# -*- coding: utf-8 -*-
# Copyright (c) 2018 Richard Hull
# See LICENSE.md for details.
"""
Importing the module
--------------------
To import the OPi.GPIO module:
.. code:: python
import OPi.GPIO as GPIO
By doing it this way, you can refer to it as just GPIO through the rest of your
script.
Pin Numbering
-------------
Pins on Orange Pi Zero are named PxNN where x = A..Z and NN = 00..99. This
implementation aims to paper over the cracks to make GPIO usage consistent
across Raspberry Pi and Orange Pi. Quoting from the RPi.GPIO documentation:
*There are two ways of numbering the IO pins on a Raspberry Pi within
RPi.GPIO. The first is using the BOARD numbering system. This refers to
the pin numbers on the P1 header of the Raspberry Pi board. The advantage
of using this numbering system is that your hardware will always work,
regardless of the board revision of the RPi. You will not need to rewire
your connector or change your code.*
*The second numbering system is the BCM numbers. This is a lower level way
of working - it refers to the channel numbers on the Broadcom SOC. You have
to always work with a diagram of which channel number goes to which pin on
the RPi board. Your script could break between revisions of Raspberry Pi
boards.*
This library monkeys the original implementation (and the documentation, as you
are about to find out), by adding a third numbering system that is SUNXI naming.
.. image:: ../doc/images/OrangePi_Zero_Pinout_header.jpg
Inputs
------
There are several ways of getting GPIO input into your program. The first and
simplest way is to check the input value at a point in time. This is known as
'polling' and can potentially miss an input if your program reads the value at
the wrong time. Polling is performed in loops and can potentially be processor
intensive. The other way of responding to a GPIO input is using 'interrupts'
(edge detection). An edge is the name of a transition from HIGH to LOW (falling
edge) or LOW to HIGH (rising edge).
Pull up / Pull down resistors
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
.. note:: Support for pull up / pull down resistors is not yet complete: if
specified, a warning will be displayed instead, so that it is at least
compatible with existing code, but without implemening the actual
functionality.
If you do not have the input pin connected to anything, it will 'float'. In
other words, the value that is read in is undefined because it is not connected
to anything until you press a button or switch. It will probably change value a
lot as a result of receiving mains interference.
To get round this, we use a pull up or a pull down resistor. In this way, the
default value of the input can be set. It is possible to have pull up/down
resistors in hardware and using software. In hardware, a 10K resistor between
the input channel and 3.3V (pull-up) or 0V (pull-down) is commonly used. The
OPi.GPIO module allows you to configure the SOC to do this in software:
.. code:: python
GPIO.setup(channel, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# or
GPIO.setup(channel, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
(where channel is the channel number based on the numbering system you have
specified - BOARD, BCM or SUNXI).
Testing inputs (polling)
^^^^^^^^^^^^^^^^^^^^^^^^
You can take a snapshot of an input at a moment in time:
.. code:: python
if GPIO.input(channel):
print('Input was HIGH')
else:
print('Input was LOW')
To wait for a button press by polling in a loop:
.. code:: python
while GPIO.input(channel) == GPIO.LOW:
time.sleep(0.01) # wait 10 ms to give CPU chance to do other things
(this assumes that pressing the button changes the input from LOW to HIGH)
Interrupts and Edge detection
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
An edge is the change in state of an electrical signal from LOW to HIGH (rising
edge) or from HIGH to LOW (falling edge). Quite often, we are more concerned by
a change in state of an input than it's value. This change in state is an event.
To avoid missing a button press while your program is busy doing something else,
there are two ways to get round this:
* the :py:func:`wait_for_edge` function
* the :py:func:`event_detected` function
* a threaded callback function that is run when an edge is detected
Threaded Callbacks
^^^^^^^^^^^^^^^^^^
OPi.GPIO manages a number of secondary threads for callback functions. This
means that callback functions can be run at the same time as your main program,
in immediate response to an edge.
For example:
.. code:: python
def my_callback(channel):
print('This is a edge event callback function!')
print('Edge detected on channel %s'%channel)
print('This is run in a different thread to your main program')
GPIO.add_event_detect(channel, GPIO.RISING, callback=my_callback) # add rising edge detection on a channel
#...the rest of your program...
If you wanted more than one callback function:
.. code:: python
def my_callback_one(channel):
print('Callback one')
def my_callback_two(channel):
print('Callback two')
GPIO.add_event_detect(channel, GPIO.RISING)
GPIO.add_event_callback(channel, my_callback_one)
GPIO.add_event_callback(channel, my_callback_two)
Note that in this case, the callback functions are run sequentially, not
concurrently. This is because there is only one thread used for callbacks, in
which every callback is run, in the order in which they have been defined.
Switch debounce
^^^^^^^^^^^^^^^
.. note:: Support for switch debounce is not yet complete: if specified, a
warning will be displayed instead, so that it is at least compatible with
existing code, but without implemening the actual functionality.
You may notice that the callbacks are called more than once for each button
press. This is as a result of what is known as 'switch bounce'. There are two
ways of dealing with switch bounce:
* add a 0.1µF capacitor across your switch.
* software debouncing
* a combination of both
To debounce using software, add the bouncetime= parameter to a function where
you specify a callback function. Bouncetime should be specified in milliseconds.
For example:
.. code:: python
# add rising edge detection on a channel, ignoring further edges for 200ms for switch bounce handling
GPIO.add_event_detect(channel, GPIO.RISING, callback=my_callback, bouncetime=200)
or
.. code:: python
GPIO.add_event_callback(channel, my_callback, bouncetime=200)
Remove event detection
^^^^^^^^^^^^^^^^^^^^^^
If for some reason, your program no longer wishes to detect edge events, it is
possible to stop them:
.. code:: python
GPIO.remove_event_detect(channel)
Outputs
-------
1. First set up OPi.GPIO
.. code:: python
import OPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setup(12, GPIO.OUT)
2. To set an output high:
.. code:: python
GPIO.output(12, GPIO.HIGH)
# or
GPIO.output(12, 1)
# or
GPIO.output(12, True)
3. To set an output low:
.. code:: python
GPIO.output(12, GPIO.LOW)
# or
GPIO.output(12, 0)
# or
GPIO.output(12, False)
4. To output to several channels at the same time:
.. code:: python
chan_list = (11,12)
GPIO.output(chan_list, GPIO.LOW) # all LOW
GPIO.output(chan_list, (GPIO.HIGH,GPIO.LOW)) # first LOW, second HIGH
5. Clean up at the end of your program
.. code:: python
GPIO.cleanup()
Note that you can read the current state of a channel set up as an output using
the :py:meth:`input()` function. For example to toggle an output:
.. code:: python
GPIO.output(12, not GPIO.input(12))
Methods
-------
"""
import warnings
from OPi.constants import IN, OUT
from OPi.constants import LOW, HIGH # noqa: F401
from OPi.constants import NONE, RISING, FALLING, BOTH # noqa: F401
from OPi.constants import BCM, BOARD, SUNXI, CUSTOM
from OPi.pin_mappings import get_gpio_pin, set_custom_pin_mappings
from OPi import event, sysfs
_gpio_warnings = True
_mode = None
_exports = {}
def _check_configured(channel, direction=None):
configured = _exports.get(channel)
if configured is None:
raise RuntimeError("Channel {0} is not configured".format(channel))
if direction is not None and direction != configured:
descr = "input" if configured == IN else "output"
raise RuntimeError("Channel {0} is configured for {1}".format(channel, descr))
[docs]def getmode():
"""
To detect which pin numbering system has been set.
:returns: :py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM`, :py:attr:`GPIO.SUNXI`
or :py:attr:`None` if not set.
"""
return _mode
[docs]def setmode(mode):
"""
You must call this method prior to using all other calls.
:param mode: the mode, one of :py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM`,
:py:attr:`GPIO.SUNXI`, or a `dict` or `object` representing a custom
pin mapping.
"""
if hasattr(mode, '__getitem__'):
set_custom_pin_mappings(mode)
mode = CUSTOM
assert mode in [BCM, BOARD, SUNXI, CUSTOM]
global _mode
_mode = mode
[docs]def setwarnings(enabled):
global _gpio_warnings
_gpio_warnings = enabled
[docs]def setup(channel, direction, initial=None, pull_up_down=None):
"""
You need to set up every channel you are using as an input or an output.
:param channel: the channel based on the numbering system you have specified
(:py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM` or :py:attr:`GPIO.SUNXI`).
:param direction: whether to treat the GPIO pin as input or output (use only
:py:attr:`GPIO.IN` or :py:attr:`GPIO.OUT`).
:param initial: (optional) When supplied and setting up an output pin,
resets the pin to the value given (can be :py:attr:`0` / :py:attr:`GPIO.LOW` /
:py:attr:`False` or :py:attr:`1` / :py:attr:`GPIO.HIGH` / :py:attr:`True`).
:param pull_up_down: (optional) When supplied and setting up an input pin,
configures the pin to 3.3V (pull-up) or 0V (pull-down) depending on the
value given (can be :py:attr:`GPIO.PUD_OFF` / :py:attr:`GPIO.PUD_UP` /
:py:attr:`GPIO.PUD_DOWN`)
To configure a channel as an input:
.. code:: python
GPIO.setup(channel, GPIO.IN)
To set up a channel as an output:
.. code:: python
GPIO.setup(channel, GPIO.OUT)
You can also specify an initial value for your output channel:
.. code:: python
GPIO.setup(channel, GPIO.OUT, initial=GPIO.HIGH)
**Setup more than one channel:**
You can set up more than one channel per call. For example:
.. code:: python
chan_list = [11,12] # add as many channels as you want!
# you can tuples instead i.e.:
# chan_list = (11,12)
GPIO.setup(chan_list, GPIO.OUT)
"""
if _mode is None:
raise RuntimeError("Mode has not been set")
if pull_up_down is not None:
if _gpio_warnings:
warnings.warn("Pull up/down setting are not (yet) fully supported, continuing anyway. Use GPIO.setwarnings(False) to disable warnings.", stacklevel=2)
if isinstance(channel, list):
for ch in channel:
setup(ch, direction, initial)
else:
if channel in _exports:
raise RuntimeError("Channel {0} is already configured".format(channel))
pin = get_gpio_pin(_mode, channel)
try:
sysfs.export(pin)
except (OSError, IOError) as e:
if e.errno == 16: # Device or resource busy
if _gpio_warnings:
warnings.warn("Channel {0} is already in use, continuing anyway. Use GPIO.setwarnings(False) to disable warnings.".format(channel), stacklevel=2)
sysfs.unexport(pin)
sysfs.export(pin)
else:
raise e
sysfs.direction(pin, direction)
_exports[channel] = direction
if direction == OUT and initial is not None:
sysfs.output(pin, initial)
[docs]def output(channel, state):
"""
Set the output state of a GPIO pin.
:param channel: the channel based on the numbering system you have specified
(:py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM` or :py:attr:`GPIO.SUNXI`).
:param state: can be :py:attr:`0` / :py:attr:`GPIO.LOW` / :py:attr:`False`
or :py:attr:`1` / :py:attr:`GPIO.HIGH` / :py:attr:`True`.
**Output to several channels:**
You can output to many channels in the same call. For example:
.. code:: python
chan_list = [11,12] # also works with tuples
GPIO.output(chan_list, GPIO.LOW) # sets all to GPIO.LOW
GPIO.output(chan_list, (GPIO.HIGH, GPIO.LOW)) # sets first HIGH and second LOW
"""
if isinstance(channel, list):
for ch in channel:
output(ch, state)
else:
_check_configured(channel, direction=OUT)
pin = get_gpio_pin(_mode, channel)
return sysfs.output(pin, state)
[docs]def wait_for_edge(channel, trigger, timeout=-1):
"""
This function is designed to block execution of your program until an edge
is detected.
:param channel: the channel based on the numbering system you have specified
(:py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM` or :py:attr:`GPIO.SUNXI`).
:param trigger: The event to detect, one of: :py:attr:`GPIO.RISING`,
:py:attr:`GPIO.FALLING` or :py:attr:`GPIO.BOTH`.
:param timeout: (optional) TODO
In other words, the polling example above that waits for a button press
could be rewritten as:
.. code:: python
GPIO.wait_for_edge(channel, GPIO.RISING)
Note that you can detect edges of type :py:attr:`GPIO.RISING`,
:py:attr`GPIO.FALLING` or :py:attr:`GPIO.BOTH`. The advantage of doing it
this way is that it uses a negligible amount of CPU, so there is plenty left
for other tasks.
If you only want to wait for a certain length of time, you can use the
timeout parameter:
.. code:: python
# wait for up to 5 seconds for a rising edge (timeout is in milliseconds)
channel = GPIO.wait_for_edge(channel, GPIO_RISING, timeout=5000)
if channel is None:
print('Timeout occurred')
else:
print('Edge detected on channel', channel)
"""
_check_configured(channel, direction=IN)
pin = get_gpio_pin(_mode, channel)
if event.blocking_wait_for_edge(pin, trigger, timeout) is not None:
return channel
[docs]def add_event_detect(channel, trigger, callback=None, bouncetime=None):
"""
This function is designed to be used in a loop with other things, but unlike
polling it is not going to miss the change in state of an input while the
CPU is busy working on other things. This could be useful when using
something like Pygame or PyQt where there is a main loop listening and
responding to GUI events in a timely basis.
:param channel: the channel based on the numbering system you have specified
(:py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM` or :py:attr:`GPIO.SUNXI`).
:param trigger: The event to detect, one of: :py:attr:`GPIO.RISING`,
:py:attr:`GPIO.FALLING` or :py:attr:`GPIO.BOTH`.
:param callback: (optional) TODO
:param bouncetime: (optional) TODO
.. code: python
GPIO.add_event_detect(channel, GPIO.RISING) # add rising edge detection on a channel
do_something()
if GPIO.event_detected(channel):
print('Button pressed')
"""
_check_configured(channel, direction=IN)
if bouncetime is not None:
if _gpio_warnings:
warnings.warn("bouncetime is not (yet) fully supported, continuing anyway. Use GPIO.setwarnings(False) to disable warnings.", stacklevel=2)
pin = get_gpio_pin(_mode, channel)
event.add_edge_detect(pin, trigger, __wrap(callback, channel))
[docs]def remove_event_detect(channel):
"""
:param channel: the channel based on the numbering system you have specified
(:py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM` or :py:attr:`GPIO.SUNXI`).
"""
_check_configured(channel, direction=IN)
pin = get_gpio_pin(_mode, channel)
event.remove_edge_detect(pin)
[docs]def add_event_callback(channel, callback, bouncetime=None):
"""
:param channel: the channel based on the numbering system you have specified
(:py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM` or :py:attr:`GPIO.SUNXI`).
:param callback: TODO
:param bouncetime: (optional) TODO
"""
_check_configured(channel, direction=IN)
if bouncetime is not None:
if _gpio_warnings:
warnings.warn("bouncetime is not (yet) fully supported, continuing anyway. Use GPIO.setwarnings(False) to disable warnings.", stacklevel=2)
pin = get_gpio_pin(_mode, channel)
event.add_edge_callback(pin, __wrap(callback, channel))
[docs]def event_detected(channel):
"""
This function is designed to be used in a loop with other things, but unlike
polling it is not going to miss the change in state of an input while the
CPU is busy working on other things. This could be useful when using
something like Pygame or PyQt where there is a main loop listening and
responding to GUI events in a timely basis.
.. code:: python
GPIO.add_event_detect(channel, GPIO.RISING) # add rising edge detection on a channel
do_something()
if GPIO.event_detected(channel):
print('Button pressed')
Note that you can detect events for :py:attr:`GPIO.RISING`,
:py:attr:`GPIO.FALLING` or :py:attr:`GPIO.BOTH`.
:param channel: the channel based on the numbering system you have specified
(:py:attr:`GPIO.BOARD`, :py:attr:`GPIO.BCM` or :py:attr:`GPIO.SUNXI`).
:returns: :py:attr:`True` if an edge event was detected, else :py:attr:`False`.
"""
_check_configured(channel, direction=IN)
pin = get_gpio_pin(_mode, channel)
return event.edge_detected(pin)
def __wrap(callback, channel):
if callback is not None:
return lambda _: callback(channel)
[docs]def cleanup(channel=None):
"""
At the end any program, it is good practice to clean up any resources you
might have used. This is no different with OPi.GPIO. By returning all
channels you have used back to inputs with no pull up/down, you can avoid
accidental damage to your Orange Pi by shorting out the pins. Note that
this will only clean up GPIO channels that your script has used. Note that
GPIO.cleanup() also clears the pin numbering system in use.
To clean up at the end of your script:
.. code:: python
GPIO.cleanup()
It is possible that don't want to clean up every channel leaving some set
up when your program exits. You can clean up individual channels, a list or
a tuple of channels:
.. code:: python
GPIO.cleanup(channel)
GPIO.cleanup( (channel1, channel2) )
GPIO.cleanup( [channel1, channel2] )
"""
if channel is None:
cleanup(list(_exports.keys()))
setwarnings(True)
global _mode
_mode = None
elif isinstance(channel, list):
for ch in channel:
cleanup(ch)
else:
_check_configured(channel)
pin = get_gpio_pin(_mode, channel)
event.cleanup(pin)
sysfs.unexport(pin)
del _exports[channel]