mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-04-27 13:48:56 +08:00
Update edison package for new gpio interface
This commit is contained in:
Adrian Zankich
parent
3efaa46c28
commit
cd1a016b2b
@ -1,7 +1,7 @@
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package edison
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import (
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"fmt"
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"errors"
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"io"
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"os"
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"strconv"
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@ -56,7 +56,7 @@ type EdisonAdaptor struct {
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digitalPins map[int]sysfs.DigitalPin
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pwmPins map[int]*pwmPin
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i2cDevice io.ReadWriteCloser
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connect func(e *EdisonAdaptor)
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connect func(e *EdisonAdaptor) (err error)
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}
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var sysfsPinMap = map[string]sysfsPin{
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@ -172,14 +172,12 @@ var sysfsPinMap = map[string]sysfsPin{
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}
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// changePinMode writes pin mode to current_pinmux file
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func changePinMode(pin, mode string) {
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_, err := writeFile(
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func changePinMode(pin, mode string) (err error) {
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_, err = writeFile(
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"/sys/kernel/debug/gpio_debug/gpio"+pin+"/current_pinmux",
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[]byte("mode"+mode),
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)
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if err != nil {
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panic(err)
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}
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return
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}
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// NewEditionAdaptor creates a EdisonAdaptor with specified name and
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@ -190,37 +188,65 @@ func NewEdisonAdaptor(name string) *EdisonAdaptor {
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name,
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"EdisonAdaptor",
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),
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connect: func(e *EdisonAdaptor) {
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connect: func(e *EdisonAdaptor) (err error) {
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e.tristate = sysfs.NewDigitalPin(214)
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e.tristate.Export()
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e.tristate.Direction(sysfs.OUT)
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e.tristate.Write(sysfs.LOW)
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if err = e.tristate.Export(); err != nil {
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return err
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}
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if err = e.tristate.Direction(sysfs.OUT); err != nil {
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return err
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}
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if err = e.tristate.Write(sysfs.LOW); err != nil {
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return err
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}
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for _, i := range []int{263, 262} {
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io := sysfs.NewDigitalPin(i)
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io.Export()
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io.Direction(sysfs.OUT)
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io.Write(sysfs.HIGH)
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io.Unexport()
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if err = io.Export(); err != nil {
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return err
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}
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if err = io.Direction(sysfs.OUT); err != nil {
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return err
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}
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if err = io.Write(sysfs.HIGH); err != nil {
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return err
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}
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if err = io.Unexport(); err != nil {
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return err
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}
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}
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for _, i := range []int{240, 241, 242, 243} {
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io := sysfs.NewDigitalPin(i)
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io.Export()
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io.Direction(sysfs.OUT)
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io.Write(sysfs.LOW)
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io.Unexport()
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if err = io.Export(); err != nil {
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return err
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}
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if err = io.Direction(sysfs.OUT); err != nil {
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return err
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}
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if err = io.Write(sysfs.LOW); err != nil {
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return err
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}
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if err = io.Unexport(); err != nil {
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return err
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}
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}
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for _, i := range []string{"111", "115", "114", "109"} {
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changePinMode(i, "1")
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if err = changePinMode(i, "1"); err != nil {
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return err
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}
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}
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for _, i := range []string{"131", "129", "40"} {
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changePinMode(i, "0")
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if err = changePinMode(i, "0"); err != nil {
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return err
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}
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}
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e.tristate.Write(sysfs.HIGH)
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err = e.tristate.Write(sysfs.HIGH)
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return
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},
