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Scripting GPIO Interrupts & SPI Fixes #332

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8ffab27
Updated core
themarpe Jul 27, 2021
1ef8c17
Merge branch 'develop' into scripting_gpio_interrupts
themarpe Jul 30, 2021
ab1b6a6
Added documentation of new Script GPIO API
themarpe Jul 30, 2021
c31e9f8
Updated core
themarpe Jul 30, 2021
3fff9f2
Updated core with SPI speed improvements
themarpe Aug 3, 2021
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2 changes: 1 addition & 1 deletion depthai-core
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Submodule depthai-core updated 1 files
+1 −1 cmake/Depthai/DepthaiDeviceSideConfig.cmake
31 changes: 25 additions & 6 deletions docs/source/components/nodes/script.rst
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Expand Up @@ -91,15 +91,34 @@ Usage
Interfacing with GPIOs
######################

In the script node you can interface with GPIOs of the VPU. Currently supported functions are:
In the script node you can interface with GPIOs of the VPU using module GPIO. Currently supported functions are:

.. code-block:: python

import GPIO # module
GPIO.read(pin)
GPIO.write(pin, value)
GPIO.setPwm(pin, highCount, lowCount, repeat=0) # repeat == 0 means indefinite
GPIO.enablePwm(pin, enable)
# Module
import GPIO

# General
GPIO.setup(gpio, dir, pud, exclusive)
GPIO.release(gpio)
GPIO.write(gpio, value)
GPIO.read(gpio)

# Interrupts
GPIO.waitInterruptEvent(gpio = -1) # blocks until any interrupt or interrupt by specified gpio is fired. Interrupts with callbacks are ignored here
GPIO.hasInterruptEvent(gpio = -1) # returns whether interrupt happened on any or specfied gpio. Interrupts with callbacks are ignored here
GPIO.setInterrupt(gpio, edge, priority, callback = None) # adds interrupt to specified pin
GPIO.clearInterrupt(gpio) # clears interrupt of specified pin

# PWM
GPIO.setPwm(gpio, highCount, lowCount, repeat=0) # repeat == 0 means indefinite
GPIO.enablePwm(gpio, enable)

# Enumerations
GPIO.Direction: GPIO.IN, GPIO.OUT
GPIO.State: GPIO.LOW, GPIO.HIGH
GPIO.PullDownUp: GPIO.PULL_NONE, GPIO.PULL_DOWN, GPIO.PULL_UP
GPIO.Edge: GPIO.RISING, GPIO.FALLING, GPIO.LEVEL_HIGH, GPIO.LEVEL_LOW

Using DepthAI :ref:`Messages <components_messages>`
###################################################
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