_SKU_DFR0566_IO_Expansion_HAT_for_Raspberry_Pi - jimaobian/DFRobotWikiCn GitHub Wiki

IO Expansion HAT for Raspberry Pi

简介

IO Expansion HAT是一款专为Raspberry Pi开发的IO扩展板，扩展板将树莓派IO口均引出，包含数字端口、模拟端口、PWM端口、IIC端口、UART端口、SPI端口、IIS端口，完美兼容DFRobot的Gravity传感器系列产品，为使用树莓派省去繁琐的接线和故障排除，让学生、开发者、科研工作者可以专注实现自己的项目。 Raspberry Pi的GPIO电平最高为3.3V,该扩展板除了支持3.3V供电的传感器或功能模组外还支持更多产品的使用，以满足你的项目所需：

  • 支持5V供电、3.3V电平的传感器或功能模组（将电源接到5V电源端口）
  • 支持PWM外部供电（6~12V）
  • 支持多路舵机控制

技术规格

  • 驱动主控：STM32
  • 工作电压：5V
  • PWM接口外接电压：6-12V
  • PWM引脚电压：5V
  • 传感器接口电压：3.3V
  • 通信接口：28组数字端口、4组PWM端口、4组模拟端口、3组IIC端口、1组UART端口、4组5V电源端口、1组SPI端口、1组IIS端口
  • 设备地址：0x10
  • 外形尺寸：65*56mm

接口说明

正面示意图 底面示意图

''' 丝印 '''

''' 标号 '''

''' 功能描述 '''

+

+

3.3V电源正极

-

-

电源负极

⊕

⊕

接线柱外接电源正极

㊀

㊀

接线柱外接电源负极

Digital

0-27

树莓派GPIO0-GPIO27

PWM

0-3

PWM信号输出引脚0-3

Analog

0-3

模拟信号输入引脚0-3

IIC

C

IIC接口时钟线

D

IIC接口数据线

UART

T

UART接口发送端

R

UART接口接收端

5V

5V

5V电源正极

GND

GND

电源负极

IIS

SCK

IIS串行时钟线

DIN

IIS串行数据输入线

LCK

IIS左右声道选择线

BCK

IIS系统时钟线

SPI

MISO

SPI数据输出线

SS

SPI使能脚

SCLK

SPI串行时钟线

MOSI

SPI数据输入线

warning_yellow.png

注意：

此扩展板上GPIO编号采用BCM编玛

VP端未外部供电时，PWM端口 ⊕ 电压为5V

VP端外部供电时，PWM端口 ⊕ 电压为VP外部电压6~12V

教程

端口及学习指导

数字端口：IO扩展板提供了D0~D27二十八组数字端口，通过树莓派GPIO口（BCM编码）的GPIO0~GPIO27引出。 GPIO学习指导 模拟端口：IO扩展板提供了A0~A3四组模拟端口，扩展板板载MCU STM32，提供12位的ADC，模拟传感器的电压输入12-bit ADC，在模拟数据转换成数字数据后，通过IIC通信将数据发送给树莓派。 下载例程 PWM端口：IO扩展板提供了四组PWM端口，连接到STM32的PWM端，树莓派通过IIC通讯将数据发送给STM32实现控制。VP端可外部供电6~12V到PWM端口⊕，当未供电时⊕电压为3.3V。 下载例程 UART端口：IO扩展板提供一组UART接口，通过树莓派GPIO口（BCM编码）的GPIO14（TXD）和GPIO15（RXD）引出。 UART学习指导
IIC端口：IO扩展板提供了三组IIC接口，通过树莓派IIC（BCM编码）的GPIO2（SDA.1）和GPIO3（SCL.1）引出。 IIC学习指导 IIS端口： IO扩展板提供了一组IIS接口，通过树莓派GPIO口（BCM编码)的GIO21（SCK）、GPIO20(DIN)、GPIO19(LCK)、GPIO18(BCK)引出。 SPI端口： IO扩展板直接引出树莓派的一组SPI接口，通过树莓派GPIO口（BCM编码)的GPIO10（MOSI）和GPIO9（MISO）、GPIO11（SCLK）、GPIO8(SS)引出。 SPI学习指导 5V电源端口： IO扩展板引出了四组5V电源供电端口，用于满足特殊传感器需要5V供电时使用。

例程

本例程是讲如何在树莓派上扩展板上使用各类端口的传感器。

  • 硬件
    • 1 x 树莓派控制板
    • 1 x IO Expansion HAT for Raspberry Pi
    • 1 x HDMI线
    • 1 x 显示屏
    • 1 x 键盘鼠标

