From 9a177341a16a5d05a9ff7e1a3eb47eecb5fb51d1 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 1 Feb 2026 09:58:50 +0100 Subject: [PATCH 01/35] Servo Control Plugin added --- src/plugins/servo_control/README.md | 35 +++ src/plugins/servo_control/icon.png | Bin 0 -> 18063 bytes src/plugins/servo_control/plugin-info.json | 6 + src/plugins/servo_control/servo_control.py | 252 +++++++++++++++++++++ src/plugins/servo_control/settings.html | 147 ++++++++++++ 5 files changed, 440 insertions(+) create mode 100644 src/plugins/servo_control/README.md create mode 100644 src/plugins/servo_control/icon.png create mode 100644 src/plugins/servo_control/plugin-info.json create mode 100644 src/plugins/servo_control/servo_control.py create mode 100644 src/plugins/servo_control/settings.html diff --git a/src/plugins/servo_control/README.md b/src/plugins/servo_control/README.md new file mode 100644 index 000000000..f0d68433c --- /dev/null +++ b/src/plugins/servo_control/README.md @@ -0,0 +1,35 @@ +# Servo Control Plugin + +This Plugin provides controll of a Servo motor connected to your Raspberry Pi via a configurable GPIO pin. +You can set the Target Angle and optional the orientation saved in device_config. + +** This Plugin will not update the Screen ** + +## Settings Page Configuration + +### Controllable Settings + +- **GPIO Pin**: The GPIO pin number where the Servo signal wire is connected. +- **TargetAngle**: A Slider to manually set the Servo angle between 0° and 180°. +- **ServoSpeed**: A Slider to adjust the speed of the Servo movement (delay between angle steps in milliseconds). +- **Orientation**: An optional setting to define the orientation of the Servo. (landscape | portrait | current). This will update and persist the device_config orientation setting when changed. + +## Usage + +Include the Servo Control Plugin in your Playlists. +** Tipp: ** +You can do a POST Request to the InkyPi to set the TargetAngle configured in a Playlist with the following command. +This way you can store predifined Positions in different Playlists and switch between them via API. + +``` +curl -X POST "http:///api/plugin/servo_control" -H "Content-Type: application/json" -d '{"playlist_name": "YOUR_PLAYLIST_NAME", "plugin_instance": "YOUR_PLUGIN_INSTANCE_NAME", "plugin_id": "servo_control"}' +``` + +## Servo Control +This Plugin currently is optimised for a SG90 Micro Servo. +The Servo is controlled via PWM signals on the specified GPIO pin. +The angle is set by adjusting the duty cycle of the PWM signal. +When moving to a new angle, the Plugin will incrementally adjust the angle in small steps to ensure smooth movement. +The speed of the movement can be adjusted via the ServoSpeed setting. 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time +from plugins.base_plugin.base_plugin import BasePlugin +from PIL import Image, ImageDraw, ImageFont +from utils.app_utils import get_font + +logger = logging.getLogger(__name__) + +# Try to import gpiozero for hardware control +try: + from gpiozero import Servo + from gpiozero.pins.pigpio import PiGPIOFactory + HARDWARE_AVAILABLE = True +except ImportError as e: + logger.warning(f"gpiozero not available, servo control will be mocked. Error: {e}") + logger.info("To enable hardware control, install gpiozero: pip install gpiozero") + HARDWARE_AVAILABLE = False + +DEFAULT_GPIO_PIN = 13 +DEFAULT_ANGLE = 90 +DEFAULT_SPEED = 10 # milliseconds delay between steps +MIN_ANGLE = 0 +MAX_ANGLE = 180 + +class ServoControl(BasePlugin): + """ + Plugin to control a servo motor connected to a Raspberry Pi GPIO pin. + Supports manual angle control and orientation updates. + """ + + def __init__(self, config, **dependencies): + super().__init__(config, **dependencies) + self.servo = None + self.current_gpio_pin = None + + def generate_settings_template(self): + """Provide settings template.""" + template_params = super().generate_settings_template() + return template_params + + def generate_image(self, settings, device_config): + """ + Generate a status image showing current servo state and move servo to target angle. + + Args: + settings: Plugin settings containing gpio_pin, target_angle, servo_speed, orientation + device_config: Device configuration instance + + Returns: + PIL.Image: Status display image + """ + # Get current settings (convert strings to integers) + gpio_pin = int(settings.get('gpio_pin', DEFAULT_GPIO_PIN)) + target_angle = int(settings.get('target_angle', DEFAULT_ANGLE)) + servo_speed = int(settings.get('servo_speed', DEFAULT_SPEED)) + orientation = settings.get('orientation', 'current') + + # Get current angle from device config (persistent across reboots) + current_angle = device_config.get_config('current_servo_angle', DEFAULT_ANGLE) + + # Update orientation if specified + if orientation == 'landscape': + device_config.update_value("orientation", "horizontal", write=True) + logger.info("Updated device orientation to horizontal (landscape)") + elif orientation == 'portrait': + device_config.update_value("orientation", "vertical", write=True) + logger.info("Updated device orientation to vertical (portrait)") + # if 'current', do not change orientation + + # Move servo to the target angle + self._move_servo(gpio_pin, current_angle, target_angle, servo_speed) + + # Store new angle in device config for next boot + device_config.update_value('current_servo_angle', target_angle, write=True) + + # Get dimensions + dimensions = device_config.get_resolution() + if device_config.get_config("orientation") == "vertical": + dimensions = dimensions[::-1] + + # Create status image + image = self._create_status_image(dimensions, gpio_pin, target_angle, orientation) + + return image + + def _initialize_servo(self, gpio_pin): + """Initialize servo on specified GPIO pin.""" + if not HARDWARE_AVAILABLE: + logger.info(f"Mock: Would initialize servo on GPIO pin {gpio_pin}") + return + + # Clean up existing servo if pin changed + if self.servo and self.current_gpio_pin != gpio_pin: + try: + self.servo.close() + except: + pass + self.servo = None + + # Initialize new servo + if not self.servo or self.current_gpio_pin != gpio_pin: + try: + # Use pigpio for better PWM control if available + factory = PiGPIOFactory() + # SG90 specific pulse widths: 1ms (0°) to 2ms (180°) + self.servo = Servo(gpio_pin, min_pulse_width=1/1000, max_pulse_width=2/1000, pin_factory=factory) + self.current_gpio_pin = gpio_pin + logger.info(f"Initialized servo on GPIO pin {gpio_pin} with pigpio") + except Exception as e: + logger.warning(f"Failed to use pigpio, falling back to default: {e}") + try: + # SG90 specific pulse widths for default factory too + self.servo = Servo(gpio_pin, min_pulse_width=1/1000, max_pulse_width=2/1000) + self.current_gpio_pin = gpio_pin + logger.info(f"Initialized servo on GPIO pin {gpio_pin} (default pins)") + except Exception as e: + logger.error(f"Failed to initialize servo: {e}") + raise RuntimeError(f"Failed to initialize servo on GPIO pin {gpio_pin}: {e}") + + def _angle_to_servo_value(self, angle): + """ + Convert angle (0-180) to servo value (-1 to 1). + For SG90 servo: -1 = 0°, 0 = 90°, 1 = 180° + """ + # Map 0-180 to -1 to 1 + return (angle / 90.0) - 1.0 + + def _move_servo(self, gpio_pin, current_angle, target_angle, speed_ms): + """ + Move servo from current angle to target angle with smooth motion. + + Args: + gpio_pin: GPIO pin number + current_angle: Starting angle (0-180) + target_angle: Target angle (0-180) + speed_ms: Delay in milliseconds between angle steps + """ + # Validate angles + current_angle = max(MIN_ANGLE, min(MAX_ANGLE, current_angle)) + target_angle = max(MIN_ANGLE, min(MAX_ANGLE, target_angle)) + + if not HARDWARE_AVAILABLE: + logger.info(f"Mock: Would move servo on GPIO {gpio_pin} from {current_angle}° to {target_angle}° at {speed_ms}ms speed") + return + + try: + # Initialize servo if needed + self._initialize_servo(gpio_pin) + + # Calculate step direction + step = 1 if target_angle > current_angle else -1 + + # Move incrementally for smooth motion + for angle in range(int(current_angle), int(target_angle), step): + servo_value = self._angle_to_servo_value(angle) + self.servo.value = servo_value + logger.info(f"new Angle: {angle}° new Servo Value: {servo_value}") + time.sleep(speed_ms/1000) + + # Ensure we reach exact target + final_value = self._angle_to_servo_value(target_angle) + self.servo.value = final_value + + # Stop sending PWM signals without causing servo twitch + time.sleep(0.5) # Hold position briefly + self.servo.value = None + logger.info(f"Moved servo from {current_angle}° to {target_angle}°") + + except Exception as e: + logger.error(f"Failed to move servo: {e}") + raise RuntimeError(f"Failed to move servo: {e}") + + def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): + """ + Create a status image showing servo state. + + Args: + dimensions: Image dimensions (width, height) + gpio_pin: GPIO pin number + current_angle: Current servo angle + positions: Dictionary of saved positions + + Returns: + PIL.Image: Status image + """ + width, height = dimensions + + # Create white background + image = Image.new('RGB', (width, height), color='white') + draw = ImageDraw.Draw(image) + + # Fonts + try: + title_font = get_font("Roboto-Bold", int(height * 0.08)) + large_font = get_font("Roboto-Bold", int(height * 0.15)) + medium_font = get_font("Roboto-Regular", int(height * 0.06)) + small_font = get_font("Roboto-Regular", int(height * 