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Bugfix: raspi pwm cache

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as addendum to #890
This commit is contained in:
Thomas Kohler 2022-12-05 19:11:17 +01:00 committed by GitHub
parent 9cbc7acf94
commit e3f2ece7ab
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 118 additions and 76 deletions
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168
platforms/raspi/raspi_adaptor.go
View File

@ -25,7 +25,7 @@ type Adaptor struct {
sys *system.Accesser
revision string
*adaptors.DigitalPinsAdaptor
pwmPins map[int]gobot.PWMPinner
pwmPins map[string]gobot.PWMPinner
i2cBuses [2]i2c.I2cDevice
spiDevices [2]spi.Connection
spiDefaultMaxSpeed int64
@ -35,60 +35,64 @@ type Adaptor struct {
// NewAdaptor creates a Raspi Adaptor
func NewAdaptor() *Adaptor {
sys := system.NewAccesser("cdev")
r := &Adaptor{
c := &Adaptor{
name: gobot.DefaultName("RaspberryPi"),
sys: sys,
pwmPins: make(map[int]gobot.PWMPinner),
PiBlasterPeriod: 10000000,
}
r.DigitalPinsAdaptor = adaptors.NewDigitalPinsAdaptor(sys, r.getPinTranslatorFunction())
return r
c.DigitalPinsAdaptor = adaptors.NewDigitalPinsAdaptor(sys, c.getPinTranslatorFunction())
return c
}
// Name returns the Adaptor's name
func (r *Adaptor) Name() string {
r.mutex.Lock()
defer r.mutex.Unlock()
func (c *Adaptor) Name() string {
c.mutex.Lock()
defer c.mutex.Unlock()
return r.name
return c.name
}
// SetName sets the Adaptor's name
func (r *Adaptor) SetName(n string) {
r.mutex.Lock()
defer r.mutex.Unlock()
func (c *Adaptor) SetName(n string) {
c.mutex.Lock()
defer c.mutex.Unlock()
r.name = n
c.name = n
}
// Connect create new connection to board and pins.
func (r *Adaptor) Connect() error {
err := r.DigitalPinsAdaptor.Connect()
return err
func (c *Adaptor) Connect() error {
c.mutex.Lock()
defer c.mutex.Unlock()
c.pwmPins = make(map[string]gobot.PWMPinner)
return c.DigitalPinsAdaptor.Connect()
}
// Finalize closes connection to board and pins
func (r *Adaptor) Finalize() error {
r.mutex.Lock()
defer r.mutex.Unlock()
func (c *Adaptor) Finalize() error {
c.mutex.Lock()
defer c.mutex.Unlock()
err := r.DigitalPinsAdaptor.Finalize()
err := c.DigitalPinsAdaptor.Finalize()
for _, pin := range r.pwmPins {
for _, pin := range c.pwmPins {
if pin != nil {
if perr := pin.Unexport(); err != nil {
err = multierror.Append(err, perr)
}
}
}
for _, bus := range r.i2cBuses {
c.pwmPins = nil
for _, bus := range c.i2cBuses {
if bus != nil {
if e := bus.Close(); e != nil {
err = multierror.Append(err, e)
}
}
}
for _, dev := range r.spiDevices {
for _, dev := range c.spiDevices {
if dev != nil {
if e := dev.Close(); e != nil {
err = multierror.Append(err, e)
@ -100,30 +104,30 @@ func (r *Adaptor) Finalize() error {
// GetConnection returns an i2c connection to a device on a specified bus.
// Valid bus number is [0..1] which corresponds to /dev/i2c-0 through /dev/i2c-1.
