forked from hybridgroup/gobot
/
adaptor.go
288 lines (246 loc) · 6.67 KB
/
adaptor.go
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package up2
import (
"errors"
"fmt"
"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"
)
type sysfsPin struct {
pin int
pwmPin int
}
// Adaptor represents a Gobot Adaptor for the Upboard UP2
type Adaptor struct {
name string
pinmap map[string]sysfsPin
digitalPins map[int]*sysfs.DigitalPin
pwmPins map[int]*sysfs.PWMPin
i2cBuses [2]i2c.I2cDevice
mutex *sync.Mutex
spiDefaultBus int
spiBuses [2]spi.SPIDevice
spiDefaultMode int
spiDefaultMaxSpeed int64
}
// NewAdaptor creates a UP2 Adaptor
func NewAdaptor() *Adaptor {
c := &Adaptor{
name: gobot.DefaultName("UP2"),
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 nil
}
// 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 _, pin := range c.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)
}
}
}
for _, bus := range c.i2cBuses {
if bus != nil {
if e := bus.Close(); e != nil {
err = multierror.Append(err, e)
}
}
}
for _, bus := range c.spiBuses {
if bus != nil {
if e := bus.Close(); e != nil {
err = multierror.Append(err, e)
}
}
}
return
}
// DigitalRead reads digital value from the specified pin.
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.
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))
}
// PwmWrite writes a PWM signal to the specified pin
func (c *Adaptor) PwmWrite(pin string, val byte) (err error) {
pwmPin, err := c.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))
}
// TODO: take into account the actual period setting, not just assume default
const pwmPeriod = 10000000
// ServoWrite writes a servo signal to the specified pin
func (c *Adaptor) ServoWrite(pin string, angle byte) (err error) {
pwmPin, err := c.PWMPin(pin)
if err != nil {
return
}
// 0.5 ms => -90
// 1.5 ms => 0
// 2.0 ms => 90
const minDuty = 100 * 0.0005 * pwmPeriod
const maxDuty = 100 * 0.0020 * pwmPeriod
duty := uint32(gobot.ToScale(gobot.FromScale(float64(angle), 0, 180), minDuty, maxDuty))
return pwmPin.SetDutyCycle(duty)
}
// DigitalPin returns matched digitalPin for specified values
func (c *Adaptor) DigitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPinner, 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
}
// PWMPin returns matched pwmPin for specified pin number
func (c *Adaptor) PWMPin(pin string) (sysfsPin sysfs.PWMPinner, err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
i, err := c.translatePwmPin(pin)
if err != nil {
return nil, err
}
if i == -1 {
return nil, errors.New("Not a PWM pin")
}
if c.pwmPins[i] == nil {
newPin := sysfs.NewPWMPin(i)
if err = newPin.Export(); err != nil {
return
}
// Make sure pwm is disabled when setting polarity
if err = newPin.Enable(false); err != nil {
return
}
if err = newPin.InvertPolarity(false); err != nil {
return
}
if err = newPin.Enable(true); err != nil {
return
}
if err = newPin.SetPeriod(10000000); err != nil {
return
}
c.pwmPins[i] = newPin
}
sysfsPin = c.pwmPins[i]
return
}
// 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
}
// 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 (c *Adaptor) GetSpiConnection(busNum, mode int, maxSpeed int64) (connection spi.Connection, err error) {
c.mutex.Lock()
defer c.mutex.Unlock()
if (busNum < 0) || (busNum > 1) {
return nil, fmt.Errorf("Bus number %d out of range", busNum)
}
if c.spiBuses[busNum] == nil {
c.spiBuses[busNum], err = spi.GetSpiBus(busNum, mode, maxSpeed)
}
return spi.NewConnection(c.spiBuses[busNum]), err
}
// GetSpiDefaultBus returns the default spi bus for this platform.
func (c *Adaptor) GetSpiDefaultBus() int {
return c.spiDefaultBus
}
// GetSpiDefaultMode returns the default spi mode for this platform.
func (c *Adaptor) GetSpiDefaultMode() int {
return c.spiDefaultMode
}
// GetSpiDefaultMaxSpeed returns the default spi bus for this platform.
func (c *Adaptor) GetSpiDefaultMaxSpeed() int64 {
return c.spiDefaultMaxSpeed
}
func (c *Adaptor) setPins() {
c.digitalPins = make(map[int]*sysfs.DigitalPin)
c.pwmPins = make(map[int]*sysfs.PWMPin)
c.pinmap = fixedPins
c.spiDefaultBus = 0
c.spiDefaultMode = 0
c.spiDefaultMaxSpeed = 500000
}
func (c *Adaptor) translatePin(pin string) (i int, err error) {
if val, ok := c.pinmap[pin]; ok {
i = val.pin
} else {
err = errors.New("Not a valid pin")
}
return
}
func (c *Adaptor) translatePwmPin(pin string) (i int, err error) {
if val, ok := c.pinmap[pin]; ok {
i = val.pwmPin
} else {
err = errors.New("Not a valid pin")
}
return
}