From c35deeb17cafe61a6826360c4ff9f914e7a98ba2 Mon Sep 17 00:00:00 2001 From: Karan Misra Date: Sun, 6 Apr 2014 06:50:09 +0530 Subject: [PATCH] host specific drivers can now be loaded separately this ensures cleaner abstractions/code and will ensure that the produced binary is as small as possible. a convenience package is provided to easily load all hosts easily: "github.com/kidoman/embd/host/all" --- bbb.go | 507 ------------------ bbb_test.go | 41 -- gpiodriver.go | 4 +- gpiodriver_test.go | 8 +- host/all/all.go | 7 + host/bbb/analogpin.go | 104 ++++ host/bbb/analogpin_test.go | 26 + host/bbb/bbb.go | 170 ++++++ host/bbb/pwmpin.go | 261 +++++++++ host/bbb/pwmpin_test.go | 26 + host/doc.go | 2 + digitalpin.go => host/generic/digitalpin.go | 20 +- .../generic/digitalpin_test.go | 14 +- host/generic/doc.go | 10 + host/generic/i2cbus.go | 288 ++++++++++ host/generic/led.go | 113 ++++ host/rpi/rpi.go | 71 +++ i2c.go | 4 + i2cdriver.go | 295 +--------- leddriver.go | 118 +--- rpi.go | 63 --- samples/analog.go | 2 + samples/analogshort.go | 2 + samples/bh1750fvi.go | 2 + samples/bmp085.go | 2 + samples/bmp180.go | 2 + samples/gpio.go | 2 + samples/gpiodetect.go | 2 + samples/gpiodirect.go | 2 + samples/gpioshort.go | 2 + samples/l3gd20.go | 2 + samples/led.go | 2 + samples/ledshort.go | 2 + samples/lsm303.go | 2 + samples/mcp4725.go | 2 + samples/pca9685.go | 2 + samples/pwm.go | 5 +- samples/servo.go | 2 + samples/servobbb.go | 2 + samples/servoblaster.go | 2 + samples/tmp006.go | 2 + samples/us020.go | 2 + samples/watersensor.go | 2 + utils.go | 3 +- 44 files changed, 1184 insertions(+), 1018 deletions(-) delete mode 100644 bbb.go delete mode 100644 bbb_test.go create mode 100644 host/all/all.go create mode 100644 host/bbb/analogpin.go create mode 100644 host/bbb/analogpin_test.go create mode 100644 host/bbb/bbb.go create mode 100644 host/bbb/pwmpin.go create mode 100644 host/bbb/pwmpin_test.go create mode 100644 host/doc.go rename digitalpin.go => host/generic/digitalpin.go (92%) rename digitalpin_test.go => host/generic/digitalpin_test.go (61%) create mode 100644 host/generic/doc.go create mode 100644 host/generic/i2cbus.go create mode 100644 host/generic/led.go create mode 100644 host/rpi/rpi.go delete mode 100644 rpi.go diff --git a/bbb.go b/bbb.go deleted file mode 100644 index feeb4b4..0000000 --- a/bbb.go +++ /dev/null @@ -1,507 +0,0 @@ -// BeagleBone Black support. -// The following features are supported on Linux kernel 3.8+ -// -// GPIO (digital (rw), analog (ro), pwm) -// I2C -// LED - -package embd - -import ( - "bufio" - "errors" - "fmt" - "io/ioutil" - "os" - "path" - "strconv" - "strings" - "time" - - "github.com/golang/glog" - "github.com/kidoman/embd/util" -) - -var bbbPins = PinMap{ - &PinDesc{ID: "P8_07", Aliases: []string{"66", "GPIO_66", "Caps: TIMER4"}, Caps: CapDigital | CapGPMC, DigitalLogical: 66}, - &PinDesc{ID: "P8_08", Aliases: []string{"67", "GPIO_67", "TIMER7"}, Caps: CapDigital | CapGPMC, DigitalLogical: 67}, - &PinDesc{ID: "P8_09", Aliases: []string{"69", "GPIO_69", "TIMER5"}, Caps: CapDigital | CapGPMC, DigitalLogical: 69}, - &PinDesc{ID: "P8_10", Aliases: []string{"68", "GPIO_68", "TIMER6"}, Caps: CapDigital | CapGPMC, DigitalLogical: 68}, - &PinDesc{ID: "P8_11", Aliases: []string{"45", "GPIO_45"}, Caps: CapDigital | CapGPMC, DigitalLogical: 45}, - &PinDesc{ID: "P8_12", Aliases: []string{"44", "GPIO_44"}, Caps: CapDigital | CapGPMC, DigitalLogical: 44}, - &PinDesc{ID: "P8_13", Aliases: []string{"23", "GPIO_23", "EHRPWM2B"}, Caps: CapDigital | CapGPMC, DigitalLogical: 23}, - &PinDesc{ID: "P8_14", Aliases: []string{"26", "GPIO_26"}, Caps: CapDigital | CapGPMC, DigitalLogical: 26}, - &PinDesc{ID: "P8_15", Aliases: []string{"47", "GPIO_47"}, Caps: CapDigital | CapGPMC, DigitalLogical: 47}, - &PinDesc{ID: "P8_16", Aliases: []string{"46", "GPIO_46"}, Caps: CapDigital | CapGPMC, DigitalLogical: 46}, - &PinDesc{ID: "P8_17", Aliases: []string{"27", "GPIO_27"}, Caps: CapDigital | CapGPMC, DigitalLogical: 27}, - &PinDesc{ID: "P8_18", Aliases: []string{"65", "GPIO_65"}, Caps: CapDigital | CapGPMC, DigitalLogical: 65}, - &PinDesc{ID: "P8_19", Aliases: []string{"22", "GPIO_22", "EHRPWM2A"}, Caps: CapDigital | CapGPMC, DigitalLogical: 22}, - &PinDesc{ID: "P8_26", Aliases: []string{"61", "GPIO_61"}, Caps: CapDigital | CapGPMC, DigitalLogical: 61}, - &PinDesc{ID: "P8_27", Aliases: []string{"86", "GPIO_86"}, Caps: CapDigital | CapLCD, DigitalLogical: 86}, - &PinDesc{ID: "P8_28", Aliases: []string{"88", "GPIO_88"}, Caps: CapDigital | CapLCD, DigitalLogical: 88}, - &PinDesc{ID: "P8_29", Aliases: []string{"87", "GPIO_87"}, Caps: CapDigital | CapLCD, DigitalLogical: 87}, - &PinDesc{ID: "P8_30", Aliases: []string{"89", "GPIO_89"}, Caps: CapDigital | CapLCD, DigitalLogical: 89}, - &PinDesc{ID: "P8_31", Aliases: []string{"10", "GPIO_10", "UART5_CTSN"}, Caps: CapDigital | CapLCD, DigitalLogical: 10}, - &PinDesc{ID: "P8_32", Aliases: []string{"11", "GPIO_11", "UART5_RTSN"}, Caps: CapDigital | CapLCD, DigitalLogical: 11}, - &PinDesc{ID: "P8_33", Aliases: []string{"9", "GPIO_9 ", "UART4_RTSN"}, Caps: CapDigital | CapLCD, DigitalLogical: 9}, - &PinDesc{ID: "P8_34", Aliases: []string{"81", "GPIO_81", "UART3_RTSN"}, Caps: CapDigital | CapLCD, DigitalLogical: 81}, - &PinDesc{ID: "P8_35", Aliases: []string{"8", "GPIO_8 ", "UART4_CTSN"}, Caps: CapDigital | CapLCD, DigitalLogical: 8}, - &PinDesc{ID: "P8_36", Aliases: []string{"80", "GPIO_80", "UART3_CTSN"}, Caps: CapDigital | CapLCD, DigitalLogical: 80}, - &PinDesc{ID: "P8_37", Aliases: []string{"78", "GPIO_78", "UART5_TXD"}, Caps: CapDigital | CapLCD, DigitalLogical: 78}, - &PinDesc{ID: "P8_38", Aliases: []string{"79", "GPIO_79", "UART5_RXD"}, Caps: CapDigital | CapLCD, DigitalLogical: 79}, - &PinDesc{ID: "P8_39", Aliases: []string{"76", "GPIO_76"}, Caps: CapDigital | CapLCD, DigitalLogical: 76}, - &PinDesc{ID: "P8_40", Aliases: []string{"77", "GPIO_77"}, Caps: CapDigital | CapLCD, DigitalLogical: 77}, - &PinDesc{ID: "P8_41", Aliases: []string{"74", "GPIO_74"}, Caps: CapDigital | CapLCD, DigitalLogical: 74}, - &PinDesc{ID: "P8_42", Aliases: []string{"75", "GPIO_75"}, Caps: CapDigital | CapLCD, DigitalLogical: 75}, - &PinDesc{ID: "P8_43", Aliases: []string{"72", "GPIO_72"}, Caps: CapDigital | CapLCD, DigitalLogical: 72}, - &PinDesc{ID: "P8_44", Aliases: []string{"73", "GPIO_73"}, Caps: CapDigital | CapLCD, DigitalLogical: 73}, - &PinDesc{ID: "P8_45", Aliases: []string{"70", "GPIO_70"}, Caps: CapDigital | CapLCD, DigitalLogical: 70}, - &PinDesc{ID: "P8_46", Aliases: []string{"71", "GPIO_71"}, Caps: CapDigital | CapLCD, DigitalLogical: 71}, - - &PinDesc{ID: "P9_11", Aliases: []string{"30", "GPIO_30", "UART4_RXD"}, Caps: CapDigital | CapUART, DigitalLogical: 30}, - &PinDesc{ID: "P9_12", Aliases: []string{"60", "GPIO_60", "GPIO1_28"}, Caps: CapDigital, DigitalLogical: 60}, - &PinDesc{ID: "P9_13", Aliases: []string{"31", "GPIO_31", "UART4_TXD"}, Caps: CapDigital | CapUART, DigitalLogical: 31}, - &PinDesc{ID: "P9_14", Aliases: []string{"50", "GPIO_50", "EHRPWM1A"}, Caps: CapDigital | CapPWM, DigitalLogical: 50}, - &PinDesc{ID: "P9_15", Aliases: []string{"48", "GPIO_48", "GPIO1_16"}, Caps: CapDigital, DigitalLogical: 48}, - &PinDesc{ID: "P9_16", Aliases: []string{"51", "GPIO_51", "EHRPWM1B"}, Caps: CapDigital | CapPWM, DigitalLogical: 51}, - &PinDesc{ID: "P9_17", Aliases: []string{"5", "GPIO_5", "I2C1_SCL"}, Caps: CapDigital | CapI2C, DigitalLogical: 5}, - &PinDesc{ID: "P9_18", Aliases: []string{"4", "GPIO_4", "I2C1_SDA"}, Caps: CapDigital | CapI2C, DigitalLogical: 4}, - &PinDesc{ID: "P9_19", Aliases: []string{"13", "GPIO_13", "I2C2_SCL"}, Caps: CapDigital | CapI2C, DigitalLogical: 13}, - &PinDesc{ID: "P9_20", Aliases: []string{"12", "GPIO_12", "I2C2_SDA"}, Caps: CapDigital | CapI2C, DigitalLogical: 12}, - &PinDesc{ID: "P9_21", Aliases: []string{"3", "GPIO_3", "UART2_TXD"}, Caps: CapDigital | CapUART, DigitalLogical: 3}, - &PinDesc{ID: "P9_22", Aliases: []string{"2", "GPIO_2", "UART2_RXD"}, Caps: CapDigital | CapUART, DigitalLogical: 2}, - &PinDesc{ID: "P9_23", Aliases: []string{"49", "GPIO_49", "GPIO1_17"}, Caps: CapDigital, DigitalLogical: 49}, - &PinDesc{ID: "P9_24", Aliases: []string{"15", "GPIO_15", "UART1_TXD"}, Caps: CapDigital | CapUART, DigitalLogical: 15}, - &PinDesc{ID: "P9_25", Aliases: []string{"117", "GPIO_117", "GPIO3_21"}, Caps: CapDigital, DigitalLogical: 117}, - &PinDesc{ID: "P9_26", Aliases: []string{"14", "GPIO_14", "UART1_RXD"}, Caps: CapDigital | CapUART, DigitalLogical: 14}, - &PinDesc{ID: "P9_27", Aliases: []string{"115", "GPIO_115", "GPIO3_19"}, Caps: CapDigital, DigitalLogical: 115}, - &PinDesc{ID: "P9_28", Aliases: []string{"113", "GPIO_113", "SPI1_CS0"}, Caps: CapDigital | CapSPI, DigitalLogical: 113}, - &PinDesc{ID: "P9_29", Aliases: []string{"111", "GPIO_111", "SPI1_D0"}, Caps: CapDigital | CapSPI, DigitalLogical: 111}, - &PinDesc{ID: "P9_30", Aliases: []string{"112", "GPIO_112", "SPI1_D1"}, Caps: CapDigital | CapSPI, DigitalLogical: 112}, - &PinDesc{ID: "P9_31", Aliases: []string{"110", "GPIO_110", "SPI1_SCLK"}, Caps: CapDigital | CapSPI, DigitalLogical: 110}, - &PinDesc{ID: "P9_32", Aliases: []string{"VADC"}}, - &PinDesc{ID: "P9_33", Aliases: []string{"4", "AIN4"}, Caps: CapAnalog, AnalogLogical: 4}, - &PinDesc{ID: "P9_34", Aliases: []string{"AGND"}}, - &PinDesc{ID: "P9_35", Aliases: []string{"6", "AIN6"}, Caps: CapAnalog, AnalogLogical: 6}, - &PinDesc{ID: "P9_36", Aliases: []string{"5", "AIN5"}, Caps: CapAnalog, AnalogLogical: 5}, - &PinDesc{ID: "P9_37", Aliases: []string{"2", "AIN2"}, Caps: CapAnalog, AnalogLogical: 2}, - &PinDesc{ID: "P9_38", Aliases: []string{"3", "AIN3"}, Caps: CapAnalog, AnalogLogical: 3}, - &PinDesc{ID: "P9_39", Aliases: []string{"0", "AIN0"}, Caps: CapAnalog, AnalogLogical: 0}, - &PinDesc{ID: "P9_40", Aliases: []string{"1", "AIN1"}, Caps: CapAnalog, AnalogLogical: 1}, -} - -var bbbLEDMap = LEDMap{ - "beaglebone:green:usr0": []string{"0", "USR0", "usr0"}, - "beaglebone:green:usr1": []string{"1", "USR1", "usr1"}, - "beaglebone:green:usr2": []string{"2", "USR2", "usr2"}, - "beaglebone:green:usr3": []string{"3", "USR3", "usr3"}, -} - -func bbbEnsureFeatureEnabled(id string) error { - pattern := "/sys/devices/bone_capemgr.*/slots" - file, err := findFirstMatchingFile(pattern) - if err != nil { - return err - } - bytes, err := ioutil.ReadFile(file) - if err != nil { - return err - } - str := string(bytes) - if strings.Contains(str, id) { - return nil - } - slots, err := os.OpenFile(file, os.O_WRONLY, os.ModeExclusive) - if err != nil { - return err - } - defer slots.Close() - _, err = slots.WriteString(id) - return err -} - -// This cannot be currently used to disable things like the -// analog and pwm modules. Removing them from slots file can -// potentially cause a kernel panic and unsettle things. So the -// recommended thing to do is to simply reboot. -func bbbEnsureFeatureDisabled(id string) error { - pattern := "/sys/devices/bone_capemgr.*/slots" - file, err := findFirstMatchingFile(pattern) - if err != nil { - return err - } - slots, err := os.OpenFile(file, os.O_RDWR, os.ModeExclusive) - if err != nil { - return err - } - defer slots.Close() - scanner := bufio.NewScanner(slots) - for scanner.Scan() { - text := scanner.Text() - if !strings.Contains(text, id) { - continue - } - // Extract the id from the line - idx := strings.Index(text, ":") - if idx < 0 { - // Something is off, bail - continue - } - dis := strings.TrimSpace(text[:idx]) - slots.Seek(0, 0) - _, err = slots.WriteString("-" + dis) - return err - } - // Could not disable the feature - return fmt.Errorf("embd: could not disable feature %q", id) -} - -type bbbAnalogPin struct { - id string - n int - - drv GPIODriver - - val *os.File - - initialized bool -} - -func newBBBAnalogPin(pd *PinDesc, drv GPIODriver) AnalogPin { - return &bbbAnalogPin{id: pd.ID, n: pd.AnalogLogical, drv: drv} -} - -func (p *bbbAnalogPin) N() int { - return p.n -} - -func (p *bbbAnalogPin) init() error { - if p.initialized { - return nil - } - - var err error - if err = p.ensureEnabled(); err != nil { - return err - } - if p.val, err = p.valueFile(); err != nil { - return err - } - - p.initialized = true - - return nil -} - -func (p *bbbAnalogPin) ensureEnabled() error { - return bbbEnsureFeatureEnabled("cape-bone-iio") -} - -func (p *bbbAnalogPin) valueFilePath() (string, error) { - pattern := fmt.Sprintf("/sys/devices/ocp.*/helper.*/AIN%v", p.n) - return findFirstMatchingFile(pattern) -} - -func (p *bbbAnalogPin) openFile(path string) (*os.File, error) { - return os.OpenFile(path, os.O_RDONLY, os.ModeExclusive) -} - -func (p *bbbAnalogPin) valueFile() (*os.File, error) { - path, err := p.valueFilePath() - if err != nil { - return nil, err - } - return p.openFile(path) -} - -func (p *bbbAnalogPin) Read() (int, error) { - if err := p.init(); err != nil { - return 0, err - } - - p.val.Seek(0, 0) - bytes, err := ioutil.ReadAll(p.val) - if err != nil { - return 0, err - } - str := string(bytes) - str = strings.TrimSpace(str) - return strconv.Atoi(str) -} - -func (p *bbbAnalogPin) Close() error { - if err := p.drv.Unregister(p.id); err != nil { - return err - } - - if !p.initialized { - return nil - } - - if err := p.val.Close(); err != nil { - return err - } - - p.initialized = false - - return nil -} - -const ( - // BBBPWMDefaultPolarity represents the default polarity (Positve or 1) for pwm. - BBBPWMDefaultPolarity = Positive - - // BBBPWMDefaultDuty represents the default duty (0ns) for pwm. - BBBPWMDefaultDuty = 0 - - // BBBPWMDefaultPeriod represents the default period (500000ns) for pwm. Equals 2000 Hz. - BBBPWMDefaultPeriod = 500000 - - // BBBPWMMaxPulseWidth represents the max period (1000000000ns) supported by pwm. Equals 1 Hz. - BBBPWMMaxPulseWidth = 1000000000 -) - -type bbbPWMPin struct { - n string - - drv GPIODriver - - period int - polarity Polarity - - dutyf *os.File - periodf *os.File - polarityf *os.File - - initialized bool -} - -func newBBBPWMPin(pd *PinDesc, drv GPIODriver) PWMPin { - return &bbbPWMPin{n: pd.ID, drv: drv} -} - -func (p *bbbPWMPin) N() string { - return p.n -} - -func (p *bbbPWMPin) id() string { - return "bone_pwm_" + p.n -} - -func (p *bbbPWMPin) init() error { - if p.initialized { - return nil - } - - if err := p.ensurePWMEnabled(); err != nil { - return err - } - if err := p.ensurePinEnabled(); err != nil { - return err - } - - basePath, err := p.basePath() - if err != nil { - return err - } - if err := p.ensurePeriodFileExists(basePath, 500*time.Millisecond); err != nil { - return err - } - if p.periodf, err = p.periodFile(basePath); err != nil { - return err - } - if p.dutyf, err = p.dutyFile(basePath); err != nil { - return err - } - if p.polarityf, err = p.polarityFile(basePath); err != nil { - return err - } - - p.initialized = true - - if err := p.reset(); err != nil { - return err - } - - return nil -} - -func (p *bbbPWMPin) ensurePWMEnabled() error { - return bbbEnsureFeatureEnabled("am33xx_pwm") -} - -func (p *bbbPWMPin) ensurePinEnabled() error { - return bbbEnsureFeatureEnabled(p.id()) -} - -func (p *bbbPWMPin) ensurePinDisabled() error { - return bbbEnsureFeatureDisabled(p.id()) -} - -func (p *bbbPWMPin) basePath() (string, error) { - pattern := "/sys/devices/ocp.*/pwm_test_" + p.n + ".