embd/README.md

# embd [![Build Status](https://travis-ci.org/kidoman/embd.svg?branch=master)](https://travis-ci.org/kidoman/embd) [![GoDoc](http://godoc.org/github.com/kidoman/embd?status.png)](http://godoc.org/github.com/kidoman/embd)

A superheroic hardware abstraction layer for doing embedded programming on supported platforms like the Raspberry Pi and BeagleBone Black.

Development supported and sponsored by [**ThoughtWorks**](http://www.thoughtworks.com/)

## Getting Started

After installing Go* and setting up your [GOPATH](http://golang.org/doc/code.html#GOPATH), create your first .go file. We'll call it ```simpleblinker.go```.

```
package main

import (
	"time"

	"github.com/kidoman/embd"
	_ "github.com/kidoman/embd/host/rpi"
)

func main() {
	for {
		embd.LEDToggle(0)
		time.Sleep(250 * time.Millisecond)
	}
}
```

Then install the EMBD package (go1.2 and greater is required):

	$ go get github.com/kidoman/embd

Build the binary*:

	$ export GOOS=linux
	$ export GOARCH=arm
	$ go build simpleblinker.go

Copy the cross-compiled binary to your RaspberryPi*:

	$ scp simpleblinker pi@192.168.2.2:~

Then run the program with ```sudo```*:

	$ sudo ./simpleblinker

You will now see the green LED (next to the always on power LED) blink every 1/4 sec.

