mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-05-13 19:29:10 +08:00
Merge pull request #342 from hybridgroup/feature/beaglebone-4
Support for newer Beaglebone 4.x kernels
This commit is contained in:
Ron Evans
GitHub
commit
8bb0fbfbad
@ -10,7 +10,7 @@ import (
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func main() {
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beagleboneAdaptor := beaglebone.NewAdaptor()
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led := gpio.NewLedDriver(beagleboneAdaptor, "usr0")
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led := gpio.NewLedDriver(beagleboneAdaptor, "usr1")
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work := func() {
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gobot.Every(1*time.Second, func() {
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@ -5,31 +5,11 @@ The BeagleBone is an ARM based single board computer, with many different GPIO i
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For more info about the BeagleBone platform click [here](http://beagleboard.org/Products/BeagleBone+Black).
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## How to Install
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```
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go get -d -u github.com/hybridgroup/gobot/... && go install github.com/hybridgroup/gobot/platforms/beaglebone
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```
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## Cross compiling for the Beaglebone Black
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You must first configure your Go environment for arm linux cross compiling
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```bash
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$ cd $GOROOT/src
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$ GOOS=linux GOARCH=arm ./make.bash --no-clean
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```
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Then compile your Gobot program with
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```bash
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$ GOARM=7 GOARCH=arm GOOS=linux go build examples/beaglebone_blink.go
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```
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If you are running the official Angstrom or Debian linux through the usb->ethernet connection, you can simply upload your program and execute it with
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```bash
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$ scp beaglebone_blink root@192.168.7.2:/home/root/
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$ ssh -t root@192.168.7.2 "./beaglebone_blink"
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```
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## How to Use
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```go
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@ -62,3 +42,40 @@ func main() {
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robot.Start()
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}
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```
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## How to Connect
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### Compiling
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Simply compile your Gobot program like this:
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```bash
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$ GOARCH=arm GOOS=linux go build examples/beaglebone_blink.go
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```
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If you are running the official Debian Linux through the usb->ethernet connection, or are connected to the board using WiFi, you can simply upload your program and execute it with the `scp` command like this:
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```bash
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$ scp beaglebone_blink root@192.168.7.2:/home/root/
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$ ssh -t root@192.168.7.2 "./beaglebone_blink"
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```
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### Updating your board to the latest OS
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We recommend updating your BeagleBone to the latest Debian OS. It is very easy to do this using the Etcher (https://etcher.io/) utility program.
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First, download the latest BeagleBone OS from http://beagleboard.org/latest-images
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Now, use Etcher to create an SD card with the OS image you have downloaded.
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Once you have created the SD card, boot your BeagleBone using the new image as follows:
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- Insert SD card into your (powered-down) board, hold down the USER/BOOT button (if using Black) and apply power, either by the USB cable or 5V adapter.
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- If all you want to do it boot once from the SD card, it should now be booting.
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- If using BeagleBone Black and desire to write the image to your on-board eMMC, you'll need to follow the instructions at http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#Flashing_eMMC. When the flashing is complete, all 4 USRx LEDs will be steady on or off. The latest Debian flasher images automatically power down the board upon completion. This can take up to 45 minutes. Power-down your board, remove the SD card and apply power again to be complete.