*" - return findFirstMatchingFile(pattern) -} - -func (p *bbbPWMPin) openFile(path string) (*os.File, error) { - return os.OpenFile(path, os.O_WRONLY, os.ModeExclusive) -} - -func (p *bbbPWMPin) ensurePeriodFileExists(basePath string, d time.Duration) error { - path := p.periodFilePath(basePath) - timeout := time.After(d) - - for { - select { - case <-timeout: - return errors.New("embd: period file not found before timeout") - default: - if _, err := os.Stat(path); err == nil { - return nil - } - } - - // We are looping, wait a bit. - time.Sleep(10 * time.Millisecond) - } -} - -func (p *bbbPWMPin) periodFilePath(basePath string) string { - return path.Join(basePath, "period") -} - -func (p *bbbPWMPin) periodFile(basePath string) (*os.File, error) { - return p.openFile(p.periodFilePath(basePath)) -} - -func (p *bbbPWMPin) dutyFile(basePath string) (*os.File, error) { - return p.openFile(path.Join(basePath, "duty")) -} - -func (p *bbbPWMPin) polarityFile(basePath string) (*os.File, error) { - return p.openFile(path.Join(basePath, "polarity")) -} - -func (p *bbbPWMPin) SetPeriod(ns int) error { - if err := p.init(); err != nil { - return err - } - - if ns > BBBPWMMaxPulseWidth { - return fmt.Errorf("embd: pwm period for %v is out of bounds (must be =< %vns)", p.n, BBBPWMMaxPulseWidth) - } - - _, err := p.periodf.WriteString(strconv.Itoa(ns)) - if err != nil { - return err - } - - p.period = ns - - return nil -} - -func (p *bbbPWMPin) SetDuty(ns int) error { - if err := p.init(); err != nil { - return err - } - - if ns > BBBPWMMaxPulseWidth { - return fmt.Errorf("embd: pwm duty %v for pin %v is out of bounds (must be =< %vns)", p.n, BBBPWMMaxPulseWidth) - } - - if ns > p.period { - return fmt.Errorf("embd: pwm duty %v for pin %v is greater than the period %v", ns, p.n, p.period) - } - - _, err := p.dutyf.WriteString(strconv.Itoa(ns)) - if err != nil { - return err - } - - return nil -} - -func (p *bbbPWMPin) SetMicroseconds(us int) error { - if err := p.init(); err != nil { - return err - } - - if p.period != 20000000 { - glog.Warningf("embd: pwm pin %v has freq %v hz. recommended 50 hz for servo mode", 1000000000/p.period) - } - duty := us * 1000 // in nanoseconds - if duty > p.period { - return fmt.Errorf("embd: calculated pwm duty %vns for pin %v (servo mode) is greater than the period %vns", duty, p.n, p.period) - } - return p.SetDuty(duty) -} - -func (p *bbbPWMPin) SetAnalog(value byte) error { - duty := util.Map(int64(value), 0, 255, 0, int64(p.period)) - return p.SetDuty(int(duty)) -} - -func (p *bbbPWMPin) SetPolarity(pol Polarity) error { - if err := p.init(); err != nil { - return err - } - - _, err := p.polarityf.WriteString(strconv.Itoa(int(pol))) - if err != nil { - return err - } - - p.polarity = pol - - return nil -} - -func (p *bbbPWMPin) reset() error { - if err := p.SetPolarity(Positive); err != nil { - return err - } - if err := p.SetDuty(BBBPWMDefaultDuty); err != nil { - return err - } - if err := p.SetPeriod(BBBPWMDefaultPeriod); err != nil { - return err - } - - return nil -} - -func (p *bbbPWMPin) Close() error { - if err := p.drv.Unregister(p.n); err != nil { - return err - } - - if !p.initialized { - return nil - } - - if err := p.reset(); err != nil { - return err - } - if err := p.ensurePinDisabled(); err != nil { - return err - } - - p.initialized = false - - return nil -} - -func init() { - Register(HostBBB, func(rev int) *Descriptor { - return &Descriptor{ - GPIODriver: func() GPIODriver { - return newGPIODriver(bbbPins, newDigitalPin, newBBBAnalogPin, newBBBPWMPin) - }, - I2CDriver: newI2CDriver, - LEDDriver: func() LEDDriver { - return newLEDDriver(bbbLEDMap) - }, - } - }) -} diff --git a/bbb_test.go b/bbb_test.go deleted file mode 100644 index 534430d..0000000 --- a/bbb_test.go +++ /dev/null @@ -1,41 +0,0 @@ -package embd - -import "testing" - -func TestBBBAnalogPinClose(t *testing.T) { - pinMap := PinMap{ - &PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapAnalog}, - } - driver := newGPIODriver(pinMap, nil, newBBBAnalogPin, nil) - pin, err := driver.AnalogPin(1) - if err != nil { - t.Fatalf("Looking up analog pin 1: got %v", err) - } - pin.Close() - pin2, err := driver.AnalogPin(1) - if err != nil { - t.Fatalf("Looking up analog pin 1: got %v", err) - } - if pin == pin2 { - t.Fatal("Looking up closed analog pin 1: but got the old instance") - } -} - -func TestBBBPWMPinClose(t *testing.T) { - pinMap := PinMap{ - &PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapPWM}, - } - driver := newGPIODriver(pinMap, nil, nil, newBBBPWMPin) - pin, err := driver.PWMPin(1) - if err != nil { - t.Fatalf("Looking up pwm pin 1: got %v", err) - } - pin.Close() - pin2, err := driver.PWMPin(1) - if err != nil { - t.Fatalf("Looking up pwm pin 1: got %v", err) - } - if pin == pin2 { - t.Fatal("Looking up closed pwm pin 1: but got the old instance") - } -} diff --git a/gpiodriver.go b/gpiodriver.go index 8d9b558..07fceff 100644 --- a/gpiodriver.go +++ b/gpiodriver.go @@ -25,7 +25,9 @@ type gpioDriver struct { initializedPins map[string]pin } -func newGPIODriver(pinMap PinMap, dpf digitalPinFactory, apf analogPinFactory, ppf pwmPinFactory) GPIODriver { +// NewGPIODriver returns a GPIODriver interface which allows control +// over the GPIO subsystem. +func NewGPIODriver(pinMap PinMap, dpf digitalPinFactory, apf analogPinFactory, ppf pwmPinFactory) GPIODriver { return &gpioDriver{ pinMap: pinMap, dpf: dpf, diff --git a/gpiodriver_test.go b/gpiodriver_test.go index 301545b..11bcb37 100644 --- a/gpiodriver_test.go +++ b/gpiodriver_test.go @@ -62,7 +62,7 @@ func TestGpioDriverDigitalPin(t *testing.T) { pinMap := PinMap{ &PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapDigital, DigitalLogical: 1}, } - driver := newGPIODriver(pinMap, newFakeDigitalPin, nil, nil) + driver := NewGPIODriver(pinMap, newFakeDigitalPin, nil, nil) for _, test := range tests { pin, err := driver.DigitalPin(test.key) if err != nil { @@ -112,7 +112,7 @@ func TestGpioDriverAnalogPin(t *testing.T) { pinMap := PinMap{ &PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapAnalog, AnalogLogical: 1}, } - driver := newGPIODriver(pinMap, nil, newFakeAnalogPin, nil) + driver := NewGPIODriver(pinMap, nil, newFakeAnalogPin, nil) for _, test := range tests { pin, err := driver.AnalogPin(test.key) if err != nil { @@ -130,7 +130,7 @@ func TestGpioDriverUnavailablePinType(t *testing.T) { &PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapDigital, DigitalLogical: 1}, &PinDesc{ID: "P1_2", Aliases: []string{"1"}, Caps: CapAnalog, AnalogLogical: 1}, } - driver := newGPIODriver(pinMap, nil, nil, nil) + driver := NewGPIODriver(pinMap, nil, nil, nil) _, err := driver.DigitalPin(1) if err == nil { t.Fatal("Looking up digital pin 1: did not get error") @@ -153,7 +153,7 @@ func TestGpioPinCaching(t *testing.T) { pinMap := PinMap{ &PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapDigital}, } - driver := newGPIODriver(pinMap, newFakeDigitalPin, nil, nil) + driver := NewGPIODriver(pinMap, newFakeDigitalPin, nil, nil) pin, err := driver.DigitalPin(1) if err != nil { t.Fatalf("Looking up digital pin 1: got %v", err) diff --git a/host/all/all.go b/host/all/all.go new file mode 100644 index 0000000..5bfd7a9 --- /dev/null +++ b/host/all/all.go @@ -0,0 +1,7 @@ +// Package all conviniently loads all the inbuilt/supported host drivers. +package all + +import ( + _ "github.com/kidoman/embd/host/bbb" + _ "github.com/kidoman/embd/host/rpi" +) diff --git a/host/bbb/analogpin.go b/host/bbb/analogpin.go new file mode 100644 index 0000000..e12b9dd --- /dev/null +++ b/host/bbb/analogpin.go @@ -0,0 +1,104 @@ +// Analog I/O support on the BBB. + +package bbb + +import ( + "fmt" + "io/ioutil" + "os" + "strconv" + "strings" + + "github.com/kidoman/embd" +) + +type analogPin struct { + id string + n int + + drv embd.GPIODriver + + val *os.File + + initialized bool +} + +func newAnalogPin(pd *embd.PinDesc, drv embd.GPIODriver) embd.AnalogPin { + return &analogPin{id: pd.ID, n: pd.AnalogLogical, drv: drv} +} + +func (p *analogPin) N() int { + return p.n +} + +func (p *analogPin) init() error { + if p.initialized { + return nil + } + + var err error + if err = p.ensureEnabled(); err != nil { + return err + } + if p.val, err = p.valueFile(); err != nil { + return err + } + + p.initialized = true + + return nil +} + +func (p *analogPin) ensureEnabled() error { + return ensureFeatureEnabled("cape-bone-iio") +} + +func (p *analogPin) valueFilePath() (string, error) { + pattern := fmt.Sprintf("/sys/devices/ocp.