mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-04-26 13:48:49 +08:00
fixed PinMode, SetPullUp and SetPolarity, unit tests activated
This commit is contained in:
Thomas Kohler
Ron Evans
parent
37eeda80f5
commit
d43d3430d9
@ -9,9 +9,17 @@ import (
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)
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// default address for device when a2/a1/a0 pins are all tied to ground
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// please consider special handling for MCP23S17
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const mcp23017Address = 0x20
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const debug = false // toggle debugging information
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const mcp23017Debug = false // toggle debugging information
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type bitState uint8
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const (
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clear bitState = 0x00
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set = 0x01
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)
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// port contains all the registers for the device.
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type port struct {
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@ -107,6 +115,8 @@ func WithMCP23017Disslw(val uint8) func(Config) {
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}
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// WithMCP23017Haen option sets the MCP23017Driver Haen option
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// This feature is only available for MCP23S17.
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// Address pins are always enabled on the MCP23017.
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func WithMCP23017Haen(val uint8) func(Config) {
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return func(c Config) {
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d, ok := c.(*MCP23017Driver)
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@ -222,51 +232,21 @@ func (m *MCP23017Driver) Start() (err error) {
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// WriteGPIO writes a value to a gpio pin (0-7) and a port (A or B).
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func (m *MCP23017Driver) WriteGPIO(pin uint8, val uint8, portStr string) (err error) {
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selectedPort := m.getPort(portStr)
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// read current value of IODIR register
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iodir, err := m.read(selectedPort.IODIR)
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if err != nil {
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return err
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}
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// set pin as output by clearing bit
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iodirVal := clearBit(iodir, uint8(pin))
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// write IODIR register bit
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err = m.write(selectedPort.IODIR, uint8(pin), uint8(iodirVal))
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if err != nil {
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return err
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}
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// read current value of OLAT register
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olat, err := m.read(selectedPort.OLAT)
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if err != nil {
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return err
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}
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// set or clear olat value, 0 is no output, 1 is an output
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var olatVal uint8
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if val == 0 {
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olatVal = clearBit(olat, uint8(pin))
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} else {
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olatVal = setBit(olat, uint8(pin))
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}
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// write OLAT register bit
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err = m.write(selectedPort.OLAT, uint8(pin), uint8(olatVal))
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err = m.write(selectedPort.IODIR, pin, clear)
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// write value to OLAT register bit
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err = m.write(selectedPort.OLAT, pin, bitState(val))
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if err != nil {
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return err
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}
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return nil
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}
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// ReadGPIO reads a value from a given gpio pin (0-7) and a
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// port (A or B).
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// ReadGPIO reads a value from a given gpio pin (0-7) and a port (A or B).
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func (m *MCP23017Driver) ReadGPIO(pin uint8, portStr string) (val uint8, err error) {
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selectedPort := m.getPort(portStr)
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// read current value of IODIR register
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iodir, err := m.read(selectedPort.IODIR)
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if err != nil {
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return 0, err
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}
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// set pin as input by setting bit
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iodirVal := setBit(iodir, uint8(pin))
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// write IODIR register bit
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err = m.write(selectedPort.IODIR, uint8(pin), uint8(iodirVal))
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err = m.write(selectedPort.IODIR, pin, set)
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if err != nil {
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return 0, err
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}
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@ -286,7 +266,7 @@ func (m *MCP23017Driver) ReadGPIO(pin uint8, portStr string) (val uint8, err err
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// val = 0 pull up disabled.
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func (m *MCP23017Driver) SetPullUp(pin uint8, val uint8, portStr string) error {
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selectedPort := m.getPort(portStr)
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return m.write(selectedPort.GPPU, pin, val)
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return m.write(selectedPort.GPPU, pin, bitState(val))
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}
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// SetGPIOPolarity will change a given pin's polarity based on the value:
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@ -294,7 +274,7 @@ func (m *MCP23017Driver) SetPullUp(pin uint8, val uint8, portStr string) error {
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// val = 0 same logic state of the input pin.
