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304 lines
5.9 KiB
Go
304 lines
5.9 KiB
Go
package beaglebone
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import (
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"bufio"
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"fmt"
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"github.com/hybridgroup/gobot"
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"log"
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"os"
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"path/filepath"
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"strconv"
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"strings"
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)
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const (
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Slots = "/sys/devices/bone_capemgr.*"
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Ocp = "/sys/devices/ocp.*"
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I2CLocation = "/dev/i2c-1"
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UsrLed = "/sys/devices/ocp.3/gpio-leds.8/leds/beaglebone:green:"
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)
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var pins = map[string]int{
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"P8_3": 38,
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"P8_4": 39,
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"P8_5": 34,
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"P8_6": 35,
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"P8_7": 66,
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"P8_8": 67,
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"P8_9": 69,
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"P8_10": 68,
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"P8_11": 45,
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"P8_12": 44,
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"P8_13": 23,
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"P8_14": 26,
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"P8_15": 47,
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"P8_16": 46,
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"P8_17": 27,
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"P8_18": 65,
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"P8_19": 22,
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"P8_20": 63,
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"P8_21": 62,
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"P8_22": 37,
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"P8_23": 36,
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"P8_24": 33,
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"P8_25": 32,
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"P8_26": 61,
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"P8_27": 86,
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"P8_28": 88,
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"P8_29": 87,
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"P8_30": 89,
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"P8_31": 10,
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"P8_32": 11,
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"P8_33": 9,
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"P8_34": 81,
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"P8_35": 8,
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"P8_36": 80,
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"P8_37": 78,
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"P8_38": 79,
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"P8_39": 76,
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"P8_40": 77,
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"P8_41": 74,
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"P8_42": 75,
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"P8_43": 72,
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"P8_44": 73,
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"P8_45": 70,
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"P8_46": 71,
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"P9_11": 30,
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"P9_12": 60,
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"P9_13": 31,
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"P9_14": 50,
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"P9_15": 48,
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"P9_16": 51,
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"P9_17": 5,
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"P9_18": 4,
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"P9_19": 13,
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"P9_20": 12,
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"P9_21": 3,
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"P9_22": 2,
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"P9_23": 49,
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"P9_24": 15,
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"P9_25": 117,
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"P9_26": 14,
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"P9_27": 115,
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"P9_28": 113,
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"P9_29": 111,
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"P9_30": 112,
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"P9_31": 110,
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}
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var pwmPins = map[string]string{
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"P9_14": "P9_14",
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"P9_21": "P9_21",
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"P9_22": "P9_22",
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"P9_29": "P9_29",
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"P9_42": "P9_42",
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"P8_13": "P8_13",
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"P8_34": "P8_34",
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"P8_45": "P8_45",
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"P8_46": "P8_46",
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}
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var analogPins = map[string]string{
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"P9_39": "AIN0",
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"P9_40": "AIN1",
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"P9_37": "AIN2",
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"P9_38": "AIN3",
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"P9_33": "AIN4",
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"P8_36": "AIN5",
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"P8_35": "AIN6",
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}
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type BeagleboneAdaptor struct {
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gobot.Adaptor
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digitalPins []*digitalPin
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pwmPins map[string]*pwmPin
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analogPins map[string]*analogPin
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i2cDevice *i2cDevice
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connect func()
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}
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func NewBeagleboneAdaptor(name string) *BeagleboneAdaptor {
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return &BeagleboneAdaptor{
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Adaptor: *gobot.NewAdaptor(
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name,
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"BeagleboneAdaptor",
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),
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connect: func() {
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ensureSlot("cape-bone-iio")
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ensureSlot("am33xx_pwm")
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},
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}
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}
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func (b *BeagleboneAdaptor) Connect() bool {
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b.digitalPins = make([]*digitalPin, 120)
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b.pwmPins = make(map[string]*pwmPin)
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b.analogPins = make(map[string]*analogPin)
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b.connect()
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return true
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}
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func (b *BeagleboneAdaptor) Finalize() bool {
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for _, pin := range b.pwmPins {
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if pin != nil {
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pin.release()
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}
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}
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for _, pin := range b.digitalPins {
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if pin != nil {
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pin.close()
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}
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}
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if b.i2cDevice != nil {
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b.i2cDevice.i2cDevice.Close()
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}
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return true
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}
