go-embedded/embd
go-embedded/embd
1
0
Fork 0
mirror of https://github.com/kidoman/embd synced 2024-12-22 04:40:04 +01:00
Code Issues Releases Wiki Activity

simplify package structure

Browse Source
This commit is contained in:
Karan Misra 2014-03-03 00:51:23 +05:30
parent 3cae4064dc
commit 36f2c0486d
41 changed files with 736 additions and 885 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

71
bbb.go Normal file
View File

@ -0,0 +1,71 @@
package embd
func init() {
Describers[HostBBB] = func(rev int) *Descriptor {
return &Descriptor{
GPIO: func() GPIO {
return newGPIODriver(bbbPins)
},
I2C: newI2CDriver,
}
}
}
var bbbPins = PinMap{
&PinDesc{66, []string{"P8_07", "GPIO_66", "TIMER4"}, CapNormal | CapGPMC},
&PinDesc{67, []string{"P8_08", "GPIO_67", "TIMER7"}, CapNormal | CapGPMC},
&PinDesc{69, []string{"P8_09", "GPIO_69", "TIMER5"}, CapNormal | CapGPMC},
&PinDesc{68, []string{"P8_10", "GPIO_68", "TIMER6"}, CapNormal | CapGPMC},
&PinDesc{45, []string{"P8_11", "GPIO_45"}, CapNormal | CapGPMC},
&PinDesc{44, []string{"P8_12", "GPIO_44"}, CapNormal | CapGPMC},
&PinDesc{23, []string{"P8_13", "GPIO_23", "EHRPWM2B"}, CapNormal | CapGPMC},
&PinDesc{26, []string{"P8_14", "GPIO_26"}, CapNormal | CapGPMC},
&PinDesc{47, []string{"P8_15", "GPIO_47"}, CapNormal | CapGPMC},
&PinDesc{46, []string{"P8_16", "GPIO_46"}, CapNormal | CapGPMC},
&PinDesc{27, []string{"P8_17", "GPIO_27"}, CapNormal | CapGPMC},
&PinDesc{65, []string{"P8_18", "GPIO_65"}, CapNormal | CapGPMC},
&PinDesc{22, []string{"P8_19", "GPIO_22", "EHRPWM2A"}, CapNormal | CapGPMC},
&PinDesc{61, []string{"P8_26", "GPIO_61"}, CapNormal | CapGPMC},
&PinDesc{86, []string{"P8_27", "GPIO_86"}, CapNormal | CapLCD},
&PinDesc{88, []string{"P8_28", "GPIO_88"}, CapNormal | CapLCD},
&PinDesc{87, []string{"P8_29", "GPIO_87"}, CapNormal | CapLCD},
&PinDesc{89, []string{"P8_30", "GPIO_89"}, CapNormal | CapLCD},
&PinDesc{10, []string{"P8_31", "GPIO_10", "UART5_CTSN"}, CapNormal | CapLCD},
&PinDesc{11, []string{"P8_32", "GPIO_11", "UART5_RTSN"}, CapNormal | CapLCD},
&PinDesc{9, []string{"P8_33", "GPIO_9 ", "UART4_RTSN"}, CapNormal | CapLCD},
&PinDesc{81, []string{"P8_34", "GPIO_81", "UART3_RTSN"}, CapNormal | CapLCD},
&PinDesc{8, []string{"P8_35", "GPIO_8 ", "UART4_CTSN"}, CapNormal | CapLCD},
&PinDesc{80, []string{"P8_36", "GPIO_80", "UART3_CTSN"}, CapNormal | CapLCD},
&PinDesc{78, []string{"P8_37", "GPIO_78", "UART5_TXD"}, CapNormal | CapLCD},
&PinDesc{79, []string{"P8_38", "GPIO_79", "UART5_RXD"}, CapNormal | CapLCD},
&PinDesc{76, []string{"P8_39", "GPIO_76"}, CapNormal | CapLCD},
&PinDesc{77, []string{"P8_40", "GPIO_77"}, CapNormal | CapLCD},
&PinDesc{74, []string{"P8_41", "GPIO_74"}, CapNormal | CapLCD},
&PinDesc{75, []string{"P8_42", "GPIO_75"}, CapNormal | CapLCD},
&PinDesc{72, []string{"P8_43", "GPIO_72"}, CapNormal | CapLCD},
&PinDesc{73, []string{"P8_44", "GPIO_73"}, CapNormal | CapLCD},
&PinDesc{70, []string{"P8_45", "GPIO_70"}, CapNormal | CapLCD},
&PinDesc{71, []string{"P8_46", "GPIO_71"}, CapNormal | CapLCD},
&PinDesc{30, []string{"P9_11", "GPIO_30", "UART4_RXD"}, CapNormal | CapUART},
&PinDesc{60, []string{"P9_12", "GPIO_60", "GPIO1_28"}, CapNormal},
&PinDesc{31, []string{"P9_13", "GPIO_31", "UART4_TXD"}, CapNormal | CapUART},
&PinDesc{50, []string{"P9_14", "GPIO_50", "EHRPWM1A"}, CapNormal | CapPWM},
&PinDesc{48, []string{"P9_15", "GPIO_48", "GPIO1_16"}, CapNormal},
&PinDesc{51, []string{"P9_16", "GPIO_51", "EHRPWM1B"}, CapNormal | CapPWM},
&PinDesc{5, []string{"P9_17", "GPIO_5", "I2C1_SCL"}, CapNormal | CapI2C},
&PinDesc{4, []string{"P9_18", "GPIO_4", "I2C1_SDA"}, CapNormal | CapI2C},
&PinDesc{13, []string{"P9_19", "GPIO_13", "I2C2_SCL"}, CapNormal | CapI2C},
&PinDesc{12, []string{"P9_20", "GPIO_12", "I2C2_SDA"}, CapNormal | CapI2C},
&PinDesc{3, []string{"P9_21", "GPIO_3", "UART2_TXD"}, CapNormal | CapUART},
&PinDesc{2, []string{"P9_22", "GPIO_2", "UART2_RXD"}, CapNormal | CapUART},
&PinDesc{49, []string{"P9_23", "GPIO_49", "GPIO1_17"}, CapNormal},
&PinDesc{15, []string{"P9_24", "GPIO_15", "UART1_TXD"}, CapNormal | CapUART},
&PinDesc{117, []string{"P9_25", "GPIO_117", "GPIO3_21"}, CapNormal},
&PinDesc{14, []string{"P9_26", "GPIO_14", "UART1_RXD"}, CapNormal | CapUART},
&PinDesc{115, []string{"P9_27", "GPIO_115", "GPIO3_19"}, CapNormal},
&PinDesc{113, []string{"P9_28", "GPIO_113", "SPI1_CS0"}, CapNormal | CapSPI},
&PinDesc{111, []string{"P9_29", "GPIO_111", "SPI1_D0"}, CapNormal | CapSPI},
&PinDesc{112, []string{"P9_30", "GPIO_112", "SPI1_D1"}, CapNormal | CapSPI},
&PinDesc{110, []string{"P9_31", "GPIO_110", "SPI1_SCLK"}, CapNormal | CapSPI},
}

7
controller/mcp4725/mcp4725.go
View File

@ -4,8 +4,7 @@ package mcp4725
import (
"log"
"sync"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
)
const (
@ -20,7 +19,7 @@ const (
// MCP4725 represents a MCP4725 DAC.
type MCP4725 struct {
// Bus to communicate over.
Bus i2c.Bus
Bus embd.I2CBus
// Addr of the sensor.
Addr byte
@ -32,7 +31,7 @@ type MCP4725 struct {
}
// New creates a new MCP4725 sensor.
func New(bus i2c.Bus, addr byte) *MCP4725 {
func New(bus embd.I2CBus, addr byte) *MCP4725 {
return &MCP4725{
Bus: bus,
Addr: addr,

7
controller/pca9685/pca9685.go
View File

@ -6,8 +6,7 @@ import (
"math"
"sync"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
"github.com/kidoman/embd/util"
)
@ -28,7 +27,7 @@ const (
// PCA9685 represents a PCA9685 PWM generator.
type PCA9685 struct {
Bus i2c.Bus
Bus embd.I2CBus
Addr byte
Freq int
@ -39,7 +38,7 @@ type PCA9685 struct {
}
// New creates a new PCA9685 interface.
func New(bus i2c.Bus, addr byte) *PCA9685 {
func New(bus embd.I2CBus, addr byte) *PCA9685 {
return &PCA9685{
Bus: bus,
Addr: addr,

10
host/descriptor.go → descriptor.go
View File

@ -1,18 +1,18 @@
package host
package embd
import "fmt"
type Descriptor struct {
GPIO func() interface{}
I2C func() interface{}
GPIO func() GPIO
I2C func() I2C
}
type Describer func(rev int) *Descriptor
var Describers = map[Host]Describer{}
func Describe() (*Descriptor, error) {
host, rev, err := Detect()
func DescribeHost() (*Descriptor, error) {
host, rev, err := DetectHost()
if err != nil {
return nil, err
}

26
host/detect.go → detect.go
View File

@ -1,4 +1,4 @@
package host
package embd
import (
"fmt"
@ -10,11 +10,11 @@ import (
type Host int
const (
Null Host = iota
RPi
BBB
CubieTruck
Galileo
HostNull Host = iota
HostRPi
HostBBB
HostCubieTruck
HostGalileo
)
func execOutput(name string, arg ...string) (output string, err error) {
@ -60,20 +60,20 @@ func kernelVersion() (major, minor, patch int, err error) {
return parseVersion(output)
}
func Detect() (Host, int, error) {
func DetectHost() (Host, int, error) {
major, minor, patch, err := kernelVersion()
if err != nil {
return Null, 0, err
return HostNull, 0, err
}
if major < 3 || (major == 3 && minor < 8) {
err = fmt.Errorf("embd: linux kernel versions lower than 3.8 are not supported. you have %v.%v.%v", major, minor, patch)
return Null, 0, err
return HostNull, 0, err
}
node, err := nodeName()
if err != nil {
return Null, 0, err
return HostNull, 0, err
}
var host Host
@ -81,12 +81,12 @@ func Detect() (Host, int, error) {
switch node {
case "raspberrypi":
host = RPi
host = HostRPi
case "beaglebone":
host = BBB
host = HostBBB
default:
err = fmt.Errorf("embd: your host %q is not supported at this moment. please request support at https://github.com/kidoman/embd/issues", node)
return Null, 0, err
return HostNull, 0, err
}
return host, rev, nil

2
host/detect_test.go → detect_test.go
View File

@ -1,4 +1,4 @@
package host
package embd
import "testing"