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}
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}
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@ -230,8 +256,7 @@ func NewEdisonAdaptor(name string) *EdisonAdaptor {
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func (e *EdisonAdaptor) Connect() error {
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e.digitalPins = make(map[int]sysfs.DigitalPin)
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e.pwmPins = make(map[int]*pwmPin)
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e.connect(e)
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return nil
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return e.connect(e)
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}
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// Finalize closes connection to board and pins
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@ -244,7 +269,8 @@ func (e *EdisonAdaptor) Finalize() error {
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}
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for _, pin := range e.pwmPins {
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if pin != nil {
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pin.close()
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pin.enable("0")
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pin.unexport()
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}
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}
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if e.i2cDevice != nil {
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@ -254,93 +280,160 @@ func (e *EdisonAdaptor) Finalize() error {
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}
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// digitalPin returns matched digitalPin for specified values
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func (e *EdisonAdaptor) digitalPin(pin string, dir string) sysfs.DigitalPin {
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func (e *EdisonAdaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) {
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i := sysfsPinMap[pin]
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if e.digitalPins[i.pin] == nil {
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e.digitalPins[i.pin] = sysfs.NewDigitalPin(i.pin)
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e.digitalPins[i.pin].Export()
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if err = e.digitalPins[i.pin].Export(); err != nil {
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return
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}
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e.digitalPins[i.resistor] = sysfs.NewDigitalPin(i.resistor)
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e.digitalPins[i.resistor].Export()
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if err = e.digitalPins[i.resistor].Export(); err != nil {
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return
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}
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e.digitalPins[i.levelShifter] = sysfs.NewDigitalPin(i.levelShifter)
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e.digitalPins[i.levelShifter].Export()
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if err = e.digitalPins[i.levelShifter].Export(); err != nil {
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return
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}
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if len(i.mux) > 0 {
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for _, mux := range i.mux {
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e.digitalPins[mux.pin] = sysfs.NewDigitalPin(mux.pin)
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e.digitalPins[mux.pin].Export()
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e.digitalPins[mux.pin].Direction(sysfs.OUT)
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e.digitalPins[mux.pin].Write(mux.value)
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if err = e.digitalPins[mux.pin].Export(); err != nil {
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return
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}
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if err = e.digitalPins[mux.pin].Direction(sysfs.OUT); err != nil {
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return
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}
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if err = e.digitalPins[mux.pin].Write(mux.value); err != nil {
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return
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}
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}
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}
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}
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if dir == "in" {
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e.digitalPins[i.pin].Direction(sysfs.IN)
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e.digitalPins[i.resistor].Direction(sysfs.OUT)
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e.digitalPins[i.resistor].Write(sysfs.LOW)
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e.digitalPins[i.levelShifter].Direction(sysfs.OUT)
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e.digitalPins[i.levelShifter].Write(sysfs.LOW)
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if err = e.digitalPins[i.pin].Direction(sysfs.IN); err != nil {
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return
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}
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if err = e.digitalPins[i.resistor].Direction(sysfs.OUT); err != nil {
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return
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}
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if err = e.digitalPins[i.resistor].Write(sysfs.LOW); err != nil {
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return
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}
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if err = e.digitalPins[i.levelShifter].Direction(sysfs.OUT); err != nil {
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return
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}
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if err = e.digitalPins[i.levelShifter].Write(sysfs.LOW); err != nil {
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return
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}
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} else if dir == "out" {
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e.digitalPins[i.pin].Direction(sysfs.OUT)
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e.digitalPins[i.resistor].Direction(sysfs.IN)
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e.digitalPins[i.levelShifter].Direction(sysfs.OUT)
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e.digitalPins[i.levelShifter].Write(sysfs.HIGH)
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if err = e.digitalPins[i.pin].Direction(sysfs.OUT); err != nil {
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return
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}
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if err = e.digitalPins[i.resistor].Direction(sysfs.IN); err != nil {
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return
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}
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if err = e.digitalPins[i.levelShifter].Direction(sysfs.OUT); err != nil {
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return
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}
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if err = e.digitalPins[i.levelShifter].Write(sysfs.HIGH); err != nil {
