forked from hybridgroup/gobot
/
raspi_adaptor.go
304 lines (254 loc) · 7.18 KB
/
raspi_adaptor.go
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
package raspi
import (
"errors"
"fmt"
"io/ioutil"
"strconv"
"strings"
"sync"
multierror "github.com/hashicorp/go-multierror"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/i2c"
"gobot.io/x/gobot/drivers/spi"
"gobot.io/x/gobot/sysfs"
)
var readFile = func() ([]byte, error) {
return ioutil.ReadFile("/proc/cpuinfo")
}
// Adaptor is the Gobot Adaptor for the Raspberry Pi
type Adaptor struct {
mutex *sync.Mutex
name string
revision string
digitalPins map[int]*sysfs.DigitalPin
pwmPins map[int]*PWMPin
i2cDefaultBus int
i2cBuses [2]i2c.I2cDevice
spiDefaultBus int
spiDefaultChip int
spiDevices [2]spi.Connection
spiDefaultMode int
spiDefaultMaxSpeed int64
PiBlasterPeriod uint32
}
// NewAdaptor creates a Raspi Adaptor
func NewAdaptor() *Adaptor {
r := &Adaptor{
mutex: &sync.Mutex{},
name: gobot.DefaultName("RaspberryPi"),
digitalPins: make(map[int]*sysfs.DigitalPin),
pwmPins: make(map[int]*PWMPin),
PiBlasterPeriod: 10000000,
}
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.i2cDefaultBus = 1
r.spiDefaultBus = 0
r.spiDefaultChip = 0
r.spiDefaultMode = 0
r.spiDefaultMaxSpeed = 500000
if version <= 3 {
r.revision = "1"
r.i2cDefaultBus = 0
} else if version <= 15 {
r.revision = "2"
} else {
r.revision = "3"
}
}
}
return r
}
// Name returns the Adaptor's name
func (r *Adaptor) Name() string {
r.mutex.Lock()
defer r.mutex.Unlock()
return r.name
}
// SetName sets the Adaptor's name
func (r *Adaptor) SetName(n string) {
r.mutex.Lock()
defer r.mutex.Unlock()
r.name = n
}
// Connect starts connection with board and creates
// digitalPins and pwmPins adaptor maps
func (r *Adaptor) Connect() (err error) {
return
}
// Finalize closes connection to board and pins
func (r *Adaptor) Finalize() (err error) {
r.mutex.Lock()
defer r.mutex.Unlock()
for _, pin := range r.digitalPins {
if pin != nil {
if perr := pin.Unexport(); err != nil {
err = multierror.Append(err, perr)
}
}
}
for _, pin := range r.pwmPins {
if pin != nil {
if perr := pin.Unexport(); err != nil {
err = multierror.Append(err, perr)
}
}
}
for _, bus := range r.i2cBuses {
if bus != nil {
if e := bus.Close(); e != nil {
err = multierror.Append(err, e)
}
}
}
for _, dev := range r.spiDevices {
if dev != nil {
if e := dev.Close(); e != nil {
err = multierror.Append(err, e)
}
}
}
return
}
// DigitalPin returns matched digitalPin for specified values
func (r *Adaptor) DigitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPinner, err error) {
i, err := r.translatePin(pin)
if err != nil {
return
}
currentPin, err := r.getExportedDigitalPin(i, dir)
if err != nil {
return
}
if err = currentPin.Direction(dir); err != nil {
return
}
return currentPin, nil
}
func (r *Adaptor) getExportedDigitalPin(translatedPin int, dir string) (sysfsPin sysfs.DigitalPinner, err error) {
r.mutex.Lock()
defer r.mutex.Unlock()
if r.digitalPins[translatedPin] == nil {
r.digitalPins[translatedPin] = sysfs.NewDigitalPin(translatedPin)
if err = r.digitalPins[translatedPin].Export(); err != nil {
return
}
}
return r.digitalPins[translatedPin], nil
}
// DigitalRead reads digital value from pin
func (r *Adaptor) 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 *Adaptor) DigitalWrite(pin string, val byte) (err error) {
sysfsPin, err := r.DigitalPin(pin, sysfs.OUT)
if err != nil {
return err
}
return sysfsPin.Write(int(val))
}
// GetConnection returns an i2c connection to a device on a specified bus.