126
driver/linux/gpio/digitalpin.go
View File

@ -1,126 +0,0 @@
package gpio
import (
"errors"
"fmt"
"os"
"path"
"github.com/kidoman/embd/gpio"
)
type digitalPin struct {
n int
dir *os.File
val *os.File
activeLow *os.File
edge *os.File
}
func newDigitalPin(n int) (*digitalPin, error) {
p := &digitalPin{n: n}
if err := p.init(); err != nil {
return nil, err
}
return p, nil
}
func (p *digitalPin) init() error {
var err error
if p.dir, err = p.directionFile(); err != nil {
return err
}
if p.val, err = p.valueFile(); err != nil {
return err
}
if p.activeLow, err = p.activeLowFile(); err != nil {
return err
}
return nil
}
func (p *digitalPin) basePath() string {
return fmt.Sprintf("/sys/class/gpio/gpio%v", p.n)
}
func (p *digitalPin) openFile(path string) (*os.File, error) {
return os.OpenFile(path, os.O_RDWR, os.ModeExclusive)
}
func (p *digitalPin) directionFile() (*os.File, error) {
return p.openFile(path.Join(p.basePath(), "direction"))
}
func (p *digitalPin) valueFile() (*os.File, error) {
return p.openFile(path.Join(p.basePath(), "value"))
}
func (p *digitalPin) activeLowFile() (*os.File, error) {
return p.openFile(path.Join(p.basePath(), "active_low"))
}
func (p *digitalPin) SetDirection(dir gpio.Direction) error {
str := "in"
if dir == gpio.Out {
str = "out"
}
_, err := p.dir.WriteString(str)
return err
}
func (p *digitalPin) Read() (int, error) {
buf := make([]byte, 1)
if _, err := p.val.Read(buf); err != nil {
return 0, err
}
var val int
if buf[0] == '1' {
val = 1
}
return val, nil
}
func (p *digitalPin) Write(val int) error {
str := "0"
if val == gpio.High {
str = "1"
}
_, err := p.val.WriteString(str)
return err
}
func (p *digitalPin) ActiveLow(b bool) error {
str := "0"
if b {
str = "1"
}
_, err := p.activeLow.WriteString(str)
return err
}
func (p *digitalPin) PullUp() error {
return errors.New("not implemented")
}
func (p *digitalPin) PullDown() error {
return errors.New("not implemented")
}
func (p *digitalPin) Close() error {
if err := p.dir.Close(); err != nil {
return err
}
if err := p.val.Close(); err != nil {
return err
}
if err := p.activeLow.Close(); err != nil {
return err
}
if err := p.edge.Close(); err != nil {
return err
}
return nil
}

154
driver/linux/gpio/gpio.go
View File

@ -1,154 +0,0 @@
package gpio
import (
"fmt"
"os"
"strconv"
"github.com/golang/glog"
"github.com/kidoman/embd/gpio"
)
const (
Normal int = 1 << iota
I2C
UART
SPI
GPMC
LCD
PWM
)
type PinDesc struct {
N int
IDs []string
Caps int
}
type PinMap []*PinDesc
func (m PinMap) Lookup(k interface{}) (*PinDesc, bool) {
switch key := k.(type) {
case int:
for i := range m {
if m[i].N == key {
return m[i], true
}
}
case string:
for i := range m {
for j := range m[i].IDs {
if m[i].IDs[j] == key {
return m[i], true
}
}
}
}
return nil, false
}
type GPIO struct {
exporter, unexporter *os.File
initialized bool
pinMap PinMap
initializedPins map[int]*digitalPin
}
func New(pinMap PinMap) *GPIO {
return &GPIO{
pinMap: pinMap,
initializedPins: map[int]*digitalPin{},
}
}
func (io *GPIO) init() error {
if io.initialized {
return nil
}
var err error
if io.exporter, err = os.OpenFile("/sys/class/gpio/export", os.O_WRONLY, os.ModeExclusive); err != nil {
return err
}
if io.unexporter, err = os.OpenFile("/sys/class/gpio/unexport", os.O_WRONLY, os.ModeExclusive); err != nil {
return err
}
io.initialized = true
return nil
}
func (io *GPIO) lookupKey(key interface{}) (*PinDesc, bool) {
return io.pinMap.Lookup(key)
}
func (io *GPIO) export(n int) error {
_, err := io.exporter.WriteString(strconv.Itoa(n))
return err
}
func (io *GPIO) unexport(n int) error {
_, err := io.unexporter.WriteString(strconv.Itoa(n))
return err
}
func (io *GPIO) digitalPin(key interface{}) (*digitalPin, error) {
pd, found := io.lookupKey(key)
if !found {
err := fmt.Errorf("gpio: could not find pin matching %q", key)
return nil, err
}
n := pd.N
p, ok := io.initializedPins[n]
if ok {
return p, nil
}
if pd.Caps&Normal == 0 {
err := fmt.Errorf("gpio: sorry, pin %q cannot be used for GPIO", key)
return nil, err
}
if pd.Caps != Normal {
glog.Infof("gpio: pin %q is not a dedicated GPIO pin. please refer to the system reference manual for more details", key)
}
if err := io.export(n); err != nil {
return nil, err
}
p, err := newDigitalPin(n)
if err != nil {
io.unexport(n)
return nil, err
}
io.initializedPins[n] = p
return p, nil
}
func (io *GPIO) DigitalPin(key interface{}) (gpio.DigitalPin, error) {
if err := io.init(); err != nil {
return nil, err
}
return io.digitalPin(key)
}
func (io *GPIO) Close() error {
for n := range io.initializedPins {
io.unexport(n)
}
io.exporter.Close()
io.unexporter.Close()
return nil
}

43
driver/linux/i2c/i2c.go
View File

@ -1,43 +0,0 @@
// Package i2c enables gophers i2c speaking ability.
package i2c
import (
"sync"
"github.com/kidoman/embd/i2c"
)
type I2C struct {
busMap map[byte]*bus
busMapLock sync.Mutex
}
func New() *I2C {
return &I2C{
busMap: make(map[byte]*bus),
}
}
func (i *I2C) Bus(l byte) i2c.Bus {
i.busMapLock.Lock()
defer i.busMapLock.Unlock()
var b *bus
if b = i.busMap[l]; b == nil {
b = &bus{l: l}
i.busMap[l] = b
}
return b
}
func (i *I2C) Close() error {
for _, b := range i.busMap {
b.Close()
delete(i.busMap, b.l)
}
return nil
}

20
gpio/gpio.go → gpio.go
View File

@ -1,6 +1,4 @@
package gpio
import "github.com/kidoman/embd/host"
package embd
type Direction int
@ -27,31 +25,31 @@ type DigitalPin interface {
Close() error
}
type gpio interface {
type GPIO interface {
DigitalPin(key interface{}) (DigitalPin, error)
Close() error
}
var instance gpio
var gpioInstance GPIO
func Open() error {
desc, err := host.Describe()
func InitGPIO() error {
desc, err := DescribeHost()
if err != nil {
return err
}
instance = desc.GPIO().(gpio)
gpioInstance = desc.GPIO()
return nil
}
func Close() error {
return instance.Close()
func CloseGPIO() error {
return gpioInstance.Close()
}
func NewDigitalPin(key interface{}) (DigitalPin, error) {
return instance.DigitalPin(key)
return gpioInstance.DigitalPin(key)
}
func DigitalWrite(key interface{}, val int) error {

271
gpiogeneric.go Normal file
View File

@ -0,0 +1,271 @@
package embd
import (
"errors"
"fmt"
"os"
"path"
"strconv"
"github.com/golang/glog"
)
const (
CapNormal int = 1 << iota
CapI2C
CapUART
CapSPI
CapGPMC
CapLCD
CapPWM
)
type PinDesc struct {
N int
IDs []string
Caps int
}
type PinMap []*PinDesc
func (m PinMap) Lookup(k interface{}) (*PinDesc, bool) {
switch key := k.(type) {
case int:
for i := range m {
if m[i].N == key {
return m[i], true
}
}
case string:
for i := range m {
for j := range m[i].IDs {
if m[i].IDs[j] == key {
return m[i], true
}
}
}
}
return nil, false
}
type gpioDriver struct {
exporter, unexporter *os.File
initialized bool
pinMap PinMap
initializedPins map[int]*digitalPin
}
func newGPIODriver(pinMap PinMap) *gpioDriver {
return &gpioDriver{
pinMap: pinMap,
initializedPins: map[int]*digitalPin{},
}
}
func (io *gpioDriver) init() error {
if io.initialized {
return nil
}
var err error
if io.exporter, err = os.OpenFile("/sys/class/gpio/export", os.O_WRONLY, os.ModeExclusive); err != nil {
return err
}
if io.unexporter, err = os.OpenFile("/sys/class/gpio/unexport", os.O_WRONLY, os.ModeExclusive); err != nil {
return err
}
io.initialized = true
return nil
}
func (io *gpioDriver) lookupKey(key interface{}) (*PinDesc, bool) {
return io.pinMap.Lookup(key)
}
func (io *gpioDriver) export(n int) error {
_, err := io.exporter.WriteString(strconv.Itoa(n))
return err
}
func (io *gpioDriver) unexport(n int) error {
_, err := io.unexporter.WriteString(strconv.Itoa(n))
return err
}
func (io *gpioDriver) digitalPin(key interface{}) (*digitalPin, error) {
pd, found := io.lookupKey(key)
if !found {
err := fmt.Errorf("gpio: could not find pin matching %q", key)
return nil, err
}
n := pd.N
p, ok := io.initializedPins[n]
if ok {
return p, nil
}
if pd.Caps&CapNormal == 0 {
err := fmt.Errorf("gpio: sorry, pin %q cannot be used for GPIO", key)
return nil, err
}
if pd.Caps != CapNormal {
glog.Infof("gpio: pin %q is not a dedicated GPIO pin. please refer to the system reference manual for more details", key)
}
if err := io.export(n); err != nil {
return nil, err
}
p, err := newDigitalPin(n)
if err != nil {
io.unexport(n)
return nil, err
}
io.initializedPins[n] = p
return p, nil
}
func (io *gpioDriver) DigitalPin(key interface{}) (DigitalPin, error) {
if err := io.init(); err != nil {
return nil, err
}
return io.digitalPin(key)
}
func (io *gpioDriver) Close() error {
for n := range io.initializedPins {
io.unexport(n)
}
io.exporter.Close()
io.unexporter.Close()
return nil
}
type digitalPin struct {
n int
dir *os.File
val *os.File
activeLow *os.File
edge *os.File
}
func newDigitalPin(n int) (*digitalPin, error) {
p := &digitalPin{n: n}
if err := p.init(); err != nil {
return nil, err
}
return p, nil
}
func (p *digitalPin) init() error {
var err error
if p.dir, err = p.directionFile(); err != nil {
return err
}
if p.val, err = p.valueFile(); err != nil {
return err
}
if p.activeLow, err = p.activeLowFile(); err != nil {
return err
}
return nil
}
func (p *digitalPin) basePath() string {
return fmt.Sprintf("/sys/class/gpio/gpio%v", p.n)
}
func (p *digitalPin) openFile(path string) (*os.File, error) {
return os.OpenFile(path, os.O_RDWR, os.ModeExclusive)
}
func (p *digitalPin) directionFile() (*os.File, error) {
return p.openFile(path.Join(p.basePath(), "direction"))
}
func (p *digitalPin) valueFile() (*os.File, error) {
return p.openFile(path.Join(p.basePath(), "value"))
}
func (p *digitalPin) activeLowFile() (*os.File, error) {
return p.openFile(path.Join(p.basePath(), "active_low"))
}
func (p *digitalPin) SetDirection(dir Direction) error {
str := "in"
if dir == Out {
str = "out"
}
_, err := p.dir.WriteString(str)
return err
}
func (p *digitalPin) Read() (int, error) {
buf := make([]byte, 1)
if _, err := p.val.Read(buf); err != nil {
return 0, err
}
var val int
if buf[0] == '1' {
val = 1
}
return val, nil
}
func (p *digitalPin) Write(val int) error {
str := "0"
if val == High {
str = "1"
}
_, err := p.val.WriteString(str)
return err
}
func (p *digitalPin) ActiveLow(b bool) error {
str := "0"
if b {
str = "1"
}
_, err := p.activeLow.WriteString(str)
return err
}
func (p *digitalPin) PullUp() error {
return errors.New("not implemented")
}
func (p *digitalPin) PullDown() error {
return errors.New("not implemented")
}
func (p *digitalPin) Close() error {
if err := p.dir.Close(); err != nil {
return err
}
if err := p.val.Close(); err != nil {
return err
}
if err := p.activeLow.Close(); err != nil {
return err
}
if err := p.edge.Close(); err != nil {
return err
}
return nil
}

