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69e299a451
According to https://github.com/CircuitCo/BeagleBone-Black/raw/master/BBB_SRM.pdf Page 105 these are the right mappings: P9_36 -> AIN5 P9_35 -> AIN6
407 lines
8.9 KiB
Go
407 lines
8.9 KiB
Go
package beaglebone
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import (
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"bufio"
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"errors"
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"fmt"
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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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"github.com/hybridgroup/gobot"
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"github.com/hybridgroup/gobot/platforms/gpio"
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"github.com/hybridgroup/gobot/platforms/i2c"
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"github.com/hybridgroup/gobot/sysfs"
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)
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var _ gobot.Adaptor = (*BeagleboneAdaptor)(nil)
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var _ gpio.DigitalReader = (*BeagleboneAdaptor)(nil)
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var _ gpio.DigitalWriter = (*BeagleboneAdaptor)(nil)
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var _ gpio.AnalogReader = (*BeagleboneAdaptor)(nil)
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var _ gpio.PwmWriter = (*BeagleboneAdaptor)(nil)
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var _ gpio.ServoWriter = (*BeagleboneAdaptor)(nil)
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var _ i2c.I2c = (*BeagleboneAdaptor)(nil)
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var slots = "/sys/devices/bone_capemgr.*"
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var ocp = "/sys/devices/ocp.*"
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var usrLed = "/sys/devices/ocp.3/gpio-leds.8/leds/beaglebone:green:"
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var glob = func(pattern string) (matches []string, err error) {
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return filepath.Glob(pattern)
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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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"P9_36": "AIN5",
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"P9_35": "AIN6",
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}
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// BeagleboneAdaptor is the gobot.Adaptor representation for the Beaglebone
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type BeagleboneAdaptor struct {
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name string
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digitalPins []sysfs.DigitalPin
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pwmPins map[string]*pwmPin
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i2cDevice sysfs.I2cDevice
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ocp string
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helper string
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slots string
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}
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// NewBeagleboneAdaptor returns a new BeagleboneAdaptor with specified name
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func NewBeagleboneAdaptor(name string) *BeagleboneAdaptor {
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b := &BeagleboneAdaptor{
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name: name,
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digitalPins: make([]sysfs.DigitalPin, 120),
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pwmPins: make(map[string]*pwmPin),
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}
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g, _ := glob(ocp)
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b.ocp = g[0]
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g, _ = glob(slots)
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b.slots = fmt.Sprintf("%v/slots", g[0])
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return b
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}
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// Name returns the BeagleboneAdaptors name
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func (b *BeagleboneAdaptor) Name() string { return b.name }
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// Connect initializes the pwm and analog dts.
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func (b *BeagleboneAdaptor) Connect() (errs []error) {
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if err := ensureSlot(b.slots, "cape-bone-iio"); err != nil {
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return []error{err}
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}
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if err := ensureSlot(b.slots, "am33xx_pwm"); err != nil {
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return []error{err}
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}
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g, err := glob(fmt.Sprintf("%v/helper.*", b.ocp))
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if err != nil {
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return []error{err}
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}
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b.helper = g[0]
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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 (b *BeagleboneAdaptor) Finalize() (errs []error) {
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for _, pin := range b.pwmPins {
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if pin != nil {
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if err := pin.release(); err != nil {
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errs = append(errs, err)
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}
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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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if err := pin.Unexport(); err != nil {
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errs = append(errs, err)
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}
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}
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}
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if b.i2cDevice != nil {
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if err := b.i2cDevice.Close(); err != nil {
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errs = append(errs, err)
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}
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}
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return
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}
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// PwmWrite writes the 0-254 value to the specified pin
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func (b *BeagleboneAdaptor) PwmWrite(pin string, val byte) (err error) {
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return b.pwmWrite(pin, val)
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}
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// ServoWrite writes the 0-180 degree val to the specified pin.
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func (b *BeagleboneAdaptor) ServoWrite(pin string, val byte) (err error) {
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i, err := b.pwmPin(pin)
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if err != nil {
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return err
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}
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period := 16666666.0
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duty := (gobot.FromScale(float64(val), 0, 180.0) * 0.115) + 0.05
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return b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
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}
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// DigitalRead returns a digital value from specified pin
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func (b *BeagleboneAdaptor) DigitalRead(pin string) (val int, err error) {
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sysfsPin, err := b.digitalPin(pin, sysfs.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 digital value to specified pin.
