python: navio: add modules from Navio+

Navio: Navio+ modules
Navio2: Navio2 modules
Common: common modules
Add all modules in __init__ files in each folder

Python/navio/Common/__init__.py

@@ -0,0 +1,2 @@
+from .mpu9250 import MPU9250
+from .ms5611 import MS5611

Python/navio/Navio/__init__.py

@@ -0,0 +1 @@
+from .adafruit_ads1x15 import ADS1x15

Python/navio/Navio/adafruit_i2c.py

@@ -0,0 +1,161 @@
+#!/usr/bin/python
+import re
+import smbus
+
+# ===========================================================================
+# Adafruit_I2C Class
+# ===========================================================================
+
+class Adafruit_I2C(object):
+
+ @staticmethod
+ def getPiRevision():
+ "Gets the version number of the Raspberry Pi board"
+ # Revision list available at: http:https://elinux.org/RPi_HardwareHistory#Board_Revision_History
+ try:
+ with open('/proc/cpuinfo', 'r') as infile:
+ for line in infile:
+ # Match a line of the form "Revision : 0002" while ignoring extra
+ # info in front of the revsion (like 1000 when the Pi was over-volted).
+ match = re.match('Revision\s+:\s+.*(\w{4})$', line)
+ if match and match.group(1) in ['0000', '0002', '0003']:
+ # Return revision 1 if revision ends with 0000, 0002 or 0003.
+ return 1
+ elif match:
+ # Assume revision 2 if revision ends with any other 4 chars.
+ return 2
+ # Couldn't find the revision, assume revision 0 like older code for compatibility.
+ return 0
+ except:
+ return 0
+
+ @staticmethod
+ def getPiI2CBusNumber():
+ # Gets the I2C bus number /dev/i2c#
+ return 1 if Adafruit_I2C.getPiRevision() > 1 else 0
+
+ def __init__(self, address, busnum=-1, debug=False):
+ self.address = address
+ # By default, the correct I2C bus is auto-detected using /proc/cpuinfo
+ # Alternatively, you can hard-code the bus version below:
+ # self.bus = smbus.SMBus(0); # Force I2C0 (early 256MB Pi's)
+ # self.bus = smbus.SMBus(1); # Force I2C1 (512MB Pi's)
+ self.bus = smbus.SMBus(busnum if busnum >= 0 else Adafruit_I2C.getPiI2CBusNumber())
+ self.debug = debug
+
+ def reverseByteOrder(self, data):
+ "Reverses the byte order of an int (16-bit) or long (32-bit) value"
+ # Courtesy Vishal Sapre
+ byteCount = len(hex(data)[2:].replace('L','')[::2])
+ val = 0
+ for i in range(byteCount):
+ val = (val << 8) | (data & 0xff)
+ data >>= 8
+ return val
+
+ def errMsg(self):
+ print "Error accessing 0x%02X: Check your I2C address" % self.address
+ return -1
+
+ def write8(self, reg, value):
+ "Writes an 8-bit value to the specified register/address"
+ try:
+ self.bus.write_byte_data(self.address, reg, value)
+ if self.debug:
+ print "I2C: Wrote 0x%02X to register 0x%02X" % (value, reg)
+ except IOError, err:
+ return self.errMsg()
+
+ def write16(self, reg, value):
+ "Writes a 16-bit value to the specified register/address pair"
+ try:
+ self.bus.write_word_data(self.address, reg, value)
+ if self.debug:
+ print ("I2C: Wrote 0x%02X to register pair 0x%02X,0x%02X" %
+ (value, reg, reg+1))
+ except IOError, err:
+ return self.errMsg()
+
+ def writeRaw8(self, value):
+ "Writes an 8-bit value on the bus"
+ try:
+ self.bus.write_byte(self.address, value)
+ if self.debug:
+ print "I2C: Wrote 0x%02X" % value
+ except IOError, err:
+ return self.errMsg()
+
+ def writeList(self, reg, list):
+ "Writes an array of bytes using I2C format"
+ try:
+ if self.debug:
+ print "I2C: Writing list to register 0x%02X:" % reg
+ print list
+ self.bus.write_i2c_block_data(self.address, reg, list)
+ except IOError, err:
+ return self.errMsg()
+
+ def readList(self, reg, length):
+ "Read a list of bytes from the I2C device"
+ try:
+ results = self.bus.read_i2c_block_data(self.address, reg, length)
+ if self.debug:
+ print ("I2C: Device 0x%02X returned the following from reg 0x%02X" %
+ (self.address, reg))
+ print results
+ return results
+ except IOError, err:
+ return self.errMsg()
+
+ def readU8(self, reg):
+ "Read an unsigned byte from the I2C device"
+ try:
+ result = self.bus.read_byte_data(self.address, reg)
+ if self.debug:
+ print ("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" %
+ (self.address, result & 0xFF, reg))
+ return result
+ except IOError, err:
+ return self.errMsg()
+
+ def readS8(self, reg):
+ "Reads a signed byte from the I2C device"
+ try:
+ result = self.bus.read_byte_data(self.address, reg)
+ if result > 127: result -= 256
+ if self.debug:
+ print ("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" %
+ (self.address, result & 0xFF, reg))
+ return result
+ except IOError, err:
+ return self.errMsg()
+
+ def readU16(self, reg, little_endian=True):
+ "Reads an unsigned 16-bit value from the I2C device"
+ try:
+ result = self.bus.read_word_data(self.address,reg)
+ # Swap bytes if using big endian because read_word_data assumes little 
+ # endian on ARM (little endian) systems.
+ if not little_endian:
+ result = ((result << 8) & 0xFF00) + (result >> 8)
+ if (self.debug):
+ print "I2C: Device 0x%02X returned 0x%04X from reg 0x%02X" % (self.address, result & 0xFFFF, reg)
+ return result
+ except IOError, err:
+ return self.errMsg()
+
+ def readS16(self, reg, little_endian=True):
+ "Reads a signed 16-bit value from the I2C device"
+ try:
+ result = self.readU16(reg,little_endian)
+ if result > 32767: result -= 65536
+ return result
+ except IOError, err:
+ return self.errMsg()
+
+if __name__ == '__main__':
+ try:
+ bus = Adafruit_I2C(address=0)
+ print "Default I2C bus is accessible"
+ except:
+ print "Error accessing default I2C bus"