64
host/bbb/data.go
View File

@ -1,64 +0,0 @@
package bbb
import (
"github.com/kidoman/embd/driver/linux/gpio"
)
var pins = gpio.PinMap{
&gpio.PinDesc{66, []string{"P8_07", "GPIO_66", "TIMER4"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{67, []string{"P8_08", "GPIO_67", "TIMER7"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{69, []string{"P8_09", "GPIO_69", "TIMER5"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{68, []string{"P8_10", "GPIO_68", "TIMER6"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{45, []string{"P8_11", "GPIO_45"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{44, []string{"P8_12", "GPIO_44"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{23, []string{"P8_13", "GPIO_23", "EHRPWM2B"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{26, []string{"P8_14", "GPIO_26"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{47, []string{"P8_15", "GPIO_47"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{46, []string{"P8_16", "GPIO_46"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{27, []string{"P8_17", "GPIO_27"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{65, []string{"P8_18", "GPIO_65"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{22, []string{"P8_19", "GPIO_22", "EHRPWM2A"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{61, []string{"P8_26", "GPIO_61"}, gpio.Normal | gpio.GPMC},
&gpio.PinDesc{86, []string{"P8_27", "GPIO_86"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{88, []string{"P8_28", "GPIO_88"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{87, []string{"P8_29", "GPIO_87"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{89, []string{"P8_30", "GPIO_89"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{10, []string{"P8_31", "GPIO_10", "UART5_CTSN"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{11, []string{"P8_32", "GPIO_11", "UART5_RTSN"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{9, []string{"P8_33", "GPIO_9 ", "UART4_RTSN"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{81, []string{"P8_34", "GPIO_81", "UART3_RTSN"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{8, []string{"P8_35", "GPIO_8 ", "UART4_CTSN"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{80, []string{"P8_36", "GPIO_80", "UART3_CTSN"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{78, []string{"P8_37", "GPIO_78", "UART5_TXD"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{79, []string{"P8_38", "GPIO_79", "UART5_RXD"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{76, []string{"P8_39", "GPIO_76"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{77, []string{"P8_40", "GPIO_77"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{74, []string{"P8_41", "GPIO_74"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{75, []string{"P8_42", "GPIO_75"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{72, []string{"P8_43", "GPIO_72"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{73, []string{"P8_44", "GPIO_73"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{70, []string{"P8_45", "GPIO_70"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{71, []string{"P8_46", "GPIO_71"}, gpio.Normal | gpio.LCD},
&gpio.PinDesc{30, []string{"P9_11", "GPIO_30", "UART4_RXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{60, []string{"P9_12", "GPIO_60", "GPIO1_28"}, gpio.Normal},
&gpio.PinDesc{31, []string{"P9_13", "GPIO_31", "UART4_TXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{50, []string{"P9_14", "GPIO_50", "EHRPWM1A"}, gpio.Normal | gpio.PWM},
&gpio.PinDesc{48, []string{"P9_15", "GPIO_48", "GPIO1_16"}, gpio.Normal},
&gpio.PinDesc{51, []string{"P9_16", "GPIO_51", "EHRPWM1B"}, gpio.Normal | gpio.PWM},
&gpio.PinDesc{5, []string{"P9_17", "GPIO_5", "I2C1_SCL"}, gpio.Normal | gpio.I2C},
&gpio.PinDesc{4, []string{"P9_18", "GPIO_4", "I2C1_SDA"}, gpio.Normal | gpio.I2C},
&gpio.PinDesc{13, []string{"P9_19", "GPIO_13", "I2C2_SCL"}, gpio.Normal | gpio.I2C},
&gpio.PinDesc{12, []string{"P9_20", "GPIO_12", "I2C2_SDA"}, gpio.Normal | gpio.I2C},
&gpio.PinDesc{3, []string{"P9_21", "GPIO_3", "UART2_TXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{2, []string{"P9_22", "GPIO_2", "UART2_RXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{49, []string{"P9_23", "GPIO_49", "GPIO1_17"}, gpio.Normal},
&gpio.PinDesc{15, []string{"P9_24", "GPIO_15", "UART1_TXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{117, []string{"P9_25", "GPIO_117", "GPIO3_21"}, gpio.Normal},
&gpio.PinDesc{14, []string{"P9_26", "GPIO_14", "UART1_RXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{115, []string{"P9_27", "GPIO_115", "GPIO3_19"}, gpio.Normal},
&gpio.PinDesc{113, []string{"P9_28", "GPIO_113", "SPI1_CS0"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{111, []string{"P9_29", "GPIO_111", "SPI1_D0"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{112, []string{"P9_30", "GPIO_112", "SPI1_D1"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{110, []string{"P9_31", "GPIO_110", "SPI1_SCLK"}, gpio.Normal | gpio.SPI},
}

22
host/bbb/descriptor.go
View File

@ -1,22 +0,0 @@
package bbb
import (
lgpio "github.com/kidoman/embd/driver/linux/gpio"
li2c "github.com/kidoman/embd/driver/linux/i2c"
"github.com/kidoman/embd/host"
)
func init() {
host.Describers[host.BBB] = describer
}
func describer(rev int) *host.Descriptor {
return &host.Descriptor{
GPIO: func() interface{} {
return lgpio.New(pins)
},
I2C: func() interface{} {
return li2c.New()
},
}
}

45
host/rpi/data.go
View File

@ -1,45 +0,0 @@
package rpi
import (
"github.com/kidoman/embd/driver/linux/gpio"
)
var rev1Pins = gpio.PinMap{
&gpio.PinDesc{0, []string{"P1_3", "GPIO_0", "SDA", "I2C0_SDA"}, gpio.Normal | gpio.I2C},
&gpio.PinDesc{1, []string{"P1_5", "GPIO_1", "SCL", "I2C0_SCL"}, gpio.Normal | gpio.I2C},
&gpio.PinDesc{4, []string{"P1_7", "GPIO_4", "GPCLK0"}, gpio.Normal},
&gpio.PinDesc{14, []string{"P1_8", "GPIO_14", "TXD", "UART0_TXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{15, []string{"P1_10", "GPIO_15", "RXD", "UART0_RXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{17, []string{"P1_11", "GPIO_17"}, gpio.Normal},
&gpio.PinDesc{18, []string{"P1_12", "GPIO_18", "PCM_CLK"}, gpio.Normal},
&gpio.PinDesc{21, []string{"P1_13", "GPIO_21"}, gpio.Normal},
&gpio.PinDesc{22, []string{"P1_15", "GPIO_22"}, gpio.Normal},
&gpio.PinDesc{23, []string{"P1_16", "GPIO_23"}, gpio.Normal},
&gpio.PinDesc{24, []string{"P1_18", "GPIO_24"}, gpio.Normal},
&gpio.PinDesc{10, []string{"P1_19", "GPIO_10", "MOSI", "SPI0_MOSI"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{9, []string{"P1_21", "GPIO_9", "MISO", "SPI0_MISO"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{25, []string{"P1_22", "GPIO_25"}, gpio.Normal},
&gpio.PinDesc{11, []string{"P1_23", "GPIO_11", "SCLK", "SPI0_SCLK"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{8, []string{"P1_24", "GPIO_8", "CE0", "SPI0_CE0_N"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{7, []string{"P1_26", "GPIO_7", "CE1", "SPI0_CE1_N"}, gpio.Normal | gpio.SPI},
}
var rev2Pins = gpio.PinMap{
&gpio.PinDesc{2, []string{"P1_3", "GPIO_2", "SDA", "I2C1_SDA"}, gpio.Normal | gpio.I2C},
&gpio.PinDesc{3, []string{"P1_5", "GPIO_3", "SCL", "I2C1_SCL"}, gpio.Normal | gpio.I2C},
&gpio.PinDesc{4, []string{"P1_7", "GPIO_4", "GPCLK0"}, gpio.Normal},
&gpio.PinDesc{14, []string{"P1_8", "GPIO_14", "TXD", "UART0_TXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{15, []string{"P1_10", "GPIO_15", "RXD", "UART0_RXD"}, gpio.Normal | gpio.UART},
&gpio.PinDesc{17, []string{"P1_11", "GPIO_17"}, gpio.Normal},
&gpio.PinDesc{18, []string{"P1_12", "GPIO_18", "PCM_CLK"}, gpio.Normal},
&gpio.PinDesc{27, []string{"P1_13", "GPIO_27"}, gpio.Normal},
&gpio.PinDesc{22, []string{"P1_15", "GPIO_22"}, gpio.Normal},
&gpio.PinDesc{23, []string{"P1_16", "GPIO_23"}, gpio.Normal},
&gpio.PinDesc{24, []string{"P1_18", "GPIO_24"}, gpio.Normal},
&gpio.PinDesc{10, []string{"P1_19", "GPIO_10", "MOSI", "SPI0_MOSI"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{9, []string{"P1_21", "GPIO_9", "MISO", "SPI0_MISO"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{25, []string{"P1_22", "GPIO_25"}, gpio.Normal},
&gpio.PinDesc{11, []string{"P1_23", "GPIO_11", "SCLK", "SPI0_SCLK"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{8, []string{"P1_24", "GPIO_8", "CE0", "SPI0_CE0_N"}, gpio.Normal | gpio.SPI},
&gpio.PinDesc{7, []string{"P1_26", "GPIO_7", "CE1", "SPI0_CE1_N"}, gpio.Normal | gpio.SPI},
}

