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raspi_adaptor.go
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/
raspi_adaptor.go
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package raspi
import (
"errors"
"io"
"io/ioutil"
"strconv"
"strings"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/gpio"
"github.com/hybridgroup/gobot/platforms/i2c"
"github.com/hybridgroup/gobot/sysfs"
)
var _ gobot.Adaptor = (*RaspiAdaptor)(nil)
var _ gpio.DigitalReader = (*RaspiAdaptor)(nil)
var _ gpio.DigitalWriter = (*RaspiAdaptor)(nil)
var _ i2c.I2c = (*RaspiAdaptor)(nil)
var readFile = func() ([]byte, error) {
return ioutil.ReadFile("/proc/cpuinfo")
}
type RaspiAdaptor struct {
name string
revision string
i2cLocation string
digitalPins map[int]sysfs.DigitalPin
i2cDevice io.ReadWriteCloser
}
var pins = map[string]map[string]int{
"3": map[string]int{
"1": 0,
"2": 2,
"3": 2,
},
"5": map[string]int{
"1": 1,
"2": 3,
"3": 3,
},
"7": map[string]int{
"*": 4,
},
"8": map[string]int{
"*": 14,
},
"10": map[string]int{
"*": 15,
},
"11": map[string]int{
"*": 17,
},
"12": map[string]int{
"*": 18,
},
"13": map[string]int{
"1": 21,
"2": 27,
"3": 27,
},
"15": map[string]int{
"*": 22,
},
"16": map[string]int{
"*": 23,
},
"18": map[string]int{
"*": 24,
},
"19": map[string]int{
"*": 10,
},
"21": map[string]int{
"*": 9,
},
"22": map[string]int{
"*": 25,
},
"23": map[string]int{
"*": 11,
},
"24": map[string]int{
"*": 8,
},
"26": map[string]int{
"*": 7,
},
"29": map[string]int{
"3": 5,
},
"31": map[string]int{
"3": 6,
},
"32": map[string]int{
"3": 12,
},
"33": map[string]int{
"3": 13,
},
"35": map[string]int{
"3": 19,
},
"36": map[string]int{
"3": 16,
},
"37": map[string]int{
"3": 26,
},
"38": map[string]int{
"3": 20,
},
"40": map[string]int{
"3": 21,
},
}
// NewRaspiAdaptor creates a RaspiAdaptor with specified name and
func NewRaspiAdaptor(name string) *RaspiAdaptor {
r := &RaspiAdaptor{
name: name,
digitalPins: make(map[int]sysfs.DigitalPin),
}
content, _ := readFile()
for _, v := range strings.Split(string(content), "\n") {
if strings.Contains(v, "Revision") {
s := strings.Split(string(v), " ")
version, _ := strconv.ParseInt("0x"+s[len(s)-1], 0, 64)
r.i2cLocation = "/dev/i2c-1"
if version <= 3 {
r.revision = "1"
r.i2cLocation = "/dev/i2c-0"
} else if version <= 15 {
r.revision = "2"
} else {
r.revision = "3"
}
}
}
return r
}
func (r *RaspiAdaptor) Name() string { return r.name }
// Connect starts conection with board and creates
// digitalPins and pwmPins adaptor maps
func (r *RaspiAdaptor) Connect() (errs []error) {
return
}
// Finalize closes connection to board and pins
func (r *RaspiAdaptor) Finalize() (errs []error) {
for _, pin := range r.digitalPins {
if pin != nil {
if err := pin.Unexport(); err != nil {
errs = append(errs, err)
}
}
}
if r.i2cDevice != nil {
if err := r.i2cDevice.Close(); err != nil {
errs = append(errs, err)
}
}
return errs
}
// digitalPin returns matched digitalPin for specified values
func (r *RaspiAdaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) {
var i int
if val, ok := pins[pin][r.revision]; ok {
i = val
} else if val, ok := pins[pin]["*"]; ok {
i = val
} else {
err = errors.New("Not a valid pin")
return
}
if r.digitalPins[i] == nil {
r.digitalPins[i] = sysfs.NewDigitalPin(i)
if err = r.digitalPins[i].Export(); err != nil {
return
}
}
if err = r.digitalPins[i].Direction(dir); err != nil {
return
}
return r.digitalPins[i], nil
}
// DigitalRead reads digital value from pin
func (r *RaspiAdaptor) DigitalRead(pin string) (val int, err error) {
sysfsPin, err := r.digitalPin(pin, sysfs.IN)
if err != nil {
return
}
return sysfsPin.Read()
}
// DigitalWrite writes digital value to specified pin
func (r *RaspiAdaptor) DigitalWrite(pin string, val byte) (err error) {
sysfsPin, err := r.digitalPin(pin, sysfs.OUT)
if err != nil {
return err
}
return sysfsPin.Write(int(val))
}
// I2cStart starts a i2c device in specified address
func (r *RaspiAdaptor) I2cStart(address byte) (err error) {
r.i2cDevice, err = sysfs.NewI2cDevice(r.i2cLocation, address)
return err
}
// I2CWrite writes data to i2c device
func (r *RaspiAdaptor) I2cWrite(data []byte) (err error) {
_, err = r.i2cDevice.Write(data)
return
}
// I2cRead returns value from i2c device using specified size
func (r *RaspiAdaptor) I2cRead(size uint) (data []byte, err error) {
data = make([]byte, size)
_, err = r.i2cDevice.Read(data)
return
}