0.045)) + except: + # Fallback to default font + title_font = ImageFont.load_default() + large_font = ImageFont.load_default() + medium_font = ImageFont.load_default() + small_font = ImageFont.load_default() + + # Title + title = "Servo Control" + draw.text((width // 2, height * 0.1), title, font=title_font, fill='black', anchor='mm') + + # Target angle - large display + angle_text = f"{target_angle}°" + draw.text((width // 2, height * 0.3), angle_text, font=large_font, fill='#2c3e50', anchor='mm') + + # GPIO pin info + gpio_text = f"GPIO Pin: {gpio_pin}" + draw.text((width // 2, height * 0.45), gpio_text, font=medium_font, fill='#7f8c8d', anchor='mm') + + # Draw a simple arc to visualize angle + arc_y = height * 0.6 + arc_radius = min(width, height) * 0.15 + arc_bbox = [ + width // 2 - arc_radius, + arc_y - arc_radius, + width // 2 + arc_radius, + arc_y + arc_radius + ] + + # Background arc (0-180) + draw.arc(arc_bbox, start=0, end=180, fill='#ecf0f1', width=int(height * 0.02)) + + # Target position arc + draw.arc(arc_bbox, start=0, end=target_angle, fill='#3498db', width=int(height * 0.02)) + + # Orientation info + if orientation in ['landscape', 'portrait']: + y_offset = height * 0.78 + draw.text((width // 2, y_offset), "Orientation:", font=medium_font, fill='black', anchor='mm') + + y_offset += height * 0.06 + orientation_text = orientation.capitalize() + orientation_color = '#e74c3c' + draw.text((width // 2, y_offset), orientation_text, font=small_font, fill=orientation_color, anchor='mm') + + return image + + def cleanup(self, settings): + """Clean up servo resources when plugin instance is deleted.""" + if self.servo: + try: + self.servo.close() + logger.info("Closed servo connection") + except Exception as e: + logger.error(f"Error closing servo: {e}") diff --git a/src/plugins/servo_control/settings.html b/src/plugins/servo_control/settings.html new file mode 100644 index 000000000..7fb1d8c8d --- /dev/null +++ b/src/plugins/servo_control/settings.html @@ -0,0 +1,147 @@ + +
+ + + GPIO pin where the servo signal wire is connected (default: 13) +
+ +
+ + + Drag the slider to set target servo angle (0° - 180°) +
+ +
+ + + Delay between angle steps in milliseconds (lower = faster) +
+ +
+ + + + Update device orientation when servo moves. + "Keep Current" will not change the display orientation. + +
+ +
+ +
+

API Documentation:

+
+
+
+

Trigger servo via playlist (Recommended):

+ + curl -X POST http://your-inkypi:8080/api/plugin/servo_control \
+   -H "Content-Type: application/json" \
+   -d '{
+     "playlist_name": "YOUR_PLAYLIST_NAME",
+     "plugin_instance": "YOUR_PLUGIN_INSTANCE_NAME",
+     "plugin_id": "servo_control"
+   }' + + + This will activate the servo with the target angle configured in the specified playlist instance. + +
+ +
+

Direct servo control (Manual):

+ + curl -X POST http://your-inkypi:8080/update_now \
+   -F "plugin_id=servo_control" \
+   -F "gpio_pin=13" \
+   -F "target_angle=90" \
+   -F "servo_speed=10" \
+   -F "orientation=landscape" + + + orientation can be: current, landscape, or portrait + +
+ +

+ Note: The servo will move to the target angle and update the display. + The current angle is stored persistently and used as the starting position after reboot. +

+
+
+
+ + From 7cbfa7c48c0686356c1115a6bcb65f20108ecee1 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 1 Feb 2026 15:04:54 +0100 Subject: [PATCH 02/35] Servo Controll dependency test --- install/install.sh | 17 ++ src/plugins/servo_control/servo_control.py | 294 ++++++++++++++++++++- 2 files changed, 307 insertions(+), 4 deletions(-) diff --git a/install/install.sh b/install/install.sh index d2c1074fc..2d8b11f92 100644 --- a/install/install.sh +++ b/install/install.sh @@ -140,6 +140,16 @@ enable_interfaces(){ fi } +enable_pwm_overlay(){ + echo "Enabling PWM overlay for servo control" + if ! grep -E -q '^[[:space:]]*dtoverlay=pwm-2chan' /boot/firmware/config.txt; then + sed -i '/^dtparam=spi=on/a dtoverlay=pwm-2chan' /boot/firmware/config.txt + echo_success "\tPWM overlay enabled (pwm-2chan)" + else + echo_success "\tPWM overlay already enabled" + fi +} + show_loader() { local pid=$! local delay=0.1 @@ -192,6 +202,11 @@ install_debian_dependencies() { fi } +install_servo_dependencies() { + echo "Installing servo dependencies (libgpiod and tools)." + sudo apt-get install -y gpiod python3-libgpiod > /dev/null +} + setup_zramswap_service() { echo "Enabling and starting zramswap service." sudo apt-get install -y zram-tools > /dev/null @@ -364,7 +379,9 @@ if [[ -n "$WS_TYPE" ]]; then fetch_waveshare_driver fi enable_interfaces +enable_pwm_overlay install_debian_dependencies +install_servo_dependencies # check OS version for Bookworm to setup zramswap if [[ $(get_os_version) = "12" ]] ; then echo "OS version is Bookworm - setting up zramswap" diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index e9ce7732a..f08c31ae6 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -1,26 +1,44 @@ import logging import time +import os from plugins.base_plugin.base_plugin import BasePlugin from PIL import Image, ImageDraw, ImageFont from utils.app_utils import get_font logger = logging.getLogger(__name__) -# Try to import gpiozero for hardware control +# Try to import libgpiod for hardware control +try: + import gpiod + from gpiod.line import Direction, Value + HAS_GPIOD = True +except ImportError as e: + HAS_GPIOD = False + logger.warning(f"libgpiod not available, will try gpiozero fallback. Error: {e}") + +# Try to import gpiozero as a fallback try: from gpiozero import Servo from gpiozero.pins.pigpio import PiGPIOFactory - HARDWARE_AVAILABLE = True + HAS_GPIOZERO = True except ImportError as e: + HAS_GPIOZERO = False logger.warning(f"gpiozero not available, servo control will be mocked. Error: {e}") - logger.info("To enable hardware control, install gpiozero: pip install gpiozero") - HARDWARE_AVAILABLE = False + logger.info("To enable gpiozero, install: pip install gpiozero") + +HAS_PWM_SYSFS = os.path.isdir("/sys/class/pwm") +SERVO_BACKEND = "auto" +HARDWARE_AVAILABLE = HAS_PWM_SYSFS or HAS_GPIOD or HAS_GPIOZERO DEFAULT_GPIO_PIN = 13 DEFAULT_ANGLE = 90 DEFAULT_SPEED = 10 # milliseconds delay between steps MIN_ANGLE = 0 MAX_ANGLE = 180 +DEFAULT_PWM_CHIP = "pwmchip0" +SERVO_MIN_PULSE_US = 1000 +SERVO_MAX_PULSE_US = 2000 +SERVO_PERIOD_US = 20000 # 50Hz class ServoControl(BasePlugin): """ @@ -32,6 +50,16 @@ def __init__(self, config, **dependencies): super().__init__(config, **dependencies) self.servo = None self.current_gpio_pin = None + self.gpiod_chip = None + self.gpiod_line = None + self.gpiod_request = None + self.gpiod_api = None + self.backend = None + self.pwm_chip = DEFAULT_PWM_CHIP + self.pwm_channel = None + self.pwm_chip_path = None + self.pwm_path = None + self.pwm_enabled = False def generate_settings_template(self): """Provide settings template.""" @@ -54,6 +82,9 @@ def generate_image(self, settings, device_config): target_angle = int(settings.get('target_angle', DEFAULT_ANGLE)) servo_speed = int(settings.get('servo_speed', DEFAULT_SPEED)) orientation = settings.get('orientation', 'current') + self.pwm_chip = str(settings.get('pwm_chip', DEFAULT_PWM_CHIP)) + pwm_channel = settings.get('pwm_channel', None) + self.pwm_channel = int(pwm_channel) if pwm_channel not in (None, "") else None # Get current angle from device config (persistent across reboots) current_angle = device_config.get_config('current_servo_angle', DEFAULT_ANGLE) @@ -88,6 +119,36 @@ def _initialize_servo(self, gpio_pin): if not HARDWARE_AVAILABLE: logger.info(f"Mock: Would initialize servo on GPIO pin {gpio_pin}") return + + self.backend = self._select_backend(gpio_pin) + + if self.backend == "pwm_sysfs": + if self.current_gpio_pin != gpio_pin: + self._cleanup_pwm_sysfs() + if not self.pwm_path: + try: + self._initialize_pwm_sysfs(gpio_pin) + self.current_gpio_pin = gpio_pin + logger.info(f"Initialized servo on GPIO pin {gpio_pin} with kernel PWM") + except Exception as e: + logger.error(f"Failed to initialize kernel PWM on GPIO {gpio_pin}: {e}") + raise RuntimeError(f"Failed to initialize kernel PWM on GPIO pin {gpio_pin}: {e}") + return + + if self.backend == "gpiod": + # Clean up existing line if pin changed + if self.current_gpio_pin != gpio_pin: + self._cleanup_gpiod() + + if not self.gpiod_line and not self.gpiod_request: + try: + self._initialize_gpiod_line(gpio_pin) + self.current_gpio_pin = gpio_pin + logger.info(f"Initialized servo on GPIO pin {gpio_pin} with libgpiod") + except Exception as e: + logger.error(f"Failed to initialize libgpiod on GPIO {gpio_pin}: {e}") + raise RuntimeError(f"Failed to initialize libgpiod on GPIO pin {gpio_pin}: {e}") + return # Clean up existing servo if pin changed if self.servo and self.current_gpio_pin != gpio_pin: @@ -116,6 +177,151 @@ def _initialize_servo(self, gpio_pin): except Exception as e: logger.error(f"Failed to initialize servo: {e}") raise RuntimeError(f"Failed to initialize servo on GPIO pin {gpio_pin}: {e}") + + def _select_backend(self, gpio_pin): + """Select the best available backend for servo control.""" + if self._pwm_sysfs_available(gpio_pin): + return "pwm_sysfs" + if HAS_GPIOD: + return "gpiod" + if HAS_GPIOZERO: + return "gpiozero" + return "mock" + + def _pwm_sysfs_available(self, gpio_pin): + """Check if kernel PWM sysfs is available for the GPIO pin.""" + chip_path = f"/sys/class/pwm/{self.pwm_chip}" + if not os.path.isdir(chip_path): + return False + if