27
host/rpi/descriptor.go
View File

@ -1,27 +0,0 @@
package rpi
import (
lgpio "github.com/kidoman/embd/driver/linux/gpio"
li2c "github.com/kidoman/embd/driver/linux/i2c"
"github.com/kidoman/embd/host"
)
func init() {
host.Describers[host.RPi] = describer
}
func describer(rev int) *host.Descriptor {
var pins = rev1Pins
if rev > 1 {
pins = rev2Pins
}
return &host.Descriptor{
GPIO: func() interface{} {
return lgpio.New(pins)
},
I2C: func() interface{} {
return li2c.New()
},
}
}

25
i2c/i2c.go → i2c.go
View File

@ -1,9 +1,6 @@
// Package i2c enables gophers i2c speaking ability.
package i2c
package embd
import "github.com/kidoman/embd/host"
type Bus interface {
type I2CBus interface {
// ReadByte reads a byte from the given address.
ReadByte(addr byte) (value byte, err error)
// WriteByte writes a byte to the given address.
@ -27,28 +24,28 @@ type Bus interface {
}
type I2C interface {
Bus(l byte) Bus
Bus(l byte) I2CBus
Close() error
}
var instance I2C
var i2cInstance I2C
func Open() error {
desc, err := host.Describe()
func InitI2C() error {
desc, err := DescribeHost()
if err != nil {
return err
}
instance = desc.I2C().(I2C)
i2cInstance = desc.I2C()
return nil
}
func Close() error {
return instance.Close()
func CloseI2C() error {
return i2cInstance.Close()
}
func NewBus(l byte) Bus {
return instance.Bus(l)
func NewI2CBus(l byte) I2CBus {
return i2cInstance.Bus(l)
}

65
driver/linux/i2c/bus.go → i2cgeneric.go
View File

@ -1,4 +1,4 @@
package i2c
package embd
import (
"fmt"
@ -10,6 +10,41 @@ import (
"unsafe"
)
type i2cDriver struct {
busMap map[byte]*i2cBus
busMapLock sync.Mutex
}
func newI2CDriver() I2C {
return &i2cDriver{
busMap: make(map[byte]*i2cBus),
}
}
func (i *i2cDriver) Bus(l byte) I2CBus {
i.busMapLock.Lock()
defer i.busMapLock.Unlock()
var b *i2cBus
if b = i.busMap[l]; b == nil {
b = &i2cBus{l: l}
i.busMap[l] = b
}
return b
}
func (i *i2cDriver) Close() error {
for _, b := range i.busMap {
b.Close()
delete(i.busMap, b.l)
}
return nil
}
const (
delay = 20
@ -31,15 +66,15 @@ type i2c_rdwr_ioctl_data struct {
nmsg uint32
}
type bus struct {
type i2cBus struct {
l byte
file *os.File
addr byte
mu sync.Mutex
}
func newBus(l byte) (*bus, error) {
b := &bus{l: l}
func newI2CBus(l byte) (*i2cBus, error) {
b := &i2cBus{l: l}
var err error
if b.file, err = os.OpenFile(fmt.Sprintf("/dev/i2c-%v", b.l), os.O_RDWR, os.ModeExclusive); err != nil {
@ -49,14 +84,14 @@ func newBus(l byte) (*bus, error) {
return b, nil
}
func (b *bus) Close() error {
func (b *i2cBus) Close() error {
b.mu.Lock()
defer b.mu.Unlock()
return b.file.Close()
}
func (b *bus) setAddress(addr byte) (err error) {
func (b *i2cBus) setAddress(addr byte) (err error) {
if addr != b.addr {
if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), slaveCmd, uintptr(addr)); errno != 0 {
err = syscall.Errno(errno)
@ -69,7 +104,7 @@ func (b *bus) setAddress(addr byte) (err error) {
return
}
func (b *bus) ReadByte(addr byte) (value byte, err error) {
func (b *i2cBus) ReadByte(addr byte) (value byte, err error) {
b.mu.Lock()
defer b.mu.Unlock()
@ -89,7 +124,7 @@ func (b *bus) ReadByte(addr byte) (value byte, err error) {
return
}
func (b *bus) WriteByte(addr, value byte) (err error) {
func (b *i2cBus) WriteByte(addr, value byte) (err error) {
b.mu.Lock()
defer b.mu.Unlock()
@ -106,7 +141,7 @@ func (b *bus) WriteByte(addr, value byte) (err error) {
return
}
func (b *bus) WriteBytes(addr byte, value []byte) (err error) {
func (b *i2cBus) WriteBytes(addr byte, value []byte) (err error) {
b.mu.Lock()
defer b.mu.Unlock()
@ -130,7 +165,7 @@ func (b *bus) WriteBytes(addr byte, value []byte) (err error) {
return nil
}
func (b *bus) ReadFromReg(addr, reg byte, value []byte) (err error) {
func (b *i2cBus) ReadFromReg(addr, reg byte, value []byte) (err error) {
b.mu.Lock()
defer b.mu.Unlock()
@ -163,7 +198,7 @@ func (b *bus) ReadFromReg(addr, reg byte, value []byte) (err error) {
return nil
}
func (b *bus) ReadByteFromReg(addr, reg byte) (value byte, err error) {
func (b *i2cBus) ReadByteFromReg(addr, reg byte) (value byte, err error) {
buf := make([]byte, 1)
if err = b.ReadFromReg(addr, reg, buf); err != nil {
return
@ -172,7 +207,7 @@ func (b *bus) ReadByteFromReg(addr, reg byte) (value byte, err error) {
return
}
func (b *bus) ReadWordFromReg(addr, reg byte) (value uint16, err error) {
func (b *i2cBus) ReadWordFromReg(addr, reg byte) (value uint16, err error) {
buf := make([]byte, 2)
if err = b.ReadFromReg(addr, reg, buf); err != nil {
return
@ -181,7 +216,7 @@ func (b *bus) ReadWordFromReg(addr, reg byte) (value uint16, err error) {
return
}
func (b *bus) WriteToReg(addr, reg byte, value []byte) (err error) {
func (b *i2cBus) WriteToReg(addr, reg byte, value []byte) (err error) {
b.mu.Lock()
defer b.mu.Unlock()
@ -212,7 +247,7 @@ func (b *bus) WriteToReg(addr, reg byte, value []byte) (err error) {
return
}
func (b *bus) WriteByteToReg(addr, reg, value byte) (err error) {
func (b *i2cBus) WriteByteToReg(addr, reg, value byte) (err error) {
b.mu.Lock()
defer b.mu.Unlock()
@ -244,7 +279,7 @@ func (b *bus) WriteByteToReg(addr, reg, value byte) (err error) {
return
}
func (b *bus) WriteWordToReg(addr, reg byte, value uint16) (err error) {
func (b *i2cBus) WriteWordToReg(addr, reg byte, value uint16) (err error) {
b.mu.Lock()
defer b.mu.Unlock()

57
rpi.go Normal file
View File

@ -0,0 +1,57 @@
package embd
func init() {
Describers[HostRPi] = func(rev int) *Descriptor {
var pins = rpiRev1Pins
if rev > 1 {
pins = rpiRev2Pins
}
return &Descriptor{
GPIO: func() GPIO {
return newGPIODriver(pins)
},
I2C: newI2CDriver,
}
}
}
var rpiRev1Pins = PinMap{
&PinDesc{0, []string{"P1_3", "GPIO_0", "SDA", "I2C0_SDA"}, CapNormal | CapI2C},
&PinDesc{1, []string{"P1_5", "GPIO_1", "SCL", "I2C0_SCL"}, CapNormal | CapI2C},
&PinDesc{4, []string{"P1_7", "GPIO_4", "GPCLK0"}, CapNormal},
&PinDesc{14, []string{"P1_8", "GPIO_14", "TXD", "UART0_TXD"}, CapNormal | CapUART},
&PinDesc{15, []string{"P1_10", "GPIO_15", "RXD", "UART0_RXD"}, CapNormal | CapUART},
&PinDesc{17, []string{"P1_11", "GPIO_17"}, CapNormal},
&PinDesc{18, []string{"P1_12", "GPIO_18", "PCM_CLK"}, CapNormal},
&PinDesc{21, []string{"P1_13", "GPIO_21"}, CapNormal},
&PinDesc{22, []string{"P1_15", "GPIO_22"}, CapNormal},
&PinDesc{23, []string{"P1_16", "GPIO_23"}, CapNormal},
&PinDesc{24, []string{"P1_18", "GPIO_24"}, CapNormal},
&PinDesc{10, []string{"P1_19", "GPIO_10", "MOSI", "SPI0_MOSI"}, CapNormal | CapSPI},
&PinDesc{9, []string{"P1_21", "GPIO_9", "MISO", "SPI0_MISO"}, CapNormal | CapSPI},
&PinDesc{25, []string{"P1_22", "GPIO_25"}, CapNormal},
&PinDesc{11, []string{"P1_23", "GPIO_11", "SCLK", "SPI0_SCLK"}, CapNormal | CapSPI},
&PinDesc{8, []string{"P1_24", "GPIO_8", "CE0", "SPI0_CE0_N"}, CapNormal | CapSPI},
&PinDesc{7, []string{"P1_26", "GPIO_7", "CE1", "SPI0_CE1_N"}, CapNormal | CapSPI},
}
var rpiRev2Pins = PinMap{
&PinDesc{2, []string{"P1_3", "GPIO_2", "SDA", "I2C1_SDA"}, CapNormal | CapI2C},
&PinDesc{3, []string{"P1_5", "GPIO_3", "SCL", "I2C1_SCL"}, CapNormal | CapI2C},
&PinDesc{4, []string{"P1_7", "GPIO_4", "GPCLK0"}, CapNormal},
&PinDesc{14, []string{"P1_8", "GPIO_14", "TXD", "UART0_TXD"}, CapNormal | CapUART},
&PinDesc{15, []string{"P1_10", "GPIO_15", "RXD", "UART0_RXD"}, CapNormal | CapUART},
&PinDesc{17, []string{"P1_11", "GPIO_17"}, CapNormal},
&PinDesc{18, []string{"P1_12", "GPIO_18", "PCM_CLK"}, CapNormal},
&PinDesc{27, []string{"P1_13", "GPIO_27"}, CapNormal},
&PinDesc{22, []string{"P1_15", "GPIO_22"}, CapNormal},
&PinDesc{23, []string{"P1_16", "GPIO_23"}, CapNormal},
&PinDesc{24, []string{"P1_18", "GPIO_24"}, CapNormal},
&PinDesc{10, []string{"P1_19", "GPIO_10", "MOSI", "SPI0_MOSI"}, CapNormal | CapSPI},
&PinDesc{9, []string{"P1_21", "GPIO_9", "MISO", "SPI0_MISO"}, CapNormal | CapSPI},
&PinDesc{25, []string{"P1_22", "GPIO_25"}, CapNormal},
&PinDesc{11, []string{"P1_23", "GPIO_11", "SCLK", "SPI0_SCLK"}, CapNormal | CapSPI},
&PinDesc{8, []string{"P1_24", "GPIO_8", "CE0", "SPI0_CE0_N"}, CapNormal | CapSPI},
&PinDesc{7, []string{"P1_26", "GPIO_7", "CE1", "SPI0_CE1_N"}, CapNormal | CapSPI},
}

