From 56dfc2251e59a62ff2ac0ca46a7a6fe81a76534c Mon Sep 17 00:00:00 2001 From: Bernd Reuther Date: Fri, 5 Mar 2021 15:09:21 +0100 Subject: [PATCH] umstellen auf pigpio --- kamera_server.py | 44 +++++++++------ raspi_setup.md | 33 ++++++++--- src/einstellungen.py | 17 ++---- src/schrittmotor.py | 131 ++++++++++++++++++++++++++----------------- templates/main.html | 4 +- 5 files changed, 141 insertions(+), 88 deletions(-) diff --git a/kamera_server.py b/kamera_server.py index cdf0a42..cc563db 100644 --- a/kamera_server.py +++ b/kamera_server.py @@ -1,24 +1,28 @@ import RPi.GPIO as GPIO from flask import Flask, render_template, request +import time +import pigpio + +pi = pigpio.pi() + from src.einstellungen import * from src.schrittmotor import motor -import time kamera_server = Flask(__name__) # Set each pin as an output and make it low: for pin in pins_out: - GPIO.setup(pins_out[pin]['nr'], GPIO.OUT) - GPIO.output(pins_out[pin]['nr'], GPIO.HIGH) + pi.set_mode(pins_out[pin]['nr'], pigpio.OUTPUT) + pi.write(pins_out[pin]['nr'], 1) + #GPIO.setup(pins_out[pin]['nr'], GPIO.OUT) + #GPIO.output(pins_out[pin]['nr'], GPIO.HIGH) for pin in pins_in: - GPIO.setup(pins_in[pin]['nr'], GPIO.IN) + pi.set_mode(pins_out[pin]['nr'], pigpio.INPUT) + #GPIO.setup(pins_in[pin]['nr'], GPIO.IN) -GPIO.output(pins_out['kamera']['nr'], GPIO.LOW) - -GPIO.setup(20, GPIO.OUT) -m3_pwm4 = GPIO.PWM(20, freq) -m3_pwm4.start(0) +#GPIO.output(pins_out['kamera']['nr'], GPIO.LOW) +pi.write(pins_out['kamera']['nr'], 0) m1 = motor('drehen', m1_a1, m1_b1, m1_a2, m1_b2, m1_t1, m1_t2, m1_te, m1_es, 1, 180) m2 = motor('kippen', m2_a1, m2_b1, m2_a2, m2_b2, m2_t1, m2_t2, m2_te, m2_es, 1, 90) @@ -37,9 +41,11 @@ m1.vorwaerts(100) def main(): # For each pin, read the pin state and store it in the pins dictionary: for pin in pins_out: - pins_out[pin]['state'] = GPIO.input(pins_out[pin]['nr']) + #pins_out[pin]['state'] = GPIO.input(pins_out[pin]['nr']) + pins_out[pin]['state'] = pi.read(pins_out[pin]['nr']) for pin in pins_in: - pins_in[pin]['state'] = GPIO.input(pins_in[pin]['nr']) + #pins_in[pin]['state'] = GPIO.input(pins_in[pin]['nr']) + pins_in[pin]['state'] = pi.read(pins_in[pin]['nr']) # Put the pin dictionary into the template data dictionary: templateData = { @@ -60,18 +66,22 @@ def action(changePin, action): # If the action part of the URL is "on," execute the code indented below: if action == "on": # Set the pin high: - GPIO.output(changePin, GPIO.HIGH) + #GPIO.output(changePin, GPIO.HIGH) + pi.write(changePin, 1) # Save the status message to be passed into the template: message = "Turned " + deviceName + " on." if action == "off": - GPIO.output(changePin, GPIO.LOW) + #GPIO.output(changePin, GPIO.LOW) + pi.write(changePin, GPIO.LOW) message = "Turned " + deviceName + " off." # For each pin, read the pin state and store it in the pins dictionary: for pin in pins_out: - pins_out[pin]['state'] = GPIO.input(pins_out[pin]['nr']) + #pins_out[pin]['state'] = GPIO.input(pins_out[pin]['nr']) + pins_out[pin]['state'] = pi.read(pins_out[pin]['nr']) for pin in pins_in: - pins_in[pin]['state'] = GPIO.input(pins_in[pin]['nr']) + #pins_in[pin]['state'] = GPIO.input(pins_in[pin]['nr']) + pins_in[pin]['state'] = pi.read(pins_in[pin]['nr']) # Along with the pin dictionary, put the message into the template data dictionary: templateData = { @@ -84,8 +94,8 @@ def action(changePin, action): @kamera_server.route("/position//") def motor_test(motor, position): if motor == "drehen": - m1.stop() - m1.start() + #m1.stop() + #m1.start() m1.gehe_zu(int(position)) return 'Drehen: ' + str(m1.pos) diff --git a/raspi_setup.md b/raspi_setup.md index d456e13..04cfb3a 100644 --- a/raspi_setup.md +++ b/raspi_setup.md @@ -11,7 +11,31 @@ sudo apt update sudo apt upgrade ``` -### Konfiguration anpassen: +## Zusatzprogramme installieren + +``` +sudo apt install mc git zbar-tools build-essential python-dev nginx pigpio python3-pip +``` + +## gpio-server aktivieren + +Service Datei anpassen `/lib/systemd/system/pigpiod.service.d/public.conf`: + +``` +[Service] +ExecStart= +ExecStart=/usr/bin/pigpiod -s1 +``` + +Dienst aktivieren/starten + +``` +sudo systemctl daemon-reload +sudo systemctl enable pigpiod +sudo systemctl start pigpiod +``` + +## Konfiguration anpassen: ``` sudo raspi-config @@ -20,12 +44,7 @@ sudo raspi-config - Zeitzone anpassen - Passwort ändern - Spracheinstellungen ändern - -## Zusatzprogramme installieren - -``` -sudo apt install mc git zbar-tools build-essential python-dev nginx -``` +- remote gpio erlauben ## Benutzer anlegen diff --git a/src/einstellungen.py b/src/einstellungen.py index 4ab21ea..58be946 100644 --- a/src/einstellungen.py +++ b/src/einstellungen.py @@ -1,21 +1,16 @@ -import RPi.GPIO as GPIO - -GPIO.setmode(GPIO.BCM) -GPIO.setwarnings(False) - freq = 800 freq_halten = 30000 -cyc_halten = 12 +cyc_halten = 20 pins_out = { - 'kamera' : {'nr' : 2, 'name' : 'Relais, Kamera', 'state' : GPIO.HIGH}, - 'encoder' : {'nr' : 3, 'name' : 'Relais, Encoder', 'state' : GPIO.HIGH} + 'kamera' : {'nr' : 2, 'name' : 'Relais, Kamera', 'state' : True}, + 'encoder' : {'nr' : 3, 'name' : 'Relais, Encoder', 'state' : True} } pins_in = { - 'endschalter1' : {'nr' : 23, 'name' : 'Endschalter, Motor 1', 'state' : GPIO.HIGH}, - 'endschalter2' : {'nr' : 26, 'name' : 'Endschalter, Motor 2', 'state' : GPIO.HIGH}, - 'endschalter3' : {'nr' : 25, 'name' : 'Endschalter, Motor 3', 'state' : GPIO.HIGH} + 'endschalter1' : {'nr' : 23, 'name' : 'Endschalter, Motor 1', 'state' : True}, + 'endschalter2' : {'nr' : 26, 'name' : 'Endschalter, Motor 2', 'state' : True}, + 'endschalter3' : {'nr' : 25, 'name' : 'Endschalter, Motor 3', 'state' : True} } m1_a1 = 17 diff --git a/src/schrittmotor.py b/src/schrittmotor.py index db10c84..ab52bc2 100644 --- a/src/schrittmotor.py +++ b/src/schrittmotor.py @@ -1,11 +1,12 @@ from src.einstellungen import * -import RPi.GPIO as GPIO +#import RPi.GPIO as GPIO import time +import pigpio import threading import math -GPIO.setmode(GPIO.BCM) -GPIO.setwarnings(False) +#GPIO.setmode(GPIO.BCM) +#GPIO.setwarnings(False) class motor(): @@ -31,32 +32,48 @@ class motor(): self.pwm4 = 0 def start(self): - GPIO.setup(self.sp1, GPIO.OUT) - GPIO.setup(self.sp2, GPIO.OUT) - GPIO.setup(self.sp3, GPIO.OUT) - GPIO.setup(self.sp4, GPIO.OUT) + pi.set_mode(self.sp1, pigpio.OUTPUT) + pi.set_mode(self.sp2, pigpio.OUTPUT) + pi.set_mode(self.sp3, pigpio.OUTPUT) + pi.set_mode(self.sp4, pigpio.OUTPUT) + #GPIO.setup(self.sp1, GPIO.OUT) + #GPIO.setup(self.sp2, GPIO.OUT) + #GPIO.setup(self.sp3, GPIO.OUT) + #GPIO.setup(self.sp4, GPIO.OUT) - self.pwm1 = GPIO.PWM(self.sp1, self.freq) - self.pwm1.start(0) + pi.set_PWM_range(self.sp1, 