IIC使用步骤和程序运行介绍

  • a.启动树莓派的I2C接口。（SPI开启方式与IIC相同）如已开启，可跳过该步骤。

打开终端（Terminal），键入如下指令，并回车：

 sudo raspi-config

依次“键盘回车键”选择：【 Interfacing Options 】（或者【 Advanced Options 】）->【 I2C 】->【 Yes 】->【 OK 】->【 Finish 】： step 1 step 2 step 3 step 4

  • b.安装Python依赖库与git，树莓派需要联网。如已安装，可跳过该步骤。

在终端中，依次键入如下指令，并回车：

sudo apt-get update
sudo apt-get install build-essential python-dev python-smbus git

  • c.下载驱动库，并运行。

在终端中，依次键入如下指令，并回车：

cd ~
git clone https://github.com/DFRobot/DFRobot_RaspberryPi_Expansion_Board.git

  • 在安装好库后，可通过两种方式运行程序：

方式1：输入命令

 cd DFRobot_RaspberryPi_Expansion_Board/raspberry
 python demo_adc.py

方式2：在树莓派系统打开Thonny Python IDE可在下载的文件夹看到下载后的库。 打开软件

IIC使用例程

Gravity：IO Expansion HAT for Raspberry Pi 有3路IIC端口，通过树莓派（BCM编码）直接引出。

以SEN0290 Gravity：闪电传感器为例, 点击下载闪电传感器库文件 或者在终端中，依次键入如下指令，并回车：

cd ~
git clone https://github.com/DFRobot/DFRobot_AS3935.git

下载后运行DFRobot_AS3935_ordinary程序

# -*- coding: utf-8 -*-

'''


file DFRobot_AS3935_ordinary.py




SEN0290 Lightning Sensor


This sensor can detect lightning and display the distance and intensity of the lightning within 40 km


It can be set as indoor or outdoor mode.


The module has three I2C, these addresses are:


AS3935_ADD1  0x01   A0 = 1  A1 = 0


AS3935_ADD2  0x02   A0 = 0  A1 = 1


AS3935_ADD3  0x03   A0 = 1  A1 = 1






Copyright    DFRobot, 2018


Copyright    GNU Lesser General Public License




version  V1.0


date  2018-11-28


import sys
sys.path.append('../')
import time
from DFRobot_AS3935_Lib import DFRobot_AS3935
import RPi.GPIO as GPIO
from datetime import datetime


#I2C address
AS3935_I2C_ADDR1 = 0X01
AS3935_I2C_ADDR2 = 0X02
AS3935_I2C_ADDR3 = 0X03


#Antenna tuning capcitance (must be integer multiple of 8, 8 - 120 pf)
AS3935_CAPACITANCE = 96
IRQ_PIN = 7


#Indoor/outdoor mode selection
AS3935_INDOORS = 0
AS3935_OUTDOORS = 1
AS3935_MODE = AS3935_INDOORS


#Enable/disable disturber detection
AS3935_DIST_DIS = 0
AS3935_DIST_EN = 1
AS3935_DIST = AS3935_DIST_EN


GPIO.setmode(GPIO.BOARD)


sensor = DFRobot_AS3935(AS3935_I2C_ADDR3, bus = 1)
if (sensor.reset()):
print("init sensor sucess.")
else:
print("init sensor fail")
while True:
pass


#Configure sensor
sensor.manualCal(AS3935_CAPACITANCE, AS3935_MODE, AS3935_DIST)


Connect the IRQ and GND pin to the oscilloscope.


uncomment the following sentences to fine tune the antenna for better performance.


This will dispaly the antenna's resonance frequency/16 on IRQ pin (The resonance frequency will be divided by 16 on this pin)


Tuning AS3935_CAPACITANCE to make the frequency within 500/16 kHz plus 3.5% to 500/16 kHz minus 3.5%




sensor.setLcoFdiv(0)


sensor.setIrqOutputSource(3)


#view all register data
#sensor.printAllRegs()


def callback_handle(channel):
global sensor
time.sleep(0.005)
intSrc = sensor.getInterruptSrc()
if intSrc == 1:
lightningDistKm = sensor.getLightningDistKm()
print('Lightning occurs!')
print('Distance: %dkm'%lightningDistKm)


    lightningEnergyVal = sensor.getStrikeEnergyRaw()
    print('Intensity: %d '%lightningEnergyVal)
elif intSrc == 2:
    print('Disturber discovered!')
elif intSrc == 3:
    print('Noise level too high!')
else:
    pass



#Set to input mode
GPIO.setup(IRQ_PIN, GPIO.IN)
#Set the interrupt pin, the interrupt function, rising along the trigger
GPIO.add_event_detect(IRQ_PIN, GPIO.RISING, callback = callback_handle)
print("start lightning detect.")


while True:
time.sleep(1.0)

  • 当发生闪电时，中断报警引脚IRQ产生中断脉冲，触发主控显示闪电报警中断“Lightning occurs!”，并显示闪电发生距离和强度。

  • 当模块附近有电磁干扰，模块会提示附近有干扰源“Disturber discovered!”，若干扰噪声过大，模块也会发出干扰噪声过大的警报“Noise level too high!”。

