Sync from master

Author: dplanella

Adafruit_BBIO/Encoder.py

@@ -3,53 +3,62 @@
 from subprocess import check_output, STDOUT, CalledProcessError
 import os
 import logging
-
-
-class QEP :
-
-  def __init__(self, channel=1, debug=False):
-    self.channel = channel
-    self.debug = debug
-
-  def errMsg(self):
-    print("Error accessing 0x%02X: Check your QEP channel" % self.address)
-    return -1
-
-# example method from Adafruit_I2C
-# TODO: delete this
-#  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("Rotary: Wrote 0x%02X to register 0x%02X" % (value, reg))
-#    except IOError as err:
-#      return self.errMsg()
-#
-#
-#if __name__ == '__main__':
-#  try:
-#    qep = Adafruit_BBIO.Encoder.QEP()
-#    print("Default QEP channel is accessible")
-#  except:
-#    print("Error accessing default Rotary bus")
-
+import itertools
+
+eQEP0 = 0
+eQEP1 = 1
+eQEP2 = 2
+eQEP2b = 3
+
+_OCP_PATH = "/sys/devices/platform/ocp"
+_eQEP_DEFS = [
+   {'channel': 'eQEP0', 'pin_A': 'P9_92', 'pin_B': 'P9_27',
+       'sys_path': os.path.join(_OCP_PATH, '48300000.epwmss/48300180.eqep')},
+   {'channel': 'eQEP1', 'pin_A': 'P8_35', 'pin_B': 'P8_33',
+       'sys_path': os.path.join(_OCP_PATH, '48302000.epwmss/48302180.eqep')},
+   {'channel': 'eQEP2', 'pin_A': 'P8_12', 'pin_B': 'P8_11',
+       'sys_path': os.path.join(_OCP_PATH, '48304000.epwmss/48304180.eqep')},
+   {'channel': 'eQEP2b', 'pin_A': 'P8_41', 'pin_B': 'P8_42',
+       'sys_path': os.path.join(_OCP_PATH, '48304000.epwmss/48304180.eqep')}
+]
+
+
+class eQEP(object):
+    '''Enhanced Quadrature Encoder Pulse (eQEP) module class. Abstraction
+    for either of the three available channels (eQEP0, eQEP1, eQEP2) on
+    the Beaglebone'''
+
+    @classmethod
+    def fromdict(cls, d):
+        '''Creates a class instance from a dictionary'''
+
+        allowed = ('channel', 'pin_A', 'pin_B', 'sys_path')
+        df = {k: v for k, v in d.iteritems() if k in allowed}
+        return cls(**df)
+
+    def __init__(self, channel, pin_A, pin_B, sys_path):
+        '''Initialize the eQEP module
+
+        Attributes:
+            channel (str): eQEP channel name. E.g. "eQEP0", "eQEP1", etc.
+                Note that "eQEP2" and  "eQEP2b" are channel aliases for the
+                same module, but on different (mutually-exclusive) sets of
+                pins
+            pin_A (str): physical input pin for the A signal of the
+                rotary encoder
+            pin_B (str): physical input pin for the B signal of the
+                rotary encoder
+            sys_path (str): sys filesystem path to access the attributes
+                of this eQEP module
+
+        '''
+        self.channel = channel
+        self.pin_A = pin_A
+        self.pin_B = pin_B
+        self.sys_path = sys_path
 
 
 class RotaryEncoder(object):
-  # TODO: check that kernel 4.1+
-  # TODO: use config-pin to set qep mode
-  OCP_PATH = "/sys/devices/platform/ocp"
-  _eqep_dirs = [
-    '%s/48300000.epwmss/48300180.eqep' % OCP_PATH,
-    '%s/48302000.epwmss/48302180.eqep' % OCP_PATH,
-    '%s/48304000.epwmss/48304180.eqep' % OCP_PATH
-  ]
-
-  EQEP0 = 0
-  EQEP1 = 1
-  EQEP2 = 2
-  EQEP2b = 3
 
   def _run_cmd(self, cmd):
     '''Runs a command. If not successful (i.e. error code different than zero),
@@ -93,64 +102,19 @@ def __init__(self, eqep_num):
     self._logger = logging.getLogger(__name__)
     self._logger.addHandler(logging.NullHandler())
 