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func (m *MCP23017Driver) SetGPIOPolarity(pin uint8, val uint8, portStr string) (err error) {
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selectedPort := m.getPort(portStr)
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return m.write(selectedPort.IPOL, pin, val)
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return m.write(selectedPort.IPOL, pin, bitState(val))
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}
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// PinMode set pin mode of a given pin based on the value:
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@ -303,42 +283,43 @@ func (m *MCP23017Driver) SetGPIOPolarity(pin uint8, val uint8, portStr string) (
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func (m *MCP23017Driver) PinMode(pin, val uint8, portStr string) (err error) {
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selectedPort := m.getPort(portStr)
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// Set IODIR register bit for given pin to an output/input.
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if err = m.write(selectedPort.IODIR, uint8(pin), val); err != nil {
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if err = m.write(selectedPort.IODIR, uint8(pin), bitState(val)); err != nil {
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return
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}
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return
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}
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// write gets the value of the passed in register, and then overwrites
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// the bit specified by the pin, with the given value.
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func (m *MCP23017Driver) write(reg uint8, pin uint8, val uint8) (err error) {
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ioval := val
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if debug {
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// write gets the value of the passed in register, and then sets the bit specified
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// by the pin to the given state.
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func (m *MCP23017Driver) write(reg uint8, pin uint8, state bitState) (err error) {
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var ioval uint8
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iodir, err := m.read(reg)
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if err != nil {
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return err
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}
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if state == set {
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ioval = setBit(iodir, pin)
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} else {
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ioval = clearBit(iodir, pin)
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}
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if mcp23017Debug {
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log.Printf("write: MCP address: 0x%X, register: 0x%X, name: %s, value: 0x%X\n",
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m.GetAddressOrDefault(mcp23017Address), reg, m.getRegName(reg), ioval)
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}
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if _, err = m.connection.Write([]uint8{reg, val}); err != nil {
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if err = m.connection.WriteByteData(reg, ioval); err != nil {
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return err
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}
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return nil
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}
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// read get the data from a given register
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// it is mainly a wrapper to create additional debug messages, when activated
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func (m *MCP23017Driver) read(reg uint8) (val uint8, err error) {
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buf := []byte{0}
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if _, err := m.connection.Write([]uint8{reg}); err != nil {
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return val, err
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}
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bytesRead, err := m.connection.Read(buf)
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val, err = m.connection.ReadByteData(reg)
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if err != nil {
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return val, err
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}
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if bytesRead != 1 {
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err = ErrNotEnoughBytes
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return
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}
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val = buf[0]
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if debug {
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if mcp23017Debug {
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log.Printf("reading: MCP address: 0x%X, register:0x%X, name: %s, value: 0x%X\n",
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m.GetAddressOrDefault(mcp23017Address), reg, m.getRegName(reg), val)
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}
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@ -277,15 +277,13 @@ func TestMCP23017DriverPinMode(t *testing.T) {
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// arrange some values
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testPort := "A"
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testPin := uint8(7)
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wantReg := uint8(0x00) // IODIRA
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returnRead := uint8(0xFF) // emulate all ports are inputs
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/*
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wantRegVal := returnRead & 0x7F // bit 7 reset, all other untouched
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if bitState == 1 {
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returnRead = 0x00 // emulate all ports are outputs
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wantRegVal = returnRead | 0x80 // bit 7 set, all other untouched
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}
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*/
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wantReg := uint8(0x00) // IODIRA
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returnRead := uint8(0xFF) // emulate all ports are inputs
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wantRegVal := returnRead & 0x7F // bit 7 reset, all other untouched
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if bitState == 1 {
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returnRead = 0x00 // emulate all ports are outputs
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wantRegVal = returnRead | 0x80 // bit 7 set, all other untouched
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}