self.pwm_channel is not None: + return True + return gpio_pin in (12, 13, 18, 19) + + def _gpio_pin_to_pwm_channel(self, gpio_pin): + """Map common Raspberry Pi GPIO pins to PWM channels.""" + if self.pwm_channel is not None: + return self.pwm_channel + mapping = { + 12: 0, + 18: 0, + 13: 1, + 19: 1, + } + return mapping.get(gpio_pin) + + def _initialize_pwm_sysfs(self, gpio_pin): + """Initialize kernel PWM sysfs for hardware-timed PWM.""" + channel = self._gpio_pin_to_pwm_channel(gpio_pin) + if channel is None: + raise RuntimeError("GPIO pin does not map to a PWM channel. Set pwm_channel in settings.") + + self.pwm_chip_path = f"/sys/class/pwm/{self.pwm_chip}" + self.pwm_path = f"{self.pwm_chip_path}/pwm{channel}" + + export_path = f"{self.pwm_chip_path}/export" + enable_path = f"{self.pwm_path}/enable" + period_path = f"{self.pwm_path}/period" + duty_path = f"{self.pwm_path}/duty_cycle" + + if not os.path.isdir(self.pwm_chip_path): + raise RuntimeError(f"PWM chip path not found: {self.pwm_chip_path}") + + if not os.path.isdir(self.pwm_path): + with open(export_path, "w", encoding="utf-8") as f: + f.write(str(channel)) + + # Disable before configuring + if os.path.exists(enable_path): + with open(enable_path, "w", encoding="utf-8") as f: + f.write("0") + + period_ns = SERVO_PERIOD_US * 1000 + with open(period_path, "w", encoding="utf-8") as f: + f.write(str(period_ns)) + with open(duty_path, "w", encoding="utf-8") as f: + f.write(str(SERVO_MIN_PULSE_US * 1000)) + + with open(enable_path, "w", encoding="utf-8") as f: + f.write("1") + self.pwm_enabled = True + + def _cleanup_pwm_sysfs(self): + """Disable and unexport kernel PWM sysfs.""" + if not self.pwm_path or not self.pwm_chip_path: + return + + enable_path = f"{self.pwm_path}/enable" + unexport_path = f"{self.pwm_chip_path}/unexport" + channel = self._gpio_pin_to_pwm_channel(self.current_gpio_pin) if self.current_gpio_pin is not None else None + + try: + if os.path.exists(enable_path): + with open(enable_path, "w", encoding="utf-8") as f: + f.write("0") + except Exception: + pass + + try: + if channel is not None and os.path.exists(unexport_path): + with open(unexport_path, "w", encoding="utf-8") as f: + f.write(str(channel)) + except Exception: + pass + + self.pwm_path = None + self.pwm_chip_path = None + self.pwm_enabled = False + + def _initialize_gpiod_line(self, gpio_pin): + """Initialize libgpiod line (supports v1 and v2 APIs).""" + if hasattr(gpiod, "LineSettings") and hasattr(gpiod, "request_lines"): + # libgpiod v2 API + self.gpiod_api = "v2" + config = { + gpio_pin: gpiod.LineSettings( + direction=Direction.OUTPUT, + output_value=Value.INACTIVE, + ) + } + self.gpiod_request = gpiod.request_lines( + "/dev/gpiochip0", + consumer="inkypi-servo", + config=config, + ) + else: + # libgpiod v1 API + self.gpiod_api = "v1" + self.gpiod_chip = gpiod.Chip("gpiochip0") + self.gpiod_line = self.gpiod_chip.get_line(gpio_pin) + self.gpiod_line.request( + consumer="inkypi-servo", + type=gpiod.LINE_REQ_DIR_OUT, + default_vals=[0], + ) + + def _cleanup_gpiod(self): + """Release libgpiod resources.""" + if self.gpiod_request: + try: + self.gpiod_request.close() + except Exception: + pass + self.gpiod_request = None + + if self.gpiod_line: + try: + self.gpiod_line.release() + except Exception: + pass + self.gpiod_line = None + + if self.gpiod_chip: + try: + self.gpiod_chip.close() + except Exception: + pass + self.gpiod_chip = None + self.gpiod_api = None def _angle_to_servo_value(self, angle): """ @@ -124,6 +330,41 @@ def _angle_to_servo_value(self, angle): """ # Map 0-180 to -1 to 1 return (angle / 90.0) - 1.0 + + def _angle_to_pulse_us(self, angle): + """Convert angle (0-180) to PWM pulse width in microseconds.""" + angle = max(MIN_ANGLE, min(MAX_ANGLE, angle)) + span = SERVO_MAX_PULSE_US - SERVO_MIN_PULSE_US + return int(SERVO_MIN_PULSE_US + (angle / 180.0) * span) + + def _pwm_sysfs_set_pulse_us(self, pulse_us): + """Set PWM duty cycle via sysfs in nanoseconds.""" + if not self.pwm_path: + return + duty_path = f"{self.pwm_path}/duty_cycle" + duty_ns = int(pulse_us * 1000) + with open(duty_path, "w", encoding="utf-8") as f: + f.write(str(duty_ns)) + + def _gpiod_set_value(self, active): + """Set GPIO line value using libgpiod.""" + if self.gpiod_api == "v2" and self.gpiod_request: + value = Value.ACTIVE if active else Value.INACTIVE + self.gpiod_request.set_value(self.current_gpio_pin, value) + elif self.gpiod_line: + self.gpiod_line.set_value(1 if active else 0) + + def _gpiod_pwm_for_duration(self, pulse_us, duration_ms): + """Software PWM via libgpiod for a specific duration.""" + period_us = SERVO_PERIOD_US + high_s = pulse_us / 1_000_000 + low_s = max(0.0, (period_us - pulse_us) / 1_000_000) + end_time = time.monotonic() + (duration_ms / 1000.0) + while time.monotonic() < end_time: + self._gpiod_set_value(True) + time.sleep(high_s) + self._gpiod_set_value(False) + time.sleep(low_s) def _move_servo(self, gpio_pin, current_angle, target_angle, speed_ms): """ @@ -142,6 +383,49 @@ def _move_servo(self, gpio_pin, current_angle, target_angle, speed_ms): if not HARDWARE_AVAILABLE: logger.info(f"Mock: Would move servo on GPIO {gpio_pin} from {current_angle}° to {target_angle}° at {speed_ms}ms speed") return + + self.backend = self._select_backend(gpio_pin) + + if self.backend == "pwm_sysfs": + try: + self._initialize_servo(gpio_pin) + step = 1 if target_angle > current_angle else -1 + for angle in range(int(current_angle), int(target_angle), step): + pulse_us = self._angle_to_pulse_us(angle) + self._pwm_sysfs_set_pulse_us(pulse_us) + logger.info(f"new Angle: {angle}° new Pulse: {pulse_us}us") + time.sleep(speed_ms / 1000) + + final_pulse_us = self._angle_to_pulse_us(target_angle) + self._pwm_sysfs_set_pulse_us(final_pulse_us) + logger.info(f"Moved servo from {current_angle}° to {target_angle}° (kernel PWM)") + return + except Exception as e: + logger.error(f"Failed to move servo with kernel PWM: {e}") + raise RuntimeError(f"Failed to move servo with kernel PWM: {e}") + + if self.backend == "gpiod": + try: + # Initialize line if needed + self._initialize_servo(gpio_pin) + + # Calculate step direction + step = 1 if target_angle > current_angle else -1 + + for angle in range(int(current_angle), int(target_angle), step): + pulse_us = self._angle_to_pulse_us(angle) + step_duration_ms = max(speed_ms, 20) + self._gpiod_pwm_for_duration(pulse_us, step_duration_ms) + logger.info(f"new Angle: {angle}° new Pulse: {pulse_us}us") + + # Ensure we reach exact target + final_pulse_us = self._angle_to_pulse_us(target_angle) + self._gpiod_pwm_for_duration(final_pulse_us, max(200, speed_ms)) + logger.info(f"Moved servo from {current_angle}° to {target_angle}° (libgpiod)") + return + except Exception as e: + logger.error(f"Failed to move servo with libgpiod: {e}") + raise RuntimeError(f"Failed to move servo with libgpiod: {e}") try: # Initialize servo if needed @@ -244,6 +528,8 @@ def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): def cleanup(self, settings): """Clean up servo resources when plugin instance is deleted.""" + self._cleanup_gpiod() + self._cleanup_pwm_sysfs() if self.servo: try: self.servo.close() From a4842684291e4bedb017bff1d660bf64303b8c8b Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 1 Feb 2026 15:42:18 +0100 Subject: [PATCH 03/35] Servo Controll dependencies added --- install/requirements.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/install/requirements.txt b/install/requirements.txt index c7ab09a23..991a990d5 100644 --- a/install/requirements.txt +++ b/install/requirements.txt @@ -16,3 +16,6 @@ cysystemd==2.0.1 waitress==3.0.2 feedparser==6.0.11 astral>=3.1 +gpiozero==2.0.1 +lgpio==0.2.2.0 +RPi.GPIO==0.7.1 \ No newline at end of file From 9b06fb6a6aa1745cf1993773dee56ab405e7c743 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 1 Feb 2026 15:59:28 +0100 Subject: [PATCH 04/35] Servo Controll dependencies test --- install/install.sh | 21 ++++-- install/requirements.txt | 1 + src/plugins/servo_control/servo_control.py | 85 +--------------------- 3 files changed, 18 insertions(+), 89 deletions(-) diff --git a/install/install.sh b/install/install.sh index 2d8b11f92..8e60481eb 100644 --- a/install/install.sh +++ b/install/install.sh @@ -142,12 +142,19 @@ enable_interfaces(){ enable_pwm_overlay(){ echo "Enabling PWM overlay for servo control" - if ! grep -E -q '^[[:space:]]*dtoverlay=pwm-2chan' /boot/firmware/config.txt; then - sed -i '/^dtparam=spi=on/a dtoverlay=pwm-2chan' /boot/firmware/config.txt - echo_success "\tPWM overlay enabled (pwm-2chan)" - else - echo_success "\tPWM overlay already enabled" - fi + local CONFIG_PRIMARY="/boot/firmware/config.txt" + local CONFIG_FALLBACK="/boot/config.txt" + + for cfg in "$CONFIG_PRIMARY" "$CONFIG_FALLBACK"; do + if [ -f "$cfg" ]; then + if ! grep -E -q '^[[:space:]]*dtoverlay=pwm-2chan' "$cfg"; then + sed -i '/^dtparam=spi=on/a dtoverlay=pwm-2chan' "$cfg" + echo_success "\tPWM overlay enabled (pwm-2chan) in $cfg" + else + echo_success "\tPWM overlay already enabled in $cfg" + fi + fi + done } show_loader() { @@ -204,7 +211,7 @@ install_debian_dependencies() { install_servo_dependencies() { echo "Installing servo dependencies (libgpiod and tools)." - sudo apt-get install -y gpiod python3-libgpiod > /dev/null + sudo apt-get install -y gpiod python3-libgpiod libgpiod-dev > /dev/null } setup_zramswap_service() { diff --git a/install/requirements.txt b/install/requirements.txt index 991a990d5..4b1eb4cb2 100644 --- a/install/requirements.txt +++ b/install/requirements.txt @@ -17,5 +17,6 @@ waitress==3.0.2 feedparser==6.0.11 astral>=3.1 gpiozero==2.0.1 +gpiod>=2.0.0 lgpio==0.2.2.0 RPi.GPIO==0.7.1 \ No newline at end of file diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index f08c31ae6..6dfd15c09 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -16,19 +16,8 @@ HAS_GPIOD = False logger.warning(f"libgpiod not available, will try gpiozero fallback. Error: {e}") -# Try to import gpiozero as a fallback -try: - from gpiozero import Servo - from gpiozero.pins.pigpio import PiGPIOFactory - HAS_GPIOZERO = True -except ImportError as e: - HAS_GPIOZERO = False - logger.warning(f"gpiozero not available, servo control will be mocked. Error: {e}") - logger.info("To enable gpiozero, install: pip install gpiozero") - HAS_PWM_SYSFS = os.path.isdir("/sys/class/pwm") -SERVO_BACKEND = "auto" -HARDWARE_AVAILABLE = HAS_PWM_SYSFS or HAS_GPIOD or HAS_GPIOZERO +HARDWARE_AVAILABLE = HAS_PWM_SYSFS or HAS_GPIOD DEFAULT_GPIO_PIN = 13 DEFAULT_ANGLE = 90 @@ -48,7 +37,6 @@ class ServoControl(BasePlugin): def __init__(self, config, **dependencies): super().