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return
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}
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}
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return e.digitalPins[i.pin]
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return e.digitalPins[i.pin], nil
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}
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// DigitalRead reads digital value from pin
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func (e *EdisonAdaptor) DigitalRead(pin string) (i int) {
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i, _ = e.digitalPin(pin, "in").Read()
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return
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func (e *EdisonAdaptor) DigitalRead(pin string) (i int, err error) {
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sysfsPin, err := e.digitalPin(pin, "in")
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if err != nil {
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return
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}
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return sysfsPin.Read()
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}
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// DigitalWrite writes digital value to specified pin
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func (e *EdisonAdaptor) DigitalWrite(pin string, val byte) {
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e.digitalPin(pin, "out").Write(int(val))
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func (e *EdisonAdaptor) DigitalWrite(pin string, val byte) (err error) {
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sysfsPin, err := e.digitalPin(pin, "out")
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if err != nil {
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return
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}
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return sysfsPin.Write(int(val))
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}
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// PwmWrite writes scaled pwm value to specified pin
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func (e *EdisonAdaptor) PwmWrite(pin string, val byte) {
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func (e *EdisonAdaptor) PwmWrite(pin string, val byte) (err error) {
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sysPin := sysfsPinMap[pin]
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if sysPin.pwmPin != -1 {
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if e.pwmPins[sysPin.pwmPin] == nil {
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e.DigitalWrite(pin, 1)
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changePinMode(strconv.Itoa(int(sysPin.pin)), "1")
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if err = e.DigitalWrite(pin, 1); err != nil {
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return
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}
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if err = changePinMode(strconv.Itoa(int(sysPin.pin)), "1"); err != nil {
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return
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}
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e.pwmPins[sysPin.pwmPin] = newPwmPin(sysPin.pwmPin)
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if err = e.pwmPins[sysPin.pwmPin].export(); err != nil {
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return
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}
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if err = e.pwmPins[sysPin.pwmPin].enable("1"); err != nil {
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return
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}
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}
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period, err := strconv.Atoi(e.pwmPins[sysPin.pwmPin].period())
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p, err := e.pwmPins[sysPin.pwmPin].period()
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if err != nil {
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panic(err)
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return err
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}
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period, err := strconv.Atoi(p)
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if err != nil {
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return err
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}
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duty := gobot.FromScale(float64(val), 0, 255.0)
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e.pwmPins[sysPin.pwmPin].writeDuty(strconv.Itoa(int(float64(period) * duty)))
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} else {
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fmt.Println("Not a PWM pin")
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return e.pwmPins[sysPin.pwmPin].writeDuty(strconv.Itoa(int(float64(period) * duty)))
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}
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return errors.New("Not a PWM pin")
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}
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// AnalogWrite Not Implemented
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func (e *EdisonAdaptor) AnalogWrite(string, byte) {}
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func (e *EdisonAdaptor) AnalogWrite(string, byte) (err error) {
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return errors.New("AnalogWrite is not yet implemented")
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}
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// InitServo Not Implemented
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func (e *EdisonAdaptor) InitServo() {}
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func (e *EdisonAdaptor) InitServo() (err error) {
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return errors.New("InitServo is not yet implemented")
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}
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// ServoWrite Not Implemented
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func (e *EdisonAdaptor) ServoWrite(string, byte) {}
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func (e *EdisonAdaptor) ServoWrite(string, byte) (err error) {
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return errors.New("ServoWrite is not yet implemented")
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}
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// AnalogRead returns value from analog reading of specified pin
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func (e *EdisonAdaptor) AnalogRead(pin string) int {
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func (e *EdisonAdaptor) AnalogRead(pin string) (val int, err error) {
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buf, err := readFile(
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"/sys/bus/iio/devices/iio:device1/in_voltage" + pin + "_raw",
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)
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if err != nil {
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panic(err)
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return
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}
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val, err := strconv.Atoi(string(buf[0 : len(buf)-1]))
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if err != nil {
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panic(err)
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}
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return val
