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# -*- coding: utf-8 -*- |
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""" |
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A module to control the QO Raspberry Pi based H-Bridge hardware. |
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Qudi is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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Qudi is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with Qudi. If not, see <http://www.gnu.org/licenses/>. |
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Copyright (c) the Qudi Developers. See the COPYRIGHT.txt file at the |
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top-level directory of this distribution and at <https://github.com/Ulm-IQO/qudi/> |
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""" |
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from core.module import Base, ConfigOption |
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from interface.process_control_interface import ProcessControlInterface |
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from core.util.mutex import Mutex |
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import RPi.GPIO as GPIO |
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class PiPWM(Base, ProcessControlInterface): |
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""" Hardware module for Raspberry Pi-based PWM controller. |
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""" |
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_modclass = 'ProcessControlInterface' |
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_modtype = 'hardware' |
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channel = ConfigOption('channel', 0, missing='warn') |
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freq = ConfigOption('frequency', 100) |
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def __init__(self, **kwargs): |
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super().__init__(**kwargs) |
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#locking for thread safety |
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self.threadlock = Mutex() |
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def on_activate(self): |
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""" Activate module. |
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""" |
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# pin mapping |
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if self.channel == 0: |
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self.inapin = 5 |
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self.inbpin = 22 |
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self.pwmpin = 24 |
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self.enapin = 25 |
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self.enbpin = 23 |
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self.diapin = 17 |
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self.dibpin = 18 |
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self.fanpin = 27 |
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else: |
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self.inapin = 16 |
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self.inbpin = 19 |
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self.pwmpin = 21 |
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self.enapin = 20 |
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self.enbpin = 26 |
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self.diapin = 12 |
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self.dibpin = 6 |
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self.fanpin = 13 |
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self.setupPins() |
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self.startPWM() |
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def on_deactivate(self): |
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""" Deactivate module. |
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""" |
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self.stopPWM() |
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def setupPins(self): |
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""" Set Raspberry Pi GPIO pins to the right mode. |
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""" |
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GPIO.setmode(GPIO.BCM) |
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GPIO.setup(self.enapin, GPIO.OUT) |
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GPIO.setup(self.enbpin, GPIO.OUT) |
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GPIO.setup(self.inapin, GPIO.OUT) |
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GPIO.setup(self.inbpin, GPIO.OUT) |
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GPIO.setup(self.pwmpin, GPIO.OUT) |
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GPIO.setup(self.fanpin, GPIO.OUT) |
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GPIO.setup(self.diapin, GPIO.IN) |
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GPIO.setup(self.dibpin, GPIO.IN) |
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self.p = GPIO.PWM(self.pwmpin, self.freq) |
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def startPWM(self): |
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""" Start the PWM output. |
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""" |
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GPIO.output(self.fanpin, True) |
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GPIO.output(self.enapin, True) |
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GPIO.output(self.enbpin, True) |
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GPIO.output(self.inapin, True) |
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GPIO.output(self.inbpin, False) |
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# Setup PWM and DMA channel 0 |
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self.p.start(0) |
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self.dutycycle = 0 |
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def stopPWM(self): |
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""" Stop the PWM output. |
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""" |
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# Stop PWM |
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self.p.stop() |
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GPIO.output(self.enapin, False) |
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GPIO.output(self.enbpin, False) |
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GPIO.output(self.inapin, False) |
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GPIO.output(self.inbpin, False) |
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GPIO.output(self.fanpin, False) |
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def changeDutyCycle(self, duty): |
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""" Set the PWM duty cycle in percent. |
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@param float duty: PWM duty cycle 0 < duty < 100 |
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""" |
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self.dutycycle = 0 |
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if duty >= 0: |
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GPIO.output(self.inapin, True) |
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GPIO.output(self.inbpin, False) |
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else: |
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GPIO.output(self.inapin, False) |
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GPIO.output(self.inbpin, True) |
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self.p.ChangeDutyCycle(abs(duty)) |
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def set_control_value(self, value): |
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""" Set control value for this controller. |
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@param float value: control value, in this case duty cycle in percent |
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""" |
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with self.threadlock: |
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self.changeDutyCycle(value) |
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def get_control_value(self): |
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""" Get control value for this controller. |
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@return float: control value, in this case duty cycle in percent |
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""" |
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return self.dutycycle |
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def get_control_unit(self): |
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""" Get unit for control value. |
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@return tuple(str, str): short and text form of unit |
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""" |
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return ('%', 'percent') |
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def get_control_limits(self): |
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""" Get minimum and maxuimum value for control value. |
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@return tuple(float, float): min and max control value |
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""" |
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return (-100, 100) |
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class PiPWMHalf(PiPWM): |
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""" PWM controller restricted to positive values. |
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""" |
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def __init__(self, **kwargs): |
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super().__init__(**kwargs) |
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#locking for thread safety |
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self.threadlock = Mutex() |
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def get_control_limits(self): |
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""" Get minimum and maxuimum value for control value. |
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@return tuple(float, float): min and max control value |
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""" |
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return (0, 100) |
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Ulm-IQO /
qudi
