Module: Beaglebone::GPIO

Defined in:
lib/beaglebone/gpio.rb

Overview

GPIO

procedural methods for GPIO control

Summary

#pin_mode is called to initialize a pin. Further basic functionality is available with #digital_read and #digital_write

Constant Summary collapse

MODES =

GPIO modes

[ :IN, :OUT ]
STATES =

GPIO states

{ :HIGH => 1, :LOW => 0 }
EDGES =

Edge trigger options

[ :NONE, :RISING, :FALLING, :BOTH ]
SLEWRATES =

Slew rates

[ :SLOW, :FAST ]
PULLMODES =

pull modes

[ :PULLUP, :PULLDOWN, :NONE ]
GPIOTEMPLATE =

dts template for GPIO pin

'/*
 * This is a template-generated file
 */

/dts-v1/;
/plugin/;

/{
    compatible = "ti,beaglebone", "ti,beaglebone-black";
    part_number = "BS_PINMODE_!PIN_KEY!_!DATA!";

    exclusive-use =
        "!PIN_DOT_KEY!",
        "!PIN_FUNCTION!";

    fragment@0 {
        target = <&am33xx_pinmux>;
        __overlay__ {
            bs_pinmode_!PIN_KEY!_!DATA!: pinmux_bs_pinmode_!PIN_KEY!_!DATA! {
                pinctrl-single,pins = <!PIN_OFFSET! !DATA!>;
            };
        };
    };

    fragment@1 {
        target = <&ocp>;
        __overlay__ {
            bs_pinmode_!PIN_KEY!_!DATA!_pinmux {
                compatible = "bone-pinmux-helper";
                status = "okay";
                pinctrl-names = "default";
                pinctrl-0 = <&bs_pinmode_!PIN_KEY!_!DATA!>;
            };
        };
    };
};
'

Class Method Summary collapse

Class Method Details

.cleanup ⇒ Object

Resets all the GPIO pins that we have used and unexport them



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# File 'lib/beaglebone/gpio.rb', line 277

def cleanup
  get_gpio_pins.each { |x| disable_gpio_pin(x) }
end

.digital_read(pin) ⇒ Symbol

Reads a pin’s input state and return that value

Examples:

GPIO.digital_read(:P9_11) => :HIGH

Parameters:

  • pin —

    should be a symbol representing the header pin, i.e. :P9_11

Returns:

  • (Symbol) —

    :HIGH or :LOW

Raises:

  • (StandardError) 


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# File 'lib/beaglebone/gpio.rb', line 166

def digital_read(pin)
  check_gpio_enabled(pin)

  raise StandardError, "PIN not in GPIO IN mode: #{pin}" unless get_gpio_mode(pin) == :IN

  fd = get_value_fd(pin)
  fd.rewind
  value = fd.read.to_s.strip
  state = STATES.key(value.to_i)

  Beaglebone::set_pin_status(pin, :state, state)
end

.digital_write(pin, state) ⇒ Object

Sets a pin’s output state

Examples:

GPIO.digital_write(:P9_12, :HIGH)
GPIO.digital_write(:P9_12, :LOW)

Parameters:

  • pin —

    should be a symbol representing the header pin

  • state —

    should be a symbol representin the state, :HIGH or :LOW

Raises:

  • (StandardError) 


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# File 'lib/beaglebone/gpio.rb', line 146

def digital_write(pin, state)
  check_valid_state(state)
  check_gpio_enabled(pin)

  raise StandardError, "PIN not in GPIO OUT mode: #{pin}" unless get_gpio_mode(pin) == :OUT

  fd = get_value_fd(pin)
  fd.write STATES[state.to_sym].to_s
  fd.flush
  Beaglebone::set_pin_status(pin, :state, state)
end

.disable_gpio_pin(pin) ⇒ Object

Disable a GPIO pin

Parameters:

  • pin —

    should be a symbol representing the header pin

Raises:

  • (StandardError) 


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# File 'lib/beaglebone/gpio.rb', line 420

def disable_gpio_pin(pin)

  Beaglebone::check_valid_pin(pin, :gpio)

  pininfo = PINS[pin]

  close_value_fd(pin)

  #close any running threads
  stop_edge_wait(pin)

  #write to unexport to disable gpio
  begin
    File.open('/sys/class/gpio/unexport', 'w') { |f| f.write(pininfo[:gpio]) }
  rescue
    #
  end

  #unload device tree
  Beaglebone::device_tree_unload("#{TREES[:GPIO][:pin]}#{pin}_.*") unless pininfo[:led]

  #remove status from hash so following enabled? call checks actual system
  Beaglebone::delete_pin_status(pin)