100) + pi.set_PWM_range(self.sp2, 100) + pi.set_PWM_range(self.sp3, 100) + pi.set_PWM_range(self.sp4, 100) + + pi.set_PWM_frequency(self.sp1, self.freq) + pi.set_PWM_dutycycle(self.sp1, 0) + + #self.pwm1 = GPIO.PWM(self.sp1, self.freq) + #self.pwm1.start(0) + + pi.set_PWM_frequency(self.sp2, self.freq) + pi.set_PWM_dutycycle(self.sp2, 0) - self.pwm2 = GPIO.PWM(self.sp2, self.freq) - self.pwm2.start(0) + #self.pwm2 = GPIO.PWM(self.sp2, self.freq) + #self.pwm2.start(0) - self.pwm3 = GPIO.PWM(self.sp3, self.freq) - self.pwm3.start(0) + pi.set_PWM_frequency(self.sp3, self.freq) + pi.set_PWM_dutycycle(self.sp3, 0) + + #self.pwm3 = GPIO.PWM(self.sp3, self.freq) + #self.pwm3.start(0) if self.halten == 1: - self.pwm4 = GPIO.PWM(self.sp4, self.freq_halten) - self.pwm4.start(cyc_halten) + pi.set_PWM_frequency(self.sp4, self.freq_halten) + pi.set_PWM_dutycycle(self.sp4, cyc_halten) + #self.pwm4 = GPIO.PWM(self.sp4, self.freq_halten) + #self.pwm4.start(cyc_halten) else: - self.pwm4 = GPIO.PWM(self.sp4, self.freq) - self.pwm4.start(0) - - def stop(self): - self.pwm1.stop() - self.pwm2.stop() - self.pwm3.stop() - self.pwm4.stop() + pi.set_PWM_frequency(self.sp4, self.freq) + pi.set_PWM_dutycycle(self.sp4, 0) + #self.pwm4 = GPIO.PWM(self.sp4, self.freq) + #self.pwm4.start(0) def vorwaerts(self, schritte, eichen=0): ges_schritte = schritte * 8 @@ -69,7 +86,8 @@ class motor(): temp_t2 = self.t2 if self.halten == 1: - self.pwm4.ChangeFrequency(self.freq) + pi.set_PWM_frequency(self.sp4, self.freq) + #self.pwm4.ChangeFrequency(self.freq) for i in range(int(schritte)): if self.pos >= self.schritte_max: @@ -78,22 +96,25 @@ class motor(): self.pos += 1 temp_pos = i * 8 - einzelschritt(self.pwm1, 1, ges_schritte, temp_pos, temp_t1, temp_t2) - einzelschritt(self.pwm4, 0, ges_schritte, temp_pos + 1, temp_t1, temp_t2) - einzelschritt(self.pwm2, 1, ges_schritte, temp_pos + 2, temp_t1, temp_t2) - einzelschritt(self.pwm1, 0, ges_schritte, temp_pos + 3, temp_t1, temp_t2) - einzelschritt(self.pwm3, 1, ges_schritte, temp_pos + 4, temp_t1, temp_t2) - einzelschritt(self.pwm2, 0, ges_schritte, temp_pos + 5, temp_t1, temp_t2) - einzelschritt(self.pwm4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2) - einzelschritt(self.pwm3, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2) + einzelschritt(self.sp1, 1, ges_schritte, temp_pos, temp_t1, temp_t2) + einzelschritt(self.sp4, 0, ges_schritte, temp_pos + 1, temp_t1, temp_t2) + einzelschritt(self.sp2, 1, ges_schritte, temp_pos + 2, temp_t1, temp_t2) + einzelschritt(self.sp1, 0, ges_schritte, temp_pos + 3, temp_t1, temp_t2) + einzelschritt(self.sp3, 1, ges_schritte, temp_pos + 4, temp_t1, temp_t2) + einzelschritt(self.sp2, 0, ges_schritte, temp_pos + 5, temp_t1, temp_t2) + einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2) + einzelschritt(self.sp3, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2) #print(str(self.pos)) if self.halten == 1: - self.pwm4.ChangeFrequency(self.freq_halten) - self.pwm4.ChangeDutyCycle(self.cyc_halten) + pi.set_PWM_frequency(self.sp4, self.freq_halten) + pi.set_PWM_dutycycle(self.sp4, cyc_halten) + #self.pwm4.ChangeFrequency(self.freq_halten) + #self.pwm4.ChangeDutyCycle(self.cyc_halten) else: - self.pwm4.ChangeDutyCycle(0) + pi.set_PWM_dutycycle(self.sp4, 0) + #self.pwm4.ChangeDutyCycle(0) def rueckwaerts(self, schritte, eichen=0): ges_schritte = schritte * 8 @@ -106,10 +127,12 @@ class motor(): temp_t2 = self.t2 if self.halten == 1: - self.pwm4.ChangeFrequency(self.freq) + pi.set_PWM_frequency(self.sp4, self.freq) + #self.pwm4.ChangeFrequency(self.freq) for i in range(int(schritte)): - if GPIO.input(self.endschalter) == GPIO.LOW: + #if GPIO.input(self.endschalter) == GPIO.LOW: + if pi.read(self.endschalter) == 0: print('Endschalter ' + self.name) self.pos = 0 break @@ -117,25 +140,29 @@ class motor(): self.pos -= 1 temp_pos = i * 8 - einzelschritt(self.pwm3, 1, ges_schritte, temp_pos, temp_t1, temp_t2) - einzelschritt(self.pwm4, 0, ges_schritte, temp_pos + 1, temp_t1, temp_t2) - einzelschritt(self.pwm2, 1, ges_schritte, temp_pos + 2, temp_t1, temp_t2) - einzelschritt(self.pwm3, 0, ges_schritte, temp_pos + 3, temp_t1, temp_t2) - einzelschritt(self.pwm1, 1, ges_schritte, temp_pos + 4, temp_t1, temp_t2) - einzelschritt(self.pwm2, 0, ges_schritte, temp_pos + 5, temp_t1, temp_t2) - einzelschritt(self.pwm4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2) - einzelschritt(self.pwm1, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2) + einzelschritt(self.sp3, 1, ges_schritte, temp_pos, temp_t1, temp_t2) + einzelschritt(self.sp4, 0, ges_schritte, temp_pos + 1, temp_t1, temp_t2) + einzelschritt(self.sp2, 1, ges_schritte, temp_pos + 2, temp_t1, temp_t2) + einzelschritt(self.sp3, 0, ges_schritte, temp_pos + 3, temp_t1, temp_t2) + einzelschritt(self.sp1, 1, ges_schritte, temp_pos + 4, temp_t1, temp_t2) + einzelschritt(self.sp2, 0, ges_schritte, temp_pos + 5, temp_t1, temp_t2) + einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2) + einzelschritt(self.sp1, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2) #print(str(self.pos)) if self.halten == 1: - self.pwm4.ChangeFrequency(self.freq_halten) - self.pwm4.ChangeDutyCycle(self.cyc_halten) + pi.set_PWM_frequency(self.sp4, self.freq_halten) + pi.set_PWM_dutycycle(self.sp4, cyc_halten) + #self.pwm4.ChangeFrequency(self.freq_halten) + #self.pwm4.ChangeDutyCycle(self.cyc_halten) else: - self.pwm4.ChangeDutyCycle(0) + pi.set_PWM_dutycycle(self.sp4, 0) + #self.pwm4.ChangeDutyCycle(0) def eichen(self): - if GPIO.input(self.endschalter) == GPIO.LOW: + #if GPIO.input(self.endschalter) == GPIO.LOW: + if pi.read(self.endschalter) == 0: self.vorwaerts(10, 1) self.rueckwaerts(self.schritte_max, 1) @@ -158,10 +185,12 @@ def einzelschritt(spule, status, ges_schritte, schritt, t1, t2): if status == 1: for i in range(0, 91, 5): dc = round(math.sin(math.radians(i)) * 100, 0) - spule.ChangeDutyCycle(dc) + pi.set_PWM_dutycycle(spule, dc) + #spule.ChangeDutyCycle(dc) time.sleep(t) else: for i in range(0, 91, 5): dc = round(math.cos(math.radians(i)) * 100, 0) - spule.ChangeDutyCycle(dc) + pi.set_PWM_dutycycle(spule, dc) + #spule.ChangeDutyCycle(dc) time.sleep(t) diff --git a/templates/main.html b/templates/main.html index a7e83dd..5bc4758 100644 --- a/templates/main.html +++ b/templates/main.html @@ -12,7 +12,7 @@

RPi Web Server

{% for pin in pins %}

{{ pins[pin].name }} - {% if pins[pin].state == true %} + {% if pins[pin].state == 1 %} ist gerade an

Turn off
{% else %} @@ -22,7 +22,7 @@ {% endfor %} {% for pin in pins_in %}

{{ pins_in[pin].name }} - {% if pins_in[pin].state == true %} + {% if pins_in[pin].state == 1 %} ist gerade an

{% else %} ist gerade aus