  • SEN0290_RP3_result.png

舵机控制例程

Gravity：IO Expansion HAT for Raspberry Pi拥有4路PWM接口，方便用户在树莓派上使用

在终端依次键入如下指令回车安装库：

cd ~ git clone https://github.com/DFRobot/DFRobot_RaspberryPi_Expansion_Board.git

下载后运行demo_servo程序 结果可观察到舵机从0°到180°和180°到0°转动，退出运行可点击键盘:ctrl+c

# -*- coding:utf-8 -*-

'''
  # demo_servo.py
  #
  # Connect board with raspberryPi.
  # Run this demo.
  #
  # Connect servo to one of pwm channels
  # All or part servos will move to 0 degree, then move to 180 degree, then loop
  # Test Servo: https://www.dfrobot.com/product-255.html
  # Warning: Servos must connect to pwm channel, otherwise may destory Pi IO
  #
  # Copyright   [DFRobot](http://www.dfrobot.com), 2016
  # Copyright   GNU Lesser General Public License
  #
  # version  V1.0
  # date  2019-3-28
'''

import time

from DFRobot_RaspberryPi_Expansion_Board import DFRobot_Expansion_Board_IIC as Board
from DFRobot_RaspberryPi_Expansion_Board import DFRobot_Expansion_Board_Servo as Servo

board = Board(1, 0x10)    # Select i2c bus 1, set address to 0x10
servo = Servo(board)

''' print last operate status, users can use this variable to determine the result of a function call. '''
def print_board_status():
  if board.last_operate_status == board.STA_OK:
    print("board status: everything ok")
  elif board.last_operate_status == board.STA_ERR:
    print("board status: unexpected error")
  elif board.last_operate_status == board.STA_ERR_DEVICE_NOT_DETECTED:
    print("board status: device not detected")
  elif board.last_operate_status == board.STA_ERR_PARAMETER:
    print("board status: parameter error")
  elif board.last_operate_status == board.STA_ERR_SOFT_VERSION:
    print("board status: unsupport board framware version")

if __name__ == "__main__":

  while board.begin() != board.STA_OK:    # Board begin and check board status
    print_board_status()
    print("board begin faild")
    time.sleep(2)
  print("board begin success")

  servo.begin()   # servo control begin

  while True:
    print("servo move to 0")
    servo.move(board.ALL, 0)
    time.sleep(1)
    print("servo move to 180")
    servo.move(board.ALL, 180)
    time.sleep(1)

    print("part servos move to 0")
    servo.move(0, 0)  #pwm0
    #servo.move(1, 0)  #pwm1
    #servo.move(2, 0)  #pwm2
    #servo.move(3, 0)  #pwm3
    time.sleep(1)
    print("part servos move to 180")
    servo.move(0, 180)  #pwm0
    #servo.move(1, 180)  #pwm1
    #servo.move(2, 180)  #pwm2
    #servo.move(3, 180)  #pwm3
    time.sleep(1)

数字端口例程

  • 此时在扩展板27脚插上LED灯可观察到LED不停亮灭
import RPi.GPIO as GPIO
import time
import atexit
blinkPin=27
atexit.register(GPIO.cleanup)
GPIO.setmode(GPIO.BCM)
GPIO.setup(blinkPin,GPIO.OUT)
while True:
    GPIO.output(blinkPin,GPIO.HIGH)
    time.sleep(1)
    GPIO.output(blinkPin,GPIO.LOW)
    time.sleep(1)

UART串口例程

Gravity：IO Expansion HAT for Raspberry Pi 有1路UART端口，通过树莓派（BCM编码）直接引出。

以SEN0285 Gesture&Touch Sensor传感器为例, 点击下载DFRobot_Gesture_Touch库文件 或者在终端中，依次键入如下指令，并回车：

cd ~ git clone https://github.com/DFRobot/DFRobot_Gesture_Touch.git

下载后运行demo_gesture_touch程序

模拟端口例程

Gravity：IO Expansion HAT for Raspberry Pi拥有4路模拟端口, 在终端中，依次键入如下指令回车安装库：

cd ~ git clone https://github.com/DFRobot/DFRobot_RaspberryPi_Expansion_Board.git

下载后运行demo_adc程序

# -*- coding:utf-8 -*-

'''
  # demo_adc.py
  #
  # Connect board with raspberryPi.
  # Run this demo.
  #
  # All or part adc channels value will print on terminal
  #
  # Copyright   [DFRobot](http://www.dfrobot.com), 2016
  # Copyright   GNU Lesser General Public License
  #
  # version  V1.0
  # date  2019-3-28
'''

import time

from DFRobot_RaspberryPi_Expansion_Board import DFRobot_Expansion_Board_IIC as Board

board = Board(1, 0x10)    # Select i2c bus 1, set address to 0x10

def board_detect():
  l = board.detecte()
  print("Board list conform:")
  print(l)