  #check to see if pin is GPIO enabled in /sys/class/gpio/
  raise StandardError, "GPIO was unable to uninitalize pin: #{pin.to_s}" if enabled?(pin)

end

.enabled?(pin) ⇒ Boolean

Returns true if specified pin is enabled in GPIO mode, else false

Returns:

  • (Boolean) 


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# File 'lib/beaglebone/gpio.rb', line 282

def enabled?(pin)

  return true if Beaglebone::get_pin_status(pin, :type) == :gpio

  return false unless valid?(pin)
  if Dir.exists?(gpio_directory(pin))

    Beaglebone::set_pin_status(pin, :type, :gpio)
    return true
  end

  false
end

.get_gpio_edge(pin) ⇒ Symbol

Returns the GPIO edge trigger type on an initialized pin

Returns:

  • (Symbol) —

    :NONE, :RISING, :FALLING, or :BOTH



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# File 'lib/beaglebone/gpio.rb', line 398

def get_gpio_edge(pin)
  check_gpio_enabled(pin)

  edge = Beaglebone::get_pin_status(pin, :trigger)
  return edge if edge

  read_gpio_edge(pin)
end

.get_gpio_mode(pin) ⇒ Object

Returns mode from pin, reads mode if unknown



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# File 'lib/beaglebone/gpio.rb', line 339

def get_gpio_mode(pin)
  check_gpio_enabled(pin)

  mode = Beaglebone::get_pin_status(pin, :mode)
  return mode if mode

  read_gpio_direction(pin)
end

.get_gpio_pins ⇒ Array<Symbol>

Return an array of GPIO pins in use

Examples:

GPIO.get_gpio_pins => [:P9_12, :P9_13]

Returns:

  • (Array<Symbol>) 


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# File 'lib/beaglebone/gpio.rb', line 413

def get_gpio_pins
  Beaglebone.pinstatus.clone.select { |x,y| x if y[:type] == :gpio && !PINS[x][:led] }.keys
end

.get_gpio_state(pin) ⇒ Object

Returns last known state from pin, reads state if unknown



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# File 'lib/beaglebone/gpio.rb', line 328

def get_gpio_state(pin)
  check_gpio_enabled(pin)

  state = Beaglebone::get_pin_status(pin, :state)
  return state if state

  digital_read(pin)
end

.pin_mode(pin, mode, pullmode = nil, slewrate = nil) ⇒ Object

Initialize a GPIO pin

Examples:

GPIO.pin_mode(:P9_12, :OUT)
GPIO.pin_mode(:P9_11, :IN, :PULLUP, :FAST)

Parameters:

  • pin —

    should be a symbol representing the header pin

  • mode —

    should specify the mode of the pin, either :IN or :OUT

  • pullmode (optional) (defaults to: nil) —

    should specify the pull mode, :PULLUP, :PULLDOWN, or :NONE

  • slewrate (optional) (defaults to: nil) —

    should specify the slew rate, :FAST or :SLOW

Raises:

  • (ArgumentError) 


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# File 'lib/beaglebone/gpio.rb', line 70

def pin_mode(pin, mode, pullmode = nil, slewrate = nil)

  #make sure a valid mode was passed
  check_valid_mode(mode)

  #make sure a valid pin was passed and that it supports GPIO
  Beaglebone::check_valid_pin(pin, :gpio)

  #get info from PINS hash
  pininfo = PINS[pin]

  #if pin is enabled for something else, disable it
  if Beaglebone::get_pin_status(pin) && Beaglebone::get_pin_status(pin, :type) != :gpio
    Beaglebone::disable_pin(pin)
  end

  pullmode = pullmode || :PULLUP
  slewrate = slewrate || :FAST

  raise ArgumentError, "Invalid Slew Rate (#{slewrate}) specified on: #{pin}" unless SLEWRATES.include?(slewrate)
  raise ArgumentError, "Invalid Pull Mode (#{pullmode}) specified on: #{pin}" unless PULLMODES.include?(pullmode)

  if mode == :IN and pullmode != :PULLUP and ( pininfo[:mmc] or pin == :P9_15 )
    raise ArgumentError, "Invalid Pull mode specified for pin: #{pin} (#{pullmode})"
  end

  #export pin unless its an on board LED, if it isn't already exported
  if pininfo[:led]
    raise StandardError, "LEDs only support OUT mode: #{pin.to_s}" unless mode == :OUT
    File.open("#{gpio_directory(pin)}/trigger", 'w') { |f| f.write('gpio') }
  else
    # if pin is not an onboard LED

    # create device tree overlay for this pin, do not force rebuild
    pin_data = create_device_tree(pin, mode, pullmode, slewrate, false)