func (r *Adaptor) GetConnection(address int, bus int) (connection i2c.Connection, err error) {
func (c *Adaptor) GetConnection(address int, bus int) (connection i2c.Connection, err error) {
if (bus < 0) || (bus > 1) {
return nil, fmt.Errorf("Bus number %d out of range", bus)
}
device, err := r.getI2cBus(bus)
device, err := c.getI2cBus(bus)
return i2c.NewConnection(device, address), err
}
func (r *Adaptor) getI2cBus(bus int) (_ i2c.I2cDevice, err error) {
r.mutex.Lock()
defer r.mutex.Unlock()
func (c *Adaptor) getI2cBus(bus int) (_ i2c.I2cDevice, err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
if r.i2cBuses[bus] == nil {
r.i2cBuses[bus], err = r.sys.NewI2cDevice(fmt.Sprintf("/dev/i2c-%d", bus))
if c.i2cBuses[bus] == nil {
c.i2cBuses[bus], err = c.sys.NewI2cDevice(fmt.Sprintf("/dev/i2c-%d", bus))
}
return r.i2cBuses[bus], err
return c.i2cBuses[bus], err
}
// GetDefaultBus returns the default i2c bus for this platform
func (r *Adaptor) GetDefaultBus() int {
rev := r.readRevision()
func (c *Adaptor) GetDefaultBus() int {
rev := c.readRevision()
if rev == "2" || rev == "3" {
return 1
}
@ -132,90 +136,85 @@ func (r *Adaptor) GetDefaultBus() int {
// GetSpiConnection returns an spi connection to a device on a specified bus.
// Valid bus number is [0..1] which corresponds to /dev/spidev0.0 through /dev/spidev0.1.
func (r *Adaptor) GetSpiConnection(busNum, chipNum, mode, bits int, maxSpeed int64) (connection spi.Connection, err error) {
r.mutex.Lock()
defer r.mutex.Unlock()
func (c *Adaptor) GetSpiConnection(busNum, chipNum, mode, bits int, maxSpeed int64) (connection spi.Connection, err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
if (busNum < 0) || (busNum > 1) {
return nil, fmt.Errorf("Bus number %d out of range", busNum)
}
if r.spiDevices[busNum] == nil {
r.spiDevices[busNum], err = spi.GetSpiConnection(busNum, chipNum, mode, bits, maxSpeed)
if c.spiDevices[busNum] == nil {
c.spiDevices[busNum], err = spi.GetSpiConnection(busNum, chipNum, mode, bits, maxSpeed)
}
return r.spiDevices[busNum], err
return c.spiDevices[busNum], err
}
// GetSpiDefaultBus returns the default spi bus for this platform.
func (r *Adaptor) GetSpiDefaultBus() int {
func (c *Adaptor) GetSpiDefaultBus() int {
return 0
}
// GetSpiDefaultChip returns the default spi chip for this platform.
func (r *Adaptor) GetSpiDefaultChip() int {
func (c *Adaptor) GetSpiDefaultChip() int {
return 0
}
// GetSpiDefaultMode returns the default spi mode for this platform.
func (r *Adaptor) GetSpiDefaultMode() int {
func (c *Adaptor) GetSpiDefaultMode() int {
return 0
}
// GetSpiDefaultBits returns the default spi number of bits for this platform.
func (r *Adaptor) GetSpiDefaultBits() int {
func (c *Adaptor) GetSpiDefaultBits() int {
return 8
}
// GetSpiDefaultMaxSpeed returns the default spi bus for this platform.