10
samples/bh1750fvi.go
View File

@ -6,17 +6,17 @@ import (
"log"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/bh1750fvi"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
sensor := bh1750fvi.New(bh1750fvi.High, bus)
defer sensor.Close()
@ -24,7 +24,7 @@ func main() {
for {
lighting, err := sensor.Lighting()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Lighting is %v lx", lighting)

8
samples/bmp085.go
View File

@ -6,17 +6,17 @@ import (
"log"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/bmp085"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
baro := bmp085.New(bus)
defer baro.Close()

8
samples/bmp180.go
View File

@ -6,17 +6,17 @@ import (
"log"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/bmp180"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
baro := bmp180.New(bus)
defer baro.Close()

14
samples/gpio.go
View File

@ -5,31 +5,31 @@ package main
import (
"time"
"github.com/kidoman/embd/gpio"
"github.com/kidoman/embd"
)
func main() {
if err := gpio.Open(); err != nil {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer gpio.Close()
defer embd.CloseGPIO()
led, err := gpio.NewDigitalPin(10)
led, err := embd.NewDigitalPin(10)
if err != nil {
panic(err)
}
defer led.Close()
if err := led.SetDirection(gpio.Out); err != nil {
if err := led.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := led.Write(gpio.High); err != nil {
if err := led.Write(embd.High); err != nil {
panic(err)
}
time.Sleep(1 * time.Second)
if err := led.SetDirection(gpio.In); err != nil {
if err := led.SetDirection(embd.In); err != nil {
panic(err)
}
}

21
samples/gpiodetect.go
View File

@ -5,12 +5,11 @@ package main
import (
"time"
"github.com/kidoman/embd/gpio"
"github.com/kidoman/embd/host"
"github.com/kidoman/embd"
)
func main() {
h, _, err := host.Detect()
h, _, err := embd.DetectHost()
if err != nil {
return
}
@ -18,35 +17,35 @@ func main() {
var pinNo interface{}
switch h {
case host.BBB:
case embd.HostBBB:
pinNo = "P9_31"
case host.RPi:
case embd.HostRPi:
pinNo = 10
default:
panic("host not supported (yet :P)")
}
if err := gpio.Open(); err != nil {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer gpio.Close()
defer embd.CloseGPIO()
led, err := gpio.NewDigitalPin(pinNo)
led, err := embd.NewDigitalPin(pinNo)
if err != nil {
panic(err)
}
defer led.Close()
if err := led.SetDirection(gpio.Out); err != nil {
if err := led.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := led.Write(gpio.High); err != nil {
if err := led.Write(embd.High); err != nil {
panic(err)
}
time.Sleep(1 * time.Second)
if err := led.SetDirection(gpio.In); err != nil {
if err := led.SetDirection(embd.In); err != nil {
panic(err)
}
}

12
samples/gpiodirect.go
View File

@ -5,25 +5,25 @@ package main
import (
"time"
"github.com/kidoman/embd/gpio"
"github.com/kidoman/embd"
)
func main() {
if err := gpio.Open(); err != nil {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer gpio.Close()
defer embd.CloseGPIO()
if err := gpio.SetDirection(10, gpio.Out); err != nil {
if err := embd.SetDirection(10, embd.Out); err != nil {
panic(err)
}
if err := gpio.DigitalWrite(10, gpio.High); err != nil {
if err := embd.DigitalWrite(10, embd.High); err != nil {
panic(err)
}
time.Sleep(1 * time.Second)
if err := gpio.SetDirection(10, gpio.In); err != nil {
if err := embd.SetDirection(10, embd.In); err != nil {
panic(err)
}
}

10
samples/gpioshort.go
View File

@ -2,12 +2,12 @@
package main
import "github.com/kidoman/embd/gpio"
import "github.com/kidoman/embd"
func main() {
gpio.Open()
defer gpio.Close()
embd.InitGPIO()
defer embd.CloseGPIO()
gpio.SetDirection(10, gpio.Out)
gpio.DigitalWrite(10, gpio.High)
embd.SetDirection(10, embd.Out)
embd.DigitalWrite(10, embd.High)
}

8
samples/l3gd20.go
View File

@ -8,17 +8,17 @@ import (
"os/signal"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/l3gd20"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
gyro := l3gd20.New(bus, l3gd20.R250DPS)
gyro.Debug = true

8
samples/lsm303.go
View File

@ -6,17 +6,17 @@ import (
"log"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/lsm303"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
mems := lsm303.New(bus)
defer mems.Close()

8
samples/mcp4725.go
View File

@ -8,17 +8,17 @@ import (
"os"
"os/signal"
"github.com/kidoman/embd"
"github.com/kidoman/embd/controller/mcp4725"
"github.com/kidoman/embd/i2c"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
dac := mcp4725.New(bus, 0x62)
defer dac.Close()

8
samples/pca9685.go
View File

@ -8,17 +8,17 @@ import (
"os/signal"
"time"
"github.com/kidoman/embd"
"github.com/kidoman/embd/controller/pca9685"
"github.com/kidoman/embd/i2c"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
pca9685 := pca9685.New(bus, 0x41)
pca9685.Freq = 1000

8
samples/servo.go
View File

@ -7,18 +7,18 @@ import (
"os/signal"
"time"
"github.com/kidoman/embd"
"github.com/kidoman/embd/controller/pca9685"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd/motion/servo"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
pwm := pca9685.New(bus, 0x41)
pwm.Freq = 50

8
samples/tmp006.go
View File

@ -7,17 +7,17 @@ import (
"os"
"os/signal"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/tmp006"
)
func main() {
if err := i2c.Open(); err != nil {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer i2c.Close()
defer embd.CloseI2C()
bus := i2c.NewBus(1)
bus := embd.NewI2CBus(1)
sensor := tmp006.New(bus, 0x40)
if status, err := sensor.Present(); err != nil || !status {

10
samples/us020.go
View File

@ -6,21 +6,21 @@ import (
"log"
"time"
"github.com/kidoman/embd/gpio"
"github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/us020"
)
func main() {
if err := gpio.Open(); err != nil {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer gpio.Close()
defer embd.CloseGPIO()
echoPin, err := gpio.NewDigitalPin(10)
echoPin, err := embd.NewDigitalPin(10)
if err != nil {
panic(err)
}
triggerPin, err := gpio.NewDigitalPin(9)
triggerPin, err := embd.NewDigitalPin(9)
if err != nil {
panic(err)
}

8
samples/watersensor.go
View File

@ -6,17 +6,17 @@ import (
"time"
"github.com/golang/glog"
"github.com/kidoman/embd/gpio"
"github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/watersensor"
)
func main() {
if err := gpio.Open(); err != nil {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer gpio.Close()
defer embd.CloseGPIO()
pin, err := gpio.NewDigitalPin(7)
pin, err := embd.NewDigitalPin(7)
if err != nil {
panic(err)
}

61
sensor/bh1750fvi/bh1750fvi.go
View File

@ -6,7 +6,7 @@ import (
"sync"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
)
//accuracy = sensorValue/actualValue] (min = 0.96, typ = 1.2, max = 1.44
@ -25,62 +25,42 @@ const (
pollDelay = 150
)
// A BH1750FVI interface implements access to the sensor.
type BH1750FVI interface {
// Run starts continuous sensor data acquisition loop.
Run() error
type BH1750FVI struct {
Bus embd.I2CBus
Poll int
// Lighting returns the ambient lighting in lx.
Lighting() (lighting float64, err error)
// Close.
Close()
// SetPollDelay sets the delay between run of data acquisition loop.
SetPollDelay(delay int)
}
type bh1750fvi struct {
bus i2c.Bus
mu *sync.RWMutex
mu sync.RWMutex
lightingReadings chan float64
quit chan bool
i2cAddr byte
operationCode byte
poll int
}
// Supports three modes:
// "H" -> High resolution mode (1lx), takes 120ms (recommended).
// "H2" -> High resolution mode 2 (0.5lx), takes 120ms (only use for low light).
// New creates a new BH1750FVI interface according to the mode passed.
func New(mode string, bus i2c.Bus) BH1750FVI {
func New(mode string, bus embd.I2CBus) *BH1750FVI {
switch mode {
case High:
return &bh1750fvi{bus: bus, i2cAddr: sensorI2cAddr, operationCode: highResOpCode, mu: new(sync.RWMutex)}
return &BH1750FVI{Bus: bus, i2cAddr: sensorI2cAddr, operationCode: highResOpCode, Poll: pollDelay}
case High2:
return &bh1750fvi{bus: bus, i2cAddr: sensorI2cAddr, operationCode: highResMode2OpCode, mu: new(sync.RWMutex)}
return &BH1750FVI{Bus: bus, i2cAddr: sensorI2cAddr, operationCode: highResMode2OpCode, Poll: pollDelay}
default:
return &bh1750fvi{bus: bus, i2cAddr: sensorI2cAddr, operationCode: highResOpCode, mu: new(sync.RWMutex)}
return &BH1750FVI{Bus: bus, i2cAddr: sensorI2cAddr, operationCode: highResOpCode, Poll: pollDelay}
}
}
// NewHighMode returns a BH1750FVI inteface on high resolution mode (1lx resolution)
func NewHighMode(bus i2c.Bus) BH1750FVI {
func NewHighMode(bus embd.I2CBus) *BH1750FVI {
return New(High, bus)
}
// NewHighMode returns a BH1750FVI inteface on high resolution mode2 (0.5lx resolution)
func NewHigh2Mode(bus i2c.Bus) BH1750FVI {
func NewHigh2Mode(bus embd.I2CBus) *BH1750FVI {
return New(High2, bus)
}
func (d *bh1750fvi) measureLighting() (lighting float64, err error) {
err = d.bus.WriteByte(d.i2cAddr, d.operationCode)
func (d *BH1750FVI) measureLighting() (lighting float64, err error) {
err = d.Bus.WriteByte(d.i2cAddr, d.operationCode)
if err != nil {
log.Print("bh1750fvi: Failed to initialize sensor")
return
@ -88,7 +68,7 @@ func (d *bh1750fvi) measureLighting() (lighting float64, err error) {
time.Sleep(180 * time.Millisecond)
var reading uint16
if reading, err = d.bus.ReadWordFromReg(d.i2cAddr, defReadReg); err != nil {
if reading, err = d.Bus.ReadWordFromReg(d.i2cAddr, defReadReg); err != nil {
return
}
@ -97,7 +77,7 @@ func (d *bh1750fvi) measureLighting() (lighting float64, err error) {
}
// Lighting returns the ambient lighting in lx.
func (d *bh1750fvi) Lighting() (lighting float64, err error) {
func (d *BH1750FVI) Lighting() (lighting float64, err error) {
select {
case lighting = <-d.lightingReadings:
return
@ -107,11 +87,11 @@ func (d *bh1750fvi) Lighting() (lighting float64, err error) {
}
// Run starts continuous sensor data acquisition loop.
func (d *bh1750fvi) Run() (err error) {
func (d *BH1750FVI) Run() (err error) {
go func() {
d.quit = make(chan bool)
timer := time.Tick(time.Duration(d.poll) * time.Millisecond)
timer := time.Tick(time.Duration(d.Poll) * time.Millisecond)
var lighting float64
@ -135,14 +115,9 @@ func (d *bh1750fvi) Run() (err error) {
}
// Close.
func (d *bh1750fvi) Close() {
func (d *BH1750FVI) Close() {
if d.quit != nil {
d.quit <- true
}
return
}
// SetPollDelay sets the delay between run of data acquisition loop.
func (d *bh1750fvi) SetPollDelay(delay int) {
d.poll = delay
}

