mirror of https://github.com/kidoman/embd
Initial attempt to implemented GPIO Interrupts
Basicly imported Dave Cheney's code from http://github.com/davecheney/gpio
This commit is contained in:
parent
5c0ae1c83a
commit
a54e7dc7ff
37
gpio.go
37
gpio.go
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@ -23,6 +23,16 @@ const (
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High
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)
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type Edge string
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type IRQEvent func(pin DigitalPin)
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const (
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EdgeNone Edge = "none"
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EdgeRising Edge = "rising"
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EdgeFalling Edge = "falling"
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EdgeBoth Edge = "both"
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)
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// DigitalPin implements access to a digital IO capable GPIO pin.
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type DigitalPin interface {
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// N returns the logical GPIO number.
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@ -50,6 +60,11 @@ type DigitalPin interface {
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// PullDown pulls the pin down.
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PullDown() error
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Watch(edge Edge, callback IRQEvent) error
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StopWatching() error
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Signal()
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// Close releases the resources associated with the pin.
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Close() error
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}
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@ -103,6 +118,12 @@ type PWMPin interface {
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// GPIODriver implements a generic GPIO driver.
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type GPIODriver interface {
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// Register a pin as an interrupt pin
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RegisterInterrupt(fd int, p DigitalPin) error
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// Unregister the file handler from the Interrupt handler
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UnregisterInterrupt(fd int) error
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// Unregister unregisters the pin from the driver. Should be called when the pin is closed.
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Unregister(string) error
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@ -209,6 +230,22 @@ func PullDown(key interface{}) error {
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return pin.PullDown()
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}
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func Watch(key interface{}, edge Edge, callback IRQEvent) error {
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pin, err := NewDigitalPin(key)
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if err != nil {
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return err
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}
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return pin.Watch(edge, callback)
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}
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func StopWatching(key interface{}) error {
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pin, err := NewDigitalPin(key)
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if err != nil {
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return err
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}
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return pin.StopWatching()
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}
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// NewAnalogPin returns a AnalogPin interface which allows control over
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// the analog GPIO pin.
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func NewAnalogPin(key interface{}) (AnalogPin, error) {
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@ -5,6 +5,11 @@ package embd
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import (
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"errors"
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"fmt"
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"syscall"
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)
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const (
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MaxGPIOInterrupt = 64
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)
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type pin interface {
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@ -22,20 +27,88 @@ type gpioDriver struct {
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apf analogPinFactory
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ppf pwmPinFactory
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initializedPins map[string]pin
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watchEventCallbacks map[int]DigitalPin
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initializedPins map[string]pin
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}
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// NewGPIODriver returns a GPIODriver interface which allows control
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// over the GPIO subsystem.
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func NewGPIODriver(pinMap PinMap, dpf digitalPinFactory, apf analogPinFactory, ppf pwmPinFactory) GPIODriver {
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return &gpioDriver{
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driver := &gpioDriver{
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pinMap: pinMap,
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dpf: dpf,
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apf: apf,
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ppf: ppf,
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initializedPins: map[string]pin{},
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watchEventCallbacks: map[int]DigitalPin{},
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initializedPins: map[string]pin{},
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}
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return driver
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}
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var epollFD int
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func (io *gpioDriver) initializeEpoll() {
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var err error
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epollFD, err = syscall.EpollCreate1(0)
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if err != nil {
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panic(fmt.Sprintf("Unable to create epoll FD: ", err.Error()))
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}
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go func() {
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var epollEvents [MaxGPIOInterrupt]syscall.EpollEvent
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for {
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numEvents, err := syscall.EpollWait(epollFD, epollEvents[:], -1)
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if err != nil {
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panic(fmt.Sprintf("EpollWait error: %s", err.Error()))
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}
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for i := 0; i < numEvents; i++ {
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if eventPin, exists := io.watchEventCallbacks[int(epollEvents[i].Fd)]; exists {
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eventPin.Signal()
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}
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}
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}
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}()
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}
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func (io *gpioDriver) RegisterInterrupt(fd int, p DigitalPin) error {
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if epollFD == 0 {
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io.initializeEpoll()
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}
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var event syscall.EpollEvent
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event.Events = syscall.EPOLLIN | (syscall.EPOLLET & 0xffffffff) | syscall.EPOLLPRI
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io.watchEventCallbacks[fd] = p
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if err := syscall.SetNonblock(fd, true); err != nil {
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return err
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}
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event.Fd = int32(fd)
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if err := syscall.EpollCtl(epollFD, syscall.EPOLL_CTL_ADD, fd, &event); err != nil {
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return err
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}
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return nil
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}
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func (io *gpioDriver) UnregisterInterrupt(fd int) error {
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if err := syscall.EpollCtl(epollFD, syscall.EPOLL_CTL_DEL, fd, nil); err != nil {
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return err
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}
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if err := syscall.SetNonblock(fd, false); err != nil {
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return err
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}
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delete(io.watchEventCallbacks, fd)
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return nil
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}
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func (io *gpioDriver) Unregister(id string) error {
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@ -28,10 +28,19 @@ type digitalPin struct {
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readBuf []byte
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initialized bool
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epollInitialTrigger bool
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callback embd.IRQEvent
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}
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func NewDigitalPin(pd *embd.PinDesc, drv embd.GPIODriver) embd.DigitalPin {
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return &digitalPin{id: pd.ID, n: pd.DigitalLogical, drv: drv, readBuf: make([]byte, 1)}
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return &digitalPin{
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id: pd.ID,
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n: pd.DigitalLogical,
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drv: drv,
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epollInitialTrigger: true,
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readBuf: make([]byte, 1),
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}
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}
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func (p *digitalPin) N() int {
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@ -102,6 +111,37 @@ func (p *digitalPin) activeLowFile() (*os.File, error) {
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return p.openFile(path.Join(p.basePath(), "active_low"))
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}
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func (p *digitalPin) setEdge(edge embd.Edge) error {
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file, err := p.openFile(path.Join(p.basePath(), "edge"))
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if err != nil {
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return err
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}
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defer file.Close()
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_, err = file.Write([]byte(edge))
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return err
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}
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func (p *digitalPin) Watch(edge embd.Edge, callback embd.IRQEvent) error {
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if err := p.setEdge(edge); err != nil {
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return err
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}
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p.callback = callback
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return p.drv.RegisterInterrupt(int(p.val.Fd()), p)
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}
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func (p *digitalPin) StopWatching() error {
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return p.drv.UnregisterInterrupt(int(p.val.Fd()))
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}
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func (p *digitalPin) Signal() {
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if p.epollInitialTrigger {
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p.epollInitialTrigger = false
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} else {
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p.callback(embd.DigitalPin(p))
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}
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}
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func (p *digitalPin) SetDirection(dir embd.Direction) error {
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if err := p.init(); err != nil {
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return err
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