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func (b *BeagleboneAdaptor) Reconnect() bool { return true }
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func (b *BeagleboneAdaptor) Disconnect() bool { return true }
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func (b *BeagleboneAdaptor) PwmWrite(pin string, val byte) {
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b.pwmWrite(pin, val)
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}
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func (b *BeagleboneAdaptor) InitServo() {}
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func (b *BeagleboneAdaptor) ServoWrite(pin string, val byte) {
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i := b.pwmPin(pin)
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period := 20000000.0
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duty := gobot.FromScale(float64(^val), 0, 180.0)
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b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
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}
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func (b *BeagleboneAdaptor) DigitalRead(pin string) int {
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i := b.digitalPin(pin, "r")
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return b.digitalPins[i].digitalRead()
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}
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func (b *BeagleboneAdaptor) DigitalWrite(pin string, val byte) {
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if strings.Contains(pin, "usr") {
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fi, err := os.OpenFile(UsrLed+pin+"/brightness", os.O_WRONLY|os.O_APPEND, 0666)
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if err != nil {
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log.Fatal(err)
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}
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defer fi.Close()
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fi.WriteString(strconv.Itoa(int(val)))
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} else {
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i := b.digitalPin(pin, "w")
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b.digitalPins[i].digitalWrite(strconv.Itoa(int(val)))
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}
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}
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func (b *BeagleboneAdaptor) AnalogRead(pin string) int {
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i := b.analogPin(pin)
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return b.analogPins[i].analogRead()
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}
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func (b *BeagleboneAdaptor) AnalogWrite(pin string, val byte) {
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b.pwmWrite(pin, val)
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}
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func (b *BeagleboneAdaptor) I2cStart(address byte) {
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b.i2cDevice = newI2cDevice(I2CLocation, address)
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b.i2cDevice.start()
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}
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func (b *BeagleboneAdaptor) I2cWrite(data []byte) {
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b.i2cDevice.write(data)
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}
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func (b *BeagleboneAdaptor) I2cRead(size uint) []byte {
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return b.i2cDevice.read(size)
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}
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func (b *BeagleboneAdaptor) translatePin(pin string) int {
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for key, value := range pins {
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if key == pin {
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return value
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}
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}
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panic("Not a valid pin")
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}
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func (b *BeagleboneAdaptor) translatePwmPin(pin string) string {
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for key, value := range pwmPins {
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if key == pin {
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return value
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}
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}
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panic("Not a valid pin")
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}
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func (b *BeagleboneAdaptor) translateAnalogPin(pin string) string {
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for key, value := range analogPins {
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if key == pin {
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return value
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}
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}
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panic("Not a valid pin")
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}
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func (b *BeagleboneAdaptor) analogPin(pin string) string {
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i := b.translateAnalogPin(pin)
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if b.analogPins[i] == nil {
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b.analogPins[i] = newAnalogPin(i)
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}
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return i
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}
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func (b *BeagleboneAdaptor) digitalPin(pin string, mode string) int {
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i := b.translatePin(pin)
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if b.digitalPins[i] == nil || b.digitalPins[i].Mode != mode {
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b.digitalPins[i] = newDigitalPin(i, mode)
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}
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return i
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}
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func (b *BeagleboneAdaptor) pwmPin(pin string) string {
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i := b.translatePwmPin(pin)
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if b.pwmPins[i] == nil {
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b.pwmPins[i] = newPwmPin(i)
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}
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return i
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}
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func (b *BeagleboneAdaptor) pwmWrite(pin string, val byte) {
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i := b.pwmPin(pin)
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period := 500000.0
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duty := gobot.FromScale(float64(^val), 0, 255.0)
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b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
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}
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func ensureSlot(item string) {
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var err error
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var fi *os.File
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slot, err := filepath.Glob(Slots)
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if err != nil {
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panic(err)
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}
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fi, err = os.OpenFile(fmt.Sprintf("%v/slots", slot[0]), os.O_RDWR|os.O_APPEND, 0666)
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if err != nil {
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panic(err)
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}
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defer fi.Close()
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// ensure the slot is not already written into the capemanager
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// (from: https://github.com/mrmorphic/hwio/blob/master/module_bb_pwm.go#L190)
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scanner := bufio.NewScanner(fi)
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for scanner.Scan() {
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line := scanner.Text()
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if strings.Index(line, item) > 0 {
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return
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}
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}
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fi.WriteString(item)
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fi.Sync()
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scanner = bufio.NewScanner(fi)
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for scanner.Scan() {
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line := scanner.Text()
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if strings.Index(line, item) > 0 {
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return
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}
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}
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}
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