100
sensor/bmp085/bmp085.go
View File

@ -8,7 +8,7 @@ import (
"sync"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
)
const (
@ -38,26 +38,12 @@ const (
pollDelay = 250
)
// A BMP085 implements access to the Bosch BMP085 sensor.
type BMP085 interface {
// SetPollDelay sets the delay between runs of the data acquisition loop.
SetPollDelay(delay int)
type BMP085 struct {
Bus embd.I2CBus
Poll int
// Temperature returns the current temperature reading.
Temperature() (temp float64, err error)
// Pressure returns the current pressure reading.
Pressure() (pressure int, err error)
// Altitude returns the current altitude reading.
Altitude() (altitude float64, err error)
Debug bool
// Run starts the sensor data acquisition loop.
Run() error
// Close.
Close()
}
type bmp085 struct {
bus i2c.Bus
oss uint
ac1, ac2, ac3 int16
@ -65,29 +51,19 @@ type bmp085 struct {
b1, b2, mb, mc, md int16
b5 int32
calibrated bool
cmu *sync.RWMutex
cmu sync.RWMutex
poll int
temps chan uint16
pressures chan int32
altitudes chan float64
quit chan struct{}
debug bool
}
// New creates a new BMP085 interface. The bus variable controls
// the I2C bus used to communicate with the device.
func New(bus i2c.Bus) BMP085 {
return &bmp085{bus: bus, cmu: new(sync.RWMutex), poll: pollDelay}
func New(bus embd.I2CBus) *BMP085 {
return &BMP085{Bus: bus, Poll: pollDelay}
}
// SetPollDelay sets the delay between runs of the data acquisition loop.
func (d *bmp085) SetPollDelay(delay int) {
d.poll = delay
}
func (d *bmp085) calibrate() (err error) {
func (d *BMP085) calibrate() (err error) {
d.cmu.RLock()
if d.calibrated {
d.cmu.RUnlock()
@ -100,7 +76,7 @@ func (d *bmp085) calibrate() (err error) {
readInt16 := func(reg byte) (value int16, err error) {
var v uint16
if v, err = d.bus.ReadWordFromReg(address, reg); err != nil {
if v, err = d.Bus.ReadWordFromReg(address, reg); err != nil {
return
}
value = int16(v)
@ -109,7 +85,7 @@ func (d *bmp085) calibrate() (err error) {
readUInt16 := func(reg byte) (value uint16, err error) {
var v uint16
if v, err = d.bus.ReadWordFromReg(address, reg); err != nil {
if v, err = d.Bus.ReadWordFromReg(address, reg); err != nil {
return
}
value = uint16(v)
@ -163,7 +139,7 @@ func (d *bmp085) calibrate() (err error) {
d.calibrated = true
if d.debug {
if d.Debug {
log.Print("bmp085: calibration data retrieved")
log.Printf("bmp085: param AC1 = %v", d.ac1)
log.Printf("bmp085: param AC2 = %v", d.ac2)
@ -181,18 +157,18 @@ func (d *bmp085) calibrate() (err error) {
return
}
func (d *bmp085) readUncompensatedTemp() (temp uint16, err error) {
if err = d.bus.WriteByteToReg(address, control, readTempCmd); err != nil {
func (d *BMP085) readUncompensatedTemp() (temp uint16, err error) {
if err = d.Bus.WriteByteToReg(address, control, readTempCmd); err != nil {
return
}
time.Sleep(tempReadDelay)
if temp, err = d.bus.ReadWordFromReg(address, tempData); err != nil {
if temp, err = d.Bus.ReadWordFromReg(address, tempData); err != nil {
return
}
return
}
func (d *bmp085) calcTemp(utemp uint16) uint16 {
func (d *BMP085) calcTemp(utemp uint16) uint16 {
x1 := ((int(utemp) - int(d.ac6)) * int(d.ac5)) >> 15
x2 := (int(d.mc) << 11) / (x1 + int(d.md))
@ -203,7 +179,7 @@ func (d *bmp085) calcTemp(utemp uint16) uint16 {
return uint16((d.b5 + 8) >> 4)
}
func (d *bmp085) measureTemp() (temp uint16, err error) {
func (d *BMP085) measureTemp() (temp uint16, err error) {
if err = d.calibrate(); err != nil {
return
}
@ -212,25 +188,25 @@ func (d *bmp085) measureTemp() (temp uint16, err error) {
if utemp, err = d.readUncompensatedTemp(); err != nil {
return
}
if d.debug {
if d.Debug {
log.Printf("bcm085: uncompensated temp: %v", utemp)
}
temp = d.calcTemp(utemp)
if d.debug {
if d.Debug {
log.Printf("bcm085: compensated temp %v", temp)
}
return
}
// Temperature returns the current temperature reading.
func (d *bmp085) Temperature() (temp float64, err error) {
func (d *BMP085) Temperature() (temp float64, err error) {
select {
case t := <-d.temps:
temp = float64(t) / 10
return
default:
if d.debug {
if d.Debug {
log.Print("bcm085: no temps available... measuring")
}
var t uint16
@ -243,14 +219,14 @@ func (d *bmp085) Temperature() (temp float64, err error) {
}
}
func (d *bmp085) readUncompensatedPressure() (pressure uint32, err error) {
if err = d.bus.WriteByteToReg(address, control, byte(readPressureCmd+(d.oss<<6))); err != nil {
func (d *BMP085) readUncompensatedPressure() (pressure uint32, err error) {
if err = d.Bus.WriteByteToReg(address, control, byte(readPressureCmd+(d.oss<<6))); err != nil {
return
}
time.Sleep(time.Duration(2+(3<<d.oss)) * time.Millisecond)
data := make([]byte, 3)
if err = d.bus.ReadFromReg(address, pressureData, data); err != nil {
if err = d.Bus.ReadFromReg(address, pressureData, data); err != nil {
return
}
@ -259,11 +235,11 @@ func (d *bmp085) readUncompensatedPressure() (pressure uint32, err error) {
return
}
func (d *bmp085) calcPressure(upressure uint32) (p int32) {
func (d *BMP085) calcPressure(upressure uint32) (p int32) {
var x1, x2, x3 int32
l := func(s string, v interface{}) {
if d.debug {
if d.Debug {
log.Printf("bcm085: %v = %v", s, v)
}
}
@ -315,11 +291,11 @@ func (d *bmp085) calcPressure(upressure uint32) (p int32) {
return
}
func (d *bmp085) calcAltitude(pressure int32) float64 {
func (d *BMP085) calcAltitude(pressure int32) float64 {
return 44330 * (1 - math.Pow(float64(pressure)/p0, 0.190295))
}
func (d *bmp085) measurePressureAndAltitude() (pressure int32, altitude float64, err error) {
func (d *BMP085) measurePressureAndAltitude() (pressure int32, altitude float64, err error) {
if err = d.calibrate(); err != nil {
return
}
@ -328,22 +304,22 @@ func (d *bmp085) measurePressureAndAltitude() (pressure int32, altitude float64,
if upressure, err = d.readUncompensatedPressure(); err != nil {
return
}
if d.debug {
if d.Debug {
log.Printf("bcm085: uncompensated pressure: %v", upressure)
}
pressure = d.calcPressure(upressure)
if d.debug {
if d.Debug {
log.Printf("bcm085: compensated pressure %v", pressure)
}
altitude = d.calcAltitude(pressure)
if d.debug {
if d.Debug {
log.Printf("bcm085: calculated altitude %v", altitude)
}
return
}
// Pressure returns the current pressure reading.
func (d *bmp085) Pressure() (pressure int, err error) {
func (d *BMP085) Pressure() (pressure int, err error) {
if err = d.calibrate(); err != nil {
return
}
@ -353,7 +329,7 @@ func (d *bmp085) Pressure() (pressure int, err error) {
pressure = int(p)
return
default:
if d.debug {
if d.Debug {
log.Print("bcm085: no pressures available... measuring")
}
var p int32
@ -367,7 +343,7 @@ func (d *bmp085) Pressure() (pressure int, err error) {
}
// Altitude returns the current altitude reading.
func (d *bmp085) Altitude() (altitude float64, err error) {
func (d *BMP085) Altitude() (altitude float64, err error) {
if err = d.calibrate(); err != nil {
return
}
@ -376,7 +352,7 @@ func (d *bmp085) Altitude() (altitude float64, err error) {
case altitude = <-d.altitudes:
return
default:
if d.debug {
if d.Debug {
log.Print("bcm085: no altitudes available... measuring")
}
_, altitude, err = d.measurePressureAndAltitude()
@ -388,10 +364,10 @@ func (d *bmp085) Altitude() (altitude float64, err error) {
}
// Run starts the sensor data acquisition loop.
func (d *bmp085) Run() (err error) {
func (d *BMP085) Run() (err error) {
go func() {
d.quit = make(chan struct{})
timer := time.Tick(time.Duration(d.poll) * time.Millisecond)
timer := time.Tick(time.Duration(d.Poll) * time.Millisecond)
var temp uint16
var pressure int32
@ -432,7 +408,7 @@ func (d *bmp085) Run() (err error) {
}
// Close.
func (d *bmp085) Close() {
func (d *BMP085) Close() {
if d.quit != nil {
d.quit <- struct{}{}
}