__init__(config, **dependencies) - self.servo = None self.current_gpio_pin = None self.gpiod_chip = None self.gpiod_line = None @@ -150,33 +138,7 @@ def _initialize_servo(self, gpio_pin): raise RuntimeError(f"Failed to initialize libgpiod on GPIO pin {gpio_pin}: {e}") return - # Clean up existing servo if pin changed - if self.servo and self.current_gpio_pin != gpio_pin: - try: - self.servo.close() - except: - pass - self.servo = None - - # Initialize new servo - if not self.servo or self.current_gpio_pin != gpio_pin: - try: - # Use pigpio for better PWM control if available - factory = PiGPIOFactory() - # SG90 specific pulse widths: 1ms (0°) to 2ms (180°) - self.servo = Servo(gpio_pin, min_pulse_width=1/1000, max_pulse_width=2/1000, pin_factory=factory) - self.current_gpio_pin = gpio_pin - logger.info(f"Initialized servo on GPIO pin {gpio_pin} with pigpio") - except Exception as e: - logger.warning(f"Failed to use pigpio, falling back to default: {e}") - try: - # SG90 specific pulse widths for default factory too - self.servo = Servo(gpio_pin, min_pulse_width=1/1000, max_pulse_width=2/1000) - self.current_gpio_pin = gpio_pin - logger.info(f"Initialized servo on GPIO pin {gpio_pin} (default pins)") - except Exception as e: - logger.error(f"Failed to initialize servo: {e}") - raise RuntimeError(f"Failed to initialize servo on GPIO pin {gpio_pin}: {e}") + logger.info("No additional backend initialization required.") def _select_backend(self, gpio_pin): """Select the best available backend for servo control.""" @@ -184,8 +146,6 @@ def _select_backend(self, gpio_pin): return "pwm_sysfs" if HAS_GPIOD: return "gpiod" - if HAS_GPIOZERO: - return "gpiozero" return "mock" def _pwm_sysfs_available(self, gpio_pin): @@ -323,14 +283,6 @@ def _cleanup_gpiod(self): self.gpiod_chip = None self.gpiod_api = None - def _angle_to_servo_value(self, angle): - """ - Convert angle (0-180) to servo value (-1 to 1). - For SG90 servo: -1 = 0°, 0 = 90°, 1 = 180° - """ - # Map 0-180 to -1 to 1 - return (angle / 90.0) - 1.0 - def _angle_to_pulse_us(self, angle): """Convert angle (0-180) to PWM pulse width in microseconds.""" angle = max(MIN_ANGLE, min(MAX_ANGLE, angle)) @@ -427,32 +379,7 @@ def _move_servo(self, gpio_pin, current_angle, target_angle, speed_ms): logger.error(f"Failed to move servo with libgpiod: {e}") raise RuntimeError(f"Failed to move servo with libgpiod: {e}") - try: - # Initialize servo if needed - self._initialize_servo(gpio_pin) - - # Calculate step direction - step = 1 if target_angle > current_angle else -1 - - # Move incrementally for smooth motion - for angle in range(int(current_angle), int(target_angle), step): - servo_value = self._angle_to_servo_value(angle) - self.servo.value = servo_value - logger.info(f"new Angle: {angle}° new Servo Value: {servo_value}") - time.sleep(speed_ms/1000) - - # Ensure we reach exact target - final_value = self._angle_to_servo_value(target_angle) - self.servo.value = final_value - - # Stop sending PWM signals without causing servo twitch - time.sleep(0.5) # Hold position briefly - self.servo.value = None - logger.info(f"Moved servo from {current_angle}° to {target_angle}°") - - except Exception as e: - logger.error(f"Failed to move servo: {e}") - raise RuntimeError(f"Failed to move servo: {e}") + logger.warning("No supported backend available; servo move skipped.") def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): """ @@ -530,9 +457,3 @@ def cleanup(self, settings): """Clean up servo resources when plugin instance is deleted.""" self._cleanup_gpiod() self._cleanup_pwm_sysfs() - if self.servo: - try: - self.servo.close() - logger.info("Closed servo connection") - except Exception as e: - logger.error(f"Error closing servo: {e}") From ad1efc92130fc5fbbdee9c535de3b3415047d49a Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 1 Feb 2026 16:20:36 +0100 Subject: [PATCH 05/35] Servo Controll dependencies test --- src/plugins/servo_control/servo_control.py | 19 ++++++------------- src/plugins/servo_control/settings.html | 6 +++--- 2 files changed, 9 insertions(+), 16 deletions(-) diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index 6dfd15c09..338996913 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -19,7 +19,7 @@ HAS_PWM_SYSFS = os.path.isdir("/sys/class/pwm") HARDWARE_AVAILABLE = HAS_PWM_SYSFS or HAS_GPIOD -DEFAULT_GPIO_PIN = 13 +DEFAULT_GPIO_PIN = 18 DEFAULT_ANGLE = 90 DEFAULT_SPEED = 10 # milliseconds delay between steps MIN_ANGLE = 0 @@ -400,18 +400,11 @@ def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): image = Image.new('RGB', (width, height), color='white') draw = ImageDraw.Draw(image) - # Fonts - try: - title_font = get_font("Roboto-Bold", int(height * 0.08)) - large_font = get_font("Roboto-Bold", int(height * 0.15)) - medium_font = get_font("Roboto-Regular", int(height * 0.06)) - small_font = get_font("Roboto-Regular", int(height * 0.045)) - except: - # Fallback to default font - title_font = ImageFont.load_default() - large_font = ImageFont.load_default() - medium_font = ImageFont.load_default() - small_font = ImageFont.load_default() + title_font = ImageFont.load_default() + large_font = ImageFont.load_default() + medium_font = ImageFont.load_default() + small_font = ImageFont.load_default() + # Title title = "Servo Control" diff --git a/src/plugins/servo_control/settings.html b/src/plugins/servo_control/settings.html index 7fb1d8c8d..32cb8dafa 100644 --- a/src/plugins/servo_control/settings.html +++ b/src/plugins/servo_control/settings.html @@ -8,10 +8,10 @@ class="form-control" min="0" max="27" - value="13" + value="18" required /> - GPIO pin where the servo signal wire is connected (default: 13) + GPIO pin where the servo signal wire is connected (default: 18)
@@ -86,7 +86,7 @@ curl -X POST http://your-inkypi:8080/update_now \
  -F "plugin_id=servo_control" \
-   -F "gpio_pin=13" \
+   -F "gpio_pin=18" \
  -F "target_angle=90" \
  -F "servo_speed=10" \
  -F "orientation=landscape" From 147147af94924d08259257ba13ab95577d3d7b38 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 1 Feb 2026 16:42:15 +0100 Subject: [PATCH 06/35] Servo Controll extended control --- src/plugins/servo_control/servo_control.py | 30 +++++++++++++++++----- src/plugins/servo_control/settings.html | 9 ++++--- 2 files changed, 29 insertions(+), 10 deletions(-) diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index 338996913..d883c7175 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -19,14 +19,18 @@ HAS_PWM_SYSFS = os.path.isdir("/sys/class/pwm") HARDWARE_AVAILABLE = HAS_PWM_SYSFS or HAS_GPIOD +DEFAULT_PWM_CHIP = "pwmchip0" DEFAULT_GPIO_PIN = 18 DEFAULT_ANGLE = 90 DEFAULT_SPEED = 10 # milliseconds delay between steps -MIN_ANGLE = 0 -MAX_ANGLE = 180 -DEFAULT_PWM_CHIP = "pwmchip0" -SERVO_MIN_PULSE_US = 1000 -SERVO_MAX_PULSE_US = 2000 + +SERVO_MIN_PULSE_US = 500 +SERVO_0_DEGREE_PULSE_US = 1000 +SERVO_180_DEGREE_PULSE_US = 2000 +SERVO_MAX_PULSE_US = 2500 +SERVO_US_PER_DEGREE = (SERVO_180_DEGREE_PULSE_US - SERVO_0_DEGREE_PULSE_US) / 180.0 +MIN_ANGLE = (SERVO_MIN_PULSE_US - SERVO_0_DEGREE_PULSE_US) / SERVO_US_PER_DEGREE +MAX_ANGLE = (SERVO_MAX_PULSE_US - SERVO_0_DEGREE_PULSE_US) / SERVO_US_PER_DEGREE SERVO_PERIOD_US = 20000 # 50Hz class ServoControl(BasePlugin): @@ -286,8 +290,8 @@ def _cleanup_gpiod(self): def _angle_to_pulse_us(self, angle): """Convert angle (0-180) to PWM pulse width in microseconds.""" angle = max(MIN_ANGLE, min(MAX_ANGLE, angle)) - span = SERVO_MAX_PULSE_US - SERVO_MIN_PULSE_US - return int(SERVO_MIN_PULSE_US + (angle / 180.0) * span) + pulse = SERVO_0_DEGREE_PULSE_US + (angle * SERVO_US_PER_DEGREE) + return int(max(SERVO_MIN_PULSE_US, min(SERVO_MAX_PULSE_US, pulse))) def _pwm_sysfs_set_pulse_us(self, pulse_us): """Set PWM duty cycle via sysfs in nanoseconds.""" @@ -298,6 +302,15 @@ def _pwm_sysfs_set_pulse_us(self, pulse_us): with open(duty_path, "w", encoding="utf-8") as f: f.write(str(duty_ns)) + def _pwm_sysfs_disable(self): + """Disable PWM output without unexporting the channel.""" + if not self.pwm_path: + return + enable_path = f"{self.pwm_path}/enable" + if os.path.exists(enable_path): + with open(enable_path, "w", encoding="utf-8") as f: + f.write("0") + def _gpiod_set_value(self, active): """Set GPIO line value using libgpiod.""" if self.gpiod_api == "v2" and self.gpiod_request: @@ -350,6 +363,8 @@ def _move_servo(self, gpio_pin, current_angle, target_angle, speed_ms): final_pulse_us = self._angle_to_pulse_us(target_angle) self._pwm_sysfs_set_pulse_us(final_pulse_us) + time.sleep(0.2) + self._pwm_sysfs_disable() logger.info(f"Moved servo from {current_angle}° to {target_angle}° (kernel PWM)") return except Exception as e: @@ -373,6 +388,7 @@ def _move_servo(self, gpio_pin, current_angle, target_angle, speed_ms): # Ensure we reach exact target final_pulse_us = self._angle_to_pulse_us(target_angle) self._gpiod_pwm_for_duration(final_pulse_us, max(200, speed_ms)) + self._gpiod_set_value(False) logger.info(f"Moved servo from {current_angle}° to {target_angle}° (libgpiod)") return except Exception as e: diff --git a/src/plugins/servo_control/settings.html b/src/plugins/servo_control/settings.html index 32cb8dafa..8ae1cfe9d 100644 --- a/src/plugins/servo_control/settings.html +++ b/src/plugins/servo_control/settings.html @@ -21,12 +21,14 @@ id="target-angle" name="target_angle" class="form-range" - min="0" - max="180" + min="-90" + max="270" value="90" step="1" /> - Drag the slider to set target servo angle (0° - 180°) + + Drag the slider to set target servo angle (-90° - 270°) +
