commit 2a483b3bb7fd2766a09b8909cb1cc211ed747b15
author Jim Ostrowski <yimmy13@gmail.com> Tue Feb 15 18:19:14 2022 -0800
committer Jim Ostrowski <yimmy13@gmail.com> Tue Feb 22 22:09:49 2022 -0800
tree ec4c8d6b63bd28840bc47e53b1a9fdf8541599ca
parent 039d75607dee56e3dc35b39a860702d7f583d6b6

GPIO classes for controlling GPIO pins and PWM

Using WiringPi (gpio command) for PWM and
sysfs control using file descriptors for control of pin read/write

Requires a tweak to the Pi SD card image to install gpio

Includes a bash script to turn LEDs on and off

Change-Id: Iaa254e026db336b09758d24eb1ddcffccfb27655
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

y2022/vision/camera_reader.h

diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index 330dcbc..2a0bfbc 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -15,6 +15,7 @@
 #include "frc971/vision/vision_generated.h"
 #include "y2022/vision/calibration_data.h"
 #include "y2022/vision/calibration_generated.h"
+#include "y2022/vision/gpio.h"
 #include "y2022/vision/target_estimate_generated.h"
 
 namespace y2022 {
@@ -22,7 +23,8 @@
 
 using namespace frc971::vision;
 
-// TODO<Jim/Milind>: Need to add in senders to send out the blob data/stats
+// TODO<jim>: Probably need to break out LED control to separate process
+// TODO<jim>: Need to add sync with camera to strobe lights
 
 class CameraReader {
  public:
@@ -36,11 +38,21 @@
         image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
         target_estimate_sender_(
             event_loop->MakeSender<TargetEstimate>("/camera")),
-        read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })) {
+        read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })),
+        gpio_pwm_control_(GPIOPWMControl(GPIO_PIN_SCK_PWM, duty_cycle_)),
+        gpio_disable_control_(
+            GPIOControl(GPIO_PIN_MOSI_DISABLE, kGPIOOut, kGPIOLow)) {
     event_loop->OnRun(
         [this]() { read_image_timer_->Setup(event_loop_->monotonic_now()); });
   }
 
+  void SetDutyCycle(double duty_cycle) {
+    duty_cycle_ = duty_cycle;
+    gpio_pwm_control_.setPWMDutyCycle(duty_cycle_);
+  }
+
+  double GetDutyCycle() { return duty_cycle_; }
+
  private:
   const calibration::CameraCalibration *FindCameraCalibration() const;
 
@@ -86,6 +98,10 @@
   // We schedule this immediately to read an image. Having it on a timer
   // means other things can run on the event loop in between.
   aos::TimerHandler *const read_image_timer_;
+
+  double duty_cycle_ = 0.0;
+  GPIOPWMControl gpio_pwm_control_;
+  GPIOControl gpio_disable_control_;
 };
 
 }  // namespace vision