hybridgroup.gobot/platforms/digispark/littleWire.go

//go:build libusb
// +build libusb

package digispark

//#cgo pkg-config: libusb
//#include "littleWire.h"
//#include "littleWire_servo.h"
// typedef usb_dev_handle littleWire;
import "C"

import (
	"errors"
	"fmt"
)

type lw interface {
	digitalWrite(pin uint8, state uint8) error
	pinMode(pin uint8, mode uint8) error
	pwmInit() error
	pwmStop() error
	pwmUpdateCompare(channelA uint8, channelb uint8) error
	pwmUpdatePrescaler(value uint) error
	servoInit() error
	servoUpdateLocation(locationA uint8, locationB uint8) error
	i2cInit() error
	i2cStart(address7bit uint8, direction uint8) error
	i2cWrite(sendBuffer []byte, length int, endWithStop uint8) error
	i2cRead(readBuffer []byte, length int, endWithStop uint8) error
	i2cUpdateDelay(duration uint) error
	error() error
}

type littleWire struct {
	lwHandle *C.littleWire
}

func littleWireConnect() *littleWire {
	return &littleWire{
		lwHandle: C.littleWire_connect(),
	}
}

func (l *littleWire) digitalWrite(pin uint8, state uint8) error {
	C.digitalWrite(l.lwHandle, C.uchar(pin), C.uchar(state))
	return l.error()
}

func (l *littleWire) pinMode(pin uint8, mode uint8) error {
	C.pinMode(l.lwHandle, C.uchar(pin), C.uchar(mode))
	return l.error()
}

func (l *littleWire) pwmInit() error {
	C.pwm_init(l.lwHandle)
	return l.error()
}

func (l *littleWire) pwmStop() error {
	C.pwm_stop(l.lwHandle)
	return l.error()
}

func (l *littleWire) pwmUpdateCompare(channelA uint8, channelB uint8) error {
	C.pwm_updateCompare(l.lwHandle, C.uchar(channelA), C.uchar(channelB))
	return l.error()
}

func (l *littleWire) pwmUpdatePrescaler(value uint) error {
	C.pwm_updatePrescaler(l.lwHandle, C.uint(value))
	return l.error()
}

func (l *littleWire) servoInit() error {
	C.servo_init(l.lwHandle)
	return l.error()
}

func (l *littleWire) servoUpdateLocation(locationA uint8, locationB uint8) error {
	C.servo_updateLocation(l.lwHandle, C.uchar(locationA), C.uchar(locationB))
	return l.error()
}

func (l *littleWire) i2cInit() error {
	C.i2c_init(l.lwHandle)
	return l.error()
}

// i2cStart starts the i2c communication; set direction to 1 for reading, 0 for writing
func (l *littleWire) i2cStart(address7bit uint8, direction uint8) error {
	if C.i2c_start(l.lwHandle, C.uchar(address7bit), C.uchar(direction)) == 1 {
		return nil
	}
	if err := l.error(); err != nil {
		return err
	}
	return fmt.Errorf("Littlewire i2cStart failed for %d in direction %d", address7bit, direction)
}

// i2cWrite sends byte(s) over i2c with a given length <= 4
func (l *littleWire) i2cWrite(sendBuffer []byte, length int, endWithStop uint8) error {
	C.i2c_write(l.lwHandle, (*C.uchar)(&sendBuffer[0]), C.uchar(length), C.uchar(endWithStop))
	return l.error()
}

// i2cRead reads byte(s) over i2c with a given length <= 8
func (l *littleWire) i2cRead(readBuffer []byte, length int, endWithStop uint8) error {
	C.i2c_read(l.lwHandle, (*C.uchar)(&readBuffer[0]), C.uchar(length), C.uchar(endWithStop))
	return l.error()
}

// i2cUpdateDelay updates i2c signal delay amount. Tune if necessary to fit your requirements
func (l *littleWire) i2cUpdateDelay(duration uint) error {
	C.i2c_updateDelay(l.lwHandle, C.uint(duration))
	return l.error()
}

func (l *littleWire) error() error {
	str := C.GoString(C.littleWire_errorName())
	if str != "" {
		return errors.New(str)
	}
	return nil
}