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dragonboard_adaptor.go
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dragonboard_adaptor.go
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package dragonboard
import (
"errors"
"fmt"
"sync"
multierror "github.com/hashicorp/go-multierror"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/i2c"
"gobot.io/x/gobot/sysfs"
)
// Adaptor represents a Gobot Adaptor for a DragonBoard 410c
type Adaptor struct {
name string
digitalPins map[int]*sysfs.DigitalPin
pinMap map[string]int
i2cBuses [3]i2c.I2cDevice
mutex *sync.Mutex
}
var fixedPins = map[string]int{
"GPIO_A": 36,
"GPIO_B": 12,
"GPIO_C": 13,
"GPIO_D": 69,
"GPIO_E": 115,
"GPIO_F": 507,
"GPIO_G": 24,
"GPIO_H": 25,
"GPIO_I": 35,
"GPIO_J": 34,
"GPIO_K": 28,
"GPIO_L": 33,
"LED_1": 21,
"LED_2": 120,
}
// NewAdaptor creates a DragonBoard 410c Adaptor
func NewAdaptor() *Adaptor {
c := &Adaptor{
name: gobot.DefaultName("DragonBoard"),
mutex: &sync.Mutex{},
}
c.setPins()
return c
}
// Name returns the name of the Adaptor
func (c *Adaptor) Name() string { return c.name }
// SetName sets the name of the Adaptor
func (c *Adaptor) SetName(n string) { c.name = n }
// Connect initializes the board
func (c *Adaptor) Connect() (err error) {
return
}
// Finalize closes connection to board and pins
func (c *Adaptor) Finalize() (err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
for _, pin := range c.digitalPins {
if pin != nil {
if e := pin.Unexport(); e != nil {
err = multierror.Append(err, e)
}
}
}
for _, bus := range c.i2cBuses {
if bus != nil {
if e := bus.Close(); e != nil {
err = multierror.Append(err, e)
}
}
}
return
}
// DigitalPin returns matched digitalPin for specified values
func (c *Adaptor) DigitalPin(pin string, dir string) (sysfsPin *sysfs.DigitalPin, err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
i, err := c.translatePin(pin)
if err != nil {
return
}
if c.digitalPins[i] == nil {
c.digitalPins[i] = sysfs.NewDigitalPin(i)
if err = c.digitalPins[i].Export(); err != nil {
return
}
}
if err = c.digitalPins[i].Direction(dir); err != nil {
return
}
return c.digitalPins[i], nil
}
// DigitalRead reads digital value to the specified pin.
// Valids pins are the GPIO_A through GPIO_L pins from the
// extender (pins 23-34 on header J8), as well as the SoC pins
// aka all the other pins, APQ GPIO_0-GPIO_122 and PM_MPP_0-4.
func (c *Adaptor) DigitalRead(pin string) (val int, err error) {
sysfsPin, err := c.DigitalPin(pin, sysfs.IN)
if err != nil {
return
}
return sysfsPin.Read()
}
// DigitalWrite writes digital value to the specified pin.
// Valids pins are the GPIO_A through GPIO_L pins from the
// extender (pins 23-34 on header J8), as well as the SoC pins
// aka all the other pins, APQ GPIO_0-GPIO_122 and PM_MPP_0-4.
func (c *Adaptor) DigitalWrite(pin string, val byte) (err error) {
sysfsPin, err := c.DigitalPin(pin, sysfs.OUT)
if err != nil {
return err
}
return sysfsPin.Write(int(val))
}
// GetConnection returns a 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 (c *Adaptor) GetConnection(address int, bus int) (connection i2c.Connection, err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
if (bus < 0) || (bus > 1) {
return nil, fmt.Errorf("Bus number %d out of range", bus)
}
if c.i2cBuses[bus] == nil {
c.i2cBuses[bus], err = sysfs.NewI2cDevice(fmt.Sprintf("/dev/i2c-%d", bus))
}
return i2c.NewConnection(c.i2cBuses[bus], address), err
}
// GetDefaultBus returns the default i2c bus for this platform
func (c *Adaptor) GetDefaultBus() int {
return 0
}
func (c *Adaptor) setPins() {
c.digitalPins = make(map[int]*sysfs.DigitalPin)
c.pinMap = fixedPins
for i := 0; i < 122; i++ {
pin := fmt.Sprintf("GPIO_%d", i)
c.pinMap[pin] = i
}
}
func (c *Adaptor) translatePin(pin string) (i int, err error) {
if val, ok := c.pinMap[pin]; ok {
i = val
} else {
err = errors.New("Not a valid pin")
}
return
}