-    # Configure eqep0
-    self._logger.info("Configuring eqep0, pins: P9.27, P9.92")
-
-    pin = "P9_27"
-    self.config_pin(pin)
-
-    pin = "P9_92"
-    self.config_pin(pin)
-
-    path = "/sys/devices/platform/ocp/48300000.epwmss/48300180.eqep/position"
-    self.cat_file(path)
-
-    # Configure eqep1
-    self._logger.info("Configuring eqep1, pins: P8.33, P8.35")
-
-    pin = "P8.33"
-    self.config_pin(pin)
-
-    pin = "P8.35"
-    self.config_pin(pin)
-
-    path = "/sys/devices/platform/ocp/48302000.epwmss/48302180.eqep/position"
-    self.cat_file(path);
-
-    # Configure eqep2
-    self._logger.info("Configuring eqep2, pins: P8.11, P8.12")
-
-    pin = "P8.11"
-    self.config_pin(pin)
-
-    pin = "P8.12"
-    self.config_pin(pin)
-
-    path = "/sys/devices/platform/ocp/48304000.epwmss/48304180.eqep/position"
-    self.cat_file(path);
-
-    # Configure eqep2b
-    self._logger.info("Configuring eqep2, pins: P8.41, P8.42")
-
-    pin = "P8.41"
-    self.config_pin(pin)
-
-    pin = "P8.42"
-    self.config_pin(pin)
-
-    path = "/sys/devices/platform/ocp/48304000.epwmss/48304180.eqep/position"
-    self.cat_file(path);
-
-    self._logger.debug("RotaryEncoder(): eqep_num: {0}".format(eqep_num))
-    self._logger.debug("RotaryEncoder(): self._eqep_dirs[0]: {0}".format(self._eqep_dirs[0]))
-    self._logger.debug("RotaryEncoder(): self._eqep_dirs[1]: {0}".format(self._eqep_dirs[1]))
-    self._logger.debug("RotaryEncoder(): self._eqep_dirs[2]: {0}".format(self._eqep_dirs[2]))
-    self._logger.debug("RotaryEncoder(): self._eqep_dirs[eqep_num: {0}]: {1}".format(eqep_num, self._eqep_dirs[eqep_num]))
+    # Configure eqep module
+    self._eqep = eQEP.fromdict(_eQEP_DEFS[eqep_num])
+    self._logger.info(
+        "Configuring: {}, pin A: {}, pin B: {}, sys path: {}".format(
+            self._eqep.channel, self._eqep.pin_A, self._eqep.pin_B,
+            self._eqep.sys_path))
 
-    assert 0 <= eqep_num <= 3 , "eqep_num must be between 0 and 3"
+    self.config_pin(self._eqep.pin_A)
+    self.config_pin(self._eqep.pin_B)
 
-    self.base_dir = self._eqep_dirs[eqep_num]
-    self._logger.debug("RotaryEncoder(): self.base_dir: {0}".format(self.base_dir))
+    self.base_dir = self._eqep.sys_path
+    self._logger.debug(
+        "RotaryEncoder(): self.base_dir: {0}".format(self.base_dir))
 
     self.enable()
 
@@ -220,6 +184,7 @@ def getPosition(self):
     In relative mode, this attribute represents the position of the
     encoder at the last unit timer overflow.
     '''
+    self._logger.debug("Channel: {}".format(self._eqep.channel))
     position_file = "%s/position" % self.base_dir
     self._logger.debug("getPosition(): position_file: {0}".format(position_file))
     position_handle = open(position_file, 'r')

CHANGELOG.md

@@ -1,3 +1,32 @@
+1.0.8
+----
+**Fixes:**
+* Issue #196: cache board type to avoid poor performance
+* Issue #192: fix PocketBeagle PWM pin typo
+* Issue #191: turn off RotaryEncoder's debug output by default
+* Issue #188: GPIO is extremely slow (20ms to toggle)
+* Issue #186: problems with UART
+
+**shortlog:**
+* David Planella (12):
+  * Copy Encoder module comments to README.md
+  * Formatted Encoder README in markdown
+  * Fixed Encoder README formatting
+  * Removed QEP instructions from Encoder module
+  * Fixes to Encoder README
+  * Updated Encoder README
+  * Encoder README: added info on dedicated overlays
+  * Encoder README: updated info on pre-requisites
+  * Encoder README update
+  * Encoder README update
+  * Add logging support, turn off unconditional debug output
+  * Encoder: remove unused logging code
+
+* Drew Fustini (3):
+  * Merge pull request #195 from dplanella/master
+  * Fix PocketBeagle PWM pin typo (#192)
+  * cache board type to avoid poor performance (#196)
+
 1.0.7
 ----
 **Fixes:**

distribute_setup.py

@@ -50,7 +50,7 @@ def quote(arg):
         return os.spawnl(os.P_WAIT, sys.executable, *args) == 0
 
 DEFAULT_VERSION = "0.6.45"
-DEFAULT_URL = "http://pypi.python.org/packages/source/d/distribute/"
+DEFAULT_URL = "https://pypi.python.org/packages/source/d/distribute/"
 SETUPTOOLS_FAKED_VERSION = "0.6c11"
 
