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gen2thomasgen2thomas
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orangepi5pro: introduce adaptor for OrangePi 5 Pro (hybridgroup#1129)
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12 files changed

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-89
lines changed

‎README.md

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@@ -271,6 +271,7 @@ platforms are currently supported:
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- [NATS](http://nats.io/) <=> [Package](https://github.com/hybridgroup/gobot/blob/release/platforms/nats)
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- [Neurosky](http://neurosky.com/products-markets/eeg-biosensors/hardware/) <=> [Package](https://github.com/hybridgroup/gobot/blob/release/platforms/neurosky)
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- [OpenCV](http://opencv.org/) <=> [Package](https://github.com/hybridgroup/gobot/blob/release/platforms/opencv)
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- [OrangePi 5 Pro](http://www.orangepi.org/html/hardWare/computerAndMicrocontrollers/details/Orange-Pi-5-Pro.html) <=> [Package](https://github.com/hybridgroup/gobot/blob/release/platforms/orangepi/orangepi5pro)
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- [Particle](https://www.particle.io/) <=> [Package](https://github.com/hybridgroup/gobot/blob/release/platforms/particle)
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- [Parrot ARDrone 2.0](http://ardrone2.parrot.com/) <=> [Package](https://github.com/hybridgroup/gobot/blob/release/platforms/parrot/ardrone)
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- [Parrot Bebop](http://www.parrot.com/usa/products/bebop-drone/) <=> [Package](https://github.com/hybridgroup/gobot/blob/release/platforms/parrot/bebop)

‎examples/beaglebone_direct_pin.go

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This file was deleted.

‎examples/beaglebone_servo.go

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This file was deleted.

‎examples/orangepi5pro_direct_pin.go

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//go:build example
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// +build example
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//
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// Do not build by default.
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package main
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import (
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"fmt"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/gpio"
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"gobot.io/x/gobot/v2/platforms/adaptors"
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"gobot.io/x/gobot/v2/platforms/orangepi/orangepi5pro"
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)
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// Wiring
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// PWR : 1, 17 (+3.3V, VCC), 2, 4 (+5V), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
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// GPIO : header pin 32 is input, pin 38 used as normal output, pin 40 used as inverted output
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// Button: the input pin is wired with a button to GND, the internal pull up resistor is used
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// LED's: the output pins are wired to the cathode of the LED, the anode is wired with a resistor (70-130Ohm for 20mA)
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// to VCC
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// Expected behavior: always one LED is on, the other in opposite state, if button is pressed for >2 seconds the state
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// changes
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func main() {
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const (
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inPinNum = "32"
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outPinNum = "38"
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outPinInvertedNum = "40"
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debounceTime = 2 * time.Second
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)
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// note: WithGpiosOpenDrain() is optional, if using WithGpiosOpenSource() the LED's will not light up
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board := orangepi5pro.NewAdaptor(adaptors.WithGpiosActiveLow(outPinInvertedNum),
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adaptors.WithGpiosOpenDrain(outPinNum, outPinInvertedNum),
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adaptors.WithGpiosPullUp(inPinNum),
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adaptors.WithGpioDebounce(inPinNum, debounceTime))
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inPin := gpio.NewDirectPinDriver(board, inPinNum)
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outPin := gpio.NewDirectPinDriver(board, outPinNum)
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outPinInverted := gpio.NewDirectPinDriver(board, outPinInvertedNum)
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work := func() {
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level := byte(1)
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gobot.Every(500*time.Millisecond, func() {
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read, err := inPin.DigitalRead()
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fmt.Printf("pin %s state is %d\n", inPinNum, read)
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if err != nil {
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fmt.Println(err)
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if level == 1 {
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level = 0
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} else {
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level = 1
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}
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} else {
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level = byte(read)
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}
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err = outPin.DigitalWrite(level)
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fmt.Printf("pin %s is now %d\n", outPinNum, level)
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if err != nil {
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fmt.Println(err)
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}
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err = outPinInverted.DigitalWrite(level)
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fmt.Printf("pin %s is now not %d\n", outPinInvertedNum, level)
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if err != nil {
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fmt.Println(err)
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}
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})
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}
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robot := gobot.NewRobot("pinBot",
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[]gobot.Connection{board},
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[]gobot.Device{inPin, outPin, outPinInverted},
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work,
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)
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if err := robot.Start(); err != nil {
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panic(err)
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}
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}