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These instructions come from the Beagleboard web site's "Getting Started" page located here:
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http://beagleboard.org/getting-started
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@ -5,6 +5,7 @@ import (
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"errors"
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"fmt"
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"os"
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"os/exec"
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"path/filepath"
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"strconv"
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"strings"
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@ -14,113 +15,22 @@ import (
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"github.com/hybridgroup/gobot/sysfs"
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)
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var slots = "/sys/devices/bone_capemgr.*"
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var ocp = "/sys/devices/ocp.*"
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var usrLed = "/sys/devices/ocp.3/gpio-leds.8/leds/beaglebone:green:"
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var glob = func(pattern string) (matches []string, err error) {
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return filepath.Glob(pattern)
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}
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var pins = map[string]int{
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"P8_3": 38,
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"P8_4": 39,
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"P8_5": 34,
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"P8_6": 35,
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"P8_7": 66,
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"P8_8": 67,
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"P8_9": 69,
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"P8_10": 68,
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"P8_11": 45,
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"P8_12": 44,
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"P8_13": 23,
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"P8_14": 26,
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"P8_15": 47,
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"P8_16": 46,
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"P8_17": 27,
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"P8_18": 65,
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"P8_19": 22,
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"P8_20": 63,
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"P8_21": 62,
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"P8_22": 37,
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"P8_23": 36,
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"P8_24": 33,
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"P8_25": 32,
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"P8_26": 61,
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"P8_27": 86,
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"P8_28": 88,
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"P8_29": 87,
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"P8_30": 89,
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"P8_31": 10,
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"P8_32": 11,
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"P8_33": 9,
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"P8_34": 81,
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"P8_35": 8,
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"P8_36": 80,
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"P8_37": 78,
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"P8_38": 79,
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"P8_39": 76,
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"P8_40": 77,
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"P8_41": 74,
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"P8_42": 75,
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"P8_43": 72,
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"P8_44": 73,
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"P8_45": 70,
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"P8_46": 71,
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"P9_11": 30,
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"P9_12": 60,
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"P9_13": 31,
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"P9_14": 50,
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"P9_15": 48,
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"P9_16": 51,
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"P9_17": 5,
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"P9_18": 4,
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"P9_19": 13,
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"P9_20": 12,
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"P9_21": 3,
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"P9_22": 2,
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"P9_23": 49,
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"P9_24": 15,
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"P9_25": 117,
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"P9_26": 14,
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"P9_27": 115,
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"P9_28": 113,
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"P9_29": 111,
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"P9_30": 112,
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"P9_31": 110,
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}
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var pwmPins = map[string]string{
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"P9_14": "P9_14",
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"P9_21": "P9_21",
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"P9_22": "P9_22",
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"P9_29": "P9_29",
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"P9_42": "P9_42",
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"P8_13": "P8_13",
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"P8_34": "P8_34",
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"P8_45": "P8_45",
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"P8_46": "P8_46",
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}
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var analogPins = map[string]string{
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"P9_39": "AIN0",
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"P9_40": "AIN1",
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"P9_37": "AIN2",
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"P9_38": "AIN3",
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"P9_33": "AIN4",
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"P9_36": "AIN5",
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"P9_35": "AIN6",
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}
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// Adaptor is the gobot.Adaptor representation for the Beaglebone
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type Adaptor struct {
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name string
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digitalPins []sysfs.DigitalPin
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pwmPins map[string]*pwmPin
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i2cDevice sysfs.I2cDevice
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ocp string
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helper string
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slots string
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name string
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kernel string
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digitalPins []sysfs.DigitalPin
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pwmPins map[string]*pwmPin
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i2cDevice sysfs.I2cDevice
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usrLed string
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ocp string
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analogPath string
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analogPinMap map[string]string
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slots string
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}
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// NewAdaptor returns a new Beaglebone Adaptor
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@ -131,12 +41,27 @@ func NewAdaptor() *Adaptor {
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pwmPins: make(map[string]*pwmPin),
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}
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b.setSlots()
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return b
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}
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func (b *Adaptor) setSlots() {
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ocp := "/sys/devices/ocp.*"
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slots := "/sys/devices/bone_capemgr.*"
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b.kernel = getKernel()
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if b.kernel[:1] == "4" {
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ocp = "/sys/devices/platform/ocp/ocp*"
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slots = "/sys/devices/platform/bone_capemgr"
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}
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b.usrLed = "/sys/class/leds/beaglebone:green:"
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g, _ := glob(ocp)
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b.ocp = g[0]
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g, _ = glob(slots)
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b.slots = fmt.Sprintf("%v/slots", g[0])
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return b
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}
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// Name returns the Adaptor name
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@ -145,22 +70,37 @@ func (b *Adaptor) Name() string { return b.name }
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// SetName sets the Adaptor name
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func (b *Adaptor) SetName(n string) { b.name = n }
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// Kernel returns the Linux kernel version for the BeagleBone
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func (b *Adaptor) Kernel() string { return b.kernel }
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// Connect initializes the pwm and analog dts.
