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125 lines
3.2 KiB
Go
125 lines
3.2 KiB
Go
//go:build libusb
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// +build libusb
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package digispark
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//#cgo pkg-config: libusb
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//#include "littleWire.h"
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//#include "littleWire_servo.h"
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// typedef usb_dev_handle littleWire;
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import "C"
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import (
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"errors"
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"fmt"
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)
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type lw interface {
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digitalWrite(pin uint8, state uint8) error
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pinMode(pin uint8, mode uint8) error
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pwmInit() error
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pwmStop() error
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pwmUpdateCompare(channelA uint8, channelb uint8) error
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pwmUpdatePrescaler(value uint) error
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servoInit() error
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servoUpdateLocation(locationA uint8, locationB uint8) error
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i2cInit() error
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i2cStart(address7bit uint8, direction uint8) error
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i2cWrite(sendBuffer []byte, length int, endWithStop uint8) error
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i2cRead(readBuffer []byte, length int, endWithStop uint8) error
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i2cUpdateDelay(duration uint) error
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error() error
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}
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type littleWire struct {
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lwHandle *C.littleWire
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}
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func littleWireConnect() *littleWire {
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return &littleWire{
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lwHandle: C.littleWire_connect(),
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}
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}
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func (l *littleWire) digitalWrite(pin uint8, state uint8) error {
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C.digitalWrite(l.lwHandle, C.uchar(pin), C.uchar(state))
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return l.error()
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}
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func (l *littleWire) pinMode(pin uint8, mode uint8) error {
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C.pinMode(l.lwHandle, C.uchar(pin), C.uchar(mode))
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return l.error()
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}
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func (l *littleWire) pwmInit() error {
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C.pwm_init(l.lwHandle)
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return l.error()
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}
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func (l *littleWire) pwmStop() error {
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C.pwm_stop(l.lwHandle)
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return l.error()
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}
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func (l *littleWire) pwmUpdateCompare(channelA uint8, channelB uint8) error {
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C.pwm_updateCompare(l.lwHandle, C.uchar(channelA), C.uchar(channelB))
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return l.error()
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}
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func (l *littleWire) pwmUpdatePrescaler(value uint) error {
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C.pwm_updatePrescaler(l.lwHandle, C.uint(value))
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return l.error()
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}
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func (l *littleWire) servoInit() error {
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C.servo_init(l.lwHandle)
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return l.error()
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}
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func (l *littleWire) servoUpdateLocation(locationA uint8, locationB uint8) error {
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C.servo_updateLocation(l.lwHandle, C.uchar(locationA), C.uchar(locationB))
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return l.error()
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}
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func (l *littleWire) i2cInit() error {
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C.i2c_init(l.lwHandle)
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return l.error()
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}
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// i2cStart starts the i2c communication; set direction to 1 for reading, 0 for writing
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func (l *littleWire) i2cStart(address7bit uint8, direction uint8) error {
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if C.i2c_start(l.lwHandle, C.uchar(address7bit), C.uchar(direction)) == 1 {
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return nil
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}
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if err := l.error(); err != nil {
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return err
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}
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return fmt.Errorf("Littlewire i2cStart failed for %d in direction %d", address7bit, direction)
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}
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// i2cWrite sends byte(s) over i2c with a given length <= 4
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func (l *littleWire) i2cWrite(sendBuffer []byte, length int, endWithStop uint8) error {
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C.i2c_write(l.lwHandle, (*C.uchar)(&sendBuffer[0]), C.uchar(length), C.uchar(endWithStop))
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return l.error()
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}
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// i2cRead reads byte(s) over i2c with a given length <= 8
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func (l *littleWire) i2cRead(readBuffer []byte, length int, endWithStop uint8) error {
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C.i2c_read(l.lwHandle, (*C.uchar)(&readBuffer[0]), C.uchar(length), C.uchar(endWithStop))
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return l.error()
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}
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// i2cUpdateDelay updates i2c signal delay amount. Tune if necessary to fit your requirements
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func (l *littleWire) i2cUpdateDelay(duration uint) error {
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C.i2c_updateDelay(l.lwHandle, C.uint(duration))
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return l.error()
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}
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func (l *littleWire) error() error {
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str := C.GoString(C.littleWire_errorName())
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if str != "" {
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return errors.New(str)
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}
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return nil
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}
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