@@ -105,6 +107,7 @@
diff --git a/src/utils/servo_utils.py b/src/utils/servo_utils.py index 1bb314d16..5b20e228f 100644 --- a/src/utils/servo_utils.py +++ b/src/utils/servo_utils.py @@ -20,7 +20,7 @@ DEFAULT_PWM_CHIP = "pwmchip0" DEFAULT_GPIO_PIN = 18 DEFAULT_ANGLE = 90 -DEFAULT_SPEED = 10 # milliseconds delay between steps +DEFAULT_SPEED = 30 # milliseconds delay between steps SERVO_MIN_PULSE_US = 500 SERVO_0_DEGREE_PULSE_US = 1000 From a500ce93bf555afe128be51d927e7017aab008ba Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 1 Feb 2026 21:18:22 +0100 Subject: [PATCH 12/35] Servo Control move image invertition --- src/plugins/servo_control/servo_control.py | 94 +++++++++++----------- 1 file changed, 48 insertions(+), 46 deletions(-) diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index c8752dbbb..7242efd99 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -96,55 +96,57 @@ def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): PIL.Image: Status image """ width, height = dimensions - - # Create white background - image = Image.new('RGB', (width, height), color='white') + image = Image.new('RGB', (width, height), color='black') draw = ImageDraw.Draw(image) - - title_font = ImageFont.load_default() - large_font = ImageFont.load_default() - medium_font = ImageFont.load_default() - small_font = ImageFont.load_default() - - # Title - title = "Servo Control" - draw.text((width // 2, height * 0.1), title, font=title_font, fill='black', anchor='mm') - - # Target angle - large display + # High-contrast palette + sky_color = '#1e90ff' + ground_color = '#f39c12' + horizon_color = '#ffffff' + text_color = '#ffffff' + + # Map target angle (0-180) to horizon tilt (-45 to 45) + normalized = (target_angle - 90) / 90.0 + tilt_deg = max(-45, min(45, normalized * 45)) + tilt_rad = (tilt_deg * 3.141592653589793) / 180.0 + + # Horizon line parameters + cx, cy = width / 2, height / 2 + line_len = max(width, height) * 1.5 + dx = (line_len / 2) * (1.0 if tilt_deg == 0 else (abs(__import__('math').cos(tilt_rad)))) + dy = (line_len / 2) * (1.0 if tilt_deg == 0 else (abs(__import__('math').sin(tilt_rad)))) + + # Compute line endpoints using rotation matrix + cos_t = __import__('math').cos(tilt_rad) + sin_t = __import__('math').sin(tilt_rad) + x1 = cx - (line_len / 2) * cos_t + y1 = cy - (line_len / 2) * sin_t + x2 = cx + (line_len / 2) * cos_t + y2 = cy + (line_len / 2) * sin_t + + # Fill sky/ground polygons + draw.polygon([(0, 0), (width, 0), (x2, y2), (x1, y1)], fill=sky_color) + draw.polygon([(0, height), (width, height), (x2, y2), (x1, y1)], fill=ground_color) + + # Horizon line (thick) + line_width = max(2, int(min(width, height) * 0.04)) + draw.line([(x1, y1), (x2, y2)], fill=horizon_color, width=line_width) + + # Center marker + marker_size = max(4, int(min(width, height) * 0.06)) + draw.rectangle( + [ + (cx - marker_size, cy - line_width), + (cx + marker_size, cy + line_width) + ], + fill=horizon_color + ) + + # Angle text overlay + font = ImageFont.load_default() angle_text = f"{target_angle}°" - draw.text((width // 2, height * 0.3), angle_text, font=large_font, fill='#2c3e50', anchor='mm') - - # GPIO pin info - gpio_text = f"GPIO Pin: {gpio_pin}" - draw.text((width // 2, height * 0.45), gpio_text, font=medium_font, fill='#7f8c8d', anchor='mm') - - # Draw a simple arc to visualize angle - arc_y = height * 0.6 - arc_radius = min(width, height) * 0.15 - arc_bbox = [ - width // 2 - arc_radius, - arc_y - arc_radius, - width // 2 + arc_radius, - arc_y + arc_radius - ] - - # Background arc (0-180) - draw.arc(arc_bbox, start=0, end=180, fill='#ecf0f1', width=int(height * 0.02)) - - # Target position arc - draw.arc(arc_bbox, start=0, end=target_angle, fill='#3498db', width=int(height * 0.02)) - - # Orientation info - if orientation in ['landscape', 'portrait']: - y_offset = height * 0.78 - draw.text((width // 2, y_offset), "Orientation:", font=medium_font, fill='black', anchor='mm') - - y_offset += height * 0.06 - orientation_text = orientation.capitalize() - orientation_color = '#e74c3c' - draw.text((width // 2, y_offset), orientation_text, font=small_font, fill=orientation_color, anchor='mm') - + draw.text((width * 0.06, height * 0.06), angle_text, font=font, fill=text_color) + return image def cleanup(self, settings): From 22613ef0f228ea5f5fef5706a399922e80c6e0f3 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 1 Feb 2026 21:27:14 +0100 Subject: [PATCH 13/35] Servo Control Test Image --- src/plugins/servo_control/servo_control.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index 7242efd99..66df063f4 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -100,14 +100,14 @@ def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): draw = ImageDraw.Draw(image) # High-contrast palette - sky_color = '#1e90ff' - ground_color = '#f39c12' - horizon_color = '#ffffff' + sky_color = '#00CFEB' + ground_color = '#EACE00' + horizon_color = '#EB0078' text_color = '#ffffff' - # Map target angle (0-180) to horizon tilt (-45 to 45) + # Map target angle (0-180) to horizon tilt (0 to 90 degrees) normalized = (target_angle - 90) / 90.0 - tilt_deg = max(-45, min(45, normalized * 45)) + tilt_deg = max(0, min(90, normalized * 90)) tilt_rad = (tilt_deg * 3.141592653589793) / 180.0 # Horizon line parameters From 33bf9908db3e6ce0488bb79d11eea0b0637764e5 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Tue, 3 Feb 2026 18:51:17 +0100 Subject: [PATCH 14/35] InkyPi Listen also on ipv6 --- src/inkypi.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/inkypi.py b/src/inkypi.py index 5dc4de57b..1dedb7718 100755 --- a/src/inkypi.py +++ b/src/inkypi.py @@ -112,6 +112,6 @@ except: pass # Ignore if we can't get the IP - serve(app, host="0.0.0.0", port=PORT, threads=1) + serve(app, host="::", port=PORT, threads=1) finally: refresh_task.stop() From 03d99304bc10ef4da805ee9d458a3fada9a0c194 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 16:07:29 +0100 Subject: [PATCH 15/35] Skip move when Angle reached --- src/utils/servo_utils.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/utils/servo_utils.py b/src/utils/servo_utils.py index 5b20e228f..04ee98412 100644 --- a/src/utils/servo_utils.py +++ b/src/utils/servo_utils.py @@ -80,6 +80,9 @@ def move(self, current_angle, target_angle, speed_ms): self._move_thread.start() def _move_blocking(self, current_angle, target_angle, speed_ms): + if current_angle == target_angle: + logger.info(f"Servo already at target angle {target_angle}°; no movement needed.") + return with self._move_lock: if not HARDWARE_AVAILABLE: logger.info( From eb51e3ae5bd2ae98c976c00596286892d894de22 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 16:11:53 +0100 Subject: [PATCH 16/35] invert setting --- src/plugins/servo_control/servo_control.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index 66df063f4..d9e456f16 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -58,10 +58,10 @@ def generate_image(self, settings, device_config): # if 'current', do not change orientation # Update image inversion if specified - if invert_setting is not None: - invert_value = str(invert_setting).lower() in ("1", "true", "yes", "on") - device_config.update_value("inverted_image", invert_value, write=True) - logger.info(f"Updated inverted_image to {invert_value}") + invert_value = str(invert_setting).lower() in ("1", "true", "yes", "on") + device_config.update_value("inverted_image", invert_value, write=True) + logger.info(f"Updated inverted_image to {invert_value}") + # Move servo to the target angle logger.info("Call Servo Move") From cca3aed65eec62ea73270717f53bb792040733a6 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 16:16:39 +0100 Subject: [PATCH 17/35] invert setting --- src/display/display_manager.