 SETUPTOOLS_PKG_INFO = """\

setup.py

@@ -40,7 +40,7 @@
 }
 
 setup(name             = 'Adafruit_BBIO',
-      version          = '1.0.7',
+      version          = '1.0.8',
       author           = 'Justin Cooper',
       author_email     = '[email protected]',
       description      = 'A module to control BeagleBone IO channels',

source/c_pwm.c

@@ -553,6 +553,9 @@ BBIO_err pwm_setup(const char *key, __attribute__ ((unused)) float duty, __attri
         close(period_fd);
         close(duty_fd);
         close(polarity_fd);
+#ifdef BBBVERSION41
+        close(enable_fd);
+#endif
         syslog(LOG_ERR, "Adafruit_BBIO: pwm_setup: %s couldn't malloc pwm_exp: %i-%s",
                key, errno, strerror(errno));
         return BBIO_MEM; // out of memory
@@ -717,6 +720,9 @@ BBIO_err pwm_disable(const char *key)
 #endif
 
             //close the fd
+#ifdef BBBVERSION41
+            close(pwm->enable_fd);
+#endif
             close(pwm->period_fd);
             close(pwm->duty_fd);
             close(pwm->polarity_fd);

source/common.c

@@ -301,7 +301,7 @@ pwm_t pwm_table[] = {
   { "ehrpwm0", 0, 0, 1, "ehrpwm.0:0", "EHRPWM0A", "48300000", "48300200", "P1_8"},
   { "ehrpwm0", 0, 0, 1, "ehrpwm.0:0", "EHRPWM0A", "48300000", "48300200", "P1_36"},
   { "ehrpwm0", 1, 1, 1, "ehrpwm.0:1", "EHRPWM0B", "48300000", "48300200", "P1_10"},
-  { "ehrpwm0", 1, 1, 1, "ehrpwm.0:1", "EHRPWM0B", "48300000", "48300200", "P1_13"},
+  { "ehrpwm0", 1, 1, 1, "ehrpwm.0:1", "EHRPWM0B", "48300000", "48300200", "P1_33"},
   { "ehrpwm1", 3, 0, 6, "ehrpwm.1:0", "EHRPWM1A", "48302000", "48302200", "P2_1"},
   { "ehrpwm2", 6, 1, 3, "ehrpwm.2:1", "EHRPWM2B", "48304000", "48304200", "P2_3"},
   { NULL, 0, 0, 0, NULL, NULL, NULL, NULL, NULL }
@@ -601,23 +601,30 @@ int pocketbeagle(void) {
 */
 int beaglebone_blue(void) {
     const char *cmd = "/bin/grep -c 'TI AM335x BeagleBone Blue' /proc/device-tree/model";
-    char blue;
+    // cache the value to avoid poor performance
+    // in functions that are called frequently like
+    // gpio_set_value() in source/event_gpio.c
+    static int initialized = 0;
+    static int retval = 0;
     FILE *file = NULL;
 
-    file = popen(cmd, "r");
-    if (file == NULL) {
-       fprintf(stderr, "error: beaglebone_blue() failed to run cmd=%s\n", cmd);
-       syslog(LOG_ERR, "Adafruit_BBIO: error: beaglebone_blue() failed to run cmd=%s\n", cmd);
-       return -1;
+    //fprintf(stderr, "beaglebone_blue(): initialized=[%d] retval=[%d]\n", initialized, retval);
+    if(!initialized) {
+      initialized = 1;
+      //fprintf(stderr, "beaglebone_blue(): not initialized\n");
+      file = popen(cmd, "r");
+      if (file == NULL) {
+         fprintf(stderr, "Adafruit_BBIO: error in beaglebone_blue(): failed to run cmd=%s\n", cmd);
+         syslog(LOG_ERR, "Adafruit_BBIO: error in beaglebone_blue(): failed to run cmd=%s\n", cmd);
+         return -1;
+      }
+      if( fgetc(file) == '1' ) {
+         retval = 1;
+      }
+      pclose(file);
     }
-    blue = fgetc(file);
-    pclose(file);
 
-    if(blue == '1') {
-      return 1;
-    } else {
-      return 0;
-    }
+    return retval;
 }
 
 

test/test_led.py

@@ -14,7 +14,7 @@ def set_brightness(self, state, led, name):
         prefix = "/sys/class/leds/beaglebone:green:{0}/brightness"
         path = prefix.format(led.lower())
         value = self.read_led_file(path)
-        if value < 0:
+        if value == "":
             path = prefix.format(name)
             value = self.read_led_file(path)
         if state == 1:
@@ -25,16 +25,16 @@ def set_brightness(self, state, led, name):
     def read_led_file(self, path):
         try:
             return open(path).read()
-        except IOError, e:
+        except (IOError, e):
             if e.errno == errno.ENOENT:
-                return -1
+                return ""
 
     def set_all_leds(self, state):
         test_leds = { "USR0": "heartbeat", \
                       "USR1": "mmc0", \
                       "USR2": "cpu0", \
                       "USR3": "mmc1" }
-        for led, name in test_leds.iteritems():
+        for led, name in test_leds.items():
             self.set_brightness(state, led, name)
             GPIO.cleanup()