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// valid usr pin values are usr0, usr1, usr2 and usr3
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func (b *BeagleboneAdaptor) DigitalWrite(pin string, val byte) (err error) {
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if strings.Contains(pin, "usr") {
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fi, err := sysfs.OpenFile(usrLed+pin+"/brightness", os.O_WRONLY|os.O_APPEND, 0666)
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defer fi.Close()
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if err != nil {
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return err
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}
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_, err = fi.WriteString(strconv.Itoa(int(val)))
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return err
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}
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sysfsPin, err := b.digitalPin(pin, sysfs.OUT)
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if err != nil {
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return err
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}
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return sysfsPin.Write(int(val))
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}
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// AnalogRead returns an analog value from specified pin
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func (b *BeagleboneAdaptor) AnalogRead(pin string) (val int, err error) {
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analogPin, err := b.translateAnalogPin(pin)
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if err != nil {
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return
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}
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fi, err := sysfs.OpenFile(fmt.Sprintf("%v/%v", b.helper, analogPin), os.O_RDONLY, 0644)
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defer fi.Close()
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if err != nil {
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return
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}
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var buf = make([]byte, 1024)
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_, err = fi.Read(buf)
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if err != nil {
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return
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}
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val, _ = strconv.Atoi(strings.Split(string(buf), "\n")[0])
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return
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}
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// I2cStart starts a i2c device in specified address on i2c bus /dev/i2c-1
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func (b *BeagleboneAdaptor) I2cStart(address int) (err error) {
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if b.i2cDevice == nil {
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b.i2cDevice, err = sysfs.NewI2cDevice("/dev/i2c-1", address)
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}
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return
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}
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// I2cWrite writes data to i2c device
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func (b *BeagleboneAdaptor) I2cWrite(address int, data []byte) (err error) {
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if err = b.i2cDevice.SetAddress(address); err != nil {
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return
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}
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_, err = b.i2cDevice.Write(data)
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return
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}
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// I2cRead returns size bytes from the i2c device
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func (b *BeagleboneAdaptor) I2cRead(address int, size int) (data []byte, err error) {
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if err = b.i2cDevice.SetAddress(address); err != nil {
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return
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}
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data = make([]byte, size)
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_, err = b.i2cDevice.Read(data)
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return
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}
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// translatePin converts digital pin name to pin position
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func (b *BeagleboneAdaptor) translatePin(pin string) (value int, err error) {
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for key, value := range pins {
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if key == pin {
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return value, nil
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}
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}
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err = errors.New("Not a valid pin")
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return
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}
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// translatePwmPin converts pwm pin name to pin position
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func (b *BeagleboneAdaptor) translatePwmPin(pin string) (value string, err error) {
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for key, value := range pwmPins {
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if key == pin {
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return value, nil
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}
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}
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err = errors.New("Not a valid pin")
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return
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}
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// translateAnalogPin converts analog pin name to pin position
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func (b *BeagleboneAdaptor) translateAnalogPin(pin string) (value string, err error) {
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for key, value := range analogPins {
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if key == pin {
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return value, nil
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}
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}
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err = errors.New("Not a valid pin")
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return
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}
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// digitalPin retrieves digital pin value by name
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func (b *BeagleboneAdaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) {
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i, err := b.translatePin(pin)
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if err != nil {
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return
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}
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if b.digitalPins[i] == nil {
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b.digitalPins[i] = sysfs.NewDigitalPin(i)
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err := b.digitalPins[i].Export()
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if err != nil {
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return nil, err
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}
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}
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if err = b.digitalPins[i].Direction(dir); err != nil {
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return
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}
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return b.digitalPins[i], nil
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}
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// pwPin retrieves pwm pin value by name
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func (b *BeagleboneAdaptor) pwmPin(pin string) (i string, err error) {
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i, err = b.translatePwmPin(pin)
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if err != nil {
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return
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}
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if b.pwmPins[i] == nil {
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err = ensureSlot(b.slots, fmt.Sprintf("bone_pwm_%v", pin))
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if err != nil {
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return
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}
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b.pwmPins[i], err = newPwmPin(i, b.ocp)
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if err != nil {
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return
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}
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}
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return
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}
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// pwmWrite writes pwm value to specified pin
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func (b *BeagleboneAdaptor) pwmWrite(pin string, val byte) (err error) {
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i, err := b.pwmPin(pin)
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if err != nil {
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return
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}
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period := 500000.0
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duty := gobot.FromScale(float64(val), 0, 255.0)
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return b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
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}
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func ensureSlot(slots, item string) (err error) {
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fi, err := sysfs.OpenFile(slots, os.O_RDWR|os.O_APPEND, 0666)
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defer fi.Close()
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if err != nil {
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return
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}
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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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_, err = fi.WriteString(item)
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if err != nil {
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return err
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}
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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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return
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}
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