name: rdk-x5-gpio description: "控制 RDK X5 40pin 排针接口：GPIO 数字输入/输出、PWM 舵机/电机/LED 呼吸灯、I2C 传感器通信、SPI 总线、UART 串口、CAN 总线。Use when the user wants to control GPIO pins, drive servos/motors/LEDs with PWM, communicate with I2C/SPI sensors, use UART serial, configure CAN bus, or check 40pin pinout. Provides commands and wiring guidance, not full script authoring. Do NOT use for camera (use rdk-x5-camera), network (use rdk-x5-network), or AI inference (use rdk-x5-ai-detect)." license: MIT-0 metadata: openclaw: requires: bins: - python3 compatibility: platform: rdk-x5

RDK X5 GPIO — 40pin 外设控制

RDK X5 40pin 排针兼容树莓派引脚定义，支持 GPIO / PWM / I2C / SPI / UART / CAN。

前置准备

# GPIO 库（系统已预装 Hobot.GPIO）
pip3 show Hobot.GPIO

# 引脚功能复用配置（v3.3.3+ 支持自动复用）
sudo srpi-config
# → Interface Options → 选择需要的总线

操作步骤

1. GPIO 数字输出

import Hobot.GPIO as GPIO
import time

GPIO.setmode(GPIO.BOARD)
GPIO.setup(11, GPIO.OUT)
GPIO.output(11, GPIO.HIGH)   # 高电平
time.sleep(1)
GPIO.output(11, GPIO.LOW)    # 低电平
GPIO.cleanup()

2. GPIO 数字输入

import Hobot.GPIO as GPIO

GPIO.setmode(GPIO.BOARD)
GPIO.setup(12, GPIO.IN)
print(f"Pin 12: {GPIO.input(12)}")
GPIO.cleanup()

3. PWM 控制（舵机/LED）

import Hobot.GPIO as GPIO
import time

GPIO.setmode(GPIO.BOARD)
GPIO.setup(32, GPIO.OUT)
pwm = GPIO.PWM(32, 50)       # 50Hz = 舵机标准频率
pwm.start(7.5)               # 中位（占空比 7.5%）
time.sleep(1)
pwm.ChangeDutyCycle(2.5)     # 0°
time.sleep(1)
pwm.ChangeDutyCycle(12.5)    # 180°
time.sleep(1)
pwm.stop()
GPIO.cleanup()

v3.4.1+ 支持多路 PWM 同时输出。

4. I2C 扫描与读写

ls /dev/i2c-*                             # 查看总线
sudo i2cdetect -y 1                       # 扫描总线 1
sudo i2cget -y 1 0x48 0x00               # 读寄存器
sudo i2cset -y 1 0x48 0x01 0xFF          # 写寄存器

5. SPI 通信

ls /dev/spidev*
pip3 install spidev

import spidev
spi = spidev.SpiDev()
spi.open(0, 0)
spi.max_speed_hz = 1000000
resp = spi.xfer2([0x01, 0x02, 0x03])
print(resp)
spi.close()

6. UART 串口

ls /dev/ttyS*

import serial
ser = serial.Serial('/dev/ttyS1', 115200, timeout=1)
ser.write(b'Hello RDK X5\n')
print(ser.readline())
ser.close()

7. CAN 总线

sudo ip link set can0 type can bitrate 500000
sudo ip link set can0 up
cansend can0 123#DEADBEEF          # 发送
candump can0                       # 接收

/app/40pin_samples 示例

cd /app/40pin_samples
sudo python3 simple_out.py         # GPIO 输出
sudo python3 simple_pwm.py         # PWM
sudo python3 button_event.py       # 按钮事件
sudo python3 test_i2c.py           # I2C
sudo python3 test_spi.py           # SPI
sudo python3 test_serial.py        # UART

排查故障