mruby-milkv-duo

This mruby gem provides GPIO, ADC, PWM, I2C and SPI functionality for the Milk-V Duo series of single board computers. It depends on the wiringX C library included in the Milk-V SDK, as well as some Linux /dev and /sys access.

The interface and feature set aim to match the lgpio CRuby gem. This gem is primarily meant as a hardware abstraction layer for a future mruby port of denko.

Features

Duo Class Methods

• GPIO Mode/Read/Write
• GPIO Input Alerts
  • Alerts are generated by a separate thread, and can be read from a queue in mruby
  • Does not use interrupts. Polls pins every ~100 microseconds instead
• Hardware PWM Output
• Hardware I2C
• Hardware SPI
  • Only default SPI mode for now (should be SPI mode 0)
• Ultrasonic Read (HC-SR04)
• Pulse Sequence Read (DHT enviro sensors)
• Bit Bang I2C
• Bit Bang SPI
  • SPI modes 0 through 3 supported
  • Optional LSBFIRST or MSBFIRST transfers
• Bit Bang 1-Wire
• WS2812 addressable LEDs over Hardware SPI
  • Only outputs on SPI2 MOSI pin
  • SPI clock must be set to 2.4 MHz
• On-off Keying (OOK) Modulated Waves (based on Hardware PWM)
  • Carrier generated by hardware PWM. Software modulated with monotonic clock timing.

Classes

• Duo::HardwarePWM (convenience wrapper for PWM methods)
• Duo::PositionalServo (based on Hardware PWM)
• Duo::Infrared (based on OOK waves)
  • Default frequency: 38 kHz. Default duty cycle: 33.33%
• Duo::AnalogInput (based on sysfs SARADC interface)
  • On GPIO 26 and 27 only
  • Always 12-bit resolution (0-4095 range)
  • Full scale voltage is only 1.8V, not 3.3V.

Pinmux

• Some features of the Duo are multiplexed onto the same pins.
• Use duo-pinmux to set them up BEFORE using them. See official docs for more info.
• Run mruby pinmux_custom.rb, from the examples folder, to get the pinmux layout used in all examples.

Install Instructions

• Download the Linux image for your board, from the official repo.
• Using balenaEtcher or similar, flash the image to a micro SD card.
• Insert the SD card into your Duo and connect it to your computer.
• Download and unzip the mruby binaries for your board, from the releases section of this repo.
• The Milk-V Duo should have created a network interface on your computer, so you can SSH/SCP into it. The default username is root and password is milkv.
• Copy the binaries onto the board:

  # Linux
  scp -O UNZIPPED_BINARY_FOLDER/* root@192.168.42.1:/usr/local/bin

  # Mac
  scp UNZIPPED_BINARY_FOLDER/* root@192.168.42.1:/usr/local/bin

• SSH into the board with ssh root@192.168.42.1.
• Try the mirb shell, or copy over examples from this folder, and try them with mruby FILENAME.rb.
• If you have issues with the examples (specifically PWM), make sure to read the pinmux section above.

Build Instructions

• Unless running Ubuntu, set up a virtual machine with Ubuntu 24.04, then install:

sudo apt install wget git make gcc

• Clone mruby and duo-sdk, then enter the mruby directory:

git clone https://github.com/mruby/mruby
git clone https://github.com/milkv-duo/duo-sdk
cd mruby

• In mruby/build_config/milkv_duo.rb:

  • Set MILKV_DUO_VARIANT to the string that matches your board
  • Uncomment conf.gem :github => 'denko-rb/mruby-milkv-duo' (last line), to enable this gem

• Cross-compile mruby with: rake MRUBY_CONFIG=build_config/milkv_duo.rb.

• The binaries will be in build/milv_duo/bin/, relative to the mruby top-level directory.

• Follow the install instructions above to copy them to the board.