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Dexter Industries BrickPi/BrickPi+

This page describes the drivers that are specific to Dexter Industries BrickPi and BrickPi+ These controllers are LEGO MINDSTORMS compatible addon boards for Raspberry Pi.

Note

BrickPi is identified by hardware v1.7.3 and BrickPi+ is identified as v2.8.

Input Ports

.. kernel-doc:: brickpi/brickpi_ports_in.c
    :doc: userspace


.. lego-port:: brickpi_in_port_mode_info

Input Port 5

Note

Only the original BrickPi has an Input Port 5. BrickPi+ does not.

Input Port 5 on the BrickPi is physically wired to the I2C pins on the Raspberry Pi and I2C is supported by the i2c_bcm2708 kernel module (there is no ev3dev-specific driver for this port).

Only :ref:`nxt-i2c-sensors` and :ref:`other-i2c-sensors` work on port 5.

Tip

Sensor types are listed in the :ref:`supported-sensors` table.

Configuration

For Input Port 5 to work with most LEGO compatible sensors, you have to make sure that correct baudrate for the sensor is set and load the driver manually. :ref:`nxt-i2c-sensors` should work with the slow 9600 baudrate used originally by LEGO MINDSTORMS NXT.

You can temporarily change the baudrate on a running system. This change will be reset after a reboot:

sudo modprobe -r i2c_bcm2708 # remove module
sudo modprobe i2c_bcm2708 baudrate=9600 # load module specifying baudrate

Note

Some devices behave erratically if baudrate is changed while they are plugged in. If needed unplug your sensor, change the baudrate and plug the sensor again.

Or, you can permanently change the baudrate by editing /boot/flash/config.txt with the following line (requires reboot to take effect):

dtparam=i2c_baudrate=9600

Usage

To use a sensor, you have to tell the I2C adapter the driver and I2C address to use. When you write this to /sys/bus/i2c/devices/i2c-1/new_device, a new sensor device will appear in /sys/class/lego-sensor/ which can be used as you would any other sensor.

Tip

You can find the driver name and default I2C address in the sensor information pages.

Example: Loading Microinfinity CruizCore XG1300L driver manually:

sudo sh -c 'echo "mi-xg1300l 0x01" > /sys/bus/i2c/devices/i2c-1/new_device'

I2C Sensor Driver

.. kernel-doc:: brickpi/brickpi_i2c_sensor.c
    :doc: userspace

Output Ports

.. kernel-doc:: brickpi/brickpi_ports_out.c
    :doc: userspace


.. lego-port:: brickpi_out_port_mode_info

Battery

.. kernel-doc:: brickpi/brickpi_battery.c
    :doc: userspace