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/display/display_manager.py b/src/display/display_manager.py index 71d9459f3..7ba62b4ac 100644 --- a/src/display/display_manager.py +++ b/src/display/display_manager.py @@ -77,7 +77,8 @@ def display_image(self, image, image_settings=[]): # Resize and adjust orientation image = change_orientation(image, self.device_config.get_config("orientation")) image = resize_image(image, self.device_config.get_resolution(), image_settings) - if self.device_config.get_config("inverted_image"): image = image.rotate(180) + invert_setting = self.device_config.get_config("inverted_image") + if str(invert_setting).lower() in ("1", "true", "yes", "on"): image = image.rotate(180) image = apply_image_enhancement(image, self.device_config.get_config("image_settings")) # Pass to the concrete instance to render to the device. From f701395a6143d084e1730b460426d09f1f20020a Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 16:19:45 +0100 Subject: [PATCH 18/35] testimage text color --- src/plugins/servo_control/servo_control.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index d9e456f16..66ba327bb 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -103,7 +103,7 @@ def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): sky_color = '#00CFEB' ground_color = '#EACE00' horizon_color = '#EB0078' - text_color = '#ffffff' + text_color = '#EBCFEB' # Map target angle (0-180) to horizon tilt (0 to 90 degrees) normalized = (target_angle - 90) / 90.0 From a69eaec7bae6a0a4af26a87bcc80adfc3a8671e7 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 16:31:24 +0100 Subject: [PATCH 19/35] test image handling --- src/display/display_manager.py | 5 + src/plugins/servo_control/servo_control.py | 136 ++++++++++++++------- src/plugins/servo_control/settings.html | 11 ++ 3 files changed, 110 insertions(+), 42 deletions(-) diff --git a/src/display/display_manager.py b/src/display/display_manager.py index 7ba62b4ac..5468bf19c 100644 --- a/src/display/display_manager.py +++ b/src/display/display_manager.py @@ -69,6 +69,11 @@ def display_image(self, image, image_settings=[]): if not hasattr(self, "display"): raise ValueError("No valid display instance initialized.") + + # If no Image provided, skip rendering + if image is None: + logger.info("No image provided, skipping rendering") + return # Save the image logger.info(f"Saving image to {self.device_config.current_image_file}") diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index 66ba327bb..0e199de8a 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -77,75 +77,127 @@ def generate_image(self, settings, device_config): if device_config.get_config("orientation") == "vertical": dimensions = dimensions[::-1] - # Create status image - image = self._create_status_image(dimensions, gpio_pin, target_angle, orientation) + # Check if test image should be shown + show_test_image = str(settings.get('show_test_image', 'false')).lower() in ("1", "true", "yes", "on") + + if show_test_image: + # Create status image with virtual horizon + image = self._create_status_image(dimensions, gpio_pin, target_angle, orientation) return image def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): """ - Create a status image showing servo state. + Create a virtual horizon test image. + + The horizon is drawn at an angle that compensates for the physical rotation + of the display. When the screen is rotated to match the servo angle (target_angle), + the horizon should appear level/straight. + + For example: + - If target_angle = 90° (level), the horizon is drawn horizontally + - If target_angle = 0° (rotated 90° CCW), the horizon is drawn at 90° CW + so it appears horizontal when the screen is physically rotated Args: dimensions: Image dimensions (width, height) gpio_pin: GPIO pin number - current_angle: Current servo angle - positions: Dictionary of saved positions + target_angle: Target servo angle in degrees + orientation: Display orientation setting Returns: - PIL.Image: Status image + PIL.Image: Virtual horizon test image """ + import math + width, height = dimensions image = Image.new('RGB', (width, height), color='black') draw = ImageDraw.Draw(image) - # High-contrast palette - sky_color = '#00CFEB' - ground_color = '#EACE00' - horizon_color = '#EB0078' - text_color = '#EBCFEB' + # High-contrast color palette + sky_color = '#00CFEB' # Cyan for sky + ground_color = '#EACE00' # Yellow for ground + horizon_color = '#EB0078' # Magenta for horizon line + text_color = '#EBCFEB' # Light pink for text - # Map target angle (0-180) to horizon tilt (0 to 90 degrees) - normalized = (target_angle - 90) / 90.0 - tilt_deg = max(0, min(90, normalized * 90)) - tilt_rad = (tilt_deg * 3.141592653589793) / 180.0 + # Calculate the rotation angle for the virtual horizon + # The horizon should be tilted opposite to the physical rotation + # so it appears level when the display is rotated + # Assuming 90° is level, and angles rotate from there + rotation_angle = 90 - target_angle # Degrees to rotate the horizon + rotation_rad = math.radians(rotation_angle) - # Horizon line parameters + # Center point of the image cx, cy = width / 2, height / 2 - line_len = max(width, height) * 1.5 - dx = (line_len / 2) * (1.0 if tilt_deg == 0 else (abs(__import__('math').cos(tilt_rad)))) - dy = (line_len / 2) * (1.0 if tilt_deg == 0 else (abs(__import__('math').sin(tilt_rad)))) + + # Length of the horizon line (diagonal across the image) + line_len = math.sqrt(width**2 + height**2) * 1.2 - # Compute line endpoints using rotation matrix - cos_t = __import__('math').cos(tilt_rad) - sin_t = __import__('math').sin(tilt_rad) - x1 = cx - (line_len / 2) * cos_t - y1 = cy - (line_len / 2) * sin_t - x2 = cx + (line_len / 2) * cos_t - y2 = cy + (line_len / 2) * sin_t + # Calculate horizon line endpoints using rotation + cos_r = math.cos(rotation_rad) + sin_r = math.sin(rotation_rad) + x1 = cx - (line_len / 2) * cos_r + y1 = cy - (line_len / 2) * sin_r + x2 = cx + (line_len / 2) * cos_r + y2 = cy + (line_len / 2) * sin_r - # Fill sky/ground polygons - draw.polygon([(0, 0), (width, 0), (x2, y2), (x1, y1)], fill=sky_color) - draw.polygon([(0, height), (width, height), (x2, y2), (x1, y1)], fill=ground_color) + # Determine which corners are above/below the horizon line + # Create polygons for sky (above) and ground (below) + corners = [(0, 0), (width, 0), (width, height), (0, height)] + + # Sky polygon: top corners + horizon line points + if rotation_angle >= -45 and rotation_angle <= 45: + # Horizon is mostly horizontal + sky_points = [(0, 0), (width, 0), (x2, y2), (x1, y1)] + ground_points = [(0, height), (width, height), (x2, y2), (x1, y1)] + else: + # For steep angles, use all corners and line points + sky_points = [(0, 0), (width, 0), (x2, y2), (x1, y1)] + ground_points = [(0, height), (width, height), (x2, y2), (x1, y1)] - # Horizon line (thick) - line_width = max(2, int(min(width, height) * 0.04)) + # Fill sky and ground + draw.polygon(sky_points, fill=sky_color) + draw.polygon(ground_points, fill=ground_color) + + # Draw the horizon line (thick) + line_width = max(3, int(min(width, height) * 0.015)) draw.line([(x1, y1), (x2, y2)], fill=horizon_color, width=line_width) - # Center marker - marker_size = max(4, int(min(width, height) * 0.06)) - draw.rectangle( - [ - (cx - marker_size, cy - line_width), - (cx + marker_size, cy + line_width) - ], - fill=horizon_color + # Draw center marker (crosshair) + marker_size = max(8, int(min(width, height) * 0.03)) + # Horizontal line + draw.line( + [(cx - marker_size, cy), (cx + marker_size, cy)], + fill=horizon_color, + width=max(2, line_width // 2) + ) + # Vertical line + draw.line( + [(cx, cy - marker_size), (cx, cy + marker_size)], + fill=horizon_color, + width=max(2, line_width // 2) ) - # Angle text overlay + # Draw angle information font = ImageFont.load_default() - angle_text = f"{target_angle}°" - draw.text((width * 0.06, height * 0.06), angle_text, font=font, fill=text_color) + angle_text = f"Servo: {target_angle}°" + rotation_text = f"Horizon: {rotation_angle:.1f}°" + + # Position text in corner with padding + padding = int(min(width, height) * 0.03) + draw.text((padding, padding), angle_text, font=font, fill=text_color) + draw.text((padding, padding + 15), rotation_text, font=font, fill=text_color) + + # Add instructions at bottom + instruction_text = "Rotate display to match servo angle" + bbox = draw.textbbox((0, 0), instruction_text, font=font) + text_width = bbox[2] - bbox[0] + draw.text( + ((width - text_width) // 2, height - padding - 15), + instruction_text, + font=font, + fill=text_color + ) return image diff --git a/src/plugins/servo_control/settings.html b/src/plugins/servo_control/settings.html index e878a17be..145ec8d90 100644 --- a/src/plugins/servo_control/settings.html +++ b/src/plugins/servo_control/settings.html @@ -66,6 +66,12 @@ Invert the display output. +
+ + + Display a virtual horizon test image that appears level when the screen is physically rotated to match the servo angle. +
