树莓派5 使用硬件PWM

        由于gpiozero或者其他树莓派python库的pwm发生都是软件pwm，当进行cpu占用大的处理代码时会导致pwm发生扰动。这里提供一种树莓派5硬件pwm产生的方式。首先，我们需要创建一个设备树覆盖文件来配置GPIO12, GPIO13, GPIO18和GPIO19为PWM模式并启用pwm0。

1.创建一个新的文件，命名为 pwm-pi5-overlay.dts，内容如下：

/dts-v1/;
/plugin/;

/{
    compatible = "brcm,bcm2712";

    fragment@0 {
        target = <&rp1_gpio>;
        __overlay__ {
            pwm_pins: pwm_pins {
                pins = "gpio12", "gpio13", "gpio18", "gpio19";
                function = "pwm0", "pwm0", "pwm0", "pwm0";
            };
        };
    };

    fragment@1 {
        target = <&rp1_pwm0>;
        frag1: __overlay__ {
            pinctrl-names = "default";
            pinctrl-0 = <&pwm_pins>;
            status = "okay";
        };
    };
};

2. 使用设备树编译器（dtc）将 .dts 文件编译为 .dtbo 文件：

dtc -I dts -O dtb -o pwm-pi5.dtbo pwm-pi5-overlay.dts

3. 将编译后的 .dtbo 文件复制到 /boot/firmware/overlays/ 目录：

sudo cp pwm-pi5.dtbo /boot/firmware/overlays/

4. 在/boot/firmware/config.txt末尾加上：

dtoverlay=pwm-pi5

5.重启树莓派

6.创建一个脚本文件，pwm_control.sh，并添加以下内容：

#!/bin/bash
NODE=/sys/class/pwm/pwmchip2
PIN="$1"
FUNC="a0"
PERIOD="$2"
DUTY_CYCLE="$3"

function usage {
    printf "Usage: $0 <pin> <period> <duty_cycle>\n"
    printf "    pin - one of 12, 13, 14, 15, 18 or 19\n"
    printf "    period - PWM period in nanoseconds\n"
    printf "    duty_cycle - Duty Cycle (on period) in nanoseconds\n"
    exit 1
}

if [ -d "$NODE/device/consumer:platform:cooling_fan/" ]; then
    echo "Hold your horses, looks like this is pwm1?"
    exit 1
fi

case $PIN in
    "12")
    CHANNEL="0"
    ;;
    "13")
    CHANNEL="1"
    ;;
    "14")
    CHANNEL="2"
    ;;
    "15")
    CHANNEL="3"
    ;;
    "18")
    CHANNEL="2"
    FUNC="a3"
    ;;
    "19")
    CHANNEL="3"
    FUNC="a3"
    ;;
    *)
    echo "Unknown pin $PIN."
    exit 1
esac

function pwmset {
    echo "$2" | sudo tee -a "$NODE/$1" > /dev/null
}

if [[ "$PERIOD" == "off" ]]; then    
    if [ -d "$NODE/pwm$CHANNEL" ]; then
        pinctrl set $PIN no
        pwmset "pwm$CHANNEL/enable" "0"
        pwmset "unexport" "$CHANNEL"
    fi
    exit 0
fi

if [[ ! $PERIOD =~ ^[0-9]+$ ]]; then
    usage
fi

if [[ ! $DUTY_CYCLE =~ ^[0-9]+$ ]]; then
    usage
fi

if [ ! -d "$NODE/pwm$CHANNEL" ]; then
    pwmset "export" "$CHANNEL"
fi

pwmset "pwm$CHANNEL/enable" "0"
pwmset "pwm$CHANNEL/period" "$PERIOD"
if [ $? -ne 0 ]; then
    echo "^ don't worry, handling it!"
    pwmset "pwm$CHANNEL/duty_cycle" "$DUTY_CYCLE"
    pwmset "pwm$CHANNEL/period" "$PERIOD"
else
    pwmset "pwm$CHANNEL/duty_cycle" "$DUTY_CYCLE"
fi
pwmset "pwm$CHANNEL/enable" "1"

pinctrl set $PIN $FUNC

echo "GPIO $PIN (Ch. $CHANNEL, Fn. $FUNC) set to $PERIOD ns, $DUTY_CYCLE."

7.通过以下命令使用PWM控制脚本：

bash pwm_control.sh <pin> <period> <duty_cycle>

8.例如，要在GPIO12上设置周期为20000000ns（20ms），占空比为1500000ns（1.5ms）的PWM信号，可以运行：

bash pwm_control.sh 12 20000000 1500000

9.参考https://gist.github.com/Gadgetoid/b92ad3db06ff8c264eef2abf0e09d569