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func (b *Adaptor) Connect() error {
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if err := ensureSlot(b.slots, "cape-bone-iio"); err != nil {
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return err
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// enable analog
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if b.kernel[:1] == "4" {
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if err := ensureSlot(b.slots, "BB-ADC"); err != nil {
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return err
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}
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b.analogPath = "/sys/bus/iio/devices/iio:device0"
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b.analogPinMap = analogPins44
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} else {
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if err := ensureSlot(b.slots, "cape-bone-iio"); err != nil {
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return err
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}
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g, err := glob(fmt.Sprintf("%v/helper.*", b.ocp))
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if err != nil {
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return err
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}
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b.analogPath = g[0]
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b.analogPinMap = analogPins3
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}
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// enable pwm
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if err := ensureSlot(b.slots, "am33xx_pwm"); err != nil {
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return err
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}
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g, err := glob(fmt.Sprintf("%v/helper.*", b.ocp))
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if err != nil {
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return err
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}
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b.helper = g[0]
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return nil
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}
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@ -217,7 +157,7 @@ func (b *Adaptor) DigitalRead(pin string) (val int, err error) {
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// valid usr pin values are usr0, usr1, usr2 and usr3
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func (b *Adaptor) DigitalWrite(pin string, val byte) (err error) {
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if strings.Contains(pin, "usr") {
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fi, err := sysfs.OpenFile(usrLed+pin+"/brightness", os.O_WRONLY|os.O_APPEND, 0666)
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fi, err := sysfs.OpenFile(b.usrLed+pin+"/brightness", os.O_WRONLY|os.O_APPEND, 0666)
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defer fi.Close()
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if err != nil {
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return err
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@ -238,7 +178,7 @@ func (b *Adaptor) AnalogRead(pin string) (val int, err error) {
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if err != nil {
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return
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}
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fi, err := sysfs.OpenFile(fmt.Sprintf("%v/%v", b.helper, analogPin), os.O_RDONLY, 0644)
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fi, err := sysfs.OpenFile(fmt.Sprintf("%v/%v", b.analogPath, analogPin), os.O_RDONLY, 0644)
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defer fi.Close()
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if err != nil {
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@ -306,7 +246,7 @@ func (b *Adaptor) translatePwmPin(pin string) (value string, err error) {
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// translateAnalogPin converts analog pin name to pin position
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func (b *Adaptor) translateAnalogPin(pin string) (value string, err error) {
