Merge branch 'master' of https://gitea.cs.ru.is/RU-V207/rover-pi

README.md

@@ -13,6 +13,7 @@ Scripts and documentation for setting up a Raspberry Pi (Zero W 1 or 2) for use
 - [Starting on Raspberry Pi Zero](https://reykjavik.instructure.com/courses/6589/pages/starting-on-raspberry-pi-zero-w)
 
 ## References and Links
+- [Sparkfun GPIO pinout](https://cdn.sparkfun.com/assets/learn_tutorials/6/7/6/PiZero_1.pdf)
 - [Guide to creating ssh keys](https://pimylifeup.com/raspberry-pi-ssh-keys/)  Of note, this guide is a little dated as it suggests using RSA keys and many people are moving toward EDCSA keys.
 - [Raspberry Pi Connect](https://connect.raspberrypi.com)
     - [Setting up Raspberry Pi Connect](https://www.raspberrypi.com/documentation/services/connect.html)	

Scripts/gadget.sh

@@ -12,19 +12,17 @@ fi
 
 # Is the dwc2 overlay installed?  Nothing will work if it isn't.
 if lsmod | grep -q "dwc2"; then
-    echo "DWC2 module loaded, setting up OTG gadget serial and ethernet" | logger -t $0 -p info
-    echo "DWC2 module loaded"
+    systemd-cat -t gadget.sh -p info echo "DWC2 module loaded, setting up OTG gadget serial and ethernet"
 else
-    echo "DWC2 module missing.  Aborting OTG setup." | logger -t $0 -p info
-    echo "DWC2 module missing"
+    systemd-cat -t gadget.sh -p warning echo "DWC2 module missing.  Aborting OTG setup."
     systemctl disable serial-getty@ttyGS0.service
     exit 1
 fi
 
-modprobe libcomposite
+sudo modprobe libcomposite
 cd /sys/kernel/config/usb_gadget
 if [ -d "MyGadget" ]; then
-    echo "MyGadget already exists.  Aborting OTG setup." | logger -t $0 -p info
+    systemd-cat -t gadget.sh -p warning echo "MyGadget already exists.  Aborting OTG setup."
     exit 1
 fi
 

lgpio/blink.py

@@ -0,0 +1,19 @@
+#!/usr/bin/python
+# From https://raspberry.tips/en/raspberrypi-tutorials/raspberry-pi-gpio-python
+import lgpio
+import time
+
+# Open GPIO chip (0 = /dev/gpiochip0, on Pi 5 gpiochip4 also possible)
+h = lgpio.gpiochip_open(0)
+
+try:
+    lgpio.gpio_claim_output(h, 18)   # GPIO18 (pin 12) as output (MOTA1)
+
+    for _ in range(5):
+        lgpio.gpio_write(h, 18, 1)   # HIGH
+        time.sleep(0.5)
+        lgpio.gpio_write(h, 18, 0)   # LOW
+        time.sleep(0.5)
+    
+finally:
+    lgpio.gpiochip_close(h)          # Always close!

lgpio/pwm-test.py

@@ -0,0 +1,25 @@
+#!/usr/bin/python
+# From https://raspberry.tips/en/raspberrypi-tutorials/raspberry-pi-gpio-python
+import lgpio
+import time
+
+# Open GPIO chip (0 = /dev/gpiochip0, on Pi 5 gpiochip4 also possible)
+h = lgpio.gpiochip_open(0)
+
+try:
+    lgpio.gpio_claim_output(h, 16)   # GPIO16 as output (MOTA2)
+    lgpio.gpio_write(h, 16, 0)   # LOW
+
+    # Hardware PWM on GPIO18 (pin 12) must be PWM-capable
+    # Frequency: 1000 Hz, duty cycle: 50%
+    lgpio.tx_pwm(h, 18, 1000, 50)
+    time.sleep(2)
+
+    # Reduce duty cycle to 20%
+    lgpio.tx_pwm(h, 18, 1000, 20)
+    time.sleep(2)
+
+    lgpio.tx_pwm(h, 18, 0, 0)   # Stop PWM
+    
+finally:
+    lgpio.gpiochip_close(h)          # Always close!