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pwm_pin.go
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pwm_pin.go
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package beaglebone
import (
"errors"
"fmt"
"os"
"strings"
"time"
"github.com/hybridgroup/gobot/sysfs"
)
type pwmPin struct {
pinNum string
pwmDevice string
}
// newPwmPin creates a new pwm pin with specified pin number
func newPwmPin(pinNum string, ocp string) (p *pwmPin, err error) {
done := make(chan error, 0)
p = &pwmPin{
pinNum: strings.ToUpper(pinNum),
}
pwmDevice, err := glob(fmt.Sprintf("%v/pwm_test_%v.*", ocp, p.pinNum))
if err != nil {
return
}
p.pwmDevice = pwmDevice[0]
go func() {
for {
if _, err := sysfs.OpenFile(fmt.Sprintf("%v/period", p.pwmDevice), os.O_RDONLY, 0644); err == nil {
break
}
}
for {
if fi, err := sysfs.OpenFile(fmt.Sprintf("%v/duty", p.pwmDevice), os.O_WRONLY|os.O_APPEND, 0644); err == nil {
defer fi.Close()
if _, err = fi.WriteString("0"); err != nil {
done <- err
}
fi.Sync()
break
}
}
for {
if fi, err := sysfs.OpenFile(fmt.Sprintf("%v/polarity", p.pwmDevice), os.O_WRONLY|os.O_APPEND, 0644); err == nil {
defer fi.Close()
if _, err = fi.WriteString("0"); err != nil {
done <- err
}
fi.Sync()
break
}
}
for {
if fi, err := sysfs.OpenFile(fmt.Sprintf("%v/run", p.pwmDevice), os.O_WRONLY|os.O_APPEND, 0644); err == nil {
defer fi.Close()
if _, err = fi.WriteString("1"); err != nil {
done <- err
}
fi.Sync()
break
}
}
done <- nil
}()
select {
case err = <-done:
return p, err
case <-time.After(500 * time.Millisecond):
return p, errors.New("could not initialize pwm device")
}
}
// pwmWrite writes to a pwm pin with specified period and duty
func (p *pwmPin) pwmWrite(period string, duty string) (err error) {
f1, err := sysfs.OpenFile(fmt.Sprintf("%v/period", p.pwmDevice), os.O_WRONLY|os.O_APPEND, 0666)
defer f1.Close()
if err != nil {
return
}
if _, err = f1.WriteString(period); err != nil {
return
}
f2, err := sysfs.OpenFile(fmt.Sprintf("%v/duty", p.pwmDevice), os.O_WRONLY|os.O_APPEND, 0666)
defer f2.Close()
if err != nil {
return
}
_, err = f2.WriteString(duty)
return
}
// releae writes string to close a pwm pin
func (p *pwmPin) release() (err error) {
fi, err := sysfs.OpenFile(fmt.Sprintf("%v/run", p.pwmDevice), os.O_WRONLY|os.O_APPEND, 0666)
defer fi.Close()
if err != nil {
return
}
_, err = fi.WriteString("0")
return
}