bump pinctrl

go.mod

@@ -7,7 +7,7 @@ require (
 	github.com/golangci/golangci-lint v1.61.0
 	github.com/pkg/errors v0.9.1
 	github.com/rhysd/actionlint v1.6.24
-	github.com/viam-modules/pinctrl v0.0.0-20241122191654-83914270ceff
+	github.com/viam-modules/pinctrl v0.0.0-20241206221207-94ef717afa64
 	go.uber.org/multierr v1.11.0
 	go.viam.com/api v0.1.357
 	go.viam.com/rdk v0.50.0

go.sum

@@ -1255,8 +1255,8 @@ github.com/valyala/bytebufferpool v1.0.0/go.mod h1:6bBcMArwyJ5K/AmCkWv1jt77kVWyC
 github.com/valyala/fasthttp v1.16.0/go.mod h1:YOKImeEosDdBPnxc0gy7INqi3m1zK6A+xl6TwOBhHCA=
 github.com/valyala/quicktemplate v1.6.3/go.mod h1:fwPzK2fHuYEODzJ9pkw0ipCPNHZ2tD5KW4lOuSdPKzY=
 github.com/valyala/tcplisten v0.0.0-20161114210144-ceec8f93295a/go.mod h1:v3UYOV9WzVtRmSR+PDvWpU/qWl4Wa5LApYYX4ZtKbio=
-github.com/viam-modules/pinctrl v0.0.0-20241122191654-83914270ceff h1:+2/e59WKCVlaZsZrOPr3nY/rif+KeEVwK9lFZRVz1hk=
-github.com/viam-modules/pinctrl v0.0.0-20241122191654-83914270ceff/go.mod h1:klkE1Ll5blcoLTi8abPsujXNyLOY0cte5tHYOjTo5u8=
+github.com/viam-modules/pinctrl v0.0.0-20241206221207-94ef717afa64 h1:cITm4d6fKsvPyCk7elRqqLdDgQoXYA80N8y9IHUMseo=
+github.com/viam-modules/pinctrl v0.0.0-20241206221207-94ef717afa64/go.mod h1:klkE1Ll5blcoLTi8abPsujXNyLOY0cte5tHYOjTo5u8=
 github.com/viamrobotics/evdev v0.1.3 h1:mR4HFafvbc5Wx4Vp1AUJp6/aITfVx9AKyXWx+rWjpfc=
 github.com/viamrobotics/evdev v0.1.3/go.mod h1:N6nuZmPz7HEIpM7esNWwLxbYzqWqLSZkfI/1Sccckqk=
 github.com/viamrobotics/webrtc/v3 v3.99.10 h1:ykE14wm+HkqMD5Ozq4rvhzzfvnXAu14ak/HzA1OCzfY=

pi5/board.go

@@ -11,8 +11,6 @@ import (
 	"sync"
 	"time"
 
-	rpiutils "raspberry-pi/utils"
-
 	"github.com/pkg/errors"
 	"github.com/viam-modules/pinctrl/pinctrl"
 	"go.uber.org/multierr"
@@ -23,6 +21,7 @@ import (
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/utils"
+	rpiutils "raspberry-pi/utils"
 )
 
 // Model is the model for a Raspberry Pi 5.
@@ -130,7 +129,7 @@ func newBoard(
 	// Initialize the GPIO pins
 	for newName, mapping := range gpioMappings {
 		bcom, _ := rpiutils.BroadcomPinFromHardwareLabel(newName)
-		b.gpios[bcom] = b.boardPinCtrl.CreateGpioPin(mapping)
+		b.gpios[bcom] = b.boardPinCtrl.CreateGpioPin(mapping, rpiutils.DefaultPWMFreqHz)
 	}
 
 	if err := b.Reconfigure(ctx, nil, conf); err != nil {
@@ -210,8 +209,7 @@ func (b *pinctrlpi5) reconfigureInterrupts(newConf *rpiutils.Config) error {
 		}
 
 		// add back the gpio pin to make it available to the user
-		b.gpios[bcom] = b.boardPinCtrl.CreateGpioPin(b.gpioMappings[oldConfig.Pin])
-
+		b.gpios[bcom] = b.boardPinCtrl.CreateGpioPin(b.gpioMappings[oldConfig.Pin], rpiutils.DefaultPWMFreqHz)
 	}
 	// add any new interrupts. DigitalInterruptByName will create the interrupt only if we are not already managing it.
 	for _, newConfig := range newConf.Pins {
@@ -245,6 +243,7 @@ func (b *pinctrlpi5) addUserDefinedNames(newConf *rpiutils.Config) error {
 	b.userDefinedNames = nameToPin
 	return nil
 }
+
 func (b *pinctrlpi5) reconfigurePullUpPullDowns(newConf *rpiutils.Config) error {
 	for _, pullConf := range newConf.Pins {
 		pin, ok := b.gpioMappings[pullConf.Pin]
@@ -354,7 +353,7 @@ func (b *pinctrlpi5) AnalogNames() []string {
 }
 
 // DigitalInterruptNames returns the names of all known digital interrupts.
-// Unimplemented because we do not have an api to communicate this over
+// Unimplemented because we do not have an api to communicate this over.
 func (b *pinctrlpi5) DigitalInterruptNames() []string {
 	return nil
 }

pi5/board_test.go

@@ -6,12 +6,11 @@ import (
 	"context"
 	"testing"
 
-	rpiutils "raspberry-pi/utils"
-
 	"go.viam.com/rdk/components/board/genericlinux"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/test"
+	rpiutils "raspberry-pi/utils"
 )
 
 func TestEmptyBoard(t *testing.T) {

rpi/gpio.go

@@ -14,10 +14,11 @@ import (
 	"context"
 	"fmt"
 
+	rpiutils "raspberry-pi/utils"
+
 	"github.com/pkg/errors"
 	"go.viam.com/rdk/components/board"
 	rdkutils "go.viam.com/rdk/utils"
-	rpiutils "raspberry-pi/utils"
 )
 
 // GPIOConfig tracks what each pin is currently configured as
@@ -213,7 +214,7 @@ func (pi *piPigpio) SetPWMFreqBcom(bcom int, freqHz uint) error {
 	pi.mu.Lock()
 	defer pi.mu.Unlock()
 	if freqHz == 0 {
-		freqHz = 800 // Original default from libpigpio
+		freqHz = rpiutils.DefaultPWMFreqHz
 	}
 	newRes := C.set_PWM_frequency(pi.piID, C.uint(bcom), C.uint(freqHz))
 

utils/broadcom.go

@@ -3,6 +3,10 @@ package rpiutils
 
 import "fmt"
 
+// DefaultPWMFreqHz is the default pwm frequency used for pwms on raspberry pis.
+// Original default from libpigpio
+const DefaultPWMFreqHz = uint(800)
+
 // piHWPinToBroadcom maps the hardware inscribed pin number to
 // its Broadcom pin. For the sake of programming, a user typically
 // knows the hardware pin since they have the board on hand but does