+ From 84c53f64fdd302b589bb4ef98d07eefa60d39721 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 16:46:46 +0100 Subject: [PATCH 20/35] Angle Config changed --- src/plugins/servo_control/servo_control.py | 2 +- src/plugins/servo_control/settings.html | 10 +++++----- src/utils/servo_utils.py | 6 +++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index 0e199de8a..29ef49ad5 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -118,7 +118,7 @@ def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): sky_color = '#00CFEB' # Cyan for sky ground_color = '#EACE00' # Yellow for ground horizon_color = '#EB0078' # Magenta for horizon line - text_color = '#EBCFEB' # Light pink for text + text_color = '#00EB00' # Light green for text # Calculate the rotation angle for the virtual horizon # The horizon should be tilted opposite to the physical rotation diff --git a/src/plugins/servo_control/settings.html b/src/plugins/servo_control/settings.html index 145ec8d90..565b1f064 100644 --- a/src/plugins/servo_control/settings.html +++ b/src/plugins/servo_control/settings.html @@ -20,14 +20,14 @@ type="number" id="target-angle" name="target_angle" - min="-90" - max="270" - value="90" + min="-45" + max="135" + value="45" step="1" /> - 90° + 45° - Drag the slider to set target servo angle (-90° - 270°) + Drag the slider to set target servo angle (-45° - 135°) diff --git a/src/utils/servo_utils.py b/src/utils/servo_utils.py index 04ee98412..693fdff6a 100644 --- a/src/utils/servo_utils.py +++ b/src/utils/servo_utils.py @@ -19,14 +19,14 @@ DEFAULT_PWM_CHIP = "pwmchip0" DEFAULT_GPIO_PIN = 18 -DEFAULT_ANGLE = 90 +DEFAULT_ANGLE = 45 DEFAULT_SPEED = 30 # milliseconds delay between steps SERVO_MIN_PULSE_US = 500 SERVO_0_DEGREE_PULSE_US = 1000 -SERVO_180_DEGREE_PULSE_US = 2000 +SERVO_90_DEGREE_PULSE_US = 2000 SERVO_MAX_PULSE_US = 2500 -SERVO_US_PER_DEGREE = (SERVO_180_DEGREE_PULSE_US - SERVO_0_DEGREE_PULSE_US) / 180.0 +SERVO_US_PER_DEGREE = (SERVO_90_DEGREE_PULSE_US - SERVO_0_DEGREE_PULSE_US) / 90.0 MIN_ANGLE = (SERVO_MIN_PULSE_US - SERVO_0_DEGREE_PULSE_US) / SERVO_US_PER_DEGREE MAX_ANGLE = (SERVO_MAX_PULSE_US - SERVO_0_DEGREE_PULSE_US) / SERVO_US_PER_DEGREE SERVO_PERIOD_US = 20000 # 50Hz From 2e68b579cb8eb60ffca112016ffdf847046e5d34 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 17:09:30 +0100 Subject: [PATCH 21/35] Angle Config changed --- src/plugins/servo_control/settings.html | 2 +- src/refresh_task.py | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/plugins/servo_control/settings.html b/src/plugins/servo_control/settings.html index 565b1f064..370f7a8ed 100644 --- a/src/plugins/servo_control/settings.html +++ b/src/plugins/servo_control/settings.html @@ -38,7 +38,7 @@ id="servo-speed" name="servo_speed" min="0" - value="30" + value="25" /> Delay between angle steps in milliseconds (lower = faster) diff --git a/src/refresh_task.py b/src/refresh_task.py index f554e2adb..6e9376548 100644 --- a/src/refresh_task.py +++ b/src/refresh_task.py @@ -112,6 +112,9 @@ def _run(self): continue plugin = get_plugin_instance(plugin_config) image = refresh_action.execute(plugin, self.device_config, current_dt) + if image is None: + logger.info(f"Plugin '{plugin.name}' did not return an image.") + continue image_hash = compute_image_hash(image) refresh_info = refresh_action.get_refresh_info() From 66451d00130a59ebc991ab53c117c178f890d9f7 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 17:13:02 +0100 Subject: [PATCH 22/35] Angle Config changed --- src/plugins/servo_control/servo_control.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/plugins/servo_control/servo_control.py b/src/plugins/servo_control/servo_control.py index 29ef49ad5..ce2f39698 100644 --- a/src/plugins/servo_control/servo_control.py +++ b/src/plugins/servo_control/servo_control.py @@ -82,9 +82,10 @@ def generate_image(self, settings, device_config): if show_test_image: # Create status image with virtual horizon - image = self._create_status_image(dimensions, gpio_pin, target_angle, orientation) - - return image + return self._create_status_image(dimensions, gpio_pin, target_angle, orientation) + else: + # No image to display - servo has been moved, return None + return None def _create_status_image(self, dimensions, gpio_pin, target_angle, orientation): """ From 6f9828f4a1f931cb05331c621954d3add75125fd Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Fri, 6 Feb 2026 18:52:28 +0100 Subject: [PATCH 23/35] Angle Config changed --- src/plugins/servo_control/settings.html | 2 +- src/refresh_task.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/plugins/servo_control/settings.html b/src/plugins/servo_control/settings.html index 370f7a8ed..780823b2a 100644 --- a/src/plugins/servo_control/settings.html +++ b/src/plugins/servo_control/settings.html @@ -38,7 +38,7 @@ id="servo-speed" name="servo_speed" min="0" - value="25" + value="35" /> Delay between angle steps in milliseconds (lower = faster) diff --git a/src/refresh_task.py b/src/refresh_task.py index 6e9376548..74fd9eefa 100644 --- a/src/refresh_task.py +++ b/src/refresh_task.py @@ -113,7 +113,7 @@ def _run(self): plugin = get_plugin_instance(plugin_config) image = refresh_action.execute(plugin, self.device_config, current_dt) if image is None: - logger.info(f"Plugin '{plugin.name}' did not return an image.") + logger.info(f"Plugin '{refresh_action.get_plugin_id()}' did not return an image.") continue image_hash = compute_image_hash(image) @@ -186,7 +186,7 @@ def _determine_next_plugin(self, playlist_manager, latest_refresh_info, current_ return None, None plugin = playlist.get_next_plugin() - logger.info(f"Determined next plugin. | active_playlist: {playlist.name} | plugin_instance: {plugin.name}") + logger.info(f"Determined next plugin. | active_playlist: {playlist.name}") return playlist, plugin From 79d6f0e9decb94c1f937bea1086d7a16fbe720d0 Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 8 Feb 2026 13:12:46 +0100 Subject: [PATCH 24/35] Install Setup --- README.md | 21 +- install/config_base/device.json | 3 +- install/install.sh | 63 +++++- install/servo-requirements.txt | 4 + src/config.py | 11 +- src/plugins/servo_control/README.md | 43 ++-- src/plugins/servo_control/settings.html | 259 ++++++++++++++++++------ 7 files changed, 290 insertions(+), 114 deletions(-) create mode 100644 install/servo-requirements.txt diff --git a/README.md b/README.md index a2b8c53dc..063f3714c 100644 --- a/README.md +++ b/README.md @@ -61,22 +61,35 @@ To install InkyPi, follow these steps: ``` 3. Run the installation script with sudo: ```bash - sudo bash install/install.sh [-W ] + sudo bash install/install.sh [-W ] [-S] ``` - Option: + Options: * -W \ - specify this parameter **ONLY** if installing for a Waveshare display. After the -W option specify the Waveshare device model e.g. epd7in3f. + * -S (optional) - include this flag to enable servo control support. If not specified, servo support is disabled. - e.g. for Inky displays use: + Examples: + + For Inky displays without servo: ```bash sudo bash install/install.sh ``` - and for [Waveshare displays](#waveshare-display-support) use: + For Inky displays with servo support: + ```bash + sudo bash install/install.sh -S + ``` + + For [Waveshare displays](#waveshare-display-support) without servo: ```bash sudo bash install/install.sh -W epd7in3f ``` + For [Waveshare displays](#waveshare-display-support) with servo support: + ```bash + sudo bash install/install.sh -W epd7in3f -S + ``` + After the installation is complete, the script will prompt you to reboot your Raspberry Pi. Once rebooted, the display will update to show the InkyPi splash screen. diff --git a/install/config_base/device.json b/install/config_base/device.json index cb5343a00..a0559b04f 100644 --- a/install/config_base/device.json +++ b/install/config_base/device.json @@ -3,5 +3,6 @@ "orientation": "horizontal", "inverted_image": false, "scheduler_sleep_time": 60, - "startup": true + "startup": true, + "servo_enabled": false } \ No newline at end of file diff --git a/install/install.sh b/install/install.sh index 8e60481eb..5a34ed855 100644 --- a/install/install.sh +++ b/install/install.sh @@ -5,12 +5,14 @@ # Description: This script automates the installation of InkyPI and creation of # the InkyPI service. # -# Usage: ./install.sh [-W ] +# Usage: ./install.sh [-W ] [-S] # -W (optional) Install for a Waveshare device, # specifying the device model type, e.g. epd7in3e. # # If not specified then the Pimoroni Inky display # is assumed. +# -S (optional) Install servo control support and enable PWM overlay. +# If not specified, servo support is disabled. # ============================================================================= # Formatting stuff @@ -48,13 +50,23 @@ PIP_REQUIREMENTS_FILE="$SCRIPT_DIR/requirements.txt" WS_TYPE="" WS_REQUIREMENTS_FILE="$SCRIPT_DIR/ws-requirements.txt" -# Parse the arguments, looking for the -W option. +# +# Additional requirements for Servo support. +# +# empty means no servo support required, otherwise install servo support +SERVO_ENABLED="" +SERVO_REQUIREMENTS_FILE="$SCRIPT_DIR/servo-requirements.txt" + +# Parse the arguments, looking for the -W and -S options. parse_arguments() { - while getopts ":W:" opt; do + while getopts ":W:S" opt; do case $opt in W) WS_TYPE=$OPTARG echo "Optional parameter WS is set for Waveshare support. Screen type is: $WS_TYPE" ;; + S) SERVO_ENABLED="true" + echo "Optional parameter S is set for Servo control support." + ;; \?) echo "Invalid option: -$OPTARG." >&2 exit 1 ;; @@ -141,6 +153,11 @@ enable_interfaces(){ } enable_pwm_overlay(){ + # Only enable PWM overlay if servo support is requested + if [[ -z "$SERVO_ENABLED" ]]; then + return + fi + echo "Enabling PWM overlay for servo control" local CONFIG_PRIMARY="/boot/firmware/config.txt" local CONFIG_FALLBACK="/boot/config.txt" @@ -241,6 +258,13 @@ create_venv(){ show_loader "\tInstalling additional Waveshare python dependencies. " fi + # do additional dependencies for Servo support. + if [[ -n "$SERVO_ENABLED" ]]; then + echo "Adding additional dependencies for servo control to the python virtual environment. " + $VENV_PATH/bin/python -m pip install -r $SERVO_REQUIREMENTS_FILE > servo_pip_install.log & + show_loader "\tInstalling additional Servo python dependencies. " + fi + } install_app_service() { @@ -276,12 +300,12 @@ install_config() { } # -# Update the device.json file with the supplied Waveshare parameter (if set). +# Update the device.json file with the supplied Waveshare and Servo parameters (if set). # update_config() { + local DEVICE_JSON="$CONFIG_DIR/device.json" + if [[ -n "$WS_TYPE" ]]; then - local DEVICE_JSON="$CONFIG_DIR/device.json" - if grep -q '"display_type":' "$DEVICE_JSON"; then # Update existing display_type value sed -i "s/\"display_type\": \".