    # unload previous dtb if loaded
    begin
      Beaglebone::device_tree_unload("#{TREES[:GPIO][:pin]}#{pin}_.*")
    rescue
      #
    end

    # load device tree overlay
    Beaglebone::device_tree_load("#{TREES[:GPIO][:pin]}#{pin}_0x#{pin_data.to_s(16)}")

    # export gpio pin
    begin
      File.open('/sys/class/gpio/export', 'w') { |f| f.write pininfo[:gpio] }
    rescue
      #
    end

    #check to see if pin is GPIO enabled in /sys/class/gpio/
    raise StandardError, "GPIO was unable to initalize pin: #{pin.to_s}" unless enabled?(pin)

  end unless Beaglebone::get_pin_status(pin, :type) == :gpio

  #set pin mode
  unless pininfo[:led]
    set_gpio_mode(pin, mode)
    dir = read_gpio_direction(pin)
    raise StandardError, "GPIO was unable to set mode: #{pin.to_s} to #{mode.to_s} (#{dir})" if mode != dir
  end

  Beaglebone::set_pin_status(pin, :mode, mode)
end

.run_on_edge(callback, pin, edge, timeout = nil, repeats = nil) ⇒ Object

Runs a callback on an edge trigger event. This creates a new thread that runs in the background

Examples:

GPIO.run_on_edge(lambda { |pin,edge,count| puts "[#{count}] #{pin} -- #{edge}" }, :P9_11, :RISING)

Parameters:

  • callback —

    A method to call when the edge trigger is detected. This method should take 3 arguments, the pin, the edge, and the counter

  • pin —

    should be a symbol representing the header pin, i.e. :P9_11

  • edge —

    should be a symbol representing the trigger type, e.g. :RISING, :FALLING, :BOTH

  • timeout (defaults to: nil) —

    is optional and specifies a time window to wait

  • repeats (defaults to: nil) —

    is optional and specifies the number of times the callback will be run

Raises:

  • (StandardError) 


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# File 'lib/beaglebone/gpio.rb', line 190

def run_on_edge(callback, pin, edge, timeout = nil, repeats=nil)

  raise StandardError, "Already waiting for trigger on pin: #{pin}" if Beaglebone::get_pin_status(pin, :trigger)
  raise StandardError, "Already waiting for trigger on pin: #{pin}" if Beaglebone::get_pin_status(pin, :thread)

  thread = Thread.new(callback, pin, edge, timeout, repeats) do |c, p, e, t, r|
    begin
      count = 0
      loop do

        state = wait_for_edge(p, e, t, false)

        c.call(p, state, count) if c
        count += 1
        break if r && count >= r
      end
    rescue => ex
      puts ex
      puts ex.backtrace
    ensure
      cleanup_edge_trigger(p)
    end
  end

  Beaglebone::set_pin_status(pin, :thread, thread)
end

.run_once_on_edge(callback, pin, edge, timeout = nil) ⇒ Object

Runs a callback one time on an edge trigger event. This is a convenience method for run_on_edge

See Also:

  • #run_on_edge


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# File 'lib/beaglebone/gpio.rb', line 220

def run_once_on_edge(callback, pin, edge, timeout = nil)
  run_on_edge(callback, pin, edge, timeout, 1)
end

.set_gpio_edge(pin, edge, force = nil) ⇒ Object

Set GPIO edge trigger type on an initialized pin

Examples:

GPIO.set_gpio_edge(:P9_11, :RISING)

Parameters:

  • pin —

    should be a symbol representing the header pin

  • edge —

    should be a symbol representing the trigger type, e.g. :RISING, :FALLING, :BOTH

  • force (defaults to: nil) —

    is optional, if set will set the mode even if already set

Raises:

  • (StandardError) 


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# File 'lib/beaglebone/gpio.rb', line 373

def set_gpio_edge(pin, edge, force=nil)
  check_valid_edge(edge)
  Beaglebone::check_valid_pin(pin, :gpio)

  raise StandardError, "PIN not in GPIO IN mode: #{pin}" unless get_gpio_mode(pin) == :IN

  return if get_gpio_edge(pin) == edge && !force

  File.open("#{gpio_directory(pin)}/edge", 'w') { |f| f.write edge.to_s.downcase }
  testedge = read_gpio_edge(pin)
  if testedge != edge.to_s.downcase
    Beaglebone::delete_pin_status(pin, :trigger)
    raise StandardError, "GPIO was unable to set edge: #{pin.to_s} to #{edge.to_s}"
  end

  if edge.to_sym == :NONE
    Beaglebone::delete_pin_status(pin, :trigger)
  else
    Beaglebone::set_pin_status(pin, :trigger, edge.to_sym)
  end

end

.set_gpio_mode(pin, mode) ⇒ Object

Set GPIO mode on an initialized pin

Examples:

GPIO.set_gpio_mode(:P9_12, :OUT)
GPIO.set_gpio_mode(:P9_11, :IN)

Parameters:

  • pin —

    should be a symbol representing the header pin

  • mode —

    should specify the mode of the pin, either :IN or :OUT



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# File 'lib/beaglebone/gpio.rb', line 356

def set_gpio_mode(pin, mode)
  Beaglebone::check_valid_pin(pin, :gpio)
  check_valid_mode(mode)
  check_gpio_enabled(pin)

  File.open("#{gpio_directory(pin)}/direction", 'w') { |f| f.write mode.to_s.downcase }
  Beaglebone::set_pin_status(pin, :mode, mode)
end

.shift_out(latch_pin, clock_pin, data_pin, data, lsb = nil) ⇒ Object

Sends data to a shift register

Examples:

GPIO.shift_out(:P9_11, :P9_12, :P9_13, 255)

Parameters:

  • latch_pin —

    should be a symbol representing the header pin, i.e. :P9_12

  • clock_pin —

    should be a symbol representing the header pin, i.e. :P9_13

  • data_pin —

    should be a symbol representing the header pin, i.e. :P9_14

  • data —

    Integer value to write to the shift register

  • lsb (defaults to: nil) —

    optional, send least significant bit first if set

Raises:

  • (ArgumentError) 


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# File 'lib/beaglebone/gpio.rb', line 306

def shift_out(latch_pin, clock_pin, data_pin, data, lsb=nil)
  raise ArgumentError, "data must be > 0 (#{data})" if data < 0
  digital_write(latch_pin, :LOW)

  binary = data.to_s(2)
  pad = 8 - ( binary.size % 8 )
  binary = ( '0' * pad ) + binary if pad.between?(1,7)

  binary.reverse! if lsb

  binary.each_char do |bit|
    digital_write(clock_pin, :LOW)
    digital_write(data_pin, bit == '0' ? :LOW : :HIGH)
    digital_write(clock_pin, :HIGH)
  end
  digital_write(latch_pin, :HIGH)

  data
end

.stop_edge_wait(pin) ⇒ Object

Stops any threads waiting for data on specified pin

Parameters:

  • pin —

    should be a symbol representing the header pin, i.e. :P9_11



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# File 'lib/beaglebone/gpio.rb', line 227

def stop_edge_wait(pin)
  thread = Beaglebone::get_pin_status(pin, :thread)

  thread.exit if thread
  thread.join if thread
end

.wait_for_edge(pin, edge, timeout = nil, disable = true) ⇒ Object

Wait for an edge trigger. Returns the type that triggered the event, e.g. :RISING, :FALLING, :BOTH

Examples:

wait_for_edge(:P9_11, :RISING, 30) => :RISING

Parameters:

  • pin —

    should be a symbol representing the header pin, i.e. :P9_11

  • edge —

    should be a symbol representing the trigger type, e.g. :RISING, :FALLING, :BOTH

  • timeout (defaults to: nil) —

    is optional and specifies a time window to wait

  • disable (defaults to: true) —

    is optional. If set, edge trigger detection is cleared on return

Raises:

  • (ArgumentError) 


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# File 'lib/beaglebone/gpio.rb', line 246

def wait_for_edge(pin, edge, timeout = nil, disable=true)
  check_valid_edge(edge)
  raise ArgumentError, "Cannot wait for edge trigger NONE: #{pin}" if edge.to_sym == :NONE

  check_gpio_enabled(pin)
  raise StandardError, "PIN not in GPIO IN mode: #{pin}" unless get_gpio_mode(pin) == :IN

  #ensure we're the only ones waiting for this trigger
  if Beaglebone::get_pin_status(pin, :thread) && Beaglebone::get_pin_status(pin, :thread) != Thread.current
    raise StandardError, "Already waiting for trigger on pin: #{pin}"
  end

  if Beaglebone::get_pin_status(pin, :trigger) && Beaglebone::get_pin_status(pin, :thread) != Thread.current
    raise StandardError, "Already waiting for trigger on pin: #{pin}"
  end

  set_gpio_edge(pin, edge)

  fd = get_value_fd(pin)
  fd.read

  #select will return fd into the error set "es" if it recieves an interrupt
  _, _, es = IO.select(nil, nil, [fd], timeout)

  set_gpio_edge(pin, :NONE) if disable

  es ? digital_read(pin) : nil

end