*/helper.*/AIN%v", p.n) + return embd.FindFirstMatchingFile(pattern) +} + +func (p *analogPin) openFile(path string) (*os.File, error) { + return os.OpenFile(path, os.O_RDONLY, os.ModeExclusive) +} + +func (p *analogPin) valueFile() (*os.File, error) { + path, err := p.valueFilePath() + if err != nil { + return nil, err + } + return p.openFile(path) +} + +func (p *analogPin) Read() (int, error) { + if err := p.init(); err != nil { + return 0, err + } + + p.val.Seek(0, 0) + bytes, err := ioutil.ReadAll(p.val) + if err != nil { + return 0, err + } + str := string(bytes) + str = strings.TrimSpace(str) + return strconv.Atoi(str) +} + +func (p *analogPin) Close() error { + if err := p.drv.Unregister(p.id); err != nil { + return err + } + + if !p.initialized { + return nil + } + + if err := p.val.Close(); err != nil { + return err + } + + p.initialized = false + + return nil +} diff --git a/host/bbb/analogpin_test.go b/host/bbb/analogpin_test.go new file mode 100644 index 0000000..49f22cb --- /dev/null +++ b/host/bbb/analogpin_test.go @@ -0,0 +1,26 @@ +package bbb + +import ( + "testing" + + "github.com/kidoman/embd" +) + +func TestAnalogPinClose(t *testing.T) { + pinMap := embd.PinMap{ + &embd.PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: embd.CapAnalog}, + } + driver := embd.NewGPIODriver(pinMap, nil, newAnalogPin, nil) + pin, err := driver.AnalogPin(1) + if err != nil { + t.Fatalf("Looking up analog pin 1: got %v", err) + } + pin.Close() + pin2, err := driver.AnalogPin(1) + if err != nil { + t.Fatalf("Looking up analog pin 1: got %v", err) + } + if pin == pin2 { + t.Fatal("Looking up closed analog pin 1: but got the old instance") + } +} diff --git a/host/bbb/bbb.go b/host/bbb/bbb.go new file mode 100644 index 0000000..c52f8a8 --- /dev/null +++ b/host/bbb/bbb.go @@ -0,0 +1,170 @@ +/* + Package bbb provides BeagleBone Black support. + The following features are supported on Linux kernel 3.8+ + + GPIO (digital (rw), analog (ro), pwm) + I²C + LED +*/ +package bbb + +import ( + "bufio" + "fmt" + "io/ioutil" + "os" + "strings" + + "github.com/kidoman/embd" + "github.com/kidoman/embd/host/generic" +) + +var pins = embd.PinMap{ + &embd.PinDesc{ID: "P8_07", Aliases: []string{"66", "GPIO_66", "Caps: TIMER4"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 66}, + &embd.PinDesc{ID: "P8_08", Aliases: []string{"67", "GPIO_67", "TIMER7"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 67}, + &embd.PinDesc{ID: "P8_09", Aliases: []string{"69", "GPIO_69", "TIMER5"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 69}, + &embd.PinDesc{ID: "P8_10", Aliases: []string{"68", "GPIO_68", "TIMER6"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 68}, + &embd.PinDesc{ID: "P8_11", Aliases: []string{"45", "GPIO_45"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 45}, + &embd.PinDesc{ID: "P8_12", Aliases: []string{"44", "GPIO_44"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 44}, + &embd.PinDesc{ID: "P8_13", Aliases: []string{"23", "GPIO_23", "EHRPWM2B"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 23}, + &embd.PinDesc{ID: "P8_14", Aliases: []string{"26", "GPIO_26"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 26}, + &embd.PinDesc{ID: "P8_15", Aliases: []string{"47", "GPIO_47"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 47}, + &embd.PinDesc{ID: "P8_16", Aliases: []string{"46", "GPIO_46"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 46}, + &embd.PinDesc{ID: "P8_17", Aliases: []string{"27", "GPIO_27"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 27}, + &embd.PinDesc{ID: "P8_18", Aliases: []string{"65", "GPIO_65"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 65}, + &embd.PinDesc{ID: "P8_19", Aliases: []string{"22", "GPIO_22", "EHRPWM2A"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 22}, + &embd.PinDesc{ID: "P8_26", Aliases: []string{"61", "GPIO_61"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 61}, + &embd.PinDesc{ID: "P8_27", Aliases: []string{"86", "GPIO_86"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 86}, + &embd.PinDesc{ID: "P8_28", Aliases: []string{"88", "GPIO_88"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 88}, + &embd.PinDesc{ID: "P8_29", Aliases: []string{"87", "GPIO_87"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 87}, + &embd.PinDesc{ID: "P8_30", Aliases: []string{"89", "GPIO_89"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 89}, + &embd.PinDesc{ID: "P8_31", Aliases: []string{"10", "GPIO_10", "UART5_CTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 10}, + &embd.PinDesc{ID: "P8_32", Aliases: []string{"11", "GPIO_11", "UART5_RTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 11}, + &embd.PinDesc{ID: "P8_33", Aliases: []string{"9", "GPIO_9 ", "UART4_RTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 9}, + &embd.PinDesc{ID: "P8_34", Aliases: []string{"81", "GPIO_81", "UART3_RTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 81}, + &embd.PinDesc{ID: "P8_35", Aliases: []string{"8", "GPIO_8 ", "UART4_CTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 8}, + &embd.PinDesc{ID: "P8_36", Aliases: []string{"80", "GPIO_80", "UART3_CTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 80}, + &embd.PinDesc{ID: "P8_37", Aliases: []string{"78", "GPIO_78", "UART5_TXD"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 78}, + &embd.PinDesc{ID: "P8_38", Aliases: []string{"79", "GPIO_79", "UART5_RXD"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 79}, + &embd.PinDesc{ID: "P8_39", Aliases: []string{"76", "GPIO_76"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 76}, + &embd.PinDesc{ID: "P8_40", Aliases: []string{"77", "GPIO_77"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 77}, + &embd.PinDesc{ID: "P8_41", Aliases: []string{"74", "GPIO_74"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 74}, + &embd.PinDesc{ID: "P8_42", Aliases: []string{"75", "GPIO_75"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 75}, + &embd.PinDesc{ID: "P8_43", Aliases: []string{"72", "GPIO_72"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 72}, + &embd.PinDesc{ID: "P8_44", Aliases: []string{"73", "GPIO_73"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 73}, + &embd.PinDesc{ID: "P8_45", Aliases: []string{"70", "GPIO_70"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 70}, + &embd.PinDesc{ID: "P8_46", Aliases: []string{"71", "GPIO_71"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 71}, + + &embd.PinDesc{ID: "P9_11", Aliases: []string{"30", "GPIO_30", "UART4_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 30}, + &embd.PinDesc{ID: "P9_12", Aliases: []string{"60", "GPIO_60", "GPIO1_28"}, Caps: embd.CapDigital, DigitalLogical: 60}, + &embd.PinDesc{ID: "P9_13", Aliases: []string{"31", "GPIO_31", "UART4_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 31}, + &embd.PinDesc{ID: "P9_14", Aliases: []string{"50", "GPIO_50", "EHRPWM1A"}, Caps: embd.CapDigital | embd.CapPWM, DigitalLogical: 50}, + &embd.PinDesc{ID: "P9_15", Aliases: []string{"48", "GPIO_48", "GPIO1_16"}, Caps: embd.CapDigital, DigitalLogical: 48}, + &embd.PinDesc{ID: "P9_16", Aliases: []string{"51", "GPIO_51", "EHRPWM1B"}, Caps: embd.CapDigital | embd.CapPWM, DigitalLogical: 