From cd1a016b2bc05788ed9860eec1e1fe4040734e37 Mon Sep 17 00:00:00 2001 From: Adrian Zankich Date: Wed, 19 Nov 2014 11:53:05 -0800 Subject: [PATCH] Update edison package for new gpio interface --- platforms/intel-iot/edison/edison_adaptor.go | 223 +++++++++++++----- .../intel-iot/edison/edison_adaptor_test.go | 15 +- platforms/intel-iot/edison/pwm_pin.go | 43 ++-- 3 files changed, 187 insertions(+), 94 deletions(-) diff --git a/platforms/intel-iot/edison/edison_adaptor.go b/platforms/intel-iot/edison/edison_adaptor.go index df1faa2f..bfcaad16 100644 --- a/platforms/intel-iot/edison/edison_adaptor.go +++ b/platforms/intel-iot/edison/edison_adaptor.go @@ -1,7 +1,7 @@ package edison import ( - "fmt" + "errors" "io" "os" "strconv" @@ -56,7 +56,7 @@ type EdisonAdaptor struct { digitalPins map[int]sysfs.DigitalPin pwmPins map[int]*pwmPin i2cDevice io.ReadWriteCloser - connect func(e *EdisonAdaptor) + connect func(e *EdisonAdaptor) (err error) } var sysfsPinMap = map[string]sysfsPin{ @@ -172,14 +172,12 @@ var sysfsPinMap = map[string]sysfsPin{ } // changePinMode writes pin mode to current_pinmux file -func changePinMode(pin, mode string) { - _, err := writeFile( +func changePinMode(pin, mode string) (err error) { + _, err = writeFile( "/sys/kernel/debug/gpio_debug/gpio"+pin+"/current_pinmux", []byte("mode"+mode), ) - if err != nil { - panic(err) - } + return } // NewEditionAdaptor creates a EdisonAdaptor with specified name and @@ -190,37 +188,65 @@ func NewEdisonAdaptor(name string) *EdisonAdaptor { name, "EdisonAdaptor", ), - connect: func(e *EdisonAdaptor) { + connect: func(e *EdisonAdaptor) (err error) { e.tristate = sysfs.NewDigitalPin(214) - e.tristate.Export() - e.tristate.Direction(sysfs.OUT) - e.tristate.Write(sysfs.LOW) + if err = e.tristate.Export(); err != nil { + return err + } + if err = e.tristate.Direction(sysfs.OUT); err != nil { + return err + } + if err = e.tristate.Write(sysfs.LOW); err != nil { + return err + } for _, i := range []int{263, 262} { io := sysfs.NewDigitalPin(i) - io.Export() - io.Direction(sysfs.OUT) - io.Write(sysfs.HIGH) - io.Unexport() + if err = io.Export(); err != nil { + return err + } + if err = io.Direction(sysfs.OUT); err != nil { + return err + } + if err = io.Write(sysfs.HIGH); err != nil { + return err + } + if err = io.Unexport(); err != nil { + return err + } } for _, i := range []int{240, 241, 242, 243} { io := sysfs.NewDigitalPin(i) - io.Export() - io.Direction(sysfs.OUT) - io.Write(sysfs.LOW) - io.Unexport() + if err = io.Export(); err != nil { + return err + } + if err = io.Direction(sysfs.OUT); err != nil { + return err + } + if err = io.Write(sysfs.LOW); err != nil { + return err + } + if err = io.Unexport(); err != nil { + return err + } + } for _, i := range []string{"111", "115", "114", "109"} { - changePinMode(i, "1") + if err = changePinMode(i, "1"); err != nil { + return err + } } for _, i := range []string{"131", "129", "40"} { - changePinMode(i, "0") + if err = changePinMode(i, "0"); err != nil { + return err + } } - e.tristate.Write(sysfs.HIGH) + err = e.tristate.Write(sysfs.HIGH) + return }, } } @@ -230,8 +256,7 @@ func NewEdisonAdaptor(name string) *EdisonAdaptor { func (e *EdisonAdaptor) Connect() error { e.digitalPins = make(map[int]sysfs.DigitalPin) e.pwmPins = make(map[int]*pwmPin) - e.connect(e) - return nil + return e.connect(e) } // Finalize closes connection to board and pins @@ -244,7 +269,8 @@ func (e *EdisonAdaptor) Finalize() error { } for _, pin := range e.pwmPins { if pin != nil { - pin.close() + pin.enable("0") + pin.unexport() } } if e.i2cDevice != nil { @@ -254,93 +280,160 @@ func (e *EdisonAdaptor) Finalize() error { } // digitalPin returns matched digitalPin for specified values -func (e *EdisonAdaptor) digitalPin(pin string, dir string) sysfs.DigitalPin { +func (e *EdisonAdaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) { i := sysfsPinMap[pin] if e.digitalPins[i.pin] == nil { e.digitalPins[i.pin] = sysfs.NewDigitalPin(i.pin) - e.digitalPins[i.pin].Export() + if err = e.digitalPins[i.pin].Export(); err != nil { + return + } + e.digitalPins[i.resistor] = sysfs.NewDigitalPin(i.resistor) - e.digitalPins[i.resistor].Export() + if err = e.digitalPins[i.resistor].Export(); err != nil { + return + } + e.digitalPins[i.levelShifter] = sysfs.NewDigitalPin(i.levelShifter) - e.digitalPins[i.levelShifter].Export() + if err = e.digitalPins[i.levelShifter].Export(); err != nil { + return + } + if len(i.mux) > 0 { for _, mux := range i.mux { e.digitalPins[mux.pin] = sysfs.NewDigitalPin(mux.pin) - e.digitalPins[mux.pin].Export() - e.digitalPins[mux.pin].Direction(sysfs.OUT) - e.digitalPins[mux.pin].Write(mux.value) + if err = e.digitalPins[mux.pin].Export(); err != nil { + return + } + + if err = e.digitalPins[mux.pin].Direction(sysfs.OUT); err != nil { + return + } + + if err = e.digitalPins[mux.pin].Write(mux.value); err != nil { + return + } + } } } if dir == "in" { - e.digitalPins[i.pin].Direction(sysfs.IN) - e.digitalPins[i.resistor].Direction(sysfs.OUT) - e.digitalPins[i.resistor].Write(sysfs.LOW) - e.digitalPins[i.levelShifter].Direction(sysfs.OUT) - e.digitalPins[i.levelShifter].Write(sysfs.LOW) + if err = e.digitalPins[i.pin].Direction(sysfs.IN); err != nil { + return + } + + if err = e.digitalPins[i.resistor].Direction(sysfs.OUT); err != nil { + return + } + + if err = e.digitalPins[i.resistor].Write(sysfs.LOW); err != nil { + return + } + + if err = e.digitalPins[i.levelShifter].Direction(sysfs.OUT); err != nil { + return + } + + if err = e.digitalPins[i.levelShifter].Write(sysfs.LOW); err != nil { + return + } + } else if dir == "out" { - e.digitalPins[i.pin].Direction(sysfs.OUT) - e.digitalPins[i.resistor].Direction(sysfs.IN) - e.digitalPins[i.levelShifter].Direction(sysfs.OUT) - e.digitalPins[i.levelShifter].Write(sysfs.HIGH) + if err = e.digitalPins[i.pin].Direction(sysfs.OUT); err != nil { + return + } + + if err = e.digitalPins[i.resistor].Direction(sysfs.IN); err != nil { + return + } + + if err = e.digitalPins[i.levelShifter].Direction(sysfs.OUT); err != nil { + return + } + + if err = e.digitalPins[i.levelShifter].Write(sysfs.HIGH); err != nil { + return + } + } - return e.digitalPins[i.pin] + return e.digitalPins[i.pin], nil } // DigitalRead reads digital value from pin -func (e *EdisonAdaptor) DigitalRead(pin string) (i int) { - i, _ = e.digitalPin(pin, "in").Read() - return +func (e *EdisonAdaptor) DigitalRead(pin string) (i int, err error) { + sysfsPin, err := e.digitalPin(pin, "in") + if err != nil { + return + } + return sysfsPin.Read() } // DigitalWrite writes digital value to specified pin -func (e *EdisonAdaptor) DigitalWrite(pin string, val byte) { - e.digitalPin(pin, "out").Write(int(val)) +func (e *EdisonAdaptor) DigitalWrite(pin string, val byte) (err error) { + sysfsPin, err := e.digitalPin(pin, "out") + if err != nil { + return + } + return sysfsPin.Write(int(val)) } // PwmWrite writes scaled pwm value to specified pin -func (e *EdisonAdaptor) PwmWrite(pin string, val byte) { +func (e *EdisonAdaptor) PwmWrite(pin string, val byte) (err error) { sysPin := sysfsPinMap[pin] if sysPin.pwmPin != -1 { if e.pwmPins[sysPin.pwmPin] == nil { - e.DigitalWrite(pin, 1) - changePinMode(strconv.Itoa(int(sysPin.pin)), "1") + if err = e.DigitalWrite(pin, 1); err != nil { + return + } + if err = changePinMode(strconv.Itoa(int(sysPin.pin)), "1"); err != nil { + return + } e.pwmPins[sysPin.pwmPin] = newPwmPin(sysPin.pwmPin) + if err = e.pwmPins[sysPin.pwmPin].export(); err != nil { + return + } + if err = e.pwmPins[sysPin.pwmPin].enable("1"); err != nil { + return + } } - period, err := strconv.Atoi(e.pwmPins[sysPin.pwmPin].period()) + p, err := e.pwmPins[sysPin.pwmPin].period() if err != nil { - panic(err) + return err + } + period, err := strconv.Atoi(p) + if err != nil { + return err } duty := gobot.FromScale(float64(val), 0, 255.0) - e.pwmPins[sysPin.pwmPin].writeDuty(strconv.Itoa(int(float64(period) * duty))) - } else { - fmt.Println("Not a PWM pin") + return e.pwmPins[sysPin.pwmPin].writeDuty(strconv.Itoa(int(float64(period) * duty))) } + return errors.New("Not a PWM pin") } // AnalogWrite Not Implemented -func (e *EdisonAdaptor) AnalogWrite(string, byte) {} +func (e *EdisonAdaptor) AnalogWrite(string, byte) (err error) { + return errors.New("AnalogWrite is not yet implemented") +} // InitServo Not Implemented -func (e *EdisonAdaptor) InitServo() {} +func (e *EdisonAdaptor) InitServo() (err error) { + return errors.New("InitServo is not yet implemented") +} // ServoWrite Not Implemented -func (e *EdisonAdaptor) ServoWrite(string, byte) {} +func (e *EdisonAdaptor) ServoWrite(string, byte) (err error) { + return errors.New("ServoWrite is not yet implemented") +} // AnalogRead returns value from analog reading of specified pin -func (e *EdisonAdaptor) AnalogRead(pin string) int { +func (e *EdisonAdaptor) AnalogRead(pin string) (val int, err error) { buf, err := readFile( "/sys/bus/iio/devices/iio:device1/in_voltage" + pin + "_raw", ) if err != nil { - panic(err) + return } - val, err := strconv.Atoi(string(buf[0 : len(buf)-1])) - if err != nil { - panic(err) - } - return val + return strconv.Atoi(string(buf[0 : len(buf)-1])) } // I2cStart initializes i2c device for addresss diff --git a/platforms/intel-iot/edison/edison_adaptor_test.go b/platforms/intel-iot/edison/edison_adaptor_test.go index 905dbf3b..32452656 100644 --- a/platforms/intel-iot/edison/edison_adaptor_test.go +++ b/platforms/intel-iot/edison/edison_adaptor_test.go @@ -28,10 +28,21 @@ func initTestEdisonAdaptor() (*EdisonAdaptor, *sysfs.MockFilesystem) { "/sys/class/pwm/pwmchip0/pwm1/enable", "/sys/class/gpio/export", "/sys/class/gpio/unexport", + "/sys/class/gpio/gpio13/value", + "/sys/class/gpio/gpio13/direction", "/sys/class/gpio/gpio40/value", "/sys/class/gpio/gpio40/direction", "/sys/class/gpio/gpio128/value", "/sys/class/gpio/gpio128/direction", + "/sys/class/gpio/gpio221/value", + "/sys/class/gpio/gpio221/direction", + "/sys/class/gpio/gpio243/value", + "/sys/class/gpio/gpio243/direction", + "/sys/class/gpio/gpio229/direction", + "/sys/class/gpio/gpio253/value", + "/sys/class/gpio/gpio253/direction", + "/sys/class/gpio/gpio261/value", + "/sys/class/gpio/gpio261/direction", "/dev/i2c-6", }) sysfs.SetFilesystem(fs) @@ -55,7 +66,7 @@ func TestEdisonAdaptorDigitalIO(t *testing.T) { gobot.Assert(t, fs.Files["/sys/class/gpio/gpio40/value"].Contents, "1") a.DigitalWrite("2", 0) - i := a.DigitalRead("2") + i, _ := a.DigitalRead("2") gobot.Assert(t, i, 0) } @@ -80,6 +91,6 @@ func TestEdisonAdaptorAnalog(t *testing.T) { a, fs := initTestEdisonAdaptor() fs.Files["/sys/bus/iio/devices/iio:device1/in_voltage0_raw"].Contents = "1000\n" - i := a.AnalogRead("0") + i, _ := a.AnalogRead("0") gobot.Assert(t, i, 1000) } diff --git a/platforms/intel-iot/edison/pwm_pin.go b/platforms/intel-iot/edison/pwm_pin.go index a97f3527..74c59ced 100644 --- a/platforms/intel-iot/edison/pwm_pin.go +++ b/platforms/intel-iot/edison/pwm_pin.go @@ -38,49 +38,38 @@ type pwmPin struct { // newPwmPin returns an exported and enabled pwmPin func newPwmPin(pin int) *pwmPin { - p := &pwmPin{pin: strconv.Itoa(pin)} - p.export() - p.enable("1") - return p + return &pwmPin{pin: strconv.Itoa(pin)} } // enable writes value to pwm enable path -func (p *pwmPin) enable(val string) { - _, err := writeFile(pwmEnablePath(p.pin), []byte(val)) - if err != nil { - panic(err) - } +func (p *pwmPin) enable(val string) (err error) { + _, err = writeFile(pwmEnablePath(p.pin), []byte(val)) + return } // period reads from pwm period path and returns value -func (p *pwmPin) period() string { +func (p *pwmPin) period() (period string, err error) { buf, err := readFile(pwmPeriodPath(p.pin)) if err != nil { - panic(err) + return } - return string(buf[0 : len(buf)-1]) + return string(buf[0 : len(buf)-1]), nil } // writeDuty writes value to pwm duty cycle path -func (p *pwmPin) writeDuty(duty string) { - _, err := writeFile(pwmDutyCyclePath(p.pin), []byte(duty)) - if err != nil { - panic(err) - } +func (p *pwmPin) writeDuty(duty string) (err error) { + _, err = writeFile(pwmDutyCyclePath(p.pin), []byte(duty)) + return } // export writes pin to pwm export path -func (p *pwmPin) export() { - writeFile(pwmExportPath(), []byte(p.pin)) +func (p *pwmPin) export() (err error) { + _, err = writeFile(pwmExportPath(), []byte(p.pin)) + return } // export writes pin to pwm unexport path -func (p *pwmPin) unexport() { - writeFile(pwmUnExportPath(), []byte(p.pin)) -} - -// close disables and unexports pin -func (p *pwmPin) close() { - p.enable("0") - p.unexport() +func (p *pwmPin) unexport() (err error) { + _, err = writeFile(pwmUnExportPath(), []byte(p.pin)) + return }