142
sensor/bmp180/bmp180.go
View File

@ -8,7 +8,7 @@ import (
"sync"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
)
const (
@ -38,26 +38,12 @@ const (
pollDelay = 250
)
// A BMP180 implements access to the Bosch BMP180 sensor.
type BMP180 interface {
// SetPollDelay sets the delay between runs of the data acquisition loop.
SetPollDelay(delay int)
type BMP180 struct {
Bus embd.I2CBus
Poll int
// Temperature returns the current temperature reading.
Temperature() (temp float64, err error)
// Pressure returns the current pressure reading.
Pressure() (pressure int, err error)
// Altitude returns the current altitude reading.
Altitude() (altitude float64, err error)
Debug bool
// Run starts the sensor data acquisition loop.
Run() error
// Close.
Close()
}
type bmp180 struct {
bus i2c.Bus
oss uint
ac1, ac2, ac3 int16
@ -65,29 +51,19 @@ type bmp180 struct {
b1, b2, mb, mc, md int16
b5 int32
calibrated bool
cmu *sync.RWMutex
cmu sync.RWMutex
poll int
temps chan uint16
pressures chan int32
altitudes chan float64
quit chan struct{}
debug bool
}
// New creates a new BMP180 interface. The bus variable controls
// the I2C bus used to communicate with the device.
func New(bus i2c.Bus) BMP180 {
return &bmp180{bus: bus, cmu: new(sync.RWMutex), poll: pollDelay}
func New(bus embd.I2CBus) *BMP180 {
return &BMP180{Bus: bus, Poll: pollDelay}
}
// SetPollDelay sets the delay between runs of the data acquisition loop.
func (d *bmp180) SetPollDelay(delay int) {
d.poll = delay
}
func (d *bmp180) calibrate() (err error) {
func (d *BMP180) calibrate() (err error) {
d.cmu.RLock()
if d.calibrated {
d.cmu.RUnlock()
@ -100,7 +76,7 @@ func (d *bmp180) calibrate() (err error) {
readInt16 := func(reg byte) (value int16, err error) {
var v uint16
if v, err = d.bus.ReadWordFromReg(address, reg); err != nil {
if v, err = d.Bus.ReadWordFromReg(address, reg); err != nil {
return
}
value = int16(v)
@ -109,7 +85,7 @@ func (d *bmp180) calibrate() (err error) {
readUInt16 := func(reg byte) (value uint16, err error) {
var v uint16
if v, err = d.bus.ReadWordFromReg(address, reg); err != nil {
if v, err = d.Bus.ReadWordFromReg(address, reg); err != nil {
return
}
value = uint16(v)
@ -163,36 +139,36 @@ func (d *bmp180) calibrate() (err error) {
d.calibrated = true
if d.debug {
log.Print("bmp180: calibration data retrieved")
log.Printf("bmp180: param AC1 = %v", d.ac1)
log.Printf("bmp180: param AC2 = %v", d.ac2)
log.Printf("bmp180: param AC3 = %v", d.ac3)
log.Printf("bmp180: param AC4 = %v", d.ac4)
log.Printf("bmp180: param AC5 = %v", d.ac5)
log.Printf("bmp180: param AC6 = %v", d.ac6)
log.Printf("bmp180: param B1 = %v", d.b1)
log.Printf("bmp180: param B2 = %v", d.b2)
log.Printf("bmp180: param MB = %v", d.mb)
log.Printf("bmp180: param MC = %v", d.mc)
log.Printf("bmp180: param MD = %v", d.md)
if d.Debug {
log.Print("bmp085: calibration data retrieved")
log.Printf("bmp085: param AC1 = %v", d.ac1)
log.Printf("bmp085: param AC2 = %v", d.ac2)
log.Printf("bmp085: param AC3 = %v", d.ac3)
log.Printf("bmp085: param AC4 = %v", d.ac4)
log.Printf("bmp085: param AC5 = %v", d.ac5)
log.Printf("bmp085: param AC6 = %v", d.ac6)
log.Printf("bmp085: param B1 = %v", d.b1)
log.Printf("bmp085: param B2 = %v", d.b2)
log.Printf("bmp085: param MB = %v", d.mb)
log.Printf("bmp085: param MC = %v", d.mc)
log.Printf("bmp085: param MD = %v", d.md)
}
return
}
func (d *bmp180) readUncompensatedTemp() (temp uint16, err error) {
if err = d.bus.WriteByteToReg(address, control, readTempCmd); err != nil {
func (d *BMP180) readUncompensatedTemp() (temp uint16, err error) {
if err = d.Bus.WriteByteToReg(address, control, readTempCmd); err != nil {
return
}
time.Sleep(tempReadDelay)
if temp, err = d.bus.ReadWordFromReg(address, tempData); err != nil {
if temp, err = d.Bus.ReadWordFromReg(address, tempData); err != nil {
return
}
return
}
func (d *bmp180) calcTemp(utemp uint16) uint16 {
func (d *BMP180) calcTemp(utemp uint16) uint16 {
x1 := ((int(utemp) - int(d.ac6)) * int(d.ac5)) >> 15
x2 := (int(d.mc) << 11) / (x1 + int(d.md))
@ -203,7 +179,7 @@ func (d *bmp180) calcTemp(utemp uint16) uint16 {
return uint16((d.b5 + 8) >> 4)
}
func (d *bmp180) measureTemp() (temp uint16, err error) {
func (d *BMP180) measureTemp() (temp uint16, err error) {
if err = d.calibrate(); err != nil {
return
}
@ -212,26 +188,26 @@ func (d *bmp180) measureTemp() (temp uint16, err error) {
if utemp, err = d.readUncompensatedTemp(); err != nil {
return
}
if d.debug {
log.Printf("bcm180: uncompensated temp: %v", utemp)
if d.Debug {
log.Printf("bcm085: uncompensated temp: %v", utemp)
}
temp = d.calcTemp(utemp)
if d.debug {
log.Printf("bcm180: compensated temp %v", temp)
if d.Debug {
log.Printf("bcm085: compensated temp %v", temp)
}
return
}
// Temperature returns the current temperature reading.
func (d *bmp180) Temperature() (temp float64, err error) {
func (d *BMP180) Temperature() (temp float64, err error) {
select {
case t := <-d.temps:
temp = float64(t) / 10
return
default:
if d.debug {
log.Print("bcm180: no temps available... measuring")
if d.Debug {
log.Print("bcm085: no temps available... measuring")
}
var t uint16
t, err = d.measureTemp()
@ -243,14 +219,14 @@ func (d *bmp180) Temperature() (temp float64, err error) {
}
}
func (d *bmp180) readUncompensatedPressure() (pressure uint32, err error) {
if err = d.bus.WriteByteToReg(address, control, byte(readPressureCmd+(d.oss<<6))); err != nil {
func (d *BMP180) readUncompensatedPressure() (pressure uint32, err error) {
if err = d.Bus.WriteByteToReg(address, control, byte(readPressureCmd+(d.oss<<6))); err != nil {
return
}
time.Sleep(time.Duration(2+(3<<d.oss)) * time.Millisecond)
data := make([]byte, 3)
if err = d.bus.ReadFromReg(address, pressureData, data); err != nil {
if err = d.Bus.ReadFromReg(address, pressureData, data); err != nil {
return
}
@ -259,12 +235,12 @@ func (d *bmp180) readUncompensatedPressure() (pressure uint32, err error) {
return
}
func (d *bmp180) calcPressure(upressure uint32) (p int32) {
func (d *BMP180) calcPressure(upressure uint32) (p int32) {
var x1, x2, x3 int32
l := func(s string, v interface{}) {
if d.debug {
log.Printf("bcm180: %v = %v", s, v)
if d.Debug {
log.Printf("bcm085: %v = %v", s, v)
}
}
@ -315,11 +291,11 @@ func (d *bmp180) calcPressure(upressure uint32) (p int32) {
return
}
func (d *bmp180) calcAltitude(pressure int32) float64 {
func (d *BMP180) calcAltitude(pressure int32) float64 {
return 44330 * (1 - math.Pow(float64(pressure)/p0, 0.190295))
}
func (d *bmp180) measurePressureAndAltitude() (pressure int32, altitude float64, err error) {
func (d *BMP180) measurePressureAndAltitude() (pressure int32, altitude float64, err error) {
if err = d.calibrate(); err != nil {
return
}
@ -328,22 +304,22 @@ func (d *bmp180) measurePressureAndAltitude() (pressure int32, altitude float64,
if upressure, err = d.readUncompensatedPressure(); err != nil {
return
}
if d.debug {
log.Printf("bcm180: uncompensated pressure: %v", upressure)
if d.Debug {
log.Printf("bcm085: uncompensated pressure: %v", upressure)
}
pressure = d.calcPressure(upressure)
if d.debug {
log.Printf("bcm180: compensated pressure %v", pressure)
if d.Debug {
log.Printf("bcm085: compensated pressure %v", pressure)
}
altitude = d.calcAltitude(pressure)
if d.debug {
log.Printf("bcm180: calculated altitude %v", altitude)
if d.Debug {
log.Printf("bcm085: calculated altitude %v", altitude)
}
return
}
// Pressure returns the current pressure reading.
func (d *bmp180) Pressure() (pressure int, err error) {
func (d *BMP180) Pressure() (pressure int, err error) {
if err = d.calibrate(); err != nil {
return
}
@ -353,8 +329,8 @@ func (d *bmp180) Pressure() (pressure int, err error) {
pressure = int(p)
return
default:
if d.debug {
log.Print("bcm180: no pressures available... measuring")
if d.Debug {
log.Print("bcm085: no pressures available... measuring")
}
var p int32
p, _, err = d.measurePressureAndAltitude()
@ -367,7 +343,7 @@ func (d *bmp180) Pressure() (pressure int, err error) {
}
// Altitude returns the current altitude reading.
func (d *bmp180) Altitude() (altitude float64, err error) {
func (d *BMP180) Altitude() (altitude float64, err error) {
if err = d.calibrate(); err != nil {
return
}
@ -376,8 +352,8 @@ func (d *bmp180) Altitude() (altitude float64, err error) {
case altitude = <-d.altitudes:
return
default:
if d.debug {
log.Print("bcm180: no altitudes available... measuring")
if d.Debug {
log.Print("bcm085: no altitudes available... measuring")
}
_, altitude, err = d.measurePressureAndAltitude()
if err != nil {
@ -388,10 +364,10 @@ func (d *bmp180) Altitude() (altitude float64, err error) {
}
// Run starts the sensor data acquisition loop.
func (d *bmp180) Run() (err error) {
func (d *BMP180) Run() (err error) {
go func() {
d.quit = make(chan struct{})
timer := time.Tick(time.Duration(d.poll) * time.Millisecond)
timer := time.Tick(time.Duration(d.Poll) * time.Millisecond)
var temp uint16
var pressure int32
@ -432,7 +408,7 @@ func (d *bmp180) Run() (err error) {
}
// Close.
func (d *bmp180) Close() {
func (d *BMP180) Close() {
if d.quit != nil {
d.quit <- struct{}{}
}

