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raspi_adaptor.go
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/
raspi_adaptor.go
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package raspi
import (
"errors"
"fmt"
"io/ioutil"
"os"
"strconv"
"strings"
multierror "github.com/hashicorp/go-multierror"
"gobot.io/x/gobot"
"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 {
name string
revision string
i2cLocation string
digitalPins map[int]sysfs.DigitalPin
pwmPins []int
i2cDevice sysfs.I2cDevice
}
// NewAdaptor creates a Raspi Adaptor
func NewAdaptor() *Adaptor {
r := &Adaptor{
name: "RaspberryPi",
digitalPins: make(map[int]sysfs.DigitalPin),
pwmPins: []int{},
}
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
}
// Name returns the Adaptor's name
func (r *Adaptor) Name() string { return r.name }
// SetName sets the Adaptor's name
func (r *Adaptor) SetName(n string) { 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) {
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 perr := r.piBlaster(fmt.Sprintf("release %v\n", pin)); err != nil {
err = multierror.Append(err, perr)
}
}
if r.i2cDevice != nil {
if perr := r.i2cDevice.Close(); err != nil {
err = multierror.Append(err, perr)
}
}
return
}
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
}
func (r *Adaptor) pwmPin(pin string) (i int, err error) {
i, err = r.translatePin(pin)
if err != nil {
return
}
newPin := true
for _, pin := range r.pwmPins {
if i == pin {
newPin = false
return
}
}
if newPin {
r.pwmPins = append(r.pwmPins, i)
}
return
}
// digitalPin returns matched digitalPin for specified values
func (r *Adaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) {
i, err := r.translatePin(pin)
if err != nil {
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 *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))
}
// I2cStart starts a i2c device in specified address
func (r *Adaptor) I2cStart(address int) (err error) {
if r.i2cDevice == nil {
r.i2cDevice, err = sysfs.NewI2cDevice(r.i2cLocation, address)
}
return err
}
// I2CWrite writes data to i2c device
func (r *Adaptor) I2cWrite(address int, data []byte) (err error) {
if err = r.i2cDevice.SetAddress(address); err != nil {
return
}
_, err = r.i2cDevice.Write(data)
return
}
// I2cRead returns value from i2c device using specified size
func (r *Adaptor) I2cRead(address int, size int) (data []byte, err error) {
if err = r.i2cDevice.SetAddress(address); err != nil {
return
}
data = make([]byte, size)
_, err = r.i2cDevice.Read(data)
return
}
// 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
}
return r.piBlaster(fmt.Sprintf("%v=%v\n", sysfsPin, gobot.FromScale(float64(val), 0, 255)))
}
// 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
}
val := (gobot.ToScale(gobot.FromScale(float64(angle), 0, 180), 0, 200) / 1000.0) + 0.05
return r.piBlaster(fmt.Sprintf("%v=%v\n", sysfsPin, val))
}
func (r *Adaptor) piBlaster(data string) (err error) {
fi, err := sysfs.OpenFile("/dev/pi-blaster", os.O_WRONLY|os.O_APPEND, 0644)
defer fi.Close()
if err != nil {
return err
}
_, err = fi.WriteString(data)
return
}