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for key, value := range analogPins {
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for key, value := range b.analogPinMap {
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if key == pin {
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return value, nil
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}
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@ -396,3 +336,9 @@ func ensureSlot(slots, item string) (err error) {
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}
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return
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}
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func getKernel() string {
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result, _ := exec.Command("uname", "-r").Output()
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return strings.TrimSpace(string(result))
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}
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@ -42,7 +42,7 @@ func (n *NullReadWriteCloser) Read(b []byte) (int, error) {
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return len(b), nil
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}
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var closeErr error = nil
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var closeErr error
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|
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func (n *NullReadWriteCloser) Close() error {
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return closeErr
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@ -54,16 +54,15 @@ func TestBeagleboneAdaptor(t *testing.T) {
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}
|
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fs := sysfs.NewMockFilesystem([]string{
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"/dev/i2c-1",
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"/sys/devices/bone_capemgr.4",
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"/sys/devices/ocp.3",
|
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"/sys/devices/ocp.3/gpio-leds.8/leds/beaglebone:green:usr1/brightness",
|
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"/sys/devices/ocp.3/helper.5",
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"/sys/devices/ocp.3/helper.5/AIN1",
|
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"/sys/devices/ocp.3/pwm_test_P9_14.5",
|
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"/sys/devices/ocp.3/pwm_test_P9_14.5/run",
|
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"/sys/devices/ocp.3/pwm_test_P9_14.5/period",
|
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"/sys/devices/ocp.3/pwm_test_P9_14.5/polarity",
|
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"/sys/devices/ocp.3/pwm_test_P9_14.5/duty",
|
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"/sys/devices/platform/bone_capemgr",
|
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"/sys/devices/platform/ocp/ocp4",
|
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"/sys/class/leds/beaglebone:green:usr1/brightness",
|
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"/sys/bus/iio/devices/iio:device0/in_voltage1_raw",
|
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5",
|
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/run",
|
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period",
|
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/polarity",
|
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/duty",
|
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"/sys/class/gpio/export",
|
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"/sys/class/gpio/unexport",
|
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"/sys/class/gpio/gpio60/value",
|
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@ -74,12 +73,13 @@ func TestBeagleboneAdaptor(t *testing.T) {
|
||||
|
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sysfs.SetFilesystem(fs)
|
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a := NewAdaptor()
|
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a.slots = "/sys/devices/bone_capemgr.4"
|
||||
a.ocp = "/sys/devices/ocp.3"
|
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a.slots = "/sys/devices/platform/bone_capemgr"
|
||||
a.ocp = "/sys/devices/platform/ocp/ocp4"