Python/navio/Navio/adafruit_pwm_servo_driver.py

@@ -0,0 +1,92 @@
+#!/usr/bin/python
+
+import time
+import math
+from adafruit_i2c import Adafruit_I2C
+
+# ============================================================================
+# Adafruit PCA9685 16-Channel PWM Servo Driver
+# ============================================================================
+
+class PWM :
+ # Registers/etc.
+ __MODE1 = 0x00
+ __MODE2 = 0x01
+ __SUBADR1 = 0x02
+ __SUBADR2 = 0x03
+ __SUBADR3 = 0x04
+ __PRESCALE = 0xFE
+ __LED0_ON_L = 0x06
+ __LED0_ON_H = 0x07
+ __LED0_OFF_L = 0x08
+ __LED0_OFF_H = 0x09
+ __ALL_LED_ON_L = 0xFA
+ __ALL_LED_ON_H = 0xFB
+ __ALL_LED_OFF_L = 0xFC
+ __ALL_LED_OFF_H = 0xFD
+
+ # Bits
+ __RESTART = 0x80
+ __SLEEP = 0x10
+ __ALLCALL = 0x01
+ __INVRT = 0x10
+ __OUTDRV = 0x04
+
+ general_call_i2c = Adafruit_I2C(0x00)
+
+ @classmethod
+ def softwareReset(cls):
+ "Sends a software reset (SWRST) command to all the servo drivers on the bus"
+ cls.general_call_i2c.writeRaw8(0x06) # SWRST
+
+ def __init__(self, address=0x40, debug=False):
+ self.i2c = Adafruit_I2C(address)
+ self.i2c.debug = debug
+ self.address = address
+ self.debug = debug
+ if (self.debug):
+ print "Reseting PCA9685 MODE1 (without SLEEP) and MODE2"
+ self.setAllPWM(0, 0)
+ self.i2c.write8(self.__MODE2, self.__OUTDRV)
+ self.i2c.write8(self.__MODE1, self.__ALLCALL)
+ time.sleep(0.005) # wait for oscillator
+
+ mode1 = self.i2c.readU8(self.__MODE1)
+ mode1 = mode1 & ~self.__SLEEP # wake up (reset sleep)
+ self.i2c.write8(self.__MODE1, mode1)
+ time.sleep(0.005) # wait for oscillator
+
+ def setPWMFreq(self, freq):
+ "Sets the PWM frequency"
+ prescaleval = 25000000.0 # 25MHz
+ prescaleval /= 4096.0 # 12-bit
+ prescaleval /= float(freq)
+ prescaleval -= 1.0
+ if (self.debug):
+ print "Setting PWM frequency to %d Hz" % freq
+ print "Estimated pre-scale: %d" % prescaleval
+ prescale = math.floor(prescaleval + 0.5)
+ if (self.debug):
+ print "Final pre-scale: %d" % prescale
+
+ oldmode = self.i2c.readU8(self.__MODE1);
+ newmode = (oldmode & 0x7F) | 0x10 # sleep
+ self.i2c.write8(self.__MODE1, newmode) # go to sleep
+ self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
+ self.i2c.write8(self.__MODE1, oldmode)
+ time.sleep(0.005)
+ self.i2c.write8(self.__MODE1, oldmode | 0x80)
+
+ def setPWM(self, channel, on, off):
+ "Sets a single PWM channel"
+ self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
+ self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
+ self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
+ self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
+
+ def setAllPWM(self, on, off):
+ "Sets a all PWM channels"
+ self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
+ self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
+ self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)
+ self.i2c.write8(self.__ALL_LED_OFF_H, off >> 8)