‎examples/orangepi5pro_servo.go

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//go:build example
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// +build example
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// Do not build by default.
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package main
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import (
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"fmt"
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"log"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/gpio"
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"gobot.io/x/gobot/v2/platforms/adaptors"
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"gobot.io/x/gobot/v2/platforms/orangepi/orangepi5pro"
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)
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// Wiring
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// PWR: 1, 17 (+3.3V, VCC), 2, 4 (+5V), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
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// PWM: 7(pwm13-m2), 11(pwm14-m1), 12(pwm3-m3), 13(pwm15-m1), 27(pwm0-m2), 28(pwm1-m2), 32(pwm14-m2), 33(pwm15-m3)
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// Servo SG90: red (+5V), brown (GND), orange (PWM)
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func main() {
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const (
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pwmPin = "7"
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wait = 3 * time.Second
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fiftyHzNanos = 20 * 1000 * 1000 // 50Hz = 0.02 sec = 20 ms
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)
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// usually a frequency of 50Hz is used for servos, most servos have 0.5 ms..2.5 ms for 0-180°,
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// however the mapping can be changed with options:
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adaptor := orangepi5pro.NewAdaptor(
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adaptors.WithPWMDefaultPeriodForPin(pwmPin, fiftyHzNanos),
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adaptors.WithPWMServoDutyCycleRangeForPin(pwmPin, 500*time.Microsecond, 2500*time.Microsecond),
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adaptors.WithPWMServoAngleRangeForPin(pwmPin, 0, 180),
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)
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servo := gpio.NewServoDriver(adaptor, pwmPin)
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work := func() {
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fmt.Printf("first move to minimal position for %s...\n", wait)
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if err := servo.ToMin(); err != nil {
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log.Println(err)
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}
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time.Sleep(wait)
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fmt.Printf("second move to center position for %s...\n", wait)
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if err := servo.ToCenter(); err != nil {
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log.Println(err)
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}
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time.Sleep(wait)
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fmt.Printf("third move to maximal position for %s...\n", wait)
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if err := servo.ToMax(); err != nil {
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log.Println(err)
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}
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time.Sleep(wait)
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fmt.Println("finally move 0-180° (or what your servo do for the new mapping) and back forever...")
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angle := 0
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fadeAmount := 45
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gobot.Every(time.Second, func() {
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if err := servo.Move(byte(angle)); err != nil {
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log.Println(err)
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}
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angle = angle + fadeAmount
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if angle < 0 || angle > 180 {
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if angle < 0 {
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angle = 0
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}
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if angle > 180 {
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angle = 180
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}
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// change direction and recalculate
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fadeAmount = -fadeAmount
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angle = angle + fadeAmount
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}
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})
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}
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robot := gobot.NewRobot("motorBot",
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[]gobot.Connection{adaptor},
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[]gobot.Device{servo},
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work,
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)
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if err := robot.Start(); err != nil {
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panic(err)
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}
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}

‎examples/orangepi5pro_thermalzone.go

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//go:build example
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// +build example
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//
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// Do not build by default.
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package main
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import (
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"fmt"
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"log"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/aio"
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"gobot.io/x/gobot/v2/platforms/orangepi/orangepi5pro"
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)
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// Wiring: no wiring needed
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func main() {
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adaptor := orangepi5pro.NewAdaptor()
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therm0 := aio.NewThermalZoneDriver(adaptor, "soc_thermal")
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therm1 := aio.NewThermalZoneDriver(adaptor, "npu_thermal", aio.WithFahrenheit())
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work := func() {
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gobot.Every(500*time.Millisecond, func() {
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t0, err := therm0.Read()
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if err != nil {
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log.Println(err)
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}
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t1, err := therm1.Read()
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if err != nil {
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log.Println(err)
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}
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fmt.Printf("SOC: %2.3f °C, NPU: %2.3f °F\n", t0, t1)
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})
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}
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robot := gobot.NewRobot("thermalBot",
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[]gobot.Connection{adaptor},
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[]gobot.Device{therm0, therm1},
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work,
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)
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if err := robot.Start(); err != nil {
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panic(err)
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}
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}

‎platforms/orangepi/orangepi5pro/LICENSE

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Copyright (c) 2025 The Hybrid Group
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.

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