// Valid bus number is [0..1] which corresponds to /dev/i2c-0 through /dev/i2c-1.
func (r *Adaptor) GetConnection(address int, bus int) (connection i2c.Connection, err error) {
if (bus < 0) || (bus > 1) {
return nil, fmt.Errorf("Bus number %d out of range", bus)
}
device, err := r.getI2cBus(bus)
return i2c.NewConnection(device, address), err
}
func (r *Adaptor) getI2cBus(bus int) (_ i2c.I2cDevice, err error) {
r.mutex.Lock()
defer r.mutex.Unlock()
if r.i2cBuses[bus] == nil {
r.i2cBuses[bus], err = sysfs.NewI2cDevice(fmt.Sprintf("/dev/i2c-%d", bus))
}
return r.i2cBuses[bus], err
}
// GetDefaultBus returns the default i2c bus for this platform
func (r *Adaptor) GetDefaultBus() int {
return r.i2cDefaultBus
}
// GetSpiConnection returns an spi connection to a device on a specified bus.
// Valid bus number is [0..1] which corresponds to /dev/spidev0.0 through /dev/spidev0.1.
func (r *Adaptor) GetSpiConnection(busNum, chipNum, mode, bits int, maxSpeed int64) (connection spi.Connection, err error) {
r.mutex.Lock()
defer r.mutex.Unlock()
if (busNum < 0) || (busNum > 1) {
return nil, fmt.Errorf("Bus number %d out of range", busNum)
}
if r.spiDevices[busNum] == nil {
r.spiDevices[busNum], err = spi.GetSpiConnection(busNum, chipNum, mode, bits, maxSpeed)
}
return r.spiDevices[busNum], err
}
// GetSpiDefaultBus returns the default spi bus for this platform.
func (r *Adaptor) GetSpiDefaultBus() int {
return r.spiDefaultBus
}
// GetSpiDefaultChip returns the default spi chip for this platform.
func (r *Adaptor) GetSpiDefaultChip() int {
return r.spiDefaultChip
}
// GetSpiDefaultMode returns the default spi mode for this platform.
func (r *Adaptor) GetSpiDefaultMode() int {
return r.spiDefaultMode
}
// GetSpiDefaultBits returns the default spi number of bits for this platform.
func (r *Adaptor) GetSpiDefaultBits() int {
return 8
}
// GetSpiDefaultMaxSpeed returns the default spi bus for this platform.
func (r *Adaptor) GetSpiDefaultMaxSpeed() int64 {
return r.spiDefaultMaxSpeed
}
// PWMPin returns a raspi.PWMPin which provides the sysfs.PWMPinner interface
func (r *Adaptor) PWMPin(pin string) (raspiPWMPin sysfs.PWMPinner, err error) {
i, err := r.translatePin(pin)
if err != nil {
return
}
r.mutex.Lock()
defer r.mutex.Unlock()
if r.pwmPins[i] == nil {
r.pwmPins[i] = NewPWMPin(strconv.Itoa(i))
r.pwmPins[i].SetPeriod(r.PiBlasterPeriod)
}
return r.pwmPins[i], nil
}
// PwmWrite writes a PWM signal to the specified pin
func (r *Adaptor) PwmWrite(pin string, val byte) (err error) {
sysfsPin, err := r.PWMPin(pin)
if err != nil {
return err
}
duty := uint32(gobot.FromScale(float64(val), 0, 255) * float64(r.PiBlasterPeriod))
return sysfsPin.SetDutyCycle(duty)
}
// ServoWrite writes a servo signal to the specified pin
func (r *Adaptor) ServoWrite(pin string, angle byte) (err error) {
sysfsPin, err := r.PWMPin(pin)
if err != nil {
return err
}
duty := uint32(gobot.FromScale(float64(angle), 0, 180) * float64(r.PiBlasterPeriod))
return sysfsPin.SetDutyCycle(duty)
}
func (r *Adaptor) translatePin(pin string) (i int, err error) {
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
}
return
}