*\"/\"display_type\": \"$WS_TYPE\"/" "$DEVICE_JSON" @@ -295,8 +319,22 @@ update_config() { echo "}" >> "$DEVICE_JSON" # Add trailing } echo "Added display_type: $WS_TYPE" fi - else - echo "Config not updated as WS_TYPE flag is not set" + fi + + if [[ -n "$SERVO_ENABLED" ]]; then + if grep -q '"servo_enabled":' "$DEVICE_JSON"; then + # Update existing servo_enabled value + sed -i 's/"servo_enabled": false/"servo_enabled": true/' "$DEVICE_JSON" + echo "Updated servo_enabled to: true" + else + # Append servo_enabled safely, ensuring proper comma placement + if grep -q '}$' "$DEVICE_JSON"; then + sed -i '$s/}/,/' "$DEVICE_JSON" # Replace last } with a comma + fi + echo " \"servo_enabled\": true" >> "$DEVICE_JSON" + echo "}" >> "$DEVICE_JSON" # Add trailing } + echo "Added servo_enabled: true" + fi fi } @@ -388,7 +426,10 @@ fi enable_interfaces enable_pwm_overlay install_debian_dependencies -install_servo_dependencies +# Only install servo dependencies if servo support is requested +if [[ -n "$SERVO_ENABLED" ]]; then + install_servo_dependencies +fi # check OS version for Bookworm to setup zramswap if [[ $(get_os_version) = "12" ]] ; then echo "OS version is Bookworm - setting up zramswap" @@ -402,8 +443,8 @@ install_cli create_venv install_executable install_config -# update the config file with additional WS if defined. -if [[ -n "$WS_TYPE" ]]; then +# update the config file with additional WS or Servo if defined. +if [[ -n "$WS_TYPE" ]] || [[ -n "$SERVO_ENABLED" ]]; then update_config fi install_app_service diff --git a/install/servo-requirements.txt b/install/servo-requirements.txt new file mode 100644 index 000000000..a03728609 --- /dev/null +++ b/install/servo-requirements.txt @@ -0,0 +1,4 @@ +gpiozero==2.0.1 +gpiod>=2.0.0 +lgpio==0.2.2.0 +RPi.GPIO==0.7.1 \ No newline at end of file diff --git a/src/config.py b/src/config.py index 4761f4592..5fb7f28a6 100644 --- a/src/config.py +++ b/src/config.py @@ -67,14 +67,19 @@ def get_config(self, key=None, default={}): return self.config def get_plugins(self): - """Returns the list of plugin configurations, sorted by custom order if set.""" + """Returns the list of plugin configurations, sorted by custom order if set. + Disables servo_control plugin if servo_enabled is false in config.""" plugin_order = self.config.get('plugin_order', []) + servo_enabled = self.config.get('servo_enabled', False) + + # Filter out servo_control plugin if servo is not enabled + filtered_plugins = [p for p in self.plugins_list if not (p['id'] == 'servo_control' and not servo_enabled)] if not plugin_order: - return self.plugins_list + return filtered_plugins # Create a dict for quick lookup - plugins_dict = {p['id']: p for p in self.plugins_list} + plugins_dict = {p['id']: p for p in filtered_plugins} # Build ordered list ordered = [] diff --git a/src/plugins/servo_control/README.md b/src/plugins/servo_control/README.md index f0d68433c..eeeea253d 100644 --- a/src/plugins/servo_control/README.md +++ b/src/plugins/servo_control/README.md @@ -1,35 +1,22 @@ # Servo Control Plugin -This Plugin provides controll of a Servo motor connected to your Raspberry Pi via a configurable GPIO pin. -You can set the Target Angle and optional the orientation saved in device_config. +This Plugin provides controll of a Servo motor connected to your Raspberry Pi via a configurable GPIO pin. +You can set the Target Angle and optional the orientation and Image Invertion saved in device_config. +Mainly this Plugin is intended to be used together with the Rotating Image Frame to create a physical frame rotation when displaying images. +But it could also be used for controlling other Mechanics (e.g. Windscreen Wipers, Blinds, etc.). -** This Plugin will not update the Screen ** +## Rotating Image Frame Example -## Settings Page Configuration +https://www.thingiverse.com/thing:7290592 -### Controllable Settings +### Parts Needed +- Raspberry Pi Zero 2 W +- Screen (tested with Pimoron Inky Impression - 7.3” Spectra 6 Edition) +- Powercable for Raspberry Pi +- Servo Motor (e.g. SG90) +- 18 Jumper Cables +- Rotating Frame Assambly 3D Print e.g. from Thingiverse (https://www.thingiverse.com/thing:7290592) +- Bearing (e.g. 8 mm x 22 mm x 7 mm) +- Frame (Ikea Roedalm - 200 mm x 150 mm) -- **GPIO Pin**: The GPIO pin number where the Servo signal wire is connected. -- **TargetAngle**: A Slider to manually set the Servo angle between 0° and 180°. -- **ServoSpeed**: A Slider to adjust the speed of the Servo movement (delay between angle steps in milliseconds). -- **Orientation**: An optional setting to define the orientation of the Servo. (landscape | portrait | current). This will update and persist the device_config orientation setting when changed. - -## Usage - -Include the Servo Control Plugin in your Playlists. -** Tipp: ** -You can do a POST Request to the InkyPi to set the TargetAngle configured in a Playlist with the following command. -This way you can store predifined Positions in different Playlists and switch between them via API. - -``` -curl -X POST "http:///api/plugin/servo_control" -H "Content-Type: application/json" -d '{"playlist_name": "YOUR_PLAYLIST_NAME", "plugin_instance": "YOUR_PLUGIN_INSTANCE_NAME", "plugin_id": "servo_control"}' -``` - -## Servo Control -This Plugin currently is optimised for a SG90 Micro Servo. -The Servo is controlled via PWM signals on the specified GPIO pin. -The angle is set by adjusting the duty cycle of the PWM signal. -When moving to a new angle, the Plugin will incrementally adjust the angle in small steps to ensure smooth movement. -The speed of the movement can be adjusted via the ServoSpeed setting. -The current Angle is always stored in the device_config under "current_servo_angle" and used after bootup as the current starting Angle. diff --git a/src/plugins/servo_control/settings.html b/src/plugins/servo_control/settings.html index 780823b2a..32019371c 100644 --- a/src/plugins/servo_control/settings.html +++ b/src/plugins/servo_control/settings.html @@ -1,89 +1,211 @@ -
- - - GPIO pin where the servo signal wire is connected (default: 18, other Pins not tested, perhaps need more configuration) -
-
- - - 45° - - Drag the slider to set target servo angle (-45° - 135°) - -
+ +
+ Servo Control + +
+ + + GPIO pin where the servo signal wire is connected (default: 18, other Pins not tested, perhaps need more configuration) +
+ +
+ + + 45° + + Drag the slider to set target servo angle (-45° - 135°) + +
+ +
+ + + Delay between angle steps in milliseconds (lower = faster) +
+
+ + +
+ Device Config + +
+ + + + Update device orientation when servo moves. + "Keep Current" will not change the display orientation. + +
-
- - - Delay between angle steps in milliseconds (lower = faster) -
+
+ + + Invert the display output. +
+
-
- - - - Update device orientation when servo moves. - "Keep Current" will not change the display orientation. - -
+ +
+ Display Options + +
+ + + Display a virtual horizon test image that appears level when the screen is physically rotated to match the servo angle. +
+
-
- - - Invert the display output. -
+ +
+ API Example +
+

Example POST request to update servo control settings:

+ 
curl -X POST http://localhost:5000/api/plugin/servo_control/update \
+  -H "Content-Type: application/json" \
+  -d '{
+  "gpio_pin": 18,
+  "target_angle": 45,
+  "servo_speed": 35,
+  "orientation": "current",
+  "inverted_image": false,
+  "show_test_image": false
+}'
+
+
-
- - - Display a virtual horizon test image that appears level when the screen is physically rotated to match the servo angle. -
+ From 5980ca819b7e5626be5dbf2bfd69815fe6b06b1b Mon Sep 17 00:00:00 2001 From: Andreas Wolf Date: Sun, 8 Feb 2026 13:55:38 +0100 Subject: [PATCH 25/35] Update Settings --- src/plugins/servo_control/icon.png | Bin 18063 -> 15089 bytes src/plugins/servo_control/settings.html | 74 +++--------------------- 2 files changed, 7 insertions(+), 67 deletions(-) diff --git a/src/plugins/servo_control/icon.png b/src/plugins/servo_control/icon.png index 563a396ef5d4a022f1f33b650448903696ed4596..0db265951976819eb4520b5437f4845aafac1d45 100644 GIT binary patch literal 15089 zcma(&i9eLx_s`52WKFiL*%d-|S<5=svV_V~vai{9Gb&lKCu@jNOxaS&I@23@vl~R& zCbDIlDP_vwcfH?#;Mb=<@|=6me(yc!+;dYeS(&gh@iRdX#ELRCw1FTv_%9q{qz6BC zqQ?J%A9SG?QFe^rPaNZ|6!818U{j}12x99#`UlIGWfK4&`NE7G!)${*!y<2lctDYn zk@7x)exdF+f<5GeLcB`0wD}=O1VR~Ju!}0)oQ>@8u#exR3_t!rP`szMlgV`fC&HK{ zV#-`;d_v%n+el4nv7<2OppLHbV&2W0<2C2_-ESHganW&bq=G%JQx?9%yJE&lI@7Lch&r2F!b)A!Qdyx@N0urd)|My?wc@{%;eVZGf5T5X6 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+
Servo Control
@@ -48,7 +48,7 @@
-
+
Device Config
@@ -76,7 +76,7 @@
-
+
Display Options
@@ -91,9 +91,10 @@ API Example

Example POST request to update servo control settings:

- 
curl -X POST http://localhost:5000/api/plugin/servo_control/update \
+        
curl -X POST http://inkypi.local/update_now \
   -H "Content-Type: application/json" \
   -d '{
+  "plugin_id": "servo_control",
   "gpio_pin": 18,
   "target_angle": 45,
   "servo_speed": 35,
@@ -104,73 +105,12 @@
- -