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return strconv.Atoi(string(buf[0 : len(buf)-1]))
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}
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// I2cStart initializes i2c device for addresss
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@ -28,10 +28,21 @@ func initTestEdisonAdaptor() (*EdisonAdaptor, *sysfs.MockFilesystem) {
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"/sys/class/pwm/pwmchip0/pwm1/enable",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio13/value",
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"/sys/class/gpio/gpio13/direction",
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"/sys/class/gpio/gpio40/value",
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"/sys/class/gpio/gpio40/direction",
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"/sys/class/gpio/gpio128/value",
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"/sys/class/gpio/gpio128/direction",
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"/sys/class/gpio/gpio221/value",
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"/sys/class/gpio/gpio221/direction",
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"/sys/class/gpio/gpio243/value",
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"/sys/class/gpio/gpio243/direction",
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"/sys/class/gpio/gpio229/direction",
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"/sys/class/gpio/gpio253/value",
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"/sys/class/gpio/gpio253/direction",
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"/sys/class/gpio/gpio261/value",
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"/sys/class/gpio/gpio261/direction",
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"/dev/i2c-6",
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})
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sysfs.SetFilesystem(fs)
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@ -55,7 +66,7 @@ func TestEdisonAdaptorDigitalIO(t *testing.T) {
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gobot.Assert(t, fs.Files["/sys/class/gpio/gpio40/value"].Contents, "1")
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a.DigitalWrite("2", 0)
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i := a.DigitalRead("2")
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i, _ := a.DigitalRead("2")
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gobot.Assert(t, i, 0)
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}
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@ -80,6 +91,6 @@ func TestEdisonAdaptorAnalog(t *testing.T) {
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a, fs := initTestEdisonAdaptor()
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fs.Files["/sys/bus/iio/devices/iio:device1/in_voltage0_raw"].Contents = "1000\n"
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i := a.AnalogRead("0")
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i, _ := a.AnalogRead("0")
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gobot.Assert(t, i, 1000)
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}
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@ -38,49 +38,38 @@ type pwmPin struct {
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// newPwmPin returns an exported and enabled pwmPin
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func newPwmPin(pin int) *pwmPin {
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p := &pwmPin{pin: strconv.Itoa(pin)}
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p.export()
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p.enable("1")
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return p
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return &pwmPin{pin: strconv.Itoa(pin)}
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}
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// enable writes value to pwm enable path
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func (p *pwmPin) enable(val string) {
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_, err := writeFile(pwmEnablePath(p.pin), []byte(val))
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if err != nil {
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panic(err)
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}
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func (p *pwmPin) enable(val string) (err error) {
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_, err = writeFile(pwmEnablePath(p.pin), []byte(val))
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return
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}
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// period reads from pwm period path and returns value
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func (p *pwmPin) period() string {
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func (p *pwmPin) period() (period string, err error) {
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buf, err := readFile(pwmPeriodPath(p.pin))
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if err != nil {
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panic(err)
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return
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}
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return string(buf[0 : len(buf)-1])
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return string(buf[0 : len(buf)-1]), nil
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}
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// writeDuty writes value to pwm duty cycle path
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func (p *pwmPin) writeDuty(duty string) {
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_, err := writeFile(pwmDutyCyclePath(p.pin), []byte(duty))
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if err != nil {
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panic(err)
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}
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func (p *pwmPin) writeDuty(duty string) (err error) {
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_, err = writeFile(pwmDutyCyclePath(p.pin), []byte(duty))
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return
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}
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// export writes pin to pwm export path
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func (p *pwmPin) export() {
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writeFile(pwmExportPath(), []byte(p.pin))
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func (p *pwmPin) export() (err error) {
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_, err = writeFile(pwmExportPath(), []byte(p.pin))
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return
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}
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// export writes pin to pwm unexport path
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func (p *pwmPin) unexport() {
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writeFile(pwmUnExportPath(), []byte(p.pin))
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}
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// close disables and unexports pin
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func (p *pwmPin) close() {
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p.enable("0")
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p.unexport()
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func (p *pwmPin) unexport() (err error) {
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_, err = writeFile(pwmUnExportPath(), []byte(p.pin))
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return
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}
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