51}, + &embd.PinDesc{ID: "P9_17", Aliases: []string{"5", "GPIO_5", "I2C1_SCL"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 5}, + &embd.PinDesc{ID: "P9_18", Aliases: []string{"4", "GPIO_4", "I2C1_SDA"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 4}, + &embd.PinDesc{ID: "P9_19", Aliases: []string{"13", "GPIO_13", "I2C2_SCL"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 13}, + &embd.PinDesc{ID: "P9_20", Aliases: []string{"12", "GPIO_12", "I2C2_SDA"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 12}, + &embd.PinDesc{ID: "P9_21", Aliases: []string{"3", "GPIO_3", "UART2_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 3}, + &embd.PinDesc{ID: "P9_22", Aliases: []string{"2", "GPIO_2", "UART2_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 2}, + &embd.PinDesc{ID: "P9_23", Aliases: []string{"49", "GPIO_49", "GPIO1_17"}, Caps: embd.CapDigital, DigitalLogical: 49}, + &embd.PinDesc{ID: "P9_24", Aliases: []string{"15", "GPIO_15", "UART1_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 15}, + &embd.PinDesc{ID: "P9_25", Aliases: []string{"117", "GPIO_117", "GPIO3_21"}, Caps: embd.CapDigital, DigitalLogical: 117}, + &embd.PinDesc{ID: "P9_26", Aliases: []string{"14", "GPIO_14", "UART1_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 14}, + &embd.PinDesc{ID: "P9_27", Aliases: []string{"115", "GPIO_115", "GPIO3_19"}, Caps: embd.CapDigital, DigitalLogical: 115}, + &embd.PinDesc{ID: "P9_28", Aliases: []string{"113", "GPIO_113", "SPI1_CS0"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 113}, + &embd.PinDesc{ID: "P9_29", Aliases: []string{"111", "GPIO_111", "SPI1_D0"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 111}, + &embd.PinDesc{ID: "P9_30", Aliases: []string{"112", "GPIO_112", "SPI1_D1"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 112}, + &embd.PinDesc{ID: "P9_31", Aliases: []string{"110", "GPIO_110", "SPI1_SCLK"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 110}, + &embd.PinDesc{ID: "P9_32", Aliases: []string{"VADC"}}, + &embd.PinDesc{ID: "P9_33", Aliases: []string{"4", "AIN4"}, Caps: embd.CapAnalog, AnalogLogical: 4}, + &embd.PinDesc{ID: "P9_34", Aliases: []string{"AGND"}}, + &embd.PinDesc{ID: "P9_35", Aliases: []string{"6", "AIN6"}, Caps: embd.CapAnalog, AnalogLogical: 6}, + &embd.PinDesc{ID: "P9_36", Aliases: []string{"5", "AIN5"}, Caps: embd.CapAnalog, AnalogLogical: 5}, + &embd.PinDesc{ID: "P9_37", Aliases: []string{"2", "AIN2"}, Caps: embd.CapAnalog, AnalogLogical: 2}, + &embd.PinDesc{ID: "P9_38", Aliases: []string{"3", "AIN3"}, Caps: embd.CapAnalog, AnalogLogical: 3}, + &embd.PinDesc{ID: "P9_39", Aliases: []string{"0", "AIN0"}, Caps: embd.CapAnalog, AnalogLogical: 0}, + &embd.PinDesc{ID: "P9_40", Aliases: []string{"1", "AIN1"}, Caps: embd.CapAnalog, AnalogLogical: 1}, +} + +var ledMap = embd.LEDMap{ + "beaglebone:green:usr0": []string{"0", "USR0", "usr0"}, + "beaglebone:green:usr1": []string{"1", "USR1", "usr1"}, + "beaglebone:green:usr2": []string{"2", "USR2", "usr2"}, + "beaglebone:green:usr3": []string{"3", "USR3", "usr3"}, +} + +func ensureFeatureEnabled(id string) error { + pattern := "/sys/devices/bone_capemgr.*/slots" + file, err := embd.FindFirstMatchingFile(pattern) + if err != nil { + return err + } + bytes, err := ioutil.ReadFile(file) + if err != nil { + return err + } + str := string(bytes) + if strings.Contains(str, id) { + return nil + } + slots, err := os.OpenFile(file, os.O_WRONLY, os.ModeExclusive) + if err != nil { + return err + } + defer slots.Close() + _, err = slots.WriteString(id) + return err +} + +// This cannot be currently used to disable things like the +// analog and pwm modules. Removing them from slots file can +// potentially cause a kernel panic and unsettle things. So the +// recommended thing to do is to simply reboot. +func ensureFeatureDisabled(id string) error { + pattern := "/sys/devices/bone_capemgr.*/slots" + file, err := embd.FindFirstMatchingFile(pattern) + if err != nil { + return err + } + slots, err := os.OpenFile(file, os.O_RDWR, os.ModeExclusive) + if err != nil { + return err + } + defer slots.Close() + scanner := bufio.NewScanner(slots) + for scanner.Scan() { + text := scanner.Text() + if !strings.Contains(text, id) { + continue + } + // Extract the id from the line + idx := strings.Index(text, ":") + if idx < 0 { + // Something is off, bail + continue + } + dis := strings.TrimSpace(text[:idx]) + slots.Seek(0, 0) + _, err = slots.WriteString("-" + dis) + return err + } + // Could not disable the feature + return fmt.Errorf("embd: could not disable feature %q", id) +} + +func init() { + embd.Register(embd.HostBBB, func(rev int) *embd.Descriptor { + return &embd.Descriptor{ + GPIODriver: func() embd.GPIODriver { + return embd.NewGPIODriver(pins, generic.NewDigitalPin, newAnalogPin, newPWMPin) + }, + I2CDriver: func() embd.I2CDriver { + return embd.NewI2CDriver(generic.NewI2CBus) + }, + LEDDriver: func() embd.LEDDriver { + return embd.NewLEDDriver(ledMap, generic.NewLED) + }, + } + }) +} diff --git a/host/bbb/pwmpin.go b/host/bbb/pwmpin.go new file mode 100644 index 0000000..1bd6c95 --- /dev/null +++ b/host/bbb/pwmpin.go @@ -0,0 +1,261 @@ +// PWM support on the BBB. + +package bbb + +import ( + "errors" + "fmt" + "os" + "path" + "strconv" + "time" + + "github.com/golang/glog" + "github.com/kidoman/embd" + "github.com/kidoman/embd/util" +) + +const ( + // PWMDefaultPolarity represents the default polarity (Positve or 1) for pwm. + PWMDefaultPolarity = embd.Positive + + // PWMDefaultDuty represents the default duty (0ns) for pwm. + PWMDefaultDuty = 0 + + // PWMDefaultPeriod represents the default period (500000ns) for pwm. Equals 2000 Hz. + PWMDefaultPeriod = 500000 + + // PWMMaxPulseWidth represents the max period (1000000000ns) supported by pwm. Equals 1 Hz. + PWMMaxPulseWidth = 1000000000 +) + +type pwmPin struct { + n string + + drv embd.GPIODriver + + period int + polarity embd.Polarity + + dutyf *os.File + periodf *os.File + polarityf *os.File + + initialized bool +} + +func newPWMPin(pd *embd.PinDesc, drv embd.GPIODriver) embd.PWMPin { + return &pwmPin{n: pd.ID, drv: drv} +} + +func (p *pwmPin) N() string { + return p.n +} + +func (p *pwmPin) id() string { + return "bone_pwm_" + p.n +} + +func (p *pwmPin) init() error { + if p.initialized { + return nil + } + + if err := p.ensurePWMEnabled(); err != nil { + return err + } + if err := p.ensurePinEnabled(); err != nil { + return err + } + + basePath, err := p.basePath() + if err != nil { + return err + } + if err := p.ensurePeriodFileExists(basePath, 500*time.Millisecond); err != nil { + return err + } + if p.periodf, err = p.periodFile(basePath); err != nil { + return err + } + if p.dutyf, err = p.dutyFile(basePath); err != nil { + return err + } + if p.polarityf, err = p.polarityFile(basePath); err != nil { + return err + } + + p.initialized = true + + if err := p.reset(); err != nil { + return err + } + + return nil +} + +func (p *pwmPin) ensurePWMEnabled() error { + return ensureFeatureEnabled("am33xx_pwm") +} + +func (p *pwmPin) ensurePinEnabled() error { + return ensureFeatureEnabled(p.id()) +} + +func (p *pwmPin) ensurePinDisabled() error { + return ensureFeatureDisabled(p.id()) +} + +func (p *pwmPin) basePath() (string, error) { + pattern := "/sys/devices/ocp.*/pwm_test_" + p.n + ".