func (r *Adaptor) GetSpiDefaultMaxSpeed() int64 {
func (c *Adaptor) GetSpiDefaultMaxSpeed() int64 {
return 500000
}
// PWMPin returns a raspi.PWMPin which provides the gobot.PWMPinner interface
func (r *Adaptor) PWMPin(pin string) (gobot.PWMPinner, error) {
tf := r.getPinTranslatorFunction()
_, i, err := tf(pin)
if err != nil {
return nil, err
}
func (c *Adaptor) PWMPin(id string) (gobot.PWMPinner, error) {
c.mutex.Lock()
defer c.mutex.Unlock()
r.mutex.Lock()
defer r.mutex.Unlock()
if r.pwmPins[i] == nil {
r.pwmPins[i] = NewPWMPin(r.sys, "/dev/pi-blaster", strconv.Itoa(i))
r.pwmPins[i].SetPeriod(r.PiBlasterPeriod)
}
return r.pwmPins[i], nil
return c.pwmPin(id)
}
// PwmWrite writes a PWM signal to the specified pin
func (r *Adaptor) PwmWrite(pin string, val byte) (err error) {
sysPin, err := r.PWMPin(pin)
func (c *Adaptor) PwmWrite(pin string, val byte) (err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
sysPin, err := c.pwmPin(pin)
if err != nil {
return err
}
duty := uint32(gobot.FromScale(float64(val), 0, 255) * float64(r.PiBlasterPeriod))
duty := uint32(gobot.FromScale(float64(val), 0, 255) * float64(c.PiBlasterPeriod))
return sysPin.SetDutyCycle(duty)
}
// ServoWrite writes a servo signal to the specified pin
func (r *Adaptor) ServoWrite(pin string, angle byte) (err error) {
sysPin, err := r.PWMPin(pin)
func (c *Adaptor) ServoWrite(pin string, angle byte) (err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
sysPin, err := c.pwmPin(pin)
if err != nil {
return err
}
duty := uint32(gobot.FromScale(float64(angle), 0, 180) * float64(r.PiBlasterPeriod))
duty := uint32(gobot.FromScale(float64(angle), 0, 180) * float64(c.PiBlasterPeriod))
return sysPin.SetDutyCycle(duty)
}
func (r *Adaptor) getPinTranslatorFunction() func(string) (string, int, error) {
func (c *Adaptor) getPinTranslatorFunction() func(string) (string, int, error) {
return func(pin string) (chip string, line int, err error) {
if val, ok := pins[pin][r.readRevision()]; ok {
if val, ok := pins[pin][c.readRevision()]; ok {
line = val
} else if val, ok := pins[pin]["*"]; ok {
line = val
@ -229,27 +228,44 @@ func (r *Adaptor) getPinTranslatorFunction() func(string) (string, int, error) {
}
}
func (r *Adaptor) readRevision() string {
if r.revision == "" {
r.revision = "0"
content, err := r.sys.ReadFile(infoFile)
func (c *Adaptor) readRevision() string {
if c.revision == "" {
c.revision = "0"
content, err := c.sys.ReadFile(infoFile)
if err != nil {
return r.revision
return c.revision
}
for _, v := range strings.Split(string(content), "\n") {
if strings.Contains(v, "Revision") {
s := strings.Split(string(v), " ")
version, _ := strconv.ParseInt("0x"+s[len(s)-1], 0, 64)
if version <= 3 {
r.revision = "1"
c.revision = "1"
} else if version <= 15 {
r.revision = "2"
c.revision = "2"
} else {
r.revision = "3"
c.revision = "3"
}
}
}
}
return r.revision
return c.revision
}
func (c *Adaptor) pwmPin(id string) (gobot.PWMPinner, error) {
pin := c.pwmPins[id]
if pin == nil {
tf := c.getPinTranslatorFunction()
_, i, err := tf(id)
if err != nil {
return nil, err
}
pin = NewPWMPin(c.sys, "/dev/pi-blaster", strconv.Itoa(i))
pin.SetPeriod(c.PiBlasterPeriod)
c.pwmPins[id] = pin
}
return pin, nil
}

26
platforms/raspi/raspi_adaptor_test.go
View File

@ -231,6 +231,9 @@ func TestDigitalPinConcurrency(t *testing.T) {
func TestPWMPin(t *testing.T) {
a := NewAdaptor()
if err := a.Connect(); err != nil {
panic(err)
}
gobottest.Assert(t, len(a.pwmPins), 0)
@ -251,3 +254,26 @@ func TestPWMPin(t *testing.T) {
gobottest.Assert(t, len(a.pwmPins), 2)
gobottest.Refute(t, firstSysPin, otherSysPin)
}
func TestPWMPinsReConnect(t *testing.T) {
// arrange
a := NewAdaptor()
a.revision = "3"
if err := a.Connect(); err != nil {
panic(err)
}
_, err := a.PWMPin("35")
gobottest.Assert(t, err, nil)
gobottest.Assert(t, len(a.pwmPins), 1)
gobottest.Assert(t, a.Finalize(), nil)
// act
err = a.Connect()
// assert
gobottest.Assert(t, err, nil)
gobottest.Assert(t, len(a.pwmPins), 0)
_, err = a.PWMPin("35")
_, err = a.PWMPin("36")
gobottest.Assert(t, err, nil)
gobottest.Assert(t, len(a.pwmPins), 2)
}