Python/navio/Navio/gpio.py

@@ -0,0 +1,42 @@
+import os
+
+class Pin():
+ """Minimal wrapper for Pins. To be deprecated soon"""
+
+ def __get_direction(self):
+ with open("/sys/class/gpio/gpio%d/direction" % self.pin, "r") as direction_file:
+ direction = direction_file.read()
+ return direction
+
+ def __set_direction(self, direction):
+ with open("/sys/class/gpio/gpio%d/direction" % self.pin, "w") as direction_file:
+ direction_file.write(direction)
+
+ def __init__(self, pin):
+ self.pin = pin
+ try:
+ with open("/sys/class/gpio/export", "a") as sysfs_export:
+ sysfs_export.write("%s" % pin)
+ except IOError:
+ #already exported. nothing to do
+ pass
+
+ self.direction = self.__get_direction()
+
+ def write(self, value):
+ if self.direction != "out":
+ self.__set_direction("out")
+
+ with open("/sys/class/gpio/gpio%d/value" % self.pin, "w") as value_file:
+ value_file.write(str(value))
+
+ def read(self):
+ with open("/sys/class/gpio/gpio%d/value" % self.pin, "r") as value_file:
+ return int(value_file.read())
+
+
+if __name__ == "__main__":
+ pin = Pin(27)
+ pin.write(0)
+
+ assert pin.read() == 0

Python/navio/adc.py → Python/navio/Navio2/ADC.py

@@ -15,4 +15,4 @@ def read(self, ch):
  value = self.channels[ch].read()
  position = self.channels[ch].seek(0, 0)
  return float(value[:-1])
- 
+

Python/navio/pwm.py → Python/navio/Navio2/RCOutput.py

@@ -1,6 +1,6 @@
 import os.path
 
-class PWM():
+class RCOutput():
  SYSFS_PWM_PATH_BASE = "/sys/class/pwm/pwmchip0/"
  SYSFS_PWM_EXPORT_PATH = "/sys/class/pwm/pwmchip0/export"
  SYSFS_PWM_UNEXPORT_PATH = "/sys/class/pwm/pwmchip0/unexport"

Python/navio/Navio2/__init__.py

@@ -0,0 +1,5 @@
+from .lsm9ds1 import LSM9DS1
+from .Led import Led
+from .RCOutput import RCOutput
+from .RCInput import RCInput
+from .ADC import ADC

Python/navio/__init__.py

@@ -1,5 +0,0 @@
-from .mpu9250 import MPU9250
-from .ms5611 import MS5611
-from .adc import ADC
-from .pwm import PWM
-from .lsm9ds1 import LSM9DS1