**<nowiki>*</nowiki> Notes**

* Please install the cross compilers. Mac users: ```brew install go --cross-compile-common```. [goxc](https://github.com/laher/goxc) can be a big help as well
* We are instructing the ```go``` compiler to create a binary which will run on the RaspberryPi processor
* Assuming your RaspberryPi has an IP address of ```192.168.2.2```. Substitute as necessary
* ```sudo``` (root) permission is required as we are controlling the hardware by writing to special files
* This sample program is optimized for brevity and does not clean up after itself. Click here to see the [full version](https://github.com/kidoman/embd/blob/master/samples/fullblinker.go)

## Getting Help

Join the [mailing list](https://groups.google.com/forum/#!forum/go-embd)

## Platforms Supported

* [RaspberryPi](http://www.raspberrypi.org/)
* [BeagleBone Black](http://beagleboard.org/Products/BeagleBone%20Black)
* [Intel Galileo](http://www.intel.com/content/www/us/en/do-it-yourself/galileo-maker-quark-board.html) **coming soon**
* [Radxa](http://radxa.com/) **coming soon**
* [Cubietruck](http://www.cubietruck.com/) **coming soon**
* Bring Your Own **coming soon**

## The command line tool

	go get github.com/kidoman/embd/embd

will install a command line utility ```embd``` which will allow you to quickly get started with prototyping. The binary should be available in your ```$GOPATH/bin```. However, to be able to run this on a ARM based device, you will need to build it with ```GOOS=linux``` and ```GOARCH=arm``` environment variables set.

But, since I am feeling so generous, a prebuilt/tested version is available for direct download and deployment [here](https://dl.dropboxusercontent.com/u/6727135/Binaries/embd/linux-arm/embd).

For example, if you run ```embd detect``` on a **BeagleBone Black**:

	root@beaglebone:~# embd detect

	detected host BeagleBone Black (rev 0)

Run ```embd``` without any arguments to discover the various commands supported by the utility.

## How to use the framework

Package **embd** provides a hardware abstraction layer for doing embedded programming
on supported platforms like the Raspberry Pi and BeagleBone Black. Most of the examples below
will work without change (i.e. the same binary) on all supported platforms. How cool is that?

Although samples are all present in the [samples](https://github.com/kidoman/embd/tree/master/samples) folder,
we will show a few choice examples here.

Use the **LED** driver to toggle LEDs on the BBB:

	import "github.com/kidoman/embd"
	...
	embd.InitLED()
	defer embd.CloseLED()
	...
	led, err := embd.NewLED(3)
	...
	led.Toggle()

Even shorter while prototyping:

	import "github.com/kidoman/embd"
	...
	embd.InitLED()
	defer embd.CloseLED()
	...
	embd.ToggleLED(3)

**3** is the same as **USR3** for all intents and purposes. The driver is smart enough to figure all this out.

BBB + **PWM**:

	import "github.com/kidoman/embd"
	...
	embd.InitGPIO()
	defer embd.CloseGPIO()
	...
	pwm, _ := embd.NewPWMPin("P9_14")
	defer pwm.Close()
	...
	pwm.SetDuty(1000)

Control **GPIO** pins on the RaspberryPi / BeagleBone Black:

	import "github.com/kidoman/embd"
	...
	embd.InitGPIO()
	defer embd.CloseGPIO()
	...
	embd.SetDirection(10, embd.Out)
	embd.DigitalWrite(10, embd.High)

Could also do:

	import "github.com/kidoman/embd"
	...
	embd.InitGPIO()
	defer embd.CloseGPIO()
	...
	pin, err := embd.NewDigitalPin(10)
	...
	pin.SetDirection(embd.Out)
	pin.Write(embd.High)

Or read data from the **Bosch BMP085** barometric sensor:

	import "github.com/kidoman/embd"
	import "github.com/kidoman/embd/sensor/bmp085"
	...
	bus := embd.NewI2CBus(1)
	...
	baro := bmp085.New(bus)
	...
	temp, err := baro.Temperature()
	altitude, err := baro.Altitude()

Even find out the heading from the **LSM303** magnetometer:

	import "github.com/kidoman/embd"
	import "github.com/kidoman/embd/sensor/lsm303"
	...
	bus := embd.NewI2CBus(1)
	...
	mag := lsm303.New(bus)
	...
	heading, err := mag.Heading()

The above two examples depend on **I2C** and therefore will work without change on almost all
platforms.

## Protocols Supported

* **Digital GPIO** [Documentation](http://godoc.org/github.com/kidoman/embd#DigitalPin)
* **Analog GPIO** [Documentation](http://godoc.org/github.com/kidoman/embd#AnalogPin)
* **PWM** [Documentation](http://godoc.org/github.com/kidoman/embd#PWMPin)
* **I2C** [Documentation](http://godoc.org/github.com/kidoman/embd#I2CBus)
* **LED** [Documentation](http://godoc.org/github.com/kidoman/embd#LED)

## Sensors Supported

* **TMP006** Thermopile sensor [Documentation](http://godoc.org/github.com/kidoman/embd/sensor/tmp006), [Datasheet](http://www.adafruit.com/datasheets/tmp006.pdf), [Userguide](http://www.adafruit.com/datasheets/tmp006ug.pdf)

* **BMP085** Barometric pressure sensor [Documentation](http://godoc.org/github.com/kidoman/embd/sensor/bmp085), [Datasheet](https://www.sparkfun.com/datasheets/Components/General/BST-BMP085-DS000-05.pdf)

* **BMP180** Barometric pressure sensor [Documentation](http://godoc.org/github.com/kidoman/embd/sensor/bmp180), [Datasheet](http://www.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf)

* **LSM303** Accelerometer and magnetometer [Documentation](http://godoc.org/github.com/kidoman/embd/sensor/lsm303), [Datasheet](https://www.sparkfun.com/datasheets/Sensors/Magneto/LSM303%20Datasheet.pdf)

* **L3GD20** Gyroscope [Documentation](http://godoc.org/github.com/kidoman/embd/sensor/l3gd20), [Datasheet](http://www.adafruit.com/datasheets/L3GD20.pdf)

* **US020** Ultrasonic proximity sensor [Documentation](http://godoc.org/github.com/kidoman/embd/sensor/us020), [Product Page](http://www.digibay.in/sensor/object-detection-and-proximity?product_id=239)

* **BH1750FVI** Luminosity sensor [Documentation](http://godoc.org/github.com/kidoman/embd/sensor/us020), [Datasheet](http://www.elechouse.com/elechouse/images/product/Digital%20light%20Sensor/bh1750fvi-e.pdf)

## Interfaces

* **Keypad(4x3)** [Product Page](http://www.adafruit.com/products/419#Learn)

## Controllers

* **PCA9685** 16-channel, 12-bit PWM Controller with I2C protocol [Documentation](http://godoc.org/github.com/kidoman/embd/controller/pca9685), [Datasheet](http://www.adafruit.com/datasheets/PCA9685.pdf), [Product Page](http://www.adafruit.com/products/815)

* **MCP4725** 12-bit DAC [Documentation](http://godoc.org/github.com/kidoman/embd/controller/mcp4725), [Datasheet](http://www.adafruit.com/datasheets/mcp4725.pdf), [Product Page](http://www.adafruit.com/products/935)

* **ServoBlaster** RPi PWM/PCM based PWM controller [Documentation](http://godoc.org/github.com/kidoman/embd/controller/servoblaster), [Product Page](https://github.com/richardghirst/PiBits/tree/master/ServoBlaster)

## Contributing

We look forward to your pull requests, but contributions which abide by the [guidelines](https://github.com/kidoman/embd/blob/master/CONTRIBUTING.md) will get a free beer!

File an [issue](https://github.com/kidoman/embd/issues), open a [pull request](https://github.com/kidoman/embd/pulls). We are waiting.

## About

EMBD is affectionately designed/developed by Karan Misra ([kidoman](https://github.com/kidoman)), Kunal Powar ([kunalpowar](https://github.com/kunalpowar)) and [FRIENDS](https://github.com/kidoman/embd/blob/master/AUTHORS).