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package edison
import (
"errors"
"fmt"
"os"
"strconv"
"sync"
multierror "github.com/hashicorp/go-multierror"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/i2c"
"gobot.io/x/gobot/sysfs"
)
type mux struct {
pin int
value int
}
type sysfsPin struct {
pin int
resistor int
levelShifter int
pwmPin int
mux []mux
}
// Adaptor represents a Gobot Adaptor for an Intel Edison
type Adaptor struct {
name string
board string
pinmap map[string]sysfsPin
tristate *sysfs.DigitalPin
digitalPins map[int]*sysfs.DigitalPin
pwmPins map[int]*sysfs.PWMPin
i2cBus i2c.I2cDevice
connect func(e *Adaptor) (err error)
writeFile func(path string, data []byte) (i int, err error)
readFile func(path string) ([]byte, error)
mutex *sync.Mutex
}
// NewAdaptor returns a new Edison Adaptor
func NewAdaptor() *Adaptor {
return &Adaptor{
name: gobot.DefaultName("Edison"),
pinmap: arduinoPinMap,
writeFile: writeFile,
readFile: readFile,
mutex: &sync.Mutex{},
}
}
// Name returns the Adaptors name
func (e *Adaptor) Name() string { return e.name }
// SetName sets the Adaptors name
func (e *Adaptor) SetName(n string) { e.name = n }
// Board returns the Adaptors board name
func (e *Adaptor) Board() string { return e.board }
// SetBoard sets the Adaptors name
func (e *Adaptor) SetBoard(n string) { e.board = n }
// Connect initializes the Edison for use with the Arduino beakout board
func (e *Adaptor) Connect() (err error) {
e.digitalPins = make(map[int]*sysfs.DigitalPin)
e.pwmPins = make(map[int]*sysfs.PWMPin)
if e.Board() == "arduino" || e.Board() == "" {
aerr := e.checkForArduino()
if aerr != nil {
return aerr
}
e.board = "arduino"
}
switch e.Board() {
case "sparkfun":
e.pinmap = sparkfunPinMap
e.sparkfunSetup()
case "arduino":
e.pinmap = arduinoPinMap
if errs := e.arduinoSetup(); errs != nil {
err = multierror.Append(err, errs)
}
case "miniboard":
e.pinmap = miniboardPinMap
e.miniboardSetup()
default:
errs := errors.New("Unknown board type: " + e.Board())
err = multierror.Append(err, errs)
}
return
}
// Finalize releases all i2c devices and exported analog, digital, pwm pins.
func (e *Adaptor) Finalize() (err error) {
if errs := e.tristate.Unexport(); errs != nil {
err = multierror.Append(err, errs)
}
for _, pin := range e.digitalPins {
if pin != nil {
if errs := pin.Unexport(); errs != nil {
err = multierror.Append(err, errs)
}
}
}
for _, pin := range e.pwmPins {
if pin != nil {
if errs := pin.Enable(false); errs != nil {
err = multierror.Append(err, errs)
}
if errs := pin.Unexport(); errs != nil {
err = multierror.Append(err, errs)
}
}
}
if e.i2cBus != nil {
if errs := e.i2cBus.Close(); errs != nil {
err = multierror.Append(err, errs)
}
}
return
}
// DigitalRead reads digital value from pin
func (e *Adaptor) DigitalRead(pin string) (i int, err error) {
sysfsPin, err := e.DigitalPin(pin, "in")
if err != nil {
return
}
return sysfsPin.Read()
}
// DigitalWrite writes a value to the pin. Acceptable values are 1 or 0.
func (e *Adaptor) DigitalWrite(pin string, val byte) (err error) {
sysfsPin, err := e.DigitalPin(pin, "out")
if err != nil {
return
}
return sysfsPin.Write(int(val))
}
// PwmWrite writes the 0-254 value to the specified pin
func (e *Adaptor) PwmWrite(pin string, val byte) (err error) {
pwmPin, err := e.PWMPin(pin)
if err != nil {
return
}
period, err := pwmPin.Period()
if err != nil {
return err
}
duty := gobot.FromScale(float64(val), 0, 255.0)
return pwmPin.SetDutyCycle(uint32(float64(period) * duty))
}
// AnalogRead returns value from analog reading of specified pin
func (e *Adaptor) AnalogRead(pin string) (val int, err error) {
buf, err := e.readFile(
"/sys/bus/iio/devices/iio:device1/in_voltage" + pin + "_raw",
)
if err != nil {
return
}
val, err = strconv.Atoi(string(buf[0 : len(buf)-1]))
return val / 4, err
}
// GetConnection returns an i2c connection to a device on a specified bus.
