mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-05-08 19:29:16 +08:00
450 lines
9.9 KiB
Go
450 lines
9.9 KiB
Go
package edison
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import (
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"errors"
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"fmt"
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"os"
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"strconv"
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multierror "github.com/hashicorp/go-multierror"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/i2c"
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"gobot.io/x/gobot/sysfs"
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)
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func writeFile(path string, data []byte) (i int, err error) {
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file, err := sysfs.OpenFile(path, os.O_WRONLY, 0644)
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defer file.Close()
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if err != nil {
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return
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}
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return file.Write(data)
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}
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func readFile(path string) ([]byte, error) {
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file, err := sysfs.OpenFile(path, os.O_RDONLY, 0644)
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defer file.Close()
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if err != nil {
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return make([]byte, 0), err
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}
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buf := make([]byte, 200)
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var i = 0
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i, err = file.Read(buf)
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if i == 0 {
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return buf, err
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}
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return buf[:i], err
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}
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type mux struct {
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pin int
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value int
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}
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type sysfsPin struct {
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pin int
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resistor int
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levelShifter int
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pwmPin int
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mux []mux
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}
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// Adaptor represents a Gobot Adaptor for an Intel Edison
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type Adaptor struct {
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name string
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board string
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pinmap map[string]sysfsPin
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tristate sysfs.DigitalPin
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digitalPins map[int]sysfs.DigitalPin
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pwmPins map[int]*pwmPin
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i2cBus sysfs.I2cDevice
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connect func(e *Adaptor) (err error)
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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) (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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return
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}
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// NewAdaptor returns a new Edison Adaptor
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func NewAdaptor() *Adaptor {
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return &Adaptor{
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name: gobot.DefaultName("Edison"),
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board: "arduino",
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pinmap: arduinoPinMap,
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}
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}
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// Name returns the Adaptors name
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func (e *Adaptor) Name() string { return e.name }
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// SetName sets the Adaptors name
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func (e *Adaptor) SetName(n string) { e.name = n }
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// Board returns the Adaptors board name
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func (e *Adaptor) Board() string { return e.board }
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// SetBoard sets the Adaptors name
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func (e *Adaptor) SetBoard(n string) { e.board = n }
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// Connect initializes the Edison for use with the Arduino beakout board
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func (e *Adaptor) Connect() (err 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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switch e.Board() {
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case "sparkfun":
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e.pinmap = sparkfunPinMap
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if errs := e.sparkfunSetup(); errs != nil {
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err = multierror.Append(err, errs)
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}
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case "arduino":
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e.pinmap = arduinoPinMap
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if errs := e.arduinoSetup(); errs != nil {
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err = multierror.Append(err, errs)
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}
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case "miniboard":
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e.pinmap = miniboardPinMap
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if errs := e.miniboardSetup(); errs != nil {
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err = multierror.Append(err, errs)
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}
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default:
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errs := errors.New("Unknown board type: " + e.Board())
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err = multierror.Append(err, errs)
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}
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return
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}
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// Finalize releases all i2c devices and exported analog, digital, pwm pins.
