs_pwmout import PWMOut elif detector.board.pico_u2if: from adafruit_blinka.microcontroller.rp2040_u2if.pwmio import PWMOut +if detector.board.any_jetson_board: + from adafruit_blinka.microcontroller.tegra.PWMOut import PWMOut elif ( detector.board.feather_u2if or detector.board.feather_can_u2if