// Valid bus numbers are 1 and 6 (arduino).
func (e *Adaptor) GetConnection(address int, bus int) (connection i2c.Connection, err error) {
e.mutex.Lock()
defer e.mutex.Unlock()
if !(bus == e.GetDefaultBus()) {
return nil, errors.New("Unsupported I2C bus")
}
if e.i2cBus == nil {
if bus == 6 && e.board == "arduino" {
e.arduinoI2CSetup()
}
e.i2cBus, err = sysfs.NewI2cDevice(fmt.Sprintf("/dev/i2c-%d", bus))
}
return i2c.NewConnection(e.i2cBus, address), err
}
// GetDefaultBus returns the default i2c bus for this platform
func (e *Adaptor) GetDefaultBus() int {
// Arduino uses bus 6
if e.board == "arduino" {
return 6
}
return 1
}
// DigitalPin returns matched sysfs.DigitalPin for specified values
func (e *Adaptor) DigitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPinner, err error) {
e.mutex.Lock()
defer e.mutex.Unlock()
i := e.pinmap[pin]
if e.digitalPins[i.pin] == nil {
e.digitalPins[i.pin], err = e.newExportedPin(i.pin)
if err != nil {
return
}
if i.resistor > 0 {
e.digitalPins[i.resistor], err = e.newExportedPin(i.resistor)
if err != nil {
return
}
}
if i.levelShifter > 0 {
e.digitalPins[i.levelShifter], err = e.newExportedPin(i.levelShifter)
if err != nil {
return
}
}
if len(i.mux) > 0 {
for _, mux := range i.mux {
e.digitalPins[mux.pin], err = e.newExportedPin(mux.pin)
if err != nil {
return
}
err = pinWrite(e.digitalPins[mux.pin], sysfs.OUT, mux.value)
if err != nil {
return
}
}
}
}
if dir == "in" {
if err = e.digitalPins[i.pin].Direction(sysfs.IN); err != nil {
return
}
if i.resistor > 0 {
err = pinWrite(e.digitalPins[i.resistor], sysfs.OUT, sysfs.LOW)
if err != nil {
return
}
}
if i.levelShifter > 0 {
err = pinWrite(e.digitalPins[i.levelShifter], sysfs.OUT, sysfs.LOW)
if err != nil {
return
}
}
} else if dir == "out" {
if err = e.digitalPins[i.pin].Direction(sysfs.OUT); err != nil {
return
}
if i.resistor > 0 {
if err = e.digitalPins[i.resistor].Direction(sysfs.IN); err != nil {
return
}
}
if i.levelShifter > 0 {
err = pinWrite(e.digitalPins[i.levelShifter], sysfs.OUT, sysfs.HIGH)
if err != nil {
return
}
}
}
return e.digitalPins[i.pin], nil
}
// PWMPin returns a sysfs.PWMPin
func (e *Adaptor) PWMPin(pin string) (sysfsPin sysfs.PWMPinner, err error) {
sysPin := e.pinmap[pin]
if sysPin.pwmPin != -1 {
if e.pwmPins[sysPin.pwmPin] == nil {
if err = e.DigitalWrite(pin, 1); err != nil {
return
}
if err = changePinMode(e, strconv.Itoa(int(sysPin.pin)), "1"); err != nil {
return
}
e.mutex.Lock()
defer e.mutex.Unlock()
e.pwmPins[sysPin.pwmPin] = sysfs.NewPWMPin(sysPin.pwmPin)
if err = e.pwmPins[sysPin.pwmPin].Export(); err != nil {
return
}
if err = e.pwmPins[sysPin.pwmPin].Enable(true); err != nil {
return
}
}
sysfsPin = e.pwmPins[sysPin.pwmPin]
return
}
err = errors.New("Not a PWM pin")
return
}
// TODO: also check to see if device labels for
// /sys/class/gpio/gpiochip{200,216,232,248}/label == "pcal9555a"
func (e *Adaptor) checkForArduino() error {
if err := e.exportTristatePin(); err != nil {
return err
}
return nil
}
