lgpio 0.1.4 → 0.1.5

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data/README.md

@@ -2,24 +2,29 @@
 
 Ruby bindings for the [lgpio (lg)](https://github.com/joan2937/lg) Linux library, running on single board computers (SBCs), like Raspberry Pi.
 
-## Standard LGPIO Functions
+## Mapped LGPIO Features
 - [x] GPIO Read/Write
 - [x] GPIO Group Read/Write
 - [x] GPIO Alerts / Callbacks
-  - lg generates alerts at high speed, in a separate thread. In Ruby, they can be read from a queue as part of your application loop.
-- [x] PWM Output
-  - Software timed on any pin. No interface for hardware PWM yet.
+  - lg generates alerts at high speed in a separate thread. You can read them from a queue in Ruby, as part of your application loop.
+- [x] Software PWM Out
+  - Software timed (not 100% precise), on any pin
+  - Not recommended for servo motors
 - [x] Wave
   - Software timed on any pin, as with PWM.
 - [x] I2C
 - [x] SPI
 
-## Extras
+## Extra Features, based on LGPIO
 - [x] WS2812 over SPI
   - Only outputs on a SPI MOSI pin. Must be able to set SPI clock frequency to 2.4 MHz.
 - [ ] Bit Bang SPI
 - [ ] Bit Bang I2C
 