|
||||
a.kernel = "4.4"
|
||||
|
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a.Connect()
|
||||
|
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a.helper = "/sys/devices/ocp.3/helper.5"
|
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a.analogPath = "/sys/bus/iio/devices/iio:device0"
|
||||
|
||||
// PWM
|
||||
glob = func(pattern string) (matches []string, err error) {
|
||||
@ -91,39 +91,39 @@ func TestBeagleboneAdaptor(t *testing.T) {
|
||||
a.PwmWrite("P9_14", 175)
|
||||
gobottest.Assert(
|
||||
t,
|
||||
fs.Files["/sys/devices/ocp.3/pwm_test_P9_14.5/period"].Contents,
|
||||
fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period"].Contents,
|
||||
"500000",
|
||||
)
|
||||
gobottest.Assert(
|
||||
t,
|
||||
fs.Files["/sys/devices/ocp.3/pwm_test_P9_14.5/duty"].Contents,
|
||||
fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/duty"].Contents,
|
||||
"343137",
|
||||
)
|
||||
|
||||
a.ServoWrite("P9_14", 100)
|
||||
gobottest.Assert(
|
||||
t,
|
||||
fs.Files["/sys/devices/ocp.3/pwm_test_P9_14.5/period"].Contents,
|
||||
fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period"].Contents,
|
||||
"16666666",
|
||||
)
|
||||
gobottest.Assert(
|
||||
t,
|
||||
fs.Files["/sys/devices/ocp.3/pwm_test_P9_14.5/duty"].Contents,
|
||||
fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/duty"].Contents,
|
||||
"1898148",
|
||||
)
|
||||
|
||||
// Analog
|
||||
fs.Files["/sys/devices/ocp.3/helper.5/AIN1"].Contents = "567\n"
|
||||
fs.Files["/sys/bus/iio/devices/iio:device0/in_voltage1_raw"].Contents = "567\n"
|
||||
i, _ := a.AnalogRead("P9_40")
|
||||
gobottest.Assert(t, i, 567)
|
||||
|
||||
i, err := a.AnalogRead("P9_99")
|
||||
_, err := a.AnalogRead("P9_99")
|
||||
gobottest.Assert(t, err, errors.New("Not a valid pin"))
|
||||
|
||||
// DigitalIO
|
||||
a.DigitalWrite("usr1", 1)
|
||||
gobottest.Assert(t,
|
||||
fs.Files["/sys/devices/ocp.3/gpio-leds.8/leds/beaglebone:green:usr1/brightness"].Contents,
|
||||
fs.Files["/sys/class/leds/beaglebone:green:usr1/brightness"].Contents,
|
||||
"1",
|
||||
)
|
||||
|
||||
|
||||
101
platforms/beaglebone/beaglebone_pins.go
Normal file
101
platforms/beaglebone/beaglebone_pins.go
Normal file
@ -0,0 +1,101 @@
|
||||
package beaglebone
|
||||
|
||||
var pins = map[string]int{
|
||||
"P8_3": 38,
|
||||
"P8_4": 39,
|
||||
"P8_5": 34,
|
||||
"P8_6": 35,
|
||||
"P8_7": 66,
|
||||
"P8_8": 67,
|
||||
"P8_9": 69,
|
||||
"P8_10": 68,
|
||||
"P8_11": 45,
|
||||
"P8_12": 44,
|
||||
"P8_13": 23,
|
||||
"P8_14": 26,
|
||||
"P8_15": 47,
|
||||
"P8_16": 46,
|
||||
"P8_17": 27,
|
||||
"P8_18": 65,
|
||||
"P8_19": 22,
|
||||
"P8_20": 63,
|
||||
"P8_21": 62,
|
||||
"P8_22": 37,
|
||||
"P8_23": 36,
|
||||
"P8_24": 33,
|
||||
"P8_25": 32,
|
||||
"P8_26": 61,
|
||||
"P8_27": 86,
|
||||
"P8_28": 88,
|
||||
"P8_29": 87,
|
||||
"P8_30": 89,
|
||||
"P8_31": 10,
|
||||
"P8_32": 11,
|
||||
"P8_33": 9,
|
||||
"P8_34": 81,
|
||||
"P8_35": 8,
|
||||
"P8_36": 80,
|
||||
"P8_37": 78,
|
||||
"P8_38": 79,
|
||||
"P8_39": 76,
|
||||
"P8_40": 77,
|
||||
"P8_41": 74,
|
||||
"P8_42": 75,
|
||||
"P8_43": 72,
|
||||
"P8_44": 73,
|
||||
"P8_45": 70,
|
||||
"P8_46": 71,
|
||||
"P9_11": 30,
|
||||
"P9_12": 60,
|
||||
"P9_13": 31,
|
||||
"P9_14": 50,
|
||||
"P9_15": 48,
|
||||
"P9_16": 51,
|
||||
"P9_17": 5,
|
||||
"P9_18": 4,
|
||||
"P9_19": 13,
|
||||
"P9_20": 12,
|
||||
"P9_21": 3,
|
||||
"P9_22": 2,
|
||||
"P9_23": 49,
|
||||
"P9_24": 15,
|
||||
"P9_25": 117,
|
||||
"P9_26": 14,
|
||||
"P9_27": 115,
|
||||
"P9_28": 113,
|
||||
"P9_29": 111,
|
||||
"P9_30": 112,
|
||||
"P9_31": 110,
|
||||
}
|
||||
|
||||
var pwmPins = map[string]string{
|
||||
"P9_14": "P9_14",
|
||||
"P9_21": "P9_21",
|
||||
"P9_22": "P9_22",
|
||||
"P9_29": "P9_29",
|
||||
"P9_42": "P9_42",
|
||||
"P8_13": "P8_13",
|
||||
"P8_34": "P8_34",
|
||||
"P8_45": "P8_45",
|
||||
"P8_46": "P8_46",
|
||||
}
|
||||
|
||||
var analogPins3 = map[string]string{
|
||||
"P9_39": "AIN0",
|
||||
"P9_40": "AIN1",
|
||||
"P9_37": "AIN2",
|
||||
"P9_38": "AIN3",
|
||||
"P9_33": "AIN4",
|
||||
"P9_36": "AIN5",
|
||||
"P9_35": "AIN6",
|
||||
}
|
||||
|
||||
var analogPins44 = map[string]string{
|
||||
"P9_39": "in_voltage0_raw",
|
||||
"P9_40": "in_voltage1_raw",
|
||||
"P9_37": "in_voltage2_raw",
|
||||
"P9_38": "in_voltage3_raw",
|
||||
"P9_33": "in_voltage4_raw",
|
||||
"P9_36": "in_voltage5_raw",
|
||||
"P9_35": "in_voltage6_raw",
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user