''' print last operate status, users can use this variable to determine the result of a function call. '''
def print_board_status():
  if board.last_operate_status == board.STA_OK:
    print("board status: everything ok")
  elif board.last_operate_status == board.STA_ERR:
    print("board status: unexpected error")
  elif board.last_operate_status == board.STA_ERR_DEVICE_NOT_DETECTED:
    print("board status: device not detected")
  elif board.last_operate_status == board.STA_ERR_PARAMETER:
    print("board status: parameter error")
  elif board.last_operate_status == board.STA_ERR_SOFT_VERSION:
    print("board status: unsupport board framware version")

if __name__ == "__main__":

  board_detect()    # If you forget address you had set, use this to detected them, must have class instance

  # Set board controler address, use it carefully, reboot module to make it effective
  '''
  board.set_addr(0x10)
  if board.last_operate_status != board.STA_OK:
    print("set board address faild")
  else:
    print("set board address success")
  '''

  while board.begin() != board.STA_OK:    # Board begin and check board status
    print_board_status()
    print("board begin faild")
    time.sleep(2)
  print("board begin success")

  board.set_adc_enable()
  # board.set_adc_disable()

  while True:
    val = board.get_adc_value(board.A0)   # A0 channels read
    #val = board.get_adc_value(board.A1)   # A1 channels read
    #val = board.get_adc_value(board.A2)   # A2 channels read
    #val = board.get_adc_value(board.A3)   # A3 channels read
    print("channel: A0, value: %d" %val)
    print("")

    time.sleep(2)

PWM例程

Gravity：IO Expansion HAT for Raspberry Pi拥有4路PWM端口 在终端中，依次键入如下指令回车安装库：

cd ~ git clone https://github.com/DFRobot/DFRobot_RaspberryPi_Expansion_Board.git

下载后运行demo_pwm程序


# -*- coding:utf-8 -*-

'''
  # demo_pwm.py
  #
  # Connect board with raspberryPi.
  # Run this demo.
  #
  # All pwm channel will set frequency to 1000HZ, duty to 50%, attention: PWM voltage depends on independent power supply
  # If there is DC motors connect to pwm channle, they will move slow to fast, then loop
  #
  # Copyright   [DFRobot](http://www.dfrobot.com), 2016
  # Copyright   GNU Lesser General Public License
  #
  # version  V1.0
  # date  2019-3-28
'''

import time

from DFRobot_RaspberryPi_Expansion_Board import DFRobot_Expansion_Board_IIC as Board

board = Board(1, 0x10)    # Select i2c bus 1, set address to 0x10

def board_detect():
  l = board.detecte()
  print("Board list conform:")
  print(l)

''' print last operate status, users can use this variable to determine the result of a function call. '''
def print_board_status():
  if board.last_operate_status == board.STA_OK:
    print("board status: everything ok")
  elif board.last_operate_status == board.STA_ERR:
    print("board status: unexpected error")
  elif board.last_operate_status == board.STA_ERR_DEVICE_NOT_DETECTED:
    print("board status: device not detected")
  elif board.last_operate_status == board.STA_ERR_PARAMETER:
    print("board status: parameter error")
  elif board.last_operate_status == board.STA_ERR_SOFT_VERSION:
    print("board status: unsupport board framware version")

if __name__ == "__main__":

  board_detect()    # If you forget address you had set, use this to detected them, must have class instance

  # Set board controler address, use it carefully, reboot module to make it effective
  '''
  board.set_addr(0x10)
  if board.last_operate_status != board.STA_OK:
    print("set board address faild")
  else:
    print("set board address success")
  '''

  while board.begin() != board.STA_OK:    # Board begin and check board status
    print_board_status()
    print("board begin faild")
    time.sleep(2)
  print("board begin success")

  board.set_pwm_enable()                # Pwm channel need external power
  # board.set_pwm_disable()
  board.set_pwm_frequency(1000)         # Set frequency to 1000HZ, Attention: PWM voltage depends on independent power supply

  while True:
    print("set all pwm channels duty to 30%")
    board.set_pwm_duty(board.ALL, 30)   # Set all pwm channels duty
    time.sleep(1)

    print("set part pwm channels duty to 60%")
    board.set_pwm_duty(0, 60)   # Set pwm0 channels duty
    #board.set_pwm_duty(1, 70)  # Set pwm1 channels duty
    #board.set_pwm_duty(2, 80)  # Set pwm2 channels duty
    #board.set_pwm_duty(3, 90)  # Set pwm3 channels duty
    time.sleep(1)

SPI端口例程

DFR0413 0.96 Inch OLED Display Module For Raspberry Pi WIKI链接

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