+## Sysfs PWM Interface Features
+- [x] Hardware PWM Out (specific pins per chip)
+- [x] Servo
+
 ## Installation
 On Debian-based Linuxes (RaspberryPi OS, Armbian, DietPi etc.):
 ```bash

data/examples/i2c_aht10.rb

@@ -1,6 +1,6 @@
 require 'lgpio'
 
-I2C_DEV = 2
+I2C_DEV             = 3
 POWER_ON_DELAY      = 0.100
 RESET_DELAY         = 0.020
 COMMAND_DELAY       = 0.010

data/examples/i2c_aht10_zip.rb

@@ -1,6 +1,6 @@
 require 'lgpio'
 
-I2C_DEV = 2
+I2C_DEV             = 3
 POWER_ON_DELAY      = 0.100
 RESET_DELAY         = 0.020
 COMMAND_DELAY       = 0.010

data/examples/i2c_ssd1306_bench.rb

@@ -1,6 +1,6 @@
 require 'lgpio'
 
-I2C_DEV = 2
+I2C_DEV     = 3
 INIT_ARRAY  = [0, 168, 63, 211, 0, 64, 161, 200, 218, 18, 164, 166, 213, 128, 219, 32, 217, 241, 141, 20, 32, 0, 175]
 START_ARRAY = [0, 33, 0, 127, 34, 0, 7]
 BLANK_ARRAY = [64] + Array.new(1024) { 0 }

data/examples/servo.rb

@@ -0,0 +1,36 @@
+require 'lgpio'
+#
+# Writing directly to a hardware PWM channel to control a servo.
+# Arguments in order are:
+#   pwmchip index (X in /sys/class/pwm/pwmchipX/)
+#   PWM channel on the chip (Y in /sys/class/pwm/pwmchipX/pwmY)
+#   period: given in nanoseconds
+#   OR frequency: given in Hz
+#
+servo = LGPIO::HardwarePWM.new(0, 1, period: 20_000_000)
+#
+# Duty cycle is given in nanoseconds by default. Extra setter methods
+# are provided for microseconds, and percent.
+#
+# servo.duty_percent = 2.5
+# servo.duty_us = 500
+servo.duty = 500_000
+
+#
+# Using the Servo class instead.
+# Arguments in order are:
+#   pwmchip index (X in /sys/class/pwm/pwmchipX/)
+#   PWM channel on the chip (Y in /sys/class/pwm/pwmchipX/pwmY)
+#   Minimum servo duty cycle in microseconds
+#   Maximum servo duty cicle in microseconds
+#   Minimum servo angle
+#   Maximum servo angle
+#
+servo = LGPIO::PositionalServo.new(0, 1, 500, 2500, 0, 180)
+
+angles = [0, 30, 60, 90, 120, 150, 180, 150, 120, 90, 60, 30]
+
+angles.cycle do |angle|
+  servo.angle = angle
+  sleep 1
+end

data/lib/lgpio/hardware_pwm.rb

@@ -0,0 +1,70 @@
+module LGPIO
+  class HardwarePWM
+    NS_PER_S  = 1_000_000_000
+    NS_PER_US = 1_000
+    SYS_FS_PWM_PATH = "/sys/class/pwm/"
+
+    attr_reader :period, :duty, :enabled
+
+    def initialize(chip, channel, frequency: nil, period: nil)
+      @chip    = chip
+      @channel = channel
+
+      # Accept either frequency (in Hz) or period in nanoseconds.
+      if (frequency && period) || (!frequency && !period)
+        raise "either period: or frequency: is required, but not both"
+      end
+
+      period ? self.period = period : self.frequency = frequency
+      enable
+    end
+
+    def path
+      @path ||= "#{SYS_FS_PWM_PATH}pwmchip#{@chip}/pwm#{@channel}/"
+    end
+
+    def frequency=(freq)
+      self.period = (NS_PER_S / freq.to_f).round
+    end
+
+    def period=(p)
+      old_period = File.read("#{path}period").strip.to_i
+      unless (old_period == 0)
+        File.open("#{path}duty_cycle", 'w') { |f| f.write("0") }
+      end
+      File.open("#{path}period", 'w')     { |f| f.write(p)   }
+      @period = p
+    end
+
+    def duty_percent
+      (duty / period.to_f) * 100.0
+    end
+
+    def duty_percent=(d)
+      raise "duty_cycle: #{d} % cannot be more than 100%" if d > 100
+      d_ns = ((d / 100.0) * @period.to_i).round
+      self.duty = d_ns
+    end
+
+    def duty_us=(d_us)
+      d_ns = (d_us * NS_PER_US).round
+      self.duty = d_ns
+    end
+
+    def duty=(d_ns)
+      raise "duty cycle: #{d_ns} ns cannot be longer than period: #{period} ns" if d_ns > period
+      File.open("#{path}duty_cycle", 'w') { |f| f.write(d_ns) }
+      @duty = d_ns
+    end
+
+    def disable
+      File.open("#{path}enable", 'w') { |f| f.write("0") }
+      @enabled = false
+    end
+
+    def enable
+      File.open("#{path}enable", 'w') { |f| f.write("1") }
+      @enabled = true
+    end
+  end
+end

data/lib/lgpio/positional_servo.rb

@@ -0,0 +1,28 @@
+module LGPIO
+  class PositionalServo < HardwarePWM
+    FREQUENCY = 50
+
+    attr_reader :angle
+
+    def initialize(chip, channel, min_us, max_us, min_angle, max_angle)
+      super(chip, channel, frequency: FREQUENCY)
+
+      raise "min_us: #{min_us} cannot be lower than max_us: #{max_us}" if max_us < min_us
+      @min_us = min_us
+      @max_us = max_us
+      @us_range = @max_us - @min_us
+
+      @min_angle = min_angle
+      @max_angle = max_angle
+    end
+
+    def angle=(a)
+      ratio = (a - @min_angle).to_f / (@max_angle - @min_angle)
+      raise "angle: #{a} outside servo range" if (ratio < 0) || (ratio > 1)
+
+      d_us = (@us_range * ratio) + @min_us
+      self.duty_us = d_us
+      @angle = a
+    end
+  end
+end

data/lib/lgpio/version.rb

@@ -1,3 +1,3 @@
 module LGPIO
-  VERSION = "0.1.4"
+  VERSION = "0.1.5"
 end

data/lib/lgpio.rb

@@ -1,4 +1,7 @@
 require_relative 'lgpio/lgpio'
+require_relative 'lgpio/version'
+require_relative 'lgpio/hardware_pwm'
+require_relative 'lgpio/positional_servo'
 
 module LGPIO
   LOW = 0

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: lgpio
 version: !ruby/object:Gem::Version
-  version: 0.1.4
+  version: 0.1.5
 platform: ruby
 authors:
 - vickash
 autorequire:
 bindir: bin
 cert_chain: []
-date: 2024-08-05 00:00:00.000000000 Z
+date: 2024-08-17 00:00:00.000000000 Z
 dependencies: []
 description: Use GPIO / PWM / I2C / SPI / UART on Linux SBCs in Ruby
 email: mail@vickash.com
@@ -34,6 +34,7 @@ files:
 - examples/reports.rb
 - examples/rotary_encoder.rb
 - examples/rotary_encoder_led.rb
+- examples/servo.rb
 - examples/spi_loopback.rb
 - examples/spi_read.rb
 - examples/spi_ws2812.rb
@@ -43,6 +44,8 @@ files:
 - ext/lgpio/lgpio.c
 - lgpio.gemspec
 - lib/lgpio.rb
+- lib/lgpio/hardware_pwm.rb
+- lib/lgpio/positional_servo.rb
 - lib/lgpio/version.rb
 homepage: https://github.com/denko-rb/lgpio
 licenses: