Tinker Board S : RDP (원격 데스크톱) 설치

OS/Tinker Board S 2018.09.17 01:12 Posted by 파란크리스마스

출처

xrdp 설치

$ sudo apt-get install xrdp
$ sudo apt-cache policy xrdp
xrdp:
  Installed: 0.9.1-9+deb9u3
  Candidate: 0.9.1-9+deb9u3
  Version table:
 *** 0.9.1-9+deb9u3 500
        500 http://http.debian.net/debian stretch/main armhf Packages
        100 /var/lib/dpkg/status

xorgxrdp 설치

$ sudo apt-get install xorgxrdp
$ sudo apt-cache policy xorgxrdp
xorgxrdp:
  Installed: 0.9.1-9+deb9u3
  Candidate: 0.9.1-9+deb9u3
  Version table:
 *** 0.9.1-9+deb9u3 500
        500 http://http.debian.net/debian stretch/main armhf Packages
        100 /var/lib/dpkg/status

IP 확인

$ ip addr | grep inet
    inet 127.0.0.1/8 scope host lo
    inet6 ::1/128 scope host 
    inet 192.168.137.142/24 brd 192.168.137.255 scope global dynamic eth0
    inet6 fe80::2edd:91a0:cbe0:6514/64 scope link

원격 데스크톱 연결

Tinker Board S : Lazarus 설치

OS/Tinker Board S 2018.09.16 12:26 Posted by 파란크리스마스

출처

OS 업그레이드

$ sudo apt-get update
$ sudo apt-get upgrade

기존 전치된 lazarus 삭제

$ sudo apt-get remove lazarus
$ sudo apt-get remove fpc
$ sudo apt-get autoremove
$ sudo shutdown -r now

Swap 파일 크기 늘리기

여유 공간 확인

$ df -h
Filesystem      Size  Used Avail Use% Mounted on
/dev/root        15G  8.3G  5.5G  61% /
devtmpfs        943M     0  943M   0% /dev
tmpfs          1007M     0 1007M   0% /dev/shm
tmpfs          1007M  8.9M  998M   1% /run
tmpfs           5.0M  4.0K  5.0M   1% /run/lock
tmpfs          1007M     0 1007M   0% /sys/fs/cgroup
/dev/mmcblk1p1   63M  7.5M   56M  12% /boot
tmpfs           202M  8.0K  202M   1% /run/user/1000

Swap 설정 파일 수정

$ sudo vi /etc/dphys-swapfile

Swap 사이즈 설정

CONF_SWAPSIZE=1000

Swap 설정 파일을 저장하고 스와핑을 다시 시작

$ sudo /etc/init.d/dphys-swapfile stop
Stopping dphys-swapfile (via systemctl): dphys-swapfile.service.
$ sudo /etc/init.d/dphys-swapfile start
Starting dphys-swapfile (via systemctl): dphys-swapfile.service.
$ ls -lh /var
total 1001M
drwxr-xr-x  2 root root   4.0K Sep 16 01:22 backups
drwxr-xr-x 11 root root   4.0K Jul 21 10:44 cache
drwxr-xr-x 49 root root   4.0K Jul 21 20:09 lib
drwxrwsr-x  2 root staff  4.0K Nov 19  2017 local
lrwxrwxrwx  1 root root      9 Jan 10  2018 lock -> /run/lock
drwxr-xr-x  7 root root   4.0K Sep 16 03:29 log
drwxrwsr-x  2 root mail   4.0K Jan 10  2018 mail
drwxr-xr-x  2 root root   4.0K Jan 10  2018 opt
lrwxrwxrwx  1 root root      4 Jan 10  2018 run -> /run
drwxr-xr-x  7 root root   4.0K Jul 21 10:43 spool
-rw-------  1 root root  1000M Sep 16 03:43 swap
drwxrwxrwt  6 root root   4.0K Sep 16 03:30 tmp

Seed/Bootstrap Pascal Compiler 설치

$ mkdir /usr/local/fpc
$ wget ftp://ftp.hu.freepascal.org/pub/fpc/dist/3.0.4/arm-linux/fpc-3.0.4.arm-linux-eabihf-raspberry.tar
$ tar xvf fpc-3.0.4.arm-linux-eabihf-raspberry.tar 
fpc-3.0.4.arm-linux/
fpc-3.0.4.arm-linux/doc-pdf.tar.gz
fpc-3.0.4.arm-linux/binary.arm-linux.tar
fpc-3.0.4.arm-linux/install.sh
fpc-3.0.4.arm-linux/demo.tar.gz
$ mv fpc-3.0.4.arm-linux /usr/local/fpc/
$ cd /usr/local/fpc/fpc-3.0.4.arm-linux/
$ sudo ./install.sh

설치과정

linaro@tinkerboard:/usr/local/fpc/fpc-3.0.4.arm-linux$ sudo ./install.sh 
This shell script will attempt to install the Free Pascal Compiler
version 3.0.4 with the items you select

Install prefix (/usr or /usr/local)  [/usr] : 
Installing compiler and RTL for arm-linux...

Install Textmode IDE (Y/n) ? 
Done.

Install documentation (Y/n) ? 
Installing documentation in /usr/share/doc/fpc-3.0.4 ...
Done.

Install demos (Y/n) ? 
Install demos in [/usr/share/doc/fpc-3.0.4/examples] : 
Installing demos in /usr/share/doc/fpc-3.0.4/examples ...
Done.

Running on linux
Write permission in /etc.
Writing sample configuration file to /etc/fpc.cfg
Writing sample configuration file to /usr/lib/fpc/3.0.4/ide/text/fp.cfg
Writing sample configuration file to /usr/lib/fpc/3.0.4/ide/text/fp.ini
Writing sample configuration file to /etc/fppkg.cfg
Writing sample configuration file to /etc/fppkg/default

End of installation.

Refer to the documentation for more information.

svn 클라이언트 설치

$ sudo apt-get install subversion

관련 라이브러리 설치

$ sudo apt-get install libgtk2.0-dev libcairo2-dev libpango1.0-dev libgdk-pixbuf2.0-dev libatk1.0-dev libghc-x11-dev libx11-dev

Free Pascal 설치

$ cd /usr/local/fpc
$ svn co http://svn.freepascal.org/svn/fpc/trunk source 
$ cd source
$ sudo make all OPT="-dFPC_ARMHF -CpARMV7A -OpARMV7A"
$ sudo make install OPT="-dFPC_ARMHF -CpARMV7A -OpARMV7A" PREFIX=/usr/local
$ sudo make install sourceinstall OPT="-dFPC_ARMHF -CpARMV7A -OpARMV7A" PREFIX=/usr/local

설치된 pascal 버전 확인

$ ls /usr/lib/fpc
3.0.4  lexyacc

fpc 최신 버전으로 심볼릭 링크 걸기

$ ls -al /usr/bin/ppcarm
lrwxrwxrwx 1 root root 25 Sep 16 11:23 /usr/bin/ppcarm -> /usr/lib/fpc/3.0.4/ppcarm

fpc 컴파일러 버전 확인

$ fpc -iW
3.0.4

Lazarus 설치

관련 라이브러리 설치

$ sudo apt-get install libx11-dev libgdk-pixbuf2.0-dev libcairo2-dev gir1.2-coglpango-1.0 libpangox-1.0-dev xorg-dev libgtk2.0-dev libpango1.0-dev

Lazarus 다운로드 및 컴파일

$ mkdir /usr/local/lazarus
$ cd /usr/local/lazarus
$ svn co http://svn.freepascal.org/svn/lazarus/trunk source
$ cd source
$ sudo make all OPT="-dFPC_ARMHF -CpARMV7A -OpARMV7A"
$ sudo make install OPT="-dFPC_ARMHF -CpARMV7A -OpARMV7A" PREFIX=/usr/local

gcc 라이브러리 경로 설정

컴파일하면 crtbegin.o 및 crtend.o를 찾을 수 없다는 경고가 출력됩니다. 경고가 표지 되지 않도록 설정

crtbegin.o 찾기

$ sudo find / -name crtbegin.o
/usr/lib/gcc/arm-linux-gnueabihf/6/crtbegin.o

fpc 환경 파일 (fpc.cfg) 수정

$ sudo vi /etc/fpc.cfg

내용 추가

# path to the gcclib
-Fl/usr/lib/gcc/arm-linux-gnueabihf/6

gdb 설치

$ sudo apt-get install gdb-multiarch

Lazarus 실행

fpc 경로 오류

fpc 경로 찾기

fpc 경로 설정

Lazarus 실행화면

Tinker Board S : pi4j

OS/Tinker Board S 2018.09.08 13:04 Posted by 파란크리스마스

출처

Tinker Board S : pi4j

Tinker Board의 pwm 제어 하는 예제는 python을 제외하고는 c언어나 java 예제를 찾을 수 없어서 wiringPi 라이브러리를 직접 컴파일 해보았지만 모터의 떨림도 심하고, 발열도 심해서 아직은 불안한것 같습니다. python의 pwm관련 소스를 wiringPi에 추가하고 다시 pi4j 라이브러리에 적용했습니다. pi4j라이브러리와 pi4j를 이용한 Servo.java 예제도 첨부했습니다.동영상을 보시면 알겠지만, 떨림도, 발열도 발생하지 않았습니다.

pi4j-core-1.2-SNAPSHOT.jar

TinkerBoardPin.java

package com.pi4j.io.gpio;

import java.util.EnumSet;

public class TinkerBoardPin extends PinProvider {

    // GPIO0_C1
    public static final Pin GPIO0_C1 = createDigitalPin(7, "GPIO0_C1");          // addGpioPinInfo(16+1, "GPIO0_C1", 7, PinInfo.DIGITAL_IN_OUT);

    // GPIO5B (GP5B0-GP5B7)
    public static final Pin GPIO5_B0 = createDigitalPin(16, "GPIO5_B0");         // addGpioPinInfo(160, "GPIO5_B0", 10, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO5_B1 = createDigitalPin(15, "GPIO5_B1");         // addGpioPinInfo(160+1, "GPIO5_B1", 8, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO5_B2 = createDigitalPin(4, "GPIO5_B2");          // addGpioPinInfo(160+2, "GPIO5_B2", 16, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO5_B3 = createDigitalPin(5, "GPIO5_B3");          // addGpioPinInfo(160+3, "GPIO5_B3", 18, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO5_B4 = createDigitalPin(0, "GPIO5_B4");          // addGpioPinInfo(160+4, "GPIO5_B4", 11, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO5_B5 = createDigitalPin(21, "GPIO5_B5");         // addGpioPinInfo(160+5, "GPIO5_B5", 29, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO5_B6 = createDigitalPin(2, "GPIO5_B6");          // addGpioPinInfo(160+6, "GPIO5_B6", 13, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO5_B7 = createDigitalPin(3, "GPIO5_B7");          // addGpioPinInfo(160+7, "GPIO5_B7", 15, PinInfo.DIGITAL_IN_OUT);

    // GPIO5C (GP5C0-GP5C3)                                                       // GPIO5C (GP5C0-GP5C3)
    public static final Pin GPIO5_C0 = createDigitalPin(22, "GPIO5_C0");          // addGpioPinInfo(168, "GPIO5_C0", 31, PinInfo.DIGITAL_IN_OUT);
    //public static final Pin GPIO5_C1 = createDigitalPin(168+1, "GPIO5_C1");     // addGpioPinInfo(168+1, "GPIO5_C1", -1, PinInfo.DIGITAL_IN_OUT);
    //public static final Pin GPIO5_C2 = createDigitalPin(168+2, "GPIO5_C2");     // addGpioPinInfo(168+2, "GPIO5_C2", -1, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO5_C3 = createDigitalPin(6, "GPIO5_C3");           // addGpioPinInfo(168+3, "GPIO5_C3", 22, PinInfo.DIGITAL_IN_OUT);

    // GPIO6A (GP6A0-GP6A1)
    public static final Pin GPIO6_A0 = createDigitalPin(1, "GPIO6_A0");           // addGpioPinInfo(184, "GPIO6_A0", 12, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO6_A1 = createDigitalPin(24, "GPIO6_A1");          // addGpioPinInfo(184+1, "GPIO6_A1", 35, PinInfo.DIGITAL_IN_OUT);
    // GPIO6A (GP6A3-GP6A4)
    public static final Pin GPIO6_A3 = createDigitalPin(28, "GPIO6_A3");          // addGpioPinInfo(184+3, "GPIO6_A3", 38, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO6_A4 = createDigitalPin(29, "GPIO6_A4");          // addGpioPinInfo(184+4, "GPIO6_A4", 40, PinInfo.DIGITAL_IN_OUT);

    // GPIO7A (GP7A7)
    public static final Pin GPIO7_A7 = createDigitalPin(27, "GPIO7_A7");          // addGpioPinInfo(216+7, "GPIO7_A7", 36, PinInfo.DIGITAL_IN_OUT);

    // GPIO7B (GP7B0-GP7B2)
    public static final Pin GPIO7_B0 = createDigitalPin(25, "GPIO7_B0");          // addGpioPinInfo(224, "GPIO7_B0", 37, PinInfo.DIGITAL_IN_OUT);
    //public static final Pin GPIO7_B1 = createDigitalPin(224+1, "GPIO7_B1");     // addGpioPinInfo(224+1, "GPIO7_B1", -1, PinInfo.DIGITAL_IN_OUT);
    //public static final Pin GPIO7_B2 = createDigitalPin(224+2, "GPIO7_B2");     // addGpioPinInfo(224+2, "GPIO7_B2", -1, PinInfo.DIGITAL_IN_OUT);

    // GPIO7CL (GP7C1-GP7C2)
    public static final Pin GPIO7_C1 = createDigitalPin(30, "GPIO7_C1");          // addGpioPinInfo(232+1, "GPIO7_C1", 27, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO7_C2 = createDigitalPin(31, "GPIO7_C2");          // addGpioPinInfo(232+2, "GPIO7_C2", 28, PinInfo.DIGITAL_IN_OUT);
    // GPIO7CH (GP7C6-GP7C7)
    public static final Pin GPIO7_C6 = createDigitalAndPwmPin(23, "GPIO7_C6");    // addPwmPinInfo(232+6, "GPIO7_C6", 33, 0, PinInfo.DIGITAL_IN_OUT_PWM);
    public static final Pin GPIO7_C7 = createDigitalAndPwmPin(26, "GPIO7_C7");    // addPwmPinInfo(232+7, "GPIO7_C7", 32, 1, PinInfo.DIGITAL_IN_OUT_PWM);

    // GPIO8A (GP8A3-GP8A7)
    public static final Pin GPIO8_A3 = createDigitalPin(11, "GPIO8_A3");          // addGpioPinInfo(248+3, "GPIO8_A3", 26, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO8_A4 = createDigitalPin(8, "GPIO8_A4");           // addGpioPinInfo(248+4, "GPIO8_A4", 3, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO8_A5 = createDigitalPin(9, "GPIO8_A5");           // addGpioPinInfo(248+5, "GPIO8_A5", 5, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO8_A6 = createDigitalPin(14, "GPIO8_A6");          // addGpioPinInfo(248+6, "GPIO8_A6", 23, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO8_A7 = createDigitalPin(10, "GPIO8_A7");          // addGpioPinInfo(248+7, "GPIO8_A7", 24, PinInfo.DIGITAL_IN_OUT);

    // GPIO8B (GP8B0-GP8B1)
    public static final Pin GPIO8_B0 = createDigitalPin(13, "GPIO8_B0");          // addGpioPinInfo(256, "GPIO8_B0", 21, PinInfo.DIGITAL_IN_OUT);
    public static final Pin GPIO8_B1 = createDigitalPin(12, "GPIO8_B1");          // addGpioPinInfo(256+1, "GPIO8_B1", 19, PinInfo.DIGITAL_IN_OUT);

    protected static Pin createDigitalPin(int address, String name) {
        return createDigitalPin(TinkerBoardGpioProvider.NAME, address, name);
    }

    protected static Pin createDigitalPinNoEdge(int address, String name, EnumSet<PinPullResistance> resistance) {
        return createDigitalPin(TinkerBoardGpioProvider.NAME, address, name, resistance, EnumSet.noneOf(PinEdge.class));
    }

    protected static Pin createDigitalPinNoEdge(int address, String name) {
        return createDigitalPin(TinkerBoardGpioProvider.NAME, address, name, EnumSet.noneOf(PinEdge.class));
    }

    protected static Pin createDigitalAndPwmPin(int address, String name) {
        return createDigitalAndPwmPin(TinkerBoardGpioProvider.NAME, address, name);
    }

    protected static Pin createDigitalAndPwmPinNoEdge(int address, String name) {
        return createDigitalAndPwmPin(TinkerBoardGpioProvider.NAME, address, name, EnumSet.noneOf(PinEdge.class));
    }

    // *override* static method from subclass
    // (overriding a static method is not supported in Java
    //  so this method definition will hide the subclass static method)
    public static Pin getPinByName(String name) {
        return PinProvider.getPinByName(name);
    }

    // *override* static method from subclass
    // (overriding a static method is not supported in Java
    //  so this method definition will hide the subclass static method)
    public static Pin getPinByAddress(int address) {
        return PinProvider.getPinByAddress(address);
    }

    // *override* static method from subclass
    // (overriding a static method is not supported in Java
    //  so this method definition will hide the subclass static method)
    public static Pin[] allPins() { return PinProvider.allPins(); }

    // *override* static method from subclass
    // (overriding a static method is not supported in Java
    //  so this method definition will hide the subclass static method)
    public static Pin[] allPins(PinMode ... mode) { return PinProvider.allPins(mode); }
}

servo.c

#include <stdio.h>
#include "RKIO.h"
#include "wiringTB.h"
#include "constants.h"
#include "common.h"
#include "c_gpio.h"
#include "py_gpio.h"
#include "py_pwm.h"

int main ()
{
	printf("servo.main\n");
	
	int myservo = 239;
	
	//GPIO.setmode(GPIO.ASUS)
	py_setmode(ASUS);
	
	//GPIO.setup(myservo,GPIO.OUT)
	py_setup_channel(myservo, OUTPUT);
	
	//pwm = GPIO.PWM(myservo,50) # 50hz yani 20mslik periyod
	PWMObject pwm;
	PWM_init(&pwm, myservo, 50);
	printf("pwm.gpio = %d\n", pwm.gpio);
	
	//pwm.start(2.5) # 0 derece
	PWM_start(&pwm, 2.5);
	
	//pwm.ChangeDutyCycle(2.5) #0 derece
	PWM_ChangeDutyCycle(&pwm, 2.5);
	sleep( 1 );
  
	//pwm.ChangeDutyCycle(7.5) #90 derece
	PWM_ChangeDutyCycle(&pwm, 7.5);
	sleep( 1 );
	
	//pwm.ChangeDutyCycle(12.5) #180 derece
	PWM_ChangeDutyCycle(&pwm, 12.5);
	sleep( 1 );
	
	//pwm.ChangeDutyCycle(7.5)
	PWM_ChangeDutyCycle(&pwm, 7.5);
	sleep( 1 );
	
	//pwm.ChangeDutyCycle(2.5) #0 derece
	PWM_ChangeDutyCycle(&pwm, 2.5);
	sleep( 1 );
  
 	//pwm.ChangeDutyCycle(7.5)
	PWM_ChangeDutyCycle(&pwm, 7.5);
	sleep( 1 );
	
	PWM_dealloc(pwm);
}

컴파일

$ gcc -lm -lpwmBx servo.c -o servo

Servo.java

import com.pi4j.io.gpio.GpioFactory;
import com.pi4j.io.gpio.TinkerBoardGpioProvider;
import com.pi4j.wiringpi.ASUSGpio;
import com.pi4j.wiringpi.PWMObject;

public class Servo {

	public static void main(String[] args) throws Exception {

		GpioFactory.setDefaultProvider(new TinkerBoardGpioProvider());

		int myservo = 239;

		//GPIO.setmode(GPIO.ASUS)
		ASUSGpio.pySetmode(ASUSGpio.ASUS);

		//GPIO.setup(myservo,GPIO.OUT)
		ASUSGpio.pySetupChannel(myservo, ASUSGpio.OUTPUT);

		//pwm = GPIO.PWM(myservo,50) # 50hz yani 20mslik periyod
		PWMObject pwm = ASUSGpio.pwmInit(myservo, 50);
		System.out.println("pwm.gpio = "+ pwm.gpio + "/" + pwm.freq + "/" + pwm.dutycycle);

		//pwm.start(2.5) # 0 derece
		ASUSGpio.pwmStart(pwm, 2.5f);
		Thread.sleep( 1000 );

		//pwm.ChangeDutyCycle(2.5) #0 derece
		ASUSGpio.pwmChangeDutyCycle(pwm, 2.5f);
		Thread.sleep( 1000 );

		//pwm.ChangeDutyCycle(7.5) #90 derece
		ASUSGpio.pwmChangeDutyCycle(pwm, 7.5f);
		Thread.sleep( 1000 );

		//pwm.ChangeDutyCycle(12.5) #180 derece
		ASUSGpio.pwmChangeDutyCycle(pwm, 12.5f);
		Thread.sleep( 1000 );

		//pwm.ChangeDutyCycle(7.5)
		ASUSGpio.pwmChangeDutyCycle(pwm, 7.5f);
		Thread.sleep( 1000 );

		//pwm.ChangeDutyCycle(2.5) #0 derece
		ASUSGpio.pwmChangeDutyCycle(pwm, 2.5f);
		Thread.sleep( 1000 );

		//pwm.ChangeDutyCycle(7.5)
		ASUSGpio.pwmChangeDutyCycle(pwm, 7.5f);
		Thread.sleep( 1000 );
		
		ASUSGpio.pwmDealloc(pwm);
	}
}

컴파일

$ javac -cp .:pi4j-core-1.2-SNAPSHOT.jar Servo.java

실행

$ java -cp .:pi4j-core-1.2-SNAPSHOT.jar Servo

실행 동영상

Tinker Board S : C언어를 이용한 GPIO LED 제어

OS/Tinker Board S 2018.09.03 00:55 Posted by 파란크리스마스

출처

led.c

#include <stdio.h>
#include <wiringpi.h>

// #define LED 0 matches with ASUS_GPIO 164! This can be checked with command 'sudo gpio readall'.
#define LED     8

int main (void)
{
         printf ("TB blink\n");

         wiringPiSetup ();
         pinMode (LED, OUTPUT);

         for (;;)
         {
                 printf ("led on\n");
                 digitalWrite (LED, HIGH);
                 delay (500);
                 printf ("led off\n");
                 digitalWrite (LED, LOW);
                 delay (500);
         }
         return 0;
}

컴파일

$ gcc -o led led.c -lwiringPi

실행

$ ./led

Tinker Board S : PWM(서보모터) 제어

OS/Tinker Board S 2018.09.02 16:13 Posted by 파란크리스마스

출처

Tinker Board S : PWM(서보모터) 제어

wiringPi라이브러리의 설치

$ git clone https://github.com/TinkerBoard/gpio_lib_c.git
$ cd gpio_lib_c/
$ chmod a+x build
$ sudo ./build
 
... 생략 ...
 
[Install Dynamic Lib]
 
GPIO Utility
[Compile] gpio.c
[Compile] readall.c
[Compile] pins.c
[Link]
[Install]
 
All Done.
 
NOTE: To compile programs with wiringPi, you need to add:
    -lwiringPi
  to your compile line(s) To use the Gertboard, MaxDetect, etc.
  code (the devLib), you need to also add:
    -lwiringPiDev
  to your compile line(s).

gpio readall

$ gpio readall
wiringPi: wiringPiSetup called
piGpioLayout: Hardware: Hardware        : Rockchip (Device Tree)
 
piGpioLayout: Revision string: Revision : 0000
piGpioLayout: last4Chars are: "0000"
piGpioLayoutOops: Returning revision: 2
piboardId: Revision string: Revision    : 0000
piBoardId: Old Way: revision is: 0000
piBoardId: 2: revision is: 0000
piboardId: Revision string: Revision    : 0000
piBoardId: Old Way: revision is: 0000
piBoardId: 2: revision is: 0000
 +-----+-----+---------+------+---+--Tinker--+---+------+---------+-----+-----+
 | CPU | wPi |   Name  | Mode | V | Physical | V | Mode | Name    | wPi | CPU |
 +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+
 |     |     |    3.3v |      |   |  1 || 2  |   |      | 5v      |     |     |
 | 252 |   8 |   SDA.1 |  I2C | 1 |  3 || 4  |   |      | 5v      |     |     |
 | 253 |   9 |   SCL.1 |  I2C | 1 |  5 || 6  |   |      | 0v      |     |     |
 |  17 |   7 | GPIO0C1 |   IN | 1 |  7 || 8  | 1 | SERL | TxD.1   | 15  | 161 |
 |     |     |      0v |      |   |  9 || 10 | 1 | SERL | RxD.1   | 16  | 160 |
 | 164 |   0 |  CTSN.4 | SERL | 1 | 11 || 12 | 0 | I2S  | I2S_CLK | 1   | 184 |
 | 166 |   2 |   TxD.4 | SERL | 1 | 13 || 14 |   |      | 0v      |     |     |
 | 167 |   3 |   RxD.4 | SERL | 1 | 15 || 16 | 1 | SERL | CTSN.1  | 4   | 162 |
 |     |     |    3.3v |      |   | 17 || 18 | 1 | SERL | RTSN.1  | 5   | 163 |
 | 257 |  12 |  MOSI.2 |  SPI | 0 | 19 || 20 |   |      | 0v      |     |     |
 | 256 |  13 |  MISO.2 |  SPI | 1 | 21 || 22 | 0 | IN   | GPIO5C3 | 6   | 171 |
 | 254 |  14 |  SCLK.2 |  SPI | 0 | 23 || 24 | 1 | SPI  | CE0.2   | 10  | 255 |
 |     |     |      0v |      |   | 25 || 26 | 1 | SPI  | CE1.2   | 11  | 251 |
 | 233 |  30 |   SDA.4 |  I2C | 1 | 27 || 28 | 1 | I2C  | SCL.4   | 31  | 234 |
 | 165 |  21 |  RTSN.4 | SERL | 1 | 29 || 30 |   |      | 0v      |     |     |
 | 168 |  22 | GPIO5C0 |   IN | 1 | 31 || 32 | 0 | OUT  | GPIO7C7 | 26  | 239 |
 | 238 |  23 |   PWM.2 |  PWM | 0 | 33 || 34 |   |      | 0v      |     |     |
 | 185 |  24 |  I2S_FS |  I2S | 0 | 35 || 36 | 1 | SERL | RxD.3   | 27  | 223 |
 | 224 |  25 |   TxD.3 | SERL | 1 | 37 || 38 | 1 | I2S  | I2S_SDI | 28  | 187 |
 |     |     |      0v |      |   | 39 || 40 | 0 | I2S  | I2S_SDO | 29  | 188 |
 +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+
 | CPU | wPi |   Name  | Mode | V | Physical | V | Mode | Name    | wPi | CPU |
 +-----+-----+---------+------+---+--Tinker--+---+------+---------+-----+-----+

팅커 보드 용 Python GPIO 라이브러리 설치

$ wget http://github.com/TinkerBoard/gpio_lib_python/archive/sbc/tinkerboard/python.zip
$ sudo apt-get install python-dev
$ unzip python.zip
$ cd gpio_lib_python-sbc-tinkerboard-python/
$ sudo python setup.py install

py_gpio.c 소스 일부

PyMethodDef asuspi_gpio_methods[] = {
   {"setup", (PyCFunction)py_setup_channel, METH_VARARGS | METH_KEYWORDS, "Set up a GPIO channel or list of channels with a direction and (optional) pull/up down control\nchannel        - either board pin number ,RK number or ASUS number depending on which mode is set.\ndirection      - IN or OUT\n[pull_up_down] - PUD_OFF (default), PUD_UP or PUD_DOWN\n[initial]      - Initial value for an output channel"},
   {"cleanup", (PyCFunction)py_cleanup, METH_VARARGS | METH_KEYWORDS, "Clean up by resetting all GPIO channels that have been used by this program to INPUT with no pullup/pulldown and no event detection\n[channel] - individual channel or list/tuple of channels to clean up.  Default - clean every channel that has been used."},
   {"output", py_output_gpio, METH_VARARGS, "Output to a GPIO channel or list of channels\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set.\nvalue   - 0/1 or False/True or LOW/HIGH"},
   {"input", py_input_gpio, METH_VARARGS, "Input from a GPIO channel.  Returns HIGH=1=True or LOW=0=False\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set."},
   {"setmode", py_setmode, METH_VARARGS, "Set up numbering mode to use for channels.\nBOARD - Use ASUS Pi board numbers\nRK   - Use Broadcom GPIO 00..nn numbers"},
   {"getmode", py_getmode, METH_VARARGS, "Get numbering mode used for channel numbers.\nReturns BOARD, RK, ASUS or UNKNOWN"},
   {"add_event_detect", (PyCFunction)py_add_event_detect, METH_VARARGS | METH_KEYWORDS, "Enable edge detection events for a particular GPIO channel.\nchannel      - either board pin number ,RK number or ASUS number depending on which mode is set.\nedge         - RISING, FALLING or BOTH\n[callback]   - A callback function for the event (optional)\n[bouncetime] - Switch bounce timeout in ms for callback"},
   {"remove_event_detect", py_remove_event_detect, METH_VARARGS, "Remove edge detection for a particular GPIO channel\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set."},
   {"event_detected", py_event_detected, METH_VARARGS, "Returns True if an edge has occured on a given GPIO.  You need to enable edge detection using add_event_detect() first.\nchannel - either board pin number ,RK number and ASUS number depending on which mode is set."},
   {"add_event_callback", (PyCFunction)py_add_event_callback, METH_VARARGS | METH_KEYWORDS, "Add a callback for an event already defined using add_event_detect()\nchannel      - either board pin number ,RK number or ASUS number depending on which mode is set.\ncallback     - a callback function"},
   {"wait_for_edge", (PyCFunction)py_wait_for_edge, METH_VARARGS | METH_KEYWORDS, "Wait for an edge.\nchannel      - either board pin number ,RK number or ASUS number depending on which mode is set.\nedge         - RISING, FALLING or BOTH\n[bouncetime] - time allowed between calls to allow for switchbounce"},
   {"gpio_function", py_gpio_function, METH_VARARGS, "Return the current GPIO function (IN, OUT, PWM, SERIAL, I2C, SPI)\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set."},
   {"setwarnings", py_setwarnings, METH_VARARGS, "Enable or disable warning messages"},
   {"pwmWrite", py_pwmWrite, METH_VARARGS, "Writes the duty cycle to the PWM register for the given GPIO"},
   {"pwmToneWrite", py_pwmToneWrite, METH_VARARGS, "Creates a square wave with given frequency for the given GPIO"},
   {"pwmSetFrequency", py_pwmSetFrequency, METH_VARARGS, "Set up the frequency of PWM clock source."},
   {"pwmSetPeriod", py_pwmSetPeriod, METH_VARARGS, "Writes the period to the PWM register for the given GPIO."},
   {"setGpioDrive", py_setGpioDrive, METH_VARARGS, "Set up the drive strength for the given GPIO."},
   {"getGpioDrive", py_getGpioDrive, METH_VARARGS, "Return the current drive strength."},
   {NULL, NULL, 0, NULL}
};

PWM(서보모터) 제어 파이썬 예제

import ASUS.GPIO as GPIO
import time

GPIO.setmode(GPIO.ASUS)
GPIO.setwarnings(False)

myservo = 239

GPIO.setup(myservo,GPIO.OUT)
pwm = GPIO.PWM(myservo,50) # 50hz yani 20mslik periyod
pwm.start(2.5) # 0 derece

try:
        while True:
                print "0 derece"
                pwm.ChangeDutyCycle(2.5) #0 derece
                time.sleep(1) # wait 1sec
                print "90 derece"
                pwm.ChangeDutyCycle(7.5) #90 derece
                time.sleep(1)
                print "180 derece"
                pwm.ChangeDutyCycle(12.5) #180 derece
                time.sleep(1)
                print "90 derece"
                pwm.ChangeDutyCycle(7.5)
                time.sleep(1)
except KeyboardInterrupt:
        print "Hoscakal canim"
        GPIO.cleanup()

PWM(서보모터) 제어 Java 예제

import com.pi4j.wiringpi.Gpio;

public class ServoTest3 {
	
	private static int PIN_NUMBER = 239;
	
	public static void main(String[] args) throws Exception {
		//
		//GpioFactory.setDefaultProvider(new TinkerBoardGpioProvider());
		
		Gpio.wiringPiSetupGpio();

		Gpio.pinMode(PIN_NUMBER, Gpio.PWM_OUTPUT);
		Gpio.pwmSetMode(Gpio.PWM_MODE_MS);
		// 445 : 200 ~ 1000
		Gpio.pwmSetClock(445); // Gpio.pwmSetClock(400);
		Gpio.pwmSetRange(1024);
		
		int[] arr = {205, 570, 1000};

		while (true) {
			for (int i=0; i≪arr.length; i++) {
				Gpio.pwmWrite(PIN_NUMBER, arr[i]);
				Thread.sleep(300);
			}
		}
	}
}


 

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