# Using GPIO/I2C as pwm from voxl for payload Source: https://forum.modalai.com/topic/113/using-gpio-i2c-as-pwm-from-voxl-for-payload Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2021-01-24 03:44:37 UTC by Aldo Castro Freire Replies: 16 · Views: 2525 ## Aldo Castro Freire · 2021-01-24 03:44:37 UTC Hi guys, I wanted to avoid dealing with the px4 side of things to control a payload actuation, that requires a PWM modulation using LTE. Apparently mavsdk does not support control of a payload. I wanted to know if this is possible in the voxl: https://www.aranacorp.com/en/using-a-pca9685-module-with-raspberry-pi/ or this one https://learn.adafruit.com/adafruit-16-channel-servo-driver-with-raspberry-pi/using-the-adafruit-library Using the pca9685 ## Reply by modaltb (ModalAI staff) · 2021-01-24 17:56:00 UTC Hi @Aldo-Castro-Freire , VOXL has an I2C port (3.3VDC logic levels) that you can use so in theory yes: https://docs.modalai.com/voxl-i2c-io/ Let me know if you need more details, here's the port: https://docs.modalai.com/voxl-datasheet-connectors/#j10-uart-or-i2c-off-board-external-sonar-or-imu-sensor ## Reply by Aldo Castro Freire · 2021-01-25 22:24:27 UTC Thank you I can use that. One more question is it possible to implemented with the pca9865 that requieres a format like this one: https://github.com/GuyCarver/MicroPython/blob/master/esp32/pca9865.py If so, what method can I use to program it? ## Reply by Aldo Castro Freire · 2021-01-26 17:25:24 UTC base on my research: https://learn.adafruit.com/16-channel-pwm-servo-driver?view=all Based on that we need to install sudo pip3 install adafruit-circuitpython-pca9685 sudo pip3 install adafruit-circuitpython-servokit would that be possible to do, or do have to run it on docker if so I am not sure on how to connect to external i2c ports ## Reply by tom (ModalAI staff) · 2021-01-26 18:35:35 UTC This isn't something we have tried. Python3 isn't on VOXL by default but you can follow the instructions [here](https://gitlab.com/voxl-public/other/voxl-python-3.6.9) to get it going ## Reply by Aldo Castro Freire · 2021-01-27 18:11:10 UTC How do I build the ipk image mentioned in the first step ? ## Reply by tom (ModalAI staff) · 2021-01-27 18:26:09 UTC (in reply to Aldo Castro Freire) @Aldo-Castro-Freire If you haven't yet, you will want to follow the steps [here](https://docs.modalai.com/install-voxl-docker/) to get voxl-docker installed on your desktop in order to use voxl-emulator which allows you to build IPKs for VOXL on your desktop machine. - First you will run `voxl-docker -i voxl-emulator` - Then in the docker container you will run `./build.sh` - Next, also in the container you will run `./make_package.sh` - Create a directory to store ipks if you haven't `adb shell mkdir -p /home/root/ipk` - After, this you can exit the docker container and push the ipk to your VOXL with `adb push Python_3.6.9_8x96.ipk /home/root/ipk/.` - Lastly, you can install the ipk with `opkg install /home/root/ipk/Python_3.6.9_8x96.ipk` ## Reply by Chad Sweet (ModalAI staff) · 2021-01-27 18:34:52 UTC To be clear though, @Aldo-Castro-Freire you will still need to use voxl-io to communicate with the peripheral ## Reply by Aldo Castro Freire · 2021-01-27 19:06:27 UTC (in reply to Chad Sweet) @Chad-Sweet I am confused now, I thought the point of the library is that so I will not have to deal with the low-level logic. vox-i2c Basically I still wanna be using the pca9865 to convert to PWM that I can use to control using this: https://learn.adafruit.com/16-channel-pwm-servo-driver/python-circuitpython right now I am not sure. how to connect those two together. ## Reply by Chad Sweet (ModalAI staff) · 2021-01-27 19:30:16 UTC Yes, sorry for the confusion, voxl-i2c is a part of voxl-io. You will want to use voxl-i2c to communicate with an i2c peripheral ## Reply by Aldo Castro Freire · 2021-01-27 19:36:17 UTC My question is there a driver for pca9865 that I can use? Cause right now it seems I have not way of accessing the i2c port even if I use the libraries from adafruit. So my question is can I run a python program that uses the i2c port to control the pca9865 that will allow me to control servos or payload actuation as an IoT device basically. ## Reply by Chad Sweet (ModalAI staff) · 2021-01-27 19:38:12 UTC No, that is not currently available. What you described would require coding in python to make the appropriate voxl-i2c calls per the pca9865 specification ## Reply by Aldo Castro Freire · 2021-01-27 20:00:19 UTC Is there any other module that I can use to control something using the voxl. As I see I am not sure if voxl support any other devices. Do you have any recommendations? Looking for a way to trigger servos without having to install another computer. ## Reply by MattO · 2021-04-21 15:51:24 UTC (in reply to tom) @tom said in [Using GPIO/I2C as pwm from voxl for payload](/post/464): > @Aldo-Castro-Freire If you haven't yet, you will want to follow the steps [here](https://docs.modalai.com/install-voxl-docker/) to get voxl-docker installed on your desktop in order to use voxl-emulator which allows you to build IPKs for VOXL on your desktop machine. > > - First you will run `voxl-docker -i voxl-emulator` > - Then in the docker container you will run `./build.sh` > - Next, also in the container you will run `./make_package.sh` > - After, this you can exit the docker container and push the ipk to your VOXL with `adb push Python_3.6.9_8x96.ipk /home/root/ipk` > - Lastly, you can install the ipk with `opkg install /home/root/ipk/Python_3.6.9_8x96.ipk` Hi Tom - I just wanted to let you know, after following these directions, I think there may be an error in the step for pushing the IPK to VOXL. Basically, what happened to me using the push command above, is that the contents of the Python_3.6.9_8x96.ipk file got put into a file named "ipk", and the reason is I'm pretty sure I did not have an "ipk" directory yet in /home/root (never pushed an ipk up prior to this). Basically, I had to delete the ipk file that was created, and mkdir an ipk directory in /home/root/. Then, I ran the command below to push the package, and the last step to install worked perfect. adb push Python_3.6.9_8x96.ipk /home/root/ipk/Python_3.6.9_8x96.ipk Might want to fix the instructions/README in the "voxl-python-3.6.9" in github too. Hope this helps! Thanks ## Reply by tom (ModalAI staff) · 2021-04-21 16:27:51 UTC @MattO Thanks for the heads up! I will take a look at this. ## Reply by tom (ModalAI staff) · 2021-04-21 16:35:25 UTC (in reply to tom) @tom It's not required to push the ipk to a specific directory, that was just an example of a location that I like to use. ## Reply by tom (ModalAI staff) · 2021-04-21 16:40:36 UTC @MattO The instructions should be more clear now: https://gitlab.com/voxl-public/other/voxl-python-3.6.9#installing-the-ipk