Skip to content

Adds Pi 5 GPIO fallback using pinctrl utility #47

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
dakejahl wants to merge 1 commit into
base: main
Choose a base branch
from
Draft

Adds Pi 5 GPIO fallback using pinctrl utility #47

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
66 changes: 51 additions & 15 deletions platform/pi/scripts/reset_fmu_fast.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,31 +21,67 @@

import RPi.GPIO as GPIO
import time
import subprocess
import sys

# Pin Definitions
reset_pin = 25
vbus_det_pin = 27

def main():
# Pin Setup:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # BCM pin-numbering scheme from Raspberry Pi
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(reset_pin, GPIO.OUT, initial=GPIO.HIGH)
GPIO.setup(vbus_det_pin, GPIO.OUT, initial=GPIO.HIGH)
try:
# Pin Setup:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # BCM pin-numbering scheme from Raspberry Pi
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(reset_pin, GPIO.OUT, initial=GPIO.HIGH)
GPIO.setup(vbus_det_pin, GPIO.OUT, initial=GPIO.HIGH)

# Disable vbus detect for a faster reset
GPIO.output(vbus_det_pin, GPIO.LOW)
# Disable vbus detect for a faster reset
GPIO.output(vbus_det_pin, GPIO.LOW)

print("Resetting Flight Controller!")
print("Resetting Flight Controller!")

GPIO.output(reset_pin, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(reset_pin, GPIO.LOW)
GPIO.output(reset_pin, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(reset_pin, GPIO.LOW)

# Do not enable VBUS, skips bootloader
time.sleep(1)
GPIO.output(vbus_det_pin, GPIO.HIGH)
# Do not enable VBUS, skips bootloader
time.sleep(1)
GPIO.output(vbus_det_pin, GPIO.HIGH)

except RuntimeError as e:
if "Cannot determine SOC peripheral base address" in str(e):
print("RPi.GPIO failed (likely Pi 5). Trying pinctrl...")
try:
# Fallback to pinctrl for Pi 5
# Set pins to Output High (dh) initially
subprocess.run(["pinctrl", "set", str(reset_pin), "op", "dh"], check=True)
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dh"], check=True)

# Disable vbus detect for a faster reset
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dl"], check=True)

print("Resetting Flight Controller!")

# Reset High
subprocess.run(["pinctrl", "set", str(reset_pin), "op", "dh"], check=True)
time.sleep(0.1)
# Reset Low
subprocess.run(["pinctrl", "set", str(reset_pin), "op", "dl"], check=True)

# Do not enable VBUS, skips bootloader
time.sleep(1)
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dh"], check=True)

except FileNotFoundError:
print("Error: pinctrl not found. Cannot control GPIOs.")
sys.exit(1)
except subprocess.CalledProcessError as e2:
print(f"Error running pinctrl: {e2}")
sys.exit(1)
else:
raise e

if __name__ == '__main__':
main()
59 changes: 46 additions & 13 deletions platform/pi/scripts/reset_fmu_wait_bl.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,29 +21,62 @@

import RPi.GPIO as GPIO
import time
import subprocess
import sys

# Pin Definitions
reset_pin = 25
vbus_det_pin = 27

def main():
# Pin Setup:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # BCM pin-numbering scheme from Raspberry Pi
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(reset_pin, GPIO.OUT, initial=GPIO.HIGH)
GPIO.setup(vbus_det_pin, GPIO.OUT, initial=GPIO.HIGH)
try:
# Pin Setup:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # BCM pin-numbering scheme from Raspberry Pi
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(reset_pin, GPIO.OUT, initial=GPIO.HIGH)
GPIO.setup(vbus_det_pin, GPIO.OUT, initial=GPIO.HIGH)

print("Resetting Flight Controller!")
print("Resetting Flight Controller!")

GPIO.output(reset_pin, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(reset_pin, GPIO.LOW)
GPIO.output(reset_pin, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(reset_pin, GPIO.LOW)

# Enable VBUS immediatly to catch bootloader and wait
GPIO.output(vbus_det_pin, GPIO.HIGH)
# Enable VBUS immediatly to catch bootloader and wait
GPIO.output(vbus_det_pin, GPIO.HIGH)

time.sleep(1)
time.sleep(1)

except RuntimeError as e:
if "Cannot determine SOC peripheral base address" in str(e):
print("RPi.GPIO failed (likely Pi 5). Trying pinctrl...")
try:
# Fallback to pinctrl for Pi 5
# Set pins to Output High (dh) initially
subprocess.run(["pinctrl", "set", str(reset_pin), "op", "dh"], check=True)
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dh"], check=True)

print("Resetting Flight Controller!")