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// arrange reads
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numCallsRead := 0
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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@ -300,9 +298,7 @@ func TestMCP23017DriverPinMode(t *testing.T) {
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gobottest.Assert(t, len(adaptor.written), 3)
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gobottest.Assert(t, adaptor.written[0], wantReg)
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gobottest.Assert(t, adaptor.written[1], wantReg)
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/* TODO this line cause an exception now after switch to #569
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gobottest.Assert(t, adaptor.written[2], wantRegVal)
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*/
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gobottest.Assert(t, numCallsRead, 1)
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}
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}
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@ -335,14 +331,12 @@ func TestMCP23017DriverSetPullUp(t *testing.T) {
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testPort := "A"
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wantReg := uint8(0x0C) // GPPUA
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testPin := uint8(5)
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returnRead := uint8(0xFF) // emulate all I's with pull up
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/*
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wantSetVal := returnRead & 0xDF // bit 5 cleared, all other unchanged
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if bitState == 1 {
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returnRead = uint8(0x00) // emulate all I's without pull up
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wantSetVal = returnRead | 0x20 // bit 5 set, all other unchanged
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}
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*/
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returnRead := uint8(0xFF) // emulate all I's with pull up
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wantSetVal := returnRead & 0xDF // bit 5 cleared, all other unchanged
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if bitState == 1 {
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returnRead = uint8(0x00) // emulate all I's without pull up
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wantSetVal = returnRead | 0x20 // bit 5 set, all other unchanged
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}
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// arrange reads
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numCallsRead := 0
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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@ -357,9 +351,7 @@ func TestMCP23017DriverSetPullUp(t *testing.T) {
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gobottest.Assert(t, len(adaptor.written), 3)
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gobottest.Assert(t, adaptor.written[0], wantReg)
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gobottest.Assert(t, adaptor.written[1], wantReg)
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/* TODO this line cause an exception now after switch to #569
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gobottest.Assert(t, adaptor.written[2], wantSetVal)
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*/
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gobottest.Assert(t, numCallsRead, 1)
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}
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}
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@ -392,14 +384,12 @@ func TestMCP23017DriverSetGPIOPolarity(t *testing.T) {
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testPort := "B"
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wantReg := uint8(0x03) // IPOLB
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testPin := uint8(6)
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returnRead := uint8(0xFF) // emulate all I's negotiated
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/*
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wantSetVal := returnRead & 0xBF // bit 6 cleared, all other unchanged
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if bitState == 1 {
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returnRead = uint8(0x00) // emulate all I's not negotiated
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wantSetVal = returnRead | 0x40 // bit 6 set, all other unchanged
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}
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*/
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returnRead := uint8(0xFF) // emulate all I's negotiated
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wantSetVal := returnRead & 0xBF // bit 6 cleared, all other unchanged
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if bitState == 1 {
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returnRead = uint8(0x00) // emulate all I's not negotiated
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wantSetVal = returnRead | 0x40 // bit 6 set, all other unchanged
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}
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// arrange reads
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numCallsRead := 0
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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@ -414,9 +404,7 @@ func TestMCP23017DriverSetGPIOPolarity(t *testing.T) {
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gobottest.Assert(t, len(adaptor.written), 3)
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gobottest.Assert(t, adaptor.written[0], wantReg)
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gobottest.Assert(t, adaptor.written[1], wantReg)
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/* TODO this line cause an exception now after switch to #569
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gobottest.Assert(t, adaptor.written[2], wantSetVal)
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*/
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gobottest.Assert(t, numCallsRead, 1)
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}
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}
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@ -510,10 +498,6 @@ func TestMCP23017Driver_read(t *testing.T) {
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// read
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mcp, adaptor = initTestMCP23017DriverWithStubbedAdaptor(0)
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port = mcp.getPort("A")
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_, err = mcp.read(port.IODIR)
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gobottest.Assert(t, err, ErrNotEnoughBytes)
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mcp, adaptor = initTestMCP23017DriverWithStubbedAdaptor(0)
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port = mcp.getPort("A")
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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copy(b, []byte{255})
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return 1, nil
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