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func (e *Adaptor) Finalize() (err error) {
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if errs := e.tristate.Unexport(); errs != nil {
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err = multierror.Append(err, errs)
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}
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for _, pin := range e.digitalPins {
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if pin != nil {
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if errs := pin.Unexport(); errs != nil {
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err = multierror.Append(err, errs)
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}
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}
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}
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for _, pin := range e.pwmPins {
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if pin != nil {
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if errs := pin.enable("0"); errs != nil {
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err = multierror.Append(err, errs)
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}
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if errs := pin.unexport(); errs != nil {
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err = multierror.Append(err, errs)
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}
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}
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}
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if e.i2cBus != nil {
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if errs := e.i2cBus.Close(); errs != nil {
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err = multierror.Append(err, errs)
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}
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}
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return
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}
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// arduinoSetup does needed setup for the Arduino compatible breakout board
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func (e *Adaptor) arduinoSetup() (err error) {
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e.tristate = sysfs.NewDigitalPin(214)
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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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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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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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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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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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err = e.tristate.Write(sysfs.HIGH)
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return
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}
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func (e *Adaptor) arduinoI2CSetup() (err error) {
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if err = e.tristate.Write(sysfs.LOW); err != nil {
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return
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}
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for _, i := range []int{14, 165, 212, 213} {
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io := sysfs.NewDigitalPin(i)
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if err = io.Export(); err != nil {
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return
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}
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if err = io.Direction(sysfs.IN); err != nil {
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return
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}
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if err = io.Unexport(); err != nil {
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return
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}
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}
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for _, i := range []int{236, 237, 204, 205} {
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io := sysfs.NewDigitalPin(i)
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if err = io.Export(); err != nil {
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return
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}
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if err = io.Direction(sysfs.OUT); err != nil {
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return
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}
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if err = io.Write(sysfs.LOW); err != nil {
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return
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}
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if err = io.Unexport(); err != nil {
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return
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}
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}
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for _, i := range []string{"28", "27"} {
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if err = changePinMode(i, "1"); err != nil {
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return
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}
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}
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if err = e.tristate.Write(sysfs.HIGH); err != nil {
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return
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}
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return
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}
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func (e *Adaptor) sparkfunSetup() (err error) {
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return
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}
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// miniboardSetup does needed setup for Edison minibpard and other compatible boards
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func (e *Adaptor) miniboardSetup() (err error) {
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return
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}
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// digitalPin returns matched digitalPin for specified values
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func (e *Adaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) {
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i := e.pinmap[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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if err = e.digitalPins[i.pin].Export(); err != nil {
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return
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}
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if i.resistor > 0 {
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e.digitalPins[i.resistor] = sysfs.NewDigitalPin(i.resistor)
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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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}
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if i.levelShifter > 0 {
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e.digitalPins[i.levelShifter] = sysfs.NewDigitalPin(i.levelShifter)
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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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}
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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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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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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 i.resistor > 0 {
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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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}
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if i.levelShifter > 0 {
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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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}
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} else if dir == "out" {
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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 i.resistor > 0 {
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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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}
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if i.levelShifter > 0 {
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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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}
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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 *Adaptor) 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 a value to the pin. Acceptable values are 1 or 0.
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func (e *Adaptor) 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 the 0-254 value to the specified pin
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func (e *Adaptor) PwmWrite(pin string, val byte) (err error) {
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sysPin := e.pinmap[pin]
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if sysPin.pwmPin != -1 {
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if e.pwmPins[sysPin.pwmPin] == nil {
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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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p, err := e.pwmPins[sysPin.pwmPin].period()
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if err != nil {
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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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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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// AnalogRead returns value from analog reading of specified pin
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func (e *Adaptor) 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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return
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}
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val, err = strconv.Atoi(string(buf[0 : len(buf)-1]))
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return val / 4, err
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}
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// I2cGetConnection returns a connection to a device on a specified bus.
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// Valid bus numbers are 1 and 6 (arduino).
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func (e *Adaptor) I2cGetConnection(address int, bus int) (connection i2c.I2cConnection, err error) {
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if !(bus == e.I2cGetDefaultBus()) {
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return nil, errors.New("Unsupported I2C bus")
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}
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if e.i2cBus == nil {
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if bus == 6 && e.board == "arduino" {
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e.arduinoI2CSetup()
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}
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e.i2cBus, err = sysfs.NewI2cDevice(fmt.Sprintf("/dev/i2c-%d", bus))
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}
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return i2c.NewI2cConnection(e.i2cBus, address), err
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}
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func (e *Adaptor) I2cGetDefaultBus() int {
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// Arduino uses bus 6
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if e.board == "arduino" {
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return 6
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} else {
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// all other default to 1
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return 1
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}
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}
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