# Reset High
subprocess.run(["pinctrl", "set", str(reset_pin), "op", "dh"], check=True)
time.sleep(0.1)
# Reset Low
subprocess.run(["pinctrl", "set", str(reset_pin), "op", "dl"], check=True)

# Enable VBUS High
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dh"], check=True)

time.sleep(1)
except FileNotFoundError:
print("Error: pinctrl not found. Cannot control GPIOs.")
sys.exit(1)
except subprocess.CalledProcessError as e2:
print(f"Error running pinctrl: {e2}")
sys.exit(1)
else:
raise e

if __name__ == '__main__':
main()
39 changes: 31 additions & 8 deletions platform/pi/scripts/vbus_disable.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,20 +21,43 @@

import RPi.GPIO as GPIO
import time
import subprocess
import sys

# Pin Definitions
vbus_det_pin = 27

def main():
# Pin Setup:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # BCM pin-numbering scheme from Raspberry Pi
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(vbus_det_pin, GPIO.OUT, initial=GPIO.HIGH)
try:
# Pin Setup:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # BCM pin-numbering scheme from Raspberry Pi
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(vbus_det_pin, GPIO.OUT, initial=GPIO.HIGH)

value = GPIO.LOW
print("Outputting {} to pin {}".format(value, vbus_det_pin))
GPIO.output(vbus_det_pin, value)
value = GPIO.LOW
print("Outputting {} to pin {}".format(value, vbus_det_pin))
GPIO.output(vbus_det_pin, value)
except RuntimeError as e:
if "Cannot determine SOC peripheral base address" in str(e):
print("RPi.GPIO failed (likely Pi 5). Trying pinctrl...")
try:
# Fallback to pinctrl for Pi 5
# Set pin to Output High (dh) initially
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dh"], check=True)

value = 0 # LOW
print("Outputting {} to pin {}".format(value, vbus_det_pin))
# Set low
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dl"], check=True)
except FileNotFoundError:
print("Error: pinctrl not found. Cannot control GPIOs.")
sys.exit(1)
except subprocess.CalledProcessError as e2:
print(f"Error running pinctrl: {e2}")
sys.exit(1)
else:
raise e

if __name__ == '__main__':
main()
39 changes: 31 additions & 8 deletions platform/pi/scripts/vbus_enable.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,20 +21,43 @@

import RPi.GPIO as GPIO
import time
import subprocess
import sys

# Pin Definitions
vbus_det_pin = 27

def main():
# Pin Setup:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # BCM pin-numbering scheme from Raspberry Pi
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(vbus_det_pin, GPIO.OUT, initial=GPIO.HIGH)
try:
# Pin Setup:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # BCM pin-numbering scheme from Raspberry Pi
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(vbus_det_pin, GPIO.OUT, initial=GPIO.HIGH)

value = GPIO.HIGH
print("Outputting {} to pin {}".format(value, vbus_det_pin))
GPIO.output(vbus_det_pin, value)
value = GPIO.HIGH
print("Outputting {} to pin {}".format(value, vbus_det_pin))
GPIO.output(vbus_det_pin, value)
except RuntimeError as e:
if "Cannot determine SOC peripheral base address" in str(e):
print("RPi.GPIO failed (likely Pi 5). Trying pinctrl...")
try:
# Fallback to pinctrl for Pi 5
# Set pin to Output High (dh) initially
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dh"], check=True)

value = 1 # HIGH
print("Outputting {} to pin {}".format(value, vbus_det_pin))
# Ensure it is high
subprocess.run(["pinctrl", "set", str(vbus_det_pin), "op", "dh"], check=True)
except FileNotFoundError:
print("Error: pinctrl not found. Cannot control GPIOs.")
sys.exit(1)
except subprocess.CalledProcessError as e2:
print(f"Error running pinctrl: {e2}")
sys.exit(1)
else:
raise e

if __name__ == '__main__':
main()