6
sensor/l3gd20/l3gd20.go
View File

@ -8,7 +8,7 @@ import (
"sync"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
)
const (
@ -112,7 +112,7 @@ type Orientation struct {
// L3GD20 represents a L3GD20 3-axis gyroscope.
type L3GD20 struct {
Bus i2c.Bus
Bus embd.I2CBus
Range *Range
initialized bool
@ -128,7 +128,7 @@ type L3GD20 struct {
// New creates a new L3GD20 interface. The bus variable controls
// the I2C bus used to communicate with the device.
func New(bus i2c.Bus, Range *Range) *L3GD20 {
func New(bus embd.I2CBus, Range *Range) *L3GD20 {
return &L3GD20{
Bus: bus,
Range: Range,

84
sensor/lsm303/lsm303.go
View File

@ -7,7 +7,7 @@ import (
"sync"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
)
const (
@ -42,101 +42,82 @@ const (
pollDelay = 250
)
// A LSM303 implements access to a LSM303 sensor.
type LSM303 interface {
// SetPollDelay sets the delay between runs of the data acquisition loop.
SetPollDelay(delay int)
// Heading returns the current heading [0, 360).
Heading() (heading float64, err error)
// Run starts the sensor data acquisition loop.
Run() error
// Close closes the sensor data acquisition loop and puts the LSM303 into sleep mode.
Close() error
}
type lsm303 struct {
bus i2c.Bus
type LSM303 struct {
Bus embd.I2CBus
Poll int
initialized bool
mu *sync.RWMutex
mu sync.RWMutex
headings chan float64
poll int
quit chan struct{}
debug bool
Debug bool
}
// New creates a new LSM303 interface. The bus variable controls
// the I2C bus used to communicate with the device.
func New(bus i2c.Bus) LSM303 {
return &lsm303{bus: bus, mu: new(sync.RWMutex), poll: pollDelay}
func New(bus embd.I2CBus) *LSM303 {
return &LSM303{Bus: bus, Poll: pollDelay}
}
// Initialize the device
func (d *lsm303) setup() (err error) {
func (d *LSM303) setup() error {
d.mu.RLock()
if d.initialized {
d.mu.RUnlock()
return
return nil
}
d.mu.RUnlock()
d.mu.Lock()
defer d.mu.Unlock()
if err = d.bus.WriteByteToReg(magAddress, magConfigRegA, MagCRADefault); err != nil {
return
if err := d.Bus.WriteByteToReg(magAddress, magConfigRegA, MagCRADefault); err != nil {
return err
}
if err = d.bus.WriteByteToReg(magAddress, magModeReg, MagMRDefault); err != nil {
return
if err := d.Bus.WriteByteToReg(magAddress, magModeReg, MagMRDefault); err != nil {
return err
}
d.initialized = true
return
return nil
}
// SetPollDelay sets the delay between runs of the data acquisition loop.
func (d *lsm303) SetPollDelay(delay int) {
d.poll = delay
}
func (d *lsm303) measureHeading() (heading float64, err error) {
if err = d.setup(); err != nil {
return
func (d *LSM303) measureHeading() (float64, error) {
if err := d.setup(); err != nil {
return 0, err
}
if _, err = d.bus.ReadByteFromReg(magAddress, magDataSignal); err != nil {
return
if _, err := d.Bus.ReadByteFromReg(magAddress, magDataSignal); err != nil {
return 0, err
}
data := make([]byte, 6)
if err = d.bus.ReadFromReg(magAddress, magData, data); err != nil {
return
if err := d.Bus.ReadFromReg(magAddress, magData, data); err != nil {
return 0, err
}
x := int16(data[0])<<8 | int16(data[1])
y := int16(data[2])<<8 | int16(data[3])
heading = math.Atan2(float64(y), float64(x)) / math.Pi * 180
heading := math.Atan2(float64(y), float64(x)) / math.Pi * 180
if heading < 0 {
heading += 360
}
return
return heading, nil
}
// Heading returns the current heading [0, 360).
func (d *lsm303) Heading() (heading float64, err error) {
func (d *LSM303) Heading() (float64, error) {
select {
case heading = <-d.headings:
return
case heading := <-d.headings:
return heading, nil
default:
if d.debug {
if d.Debug {
log.Print("lsm303: no headings available... measuring")
}
return d.measureHeading()
@ -144,11 +125,11 @@ func (d *lsm303) Heading() (heading float64, err error) {
}
// Run starts the sensor data acquisition loop.
func (d *lsm303) Run() (err error) {
func (d *LSM303) Run() (err error) {
go func() {
d.quit = make(chan struct{})
timer := time.Tick(time.Duration(d.poll) * time.Millisecond)
timer := time.Tick(time.Duration(d.Poll) * time.Millisecond)
var heading float64
@ -175,10 +156,9 @@ func (d *lsm303) Run() (err error) {
}
// Close the sensor data acquisition loop and put the LSM303 into sleep mode.
func (d *lsm303) Close() (err error) {
func (d *LSM303) Close() error {
if d.quit != nil {
d.quit <- struct{}{}
}
err = d.bus.WriteByteToReg(magAddress, magModeReg, MagSleep)
return
return d.Bus.WriteByteToReg(magAddress, magModeReg, MagSleep)
}

7
sensor/tmp006/tmp006.go
View File

@ -8,8 +8,7 @@ import (
"math"
"sync"
"time"
"github.com/kidoman/embd/i2c"
"github.com/kidoman/embd"
)
const (
@ -54,7 +53,7 @@ var (
// TMP006 represents a TMP006 thermopile sensor.
type TMP006 struct {
// Bus to communicate over.
Bus i2c.Bus
Bus embd.I2CBus
// Addr of the sensor.
Addr byte
// Debug turns on additional debug output.
@ -71,7 +70,7 @@ type TMP006 struct {
}
// New creates a new TMP006 sensor.
func New(bus i2c.Bus, addr byte) *TMP006 {
func New(bus embd.I2CBus, addr byte) *TMP006 {
return &TMP006{
Bus: bus,
Addr: addr,

20
sensor/us020/us020.go
View File

@ -6,7 +6,7 @@ import (
"sync"
"time"
"github.com/kidoman/embd/gpio"
"github.com/kidoman/embd"
)
const (
@ -29,7 +29,7 @@ var NullThermometer = &nullThermometer{}
// US020 represents a US020 ultrasonic range finder.
type US020 struct {
EchoPin, TriggerPin gpio.DigitalPin
EchoPin, TriggerPin embd.DigitalPin
Thermometer Thermometer
@ -43,7 +43,7 @@ type US020 struct {
// New creates a new US020 interface. The bus variable controls
// the I2C bus used to communicate with the device.
func New(echoPin, triggerPin gpio.DigitalPin, thermometer Thermometer) *US020 {
func New(echoPin, triggerPin embd.DigitalPin, thermometer Thermometer) *US020 {
return &US020{EchoPin: echoPin, TriggerPin: triggerPin, Thermometer: thermometer}
}
@ -58,8 +58,8 @@ func (d *US020) setup() (err error) {
d.mu.Lock()
defer d.mu.Unlock()
d.TriggerPin.SetDirection(gpio.Out)
d.EchoPin.SetDirection(gpio.In)
d.TriggerPin.SetDirection(embd.Out)
d.EchoPin.SetDirection(embd.In)
if d.Thermometer == nil {
d.Thermometer = NullThermometer
@ -91,9 +91,9 @@ func (d *US020) Distance() (distance float64, err error) {
}
// Generate a TRIGGER pulse
d.TriggerPin.Write(gpio.High)
d.TriggerPin.Write(embd.High)
time.Sleep(pulseDelay)
d.TriggerPin.Write(gpio.Low)
d.TriggerPin.Write(embd.Low)
if d.Debug {
log.Print("us020: waiting for echo to go high")
@ -106,7 +106,7 @@ func (d *US020) Distance() (distance float64, err error) {
return 0, err
}
if v != gpio.Low {
if v != embd.Low {
break
}
}
@ -124,7 +124,7 @@ func (d *US020) Distance() (distance float64, err error) {
return 0, err
}
if v != gpio.High {
if v != embd.High {
break
}
}
@ -139,5 +139,5 @@ func (d *US020) Distance() (distance float64, err error) {
// Close.
func (d *US020) Close() {
d.EchoPin.SetDirection(gpio.Out)
d.EchoPin.SetDirection(embd.Out)
}

10
sensor/watersensor/watersensor.go
View File

@ -5,11 +5,11 @@ import (
"sync"
"github.com/golang/glog"
"github.com/kidoman/embd/gpio"
"github.com/kidoman/embd"
)
type WaterSensor struct {
Pin gpio.DigitalPin
Pin embd.DigitalPin
initialized bool
mu sync.RWMutex
@ -18,7 +18,7 @@ type WaterSensor struct {
}
// New creates a new WaterSensor struct
func New(pin gpio.DigitalPin) *WaterSensor {
func New(pin embd.DigitalPin) *WaterSensor {
return &WaterSensor{Pin: pin}
}
@ -33,7 +33,7 @@ func (d *WaterSensor) setup() error {
d.mu.Lock()
defer d.mu.Unlock()
if err := d.Pin.SetDirection(gpio.In); err != nil {
if err := d.Pin.SetDirection(embd.In); err != nil {
return err
}
d.initialized = true
@ -55,7 +55,7 @@ func (d *WaterSensor) IsWet() (bool, error) {
if err != nil {
return false, err
}
if value == gpio.High {
if value == embd.High {
return true, nil
} else {
return false, nil