func (e *Adaptor) newExportedPin(pin int) (sysfsPin *sysfs.DigitalPin, err error) {
sysfsPin = sysfs.NewDigitalPin(pin)
err = sysfsPin.Export()
return
}
func (e *Adaptor) exportTristatePin() (err error) {
e.tristate, err = e.newExportedPin(214)
return
}
// arduinoSetup does needed setup for the Arduino compatible breakout board
func (e *Adaptor) arduinoSetup() (err error) {
if err = e.exportTristatePin(); err != nil {
return err
}
err = pinWrite(e.tristate, sysfs.OUT, sysfs.LOW)
if err != nil {
return
}
for _, i := range []int{263, 262} {
if err = e.newDigitalPin(i, sysfs.HIGH); err != nil {
return err
}
}
for _, i := range []int{240, 241, 242, 243} {
if err = e.newDigitalPin(i, sysfs.LOW); err != nil {
return err
}
}
for _, i := range []string{"111", "115", "114", "109"} {
if err = changePinMode(e, i, "1"); err != nil {
return err
}
}
for _, i := range []string{"131", "129", "40"} {
if err = changePinMode(e, i, "0"); err != nil {
return err
}
}
err = e.tristate.Write(sysfs.HIGH)
return
}
func (e *Adaptor) arduinoI2CSetup() (err error) {
if err = e.tristate.Write(sysfs.LOW); err != nil {
return
}
for _, i := range []int{14, 165, 212, 213} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return
}
if err = io.Direction(sysfs.IN); err != nil {
return
}
if err = io.Unexport(); err != nil {
return
}
}
for _, i := range []int{236, 237, 204, 205} {
if err = e.newDigitalPin(i, sysfs.LOW); err != nil {
return err
}
}
for _, i := range []string{"28", "27"} {
if err = changePinMode(e, i, "1"); err != nil {
return
}
}
if err = e.tristate.Write(sysfs.HIGH); err != nil {
return
}
return
}
func (e *Adaptor) sparkfunSetup() (err error) {
return
}
// miniboardSetup does needed setup for Edison minibpard and other compatible boards
func (e *Adaptor) miniboardSetup() (err error) {
return
}
func (e *Adaptor) newDigitalPin(i int, level int) (err error) {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return
}
if err = io.Direction(sysfs.OUT); err != nil {
return
}
if err = io.Write(level); err != nil {
return
}
err = io.Unexport()
return
}
func writeFile(path string, data []byte) (i int, err error) {
file, err := sysfs.OpenFile(path, os.O_WRONLY, 0644)
defer file.Close()
if err != nil {
return
}
return file.Write(data)
}
func readFile(path string) ([]byte, error) {
file, err := sysfs.OpenFile(path, os.O_RDONLY, 0644)
defer file.Close()
if err != nil {
return make([]byte, 0), err
}
buf := make([]byte, 200)
var i int
i, err = file.Read(buf)
if i == 0 {
return buf, err
}
return buf[:i], err
}
// changePinMode writes pin mode to current_pinmux file
func changePinMode(a *Adaptor, pin, mode string) (err error) {
_, err = a.writeFile(
"/sys/kernel/debug/gpio_debug/gpio"+pin+"/current_pinmux",
[]byte("mode"+mode),
)
return
}
// pinWrite sets Direction and writes level for a specific pin
func pinWrite(pin *sysfs.DigitalPin, dir string, level int) (err error) {
if err = pin.Direction(dir); err != nil {
return
}
err = pin.Write(level)
return
}
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