*" + return embd.FindFirstMatchingFile(pattern) +} + +func (p *pwmPin) openFile(path string) (*os.File, error) { + return os.OpenFile(path, os.O_WRONLY, os.ModeExclusive) +} + +func (p *pwmPin) ensurePeriodFileExists(basePath string, d time.Duration) error { + path := p.periodFilePath(basePath) + timeout := time.After(d) + + for { + select { + case <-timeout: + return errors.New("embd: period file not found before timeout") + default: + if _, err := os.Stat(path); err == nil { + return nil + } + } + + // We are looping, wait a bit. + time.Sleep(10 * time.Millisecond) + } +} + +func (p *pwmPin) periodFilePath(basePath string) string { + return path.Join(basePath, "period") +} + +func (p *pwmPin) periodFile(basePath string) (*os.File, error) { + return p.openFile(p.periodFilePath(basePath)) +} + +func (p *pwmPin) dutyFile(basePath string) (*os.File, error) { + return p.openFile(path.Join(basePath, "duty")) +} + +func (p *pwmPin) polarityFile(basePath string) (*os.File, error) { + return p.openFile(path.Join(basePath, "polarity")) +} + +func (p *pwmPin) SetPeriod(ns int) error { + if err := p.init(); err != nil { + return err + } + + if ns > PWMMaxPulseWidth { + return fmt.Errorf("embd: pwm period for %v is out of bounds (must be =< %vns)", p.n, PWMMaxPulseWidth) + } + + _, err := p.periodf.WriteString(strconv.Itoa(ns)) + if err != nil { + return err + } + + p.period = ns + + return nil +} + +func (p *pwmPin) SetDuty(ns int) error { + if err := p.init(); err != nil { + return err + } + + if ns > PWMMaxPulseWidth { + return fmt.Errorf("embd: pwm duty %v for pin %v is out of bounds (must be =< %vns)", p.n, PWMMaxPulseWidth) + } + + if ns > p.period { + return fmt.Errorf("embd: pwm duty %v for pin %v is greater than the period %v", ns, p.n, p.period) + } + + _, err := p.dutyf.WriteString(strconv.Itoa(ns)) + if err != nil { + return err + } + + return nil +} + +func (p *pwmPin) SetMicroseconds(us int) error { + if err := p.init(); err != nil { + return err + } + + if p.period != 20000000 { + glog.Warningf("embd: pwm pin %v has freq %v hz. recommended 50 hz for servo mode", 1000000000/p.period) + } + duty := us * 1000 // in nanoseconds + if duty > p.period { + return fmt.Errorf("embd: calculated pwm duty %vns for pin %v (servo mode) is greater than the period %vns", duty, p.n, p.period) + } + return p.SetDuty(duty) +} + +func (p *pwmPin) SetAnalog(value byte) error { + duty := util.Map(int64(value), 0, 255, 0, int64(p.period)) + return p.SetDuty(int(duty)) +} + +func (p *pwmPin) SetPolarity(pol embd.Polarity) error { + if err := p.init(); err != nil { + return err + } + + _, err := p.polarityf.WriteString(strconv.Itoa(int(pol))) + if err != nil { + return err + } + + p.polarity = pol + + return nil +} + +func (p *pwmPin) reset() error { + if err := p.SetPolarity(embd.Positive); err != nil { + return err + } + if err := p.SetDuty(PWMDefaultDuty); err != nil { + return err + } + if err := p.SetPeriod(PWMDefaultPeriod); err != nil { + return err + } + + return nil +} + +func (p *pwmPin) Close() error { + if err := p.drv.Unregister(p.n); err != nil { + return err + } + + if !p.initialized { + return nil + } + + if err := p.reset(); err != nil { + return err + } + if err := p.ensurePinDisabled(); err != nil { + return err + } + + p.initialized = false + + return nil +} diff --git a/host/bbb/pwmpin_test.go b/host/bbb/pwmpin_test.go new file mode 100644 index 0000000..1c07ff3 --- /dev/null +++ b/host/bbb/pwmpin_test.go @@ -0,0 +1,26 @@ +package bbb + +import ( + "testing" + + "github.com/kidoman/embd" +) + +func TestPWMPinClose(t *testing.T) { + pinMap := embd.PinMap{ + &embd.PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: embd.CapPWM}, + } + driver := embd.NewGPIODriver(pinMap, nil, nil, newPWMPin) + pin, err := driver.PWMPin(1) + if err != nil { + t.Fatalf("Looking up pwm pin 1: got %v", err) + } + pin.Close() + pin2, err := driver.PWMPin(1) + if err != nil { + t.Fatalf("Looking up pwm pin 1: got %v", err) + } + if pin == pin2 { + t.Fatal("Looking up closed pwm pin 1: but got the old instance") + } +} diff --git a/host/doc.go b/host/doc.go new file mode 100644 index 0000000..9d36489 --- /dev/null +++ b/host/doc.go @@ -0,0 +1,2 @@ +// Package host is a container for the various hosts supported by EMBD. +package host diff --git a/digitalpin.go b/host/generic/digitalpin.go similarity index 92% rename from digitalpin.go rename to host/generic/digitalpin.go index 0515919..fabdeb5 100644 --- a/digitalpin.go +++ b/host/generic/digitalpin.go @@ -2,7 +2,7 @@ // This driver requires kernel version 3.8+ and should work uniformly // across all supported devices. -package embd +package generic import ( "errors" @@ -11,13 +11,15 @@ import ( "path" "strconv" "time" + + "github.com/kidoman/embd" ) type digitalPin struct { id string n int - drv GPIODriver + drv embd.GPIODriver dir *os.File val *os.File @@ -28,7 +30,7 @@ type digitalPin struct { initialized bool } -func newDigitalPin(pd *PinDesc, drv GPIODriver) DigitalPin { +func NewDigitalPin(pd *embd.PinDesc, drv embd.GPIODriver) embd.DigitalPin { return &digitalPin{id: pd.ID, n: pd.DigitalLogical, drv: drv, readBuf: make([]byte, 1)} } @@ -100,13 +102,13 @@ func (p *digitalPin) activeLowFile() (*os.File, error) { return p.openFile(path.Join(p.basePath(), "active_low")) } -func (p *digitalPin) SetDirection(dir Direction) error { +func (p *digitalPin) SetDirection(dir embd.Direction) error { if err := p.init(); err != nil { return err } str := "in" - if dir == Out { + if dir == embd.Out { str = "out" } _, err := p.dir.WriteString(str) @@ -138,7 +140,7 @@ var ( func (p *digitalPin) write(val int) error { bytes := lowBytes - if val == High { + if val == embd.High { bytes = highBytes } _, err := p.val.Write(bytes) @@ -158,9 +160,9 @@ func (p *digitalPin) TimePulse(state int) (time.Duration, error) { return 0, err } - aroundState := Low - if state == Low { - aroundState = High + aroundState := embd.Low + if state == embd.Low { + aroundState = embd.High } // Wait for any previous pulse to end diff --git a/digitalpin_test.go b/host/generic/digitalpin_test.go similarity index 61% rename from digitalpin_test.go rename to host/generic/digitalpin_test.go index 942e3d9..18e900e 100644 --- a/digitalpin_test.go +++ b/host/generic/digitalpin_test.go @@ -1,12 +1,16 @@ -package embd +package generic -import "testing" +import ( + "testing" + + "github.com/kidoman/embd" +) func TestDigitalPinClose(t *testing.T) { - pinMap := PinMap{ - &PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapDigital}, + pinMap := embd.PinMap{ + &embd.PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: embd.CapDigital}, } - driver := newGPIODriver(pinMap, newDigitalPin, nil, nil) + driver := embd.NewGPIODriver(pinMap, NewDigitalPin, nil, nil) pin, err := driver.DigitalPin(1) if err != nil { t.Fatalf("Looking up digital pin 1: got %v", err) diff --git a/host/generic/doc.go b/host/generic/doc.go new file mode 100644 index 0000000..b89fc9e --- /dev/null +++ b/host/generic/doc.go @@ -0,0 +1,10 @@ +/* + Package generic provides generic (to Linux) drivers for functionalities like + + Digital I/O + I²C + LED control + + They are used by the hosts to satiate the HAL. +*/ +package generic diff --git a/host/generic/i2cbus.go b/host/generic/i2cbus.go new file mode 100644 index 0000000..526d2db --- /dev/null +++ b/host/generic/i2cbus.go @@ -0,0 +1,288 @@ +// I²C support. + +package generic + +import ( + "fmt" + "os" + "reflect" + "sync" + "syscall" + "time" + "unsafe" + + "github.com/kidoman/embd" +) + +const ( + delay = 20 + + slaveCmd = 0x0703 // Cmd to set slave address + rdrwCmd = 0x0707 // Cmd to read/write data together + + rd = 0x0001 +) + +type i2c_msg struct { + addr uint16 + flags uint16 + len uint16 + buf uintptr +} + +type i2c_rdwr_ioctl_data struct { + msgs uintptr + nmsg uint32 +} + +type i2cBus struct { + l byte + file *os.File + addr byte + mu sync.Mutex + + initialized bool +} + +func NewI2CBus(l byte) embd.I2CBus { + return &i2cBus{l: l} +} + +func (b *i2cBus) init() error { + if b.initialized { + return nil + } + + var err error + if b.file, err = os.OpenFile(fmt.Sprintf("/dev/i2c-%v", b.l), os.O_RDWR, os.ModeExclusive); err != nil { + return err + } + + b.initialized = true + + return nil +} + +func (b *i2cBus) setAddress(addr byte) error { + if addr != b.addr { + if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), slaveCmd, uintptr(addr)); errno != 0 { + return syscall.Errno(errno) + } + + b.addr = addr + } + + return nil +} + +func (b *i2cBus) ReadByte(addr byte) (byte, error) { + b.mu.Lock() + defer b.mu.Unlock() + + if err := b.setAddress(addr); err != nil { + return 0, err + } + + bytes := make([]byte, 1) + n, _ := b.file.Read(bytes) + + if n != 1 { + return 0, fmt.Errorf("i2c: Unexpected number (%v) of bytes read", n) + } + + return bytes[0], nil +} + +func (b *i2cBus) WriteByte(addr, value byte) error { + b.mu.Lock() + defer b.mu.Unlock() + + if err := b.setAddress(addr); err != nil { + return err + } + + n, err := b.file.Write([]byte{value}) + + if n != 1 { + err = fmt.Errorf("i2c: Unexpected number (%v) of bytes written in WriteByte", n) + } + + return err +} + +func (b *i2cBus) WriteBytes(addr byte, value []byte) error { + b.mu.Lock() + defer b.mu.Unlock() + + if err := b.setAddress(addr); err != nil { + return err + } + + for i := range value { + n, err := b.file.Write([]byte{value[i]}) + + if n != 1 { + return fmt.Errorf("i2c: Unexpected number (%v) of bytes written in WriteBytes", n) + } + if err != nil { + return err + } + + time.Sleep(delay * time.Millisecond) + } + + return nil +} + +func (b *i2cBus) ReadFromReg(addr, reg byte, value []byte) error { + b.mu.Lock() + defer b.mu.Unlock() + + if err := b.setAddress(addr); err != nil { + return err + } + + hdrp := (*reflect.SliceHeader)(unsafe.Pointer(&value)) + + var messages [2]i2c_msg + messages[0].addr = uint16(addr) + messages[0].flags = 0 + messages[0].len = 1 + messages[0].buf = uintptr(unsafe.Pointer(®)) + + messages[1].addr = uint16(addr) + messages[1].flags = rd + messages[1].len = uint16(len(value)) + messages[1].buf = uintptr(unsafe.Pointer(hdrp.Data)) + + var packets i2c_rdwr_ioctl_data + + packets.msgs = uintptr(unsafe.Pointer(&messages)) + packets.nmsg = 2 + + if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), rdrwCmd, uintptr(unsafe.Pointer(&packets))); errno != 0 { + return syscall.Errno(errno) + } + + return nil +} + +func (b *i2cBus) ReadByteFromReg(addr, reg byte) (byte, error) { + buf := make([]byte, 1) + if err := b.ReadFromReg(addr, reg, buf); err != nil { + return 0, err + } + return buf[0], nil +} + +func (b *i2cBus) ReadWordFromReg(addr, reg byte) (uint16, error) { + buf := make([]byte, 2) + if err := b.ReadFromReg(addr, reg, buf); err != nil { + return 0, err + } + return uint16((uint16(buf[0]) << 8) | uint16(buf[1])), nil +} + +func (b *i2cBus) WriteToReg(addr, reg byte, value []byte) error { + b.mu.Lock() + defer b.mu.Unlock() + + if err := b.setAddress(addr); err != nil { + return err + } + + outbuf := append([]byte{reg}, value...) + + hdrp := (*reflect.SliceHeader)(unsafe.Pointer(&outbuf)) + + var message i2c_msg + message.addr = uint16(addr) + message.flags = 0 + message.len = uint16(len(outbuf)) + message.buf = uintptr(unsafe.Pointer(&hdrp.Data)) + + var packets i2c_rdwr_ioctl_data + + packets.msgs = uintptr(unsafe.Pointer(&message)) + packets.nmsg = 1 + + if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), rdrwCmd, uintptr(unsafe.Pointer(&packets))); errno != 0 { + return syscall.Errno(errno) + } + + return nil +} + +func (b *i2cBus) WriteByteToReg(addr, reg, value byte) error { + b.mu.Lock() + defer b.mu.Unlock() + + if err := b.setAddress(addr); err != nil { + return err + } + + outbuf := [...]byte{ + reg, + value, + } + + var message i2c_msg + message.addr = uint16(addr) + message.flags = 0 + message.len = uint16(len(outbuf)) + message.buf = uintptr(unsafe.Pointer(&outbuf)) + + var packets i2c_rdwr_ioctl_data + + packets.msgs = uintptr(unsafe.Pointer(&message)) + packets.nmsg = 1 + + if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), rdrwCmd, uintptr(unsafe.Pointer(&packets))); errno != 0 { + return syscall.Errno(errno) + } + + return nil +} + +func (b *i2cBus) WriteWordToReg(addr, reg byte, value uint16) error { + b.mu.Lock() + defer b.mu.Unlock() + + if err := b.setAddress(addr); err != nil { + return err + } + + outbuf := [...]byte{ + reg, + byte(value >> 8), + byte(value), + } + + var messages i2c_msg + messages.addr = uint16(addr) + messages.flags = 0 + messages.len = uint16(len(outbuf)) + messages.buf = uintptr(unsafe.Pointer(&outbuf)) + + var packets i2c_rdwr_ioctl_data + + packets.msgs = uintptr(unsafe.Pointer(&messages)) + packets.nmsg = 1 + + if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), rdrwCmd, uintptr(unsafe.Pointer(&packets))); errno != 0 { + return syscall.Errno(errno) + } + + return nil +} + +func (b *i2cBus) Close() error { + b.mu.Lock() + defer b.mu.Unlock() + + if !b.initialized { + return nil + } + + return b.file.Close() +} diff --git a/host/generic/led.go b/host/generic/led.go new file mode 100644 index 0000000..67f56c9 --- /dev/null +++ b/host/generic/led.go @@ -0,0 +1,113 @@ +// LED control support. + +package generic + +import ( + "fmt" + "io/ioutil" + "os" + "strings" + + "github.com/kidoman/embd" +) + +type led struct { + id string + + brightness *os.File + + initialized bool +} + +func NewLED(id string) embd.LED { + return &led{id: id} +} + +func (l *led) init() error { + if l.initialized { + return nil + } + + var err error + if l.brightness, err = l.brightnessFile(); err != nil { + return err + } + + l.initialized = true + + return nil +} + +func (l *led) brightnessFilePath() string { + return fmt.Sprintf("/sys/class/leds/%v/brightness", l.id) +} + +func (l *led) openFile(path string) (*os.File, error) { + return os.OpenFile(path, os.O_RDWR, os.ModeExclusive) +} + +func (l *led) brightnessFile() (*os.File, error) { + return l.openFile(l.brightnessFilePath()) +} + +func (l *led) On() error { + if err := l.init(); err != nil { + return err + } + + _, err := l.brightness.WriteString("1") + return err +} + +func (l *led) Off() error { + if err := l.init(); err != nil { + return err + } + + _, err := l.brightness.WriteString("0") + return err +} + +func (l *led) isOn() (bool, error) { + l.brightness.Seek(0, 0) + bytes, err := ioutil.ReadAll(l.brightness) + if err != nil { + return false, err + } + str := string(bytes) + str = strings.TrimSpace(str) + if str == "1" { + return true, nil + } + return false, nil +} + +func (l *led) Toggle() error { + if err := l.init(); err != nil { + return err + } + + state, err := l.isOn() + if err != nil { + return err + } + + if state { + return l.Off() + } + return l.On() +} + +func (l *led) Close() error { + if !l.initialized { + return nil + } + + if err := l.brightness.Close(); err != nil { + return err + } + + l.initialized = false + + return nil +} diff --git a/host/rpi/rpi.go b/host/rpi/rpi.go new file mode 100644 index 0000000..b764cbf --- /dev/null +++ b/host/rpi/rpi.go @@ -0,0 +1,71 @@ +/* + Package rpi provides Raspberry Pi support. + The following features are supported on Linux kernel 3.8+ + + GPIO (digital (rw)) + I²C +*/ +package rpi + +import ( + "github.com/kidoman/embd" + "github.com/kidoman/embd/host/generic" +) + +var rev1Pins = embd.PinMap{ + &embd.PinDesc{ID: "P1_3", Aliases: []string{"0", "GPIO_0", "SDA", "I2C0_SDA"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 0}, + &embd.PinDesc{ID: "P1_5", Aliases: []string{"1", "GPIO_1", "SCL", "I2C0_SCL"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 1}, + &embd.PinDesc{ID: "P1_7", Aliases: []string{"4", "GPIO_4", "GPCLK0"}, Caps: embd.CapDigital, DigitalLogical: 4}, + &embd.PinDesc{ID: "P1_8", Aliases: []string{"14", "GPIO_14", "TXD", "UART0_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 14}, + &embd.PinDesc{ID: "P1_10", Aliases: []string{"15", "GPIO_15", "RXD", "UART0_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 15}, + &embd.PinDesc{ID: "P1_11", Aliases: []string{"17", "GPIO_17"}, Caps: embd.CapDigital, DigitalLogical: 17}, + &embd.PinDesc{ID: "P1_12", Aliases: []string{"18", "GPIO_18", "PCM_CLK"}, Caps: embd.CapDigital, DigitalLogical: 18}, + &embd.PinDesc{ID: "P1_13", Aliases: []string{"21", "GPIO_21"}, Caps: embd.CapDigital, DigitalLogical: 21}, + &embd.PinDesc{ID: "P1_15", Aliases: []string{"22", "GPIO_22"}, Caps: embd.CapDigital, DigitalLogical: 22}, + &embd.PinDesc{ID: "P1_16", Aliases: []string{"23", "GPIO_23"}, Caps: embd.CapDigital, DigitalLogical: 23}, + &embd.PinDesc{ID: "P1_18", Aliases: []string{"24", "GPIO_24"}, Caps: embd.CapDigital, DigitalLogical: 24}, + &embd.PinDesc{ID: "P1_19", Aliases: []string{"10", "GPIO_10", "MOSI", "SPI0_MOSI"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 10}, + &embd.PinDesc{ID: "P1_21", Aliases: []string{"9", "GPIO_9", "MISO", "SPI0_MISO"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 9}, + &embd.PinDesc{ID: "P1_22", Aliases: []string{"25", "GPIO_25"}, Caps: embd.CapDigital, DigitalLogical: 25}, + &embd.PinDesc{ID: "P1_23", Aliases: []string{"11", "GPIO_11", "SCLK", "SPI0_SCLK"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 11}, + &embd.PinDesc{ID: "P1_24", Aliases: []string{"8", "GPIO_8", "CE0", "SPI0_CE0_N"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 8}, + &embd.PinDesc{ID: "P1_26", Aliases: []string{"7", "GPIO_7", "CE1", "SPI0_CE1_N"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 7}, +} + +var rev2Pins = embd.PinMap{ + &embd.PinDesc{ID: "P1_3", Aliases: []string{"2", "GPIO_2", "SDA", "I2C1_SDA"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 2}, + &embd.PinDesc{ID: "P1_5", Aliases: []string{"3", "GPIO_3", "SCL", "I2C1_SCL"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 3}, + &embd.PinDesc{ID: "P1_7", Aliases: []string{"4", "GPIO_4", "GPCLK0"}, Caps: embd.CapDigital, DigitalLogical: 4}, + &embd.PinDesc{ID: "P1_8", Aliases: []string{"14", "GPIO_14", "TXD", "UART0_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 14}, + &embd.PinDesc{ID: "P1_10", Aliases: []string{"15", "GPIO_15", "RXD", "UART0_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 15}, + &embd.PinDesc{ID: "P1_11", Aliases: []string{"17", "GPIO_17"}, Caps: embd.CapDigital, DigitalLogical: 17}, + &embd.PinDesc{ID: "P1_12", Aliases: []string{"18", "GPIO_18", "PCM_CLK"}, Caps: embd.CapDigital, DigitalLogical: 18}, + &embd.PinDesc{ID: "P1_13", Aliases: []string{"27", "GPIO_27"}, Caps: embd.CapDigital, DigitalLogical: 27}, + &embd.PinDesc{ID: "P1_15", Aliases: []string{"22", "GPIO_22"}, Caps: embd.CapDigital, DigitalLogical: 22}, + &embd.PinDesc{ID: "P1_16", Aliases: []string{"23", "GPIO_23"}, Caps: embd.CapDigital, DigitalLogical: 23}, + &embd.PinDesc{ID: "P1_18", Aliases: []string{"24", "GPIO_24"}, Caps: embd.CapDigital, DigitalLogical: 24}, + &embd.PinDesc{ID: "P1_19", Aliases: []string{"10", "GPIO_10", "MOSI", "SPI0_MOSI"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 10}, + &embd.PinDesc{ID: "P1_21", Aliases: []string{"9", "GPIO_9", "MISO", "SPI0_MISO"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 9}, + &embd.PinDesc{ID: "P1_22", Aliases: []string{"25", "GPIO_25"}, Caps: embd.CapDigital, DigitalLogical: 25}, + &embd.PinDesc{ID: "P1_23", Aliases: []string{"11", "GPIO_11", "SCLK", "SPI0_SCLK"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 11}, + &embd.PinDesc{ID: "P1_24", Aliases: []string{"8", "GPIO_8", "CE0", "SPI0_CE0_N"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 8}, + &embd.PinDesc{ID: "P1_26", Aliases: []string{"7", "GPIO_7", "CE1", "SPI0_CE1_N"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 7}, +} + +func init() { + embd.Register(embd.HostRPi, func(rev int) *embd.Descriptor { + var pins = rev1Pins + if rev > 1 { + pins = rev2Pins + } + + return &embd.Descriptor{ + GPIODriver: func() embd.GPIODriver { + return embd.NewGPIODriver(pins, generic.NewDigitalPin, nil, nil) + }, + I2CDriver: func() embd.I2CDriver { + return embd.NewI2CDriver(generic.NewI2CBus) + }, + } + }) +} diff --git a/i2c.go b/i2c.go index d3d5ae1..3e2fd09 100644 --- a/i2c.go +++ b/i2c.go @@ -24,6 +24,9 @@ type I2CBus interface { WriteByteToReg(addr, reg, value byte) error // WriteU16ToReg WriteWordToReg(addr, reg byte, value uint16) error + + // Close releases the resources associated with the bus. + Close() error } // I2CDriver interface interacts with the host descriptors to allow us @@ -31,6 +34,7 @@ type I2CBus interface { type I2CDriver interface { Bus(l byte) I2CBus + // Close releases the resources associated with the driver. Close() error } diff --git a/i2cdriver.go b/i2cdriver.go index 2a23a46..e3aac3e 100644 --- a/i2cdriver.go +++ b/i2cdriver.go @@ -1,25 +1,24 @@ -// Generic I2C driver. +// Generic I²C driver. package embd -import ( - "fmt" - "os" - "reflect" - "sync" - "syscall" - "time" - "unsafe" -) +import "sync" + +type i2cBusFactory func(byte) I2CBus type i2cDriver struct { - busMap map[byte]*i2cBus + busMap map[byte]I2CBus busMapLock sync.Mutex + + ibf i2cBusFactory } -func newI2CDriver() I2CDriver { +// NewI2CDriver returns a I2CDriver interface which allows control +// over the I²C subsystem. +func NewI2CDriver(ibf i2cBusFactory) I2CDriver { return &i2cDriver{ - busMap: make(map[byte]*i2cBus), + busMap: make(map[byte]I2CBus), + ibf: ibf, } } @@ -27,280 +26,18 @@ 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 + if b, ok := i.busMap[l]; ok { + return b } + b := i.ibf(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 - - slaveCmd = 0x0703 // Cmd to set slave address - rdrwCmd = 0x0707 // Cmd to read/write data together - - rd = 0x0001 -) - -type i2c_msg struct { - addr uint16 - flags uint16 - len uint16 - buf uintptr -} - -type i2c_rdwr_ioctl_data struct { - msgs uintptr - nmsg uint32 -} - -type i2cBus struct { - l byte - file *os.File - addr byte - mu sync.Mutex -} - -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 { - return nil, err - } - - return b, nil -} - -func (b *i2cBus) Close() error { - b.mu.Lock() - defer b.mu.Unlock() - - return b.file.Close() -} - -func (b *i2cBus) setAddress(addr byte) error { - if addr != b.addr { - if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), slaveCmd, uintptr(addr)); errno != 0 { - return syscall.Errno(errno) - } - - b.addr = addr - } - - return nil -} - -func (b *i2cBus) ReadByte(addr byte) (byte, error) { - b.mu.Lock() - defer b.mu.Unlock() - - if err := b.setAddress(addr); err != nil { - return 0, err - } - - bytes := make([]byte, 1) - n, _ := b.file.Read(bytes) - - if n != 1 { - return 0, fmt.Errorf("i2c: Unexpected number (%v) of bytes read", n) - } - - return bytes[0], nil -} - -func (b *i2cBus) WriteByte(addr, value byte) error { - b.mu.Lock() - defer b.mu.Unlock() - - if err := b.setAddress(addr); err != nil { - return err - } - - n, err := b.file.Write([]byte{value}) - - if n != 1 { - err = fmt.Errorf("i2c: Unexpected number (%v) of bytes written in WriteByte", n) - } - - return err -} - -func (b *i2cBus) WriteBytes(addr byte, value []byte) error { - b.mu.Lock() - defer b.mu.Unlock() - - if err := b.setAddress(addr); err != nil { - return err - } - - for i := range value { - n, err := b.file.Write([]byte{value[i]}) - - if n != 1 { - return fmt.Errorf("i2c: Unexpected number (%v) of bytes written in WriteBytes", n) - } - if err != nil { - return err - } - - time.Sleep(delay * time.Millisecond) - } - - return nil -} - -func (b *i2cBus) ReadFromReg(addr, reg byte, value []byte) error { - b.mu.Lock() - defer b.mu.Unlock() - - if err := b.setAddress(addr); err != nil { - return err - } - - hdrp := (*reflect.SliceHeader)(unsafe.Pointer(&value)) - - var messages [2]i2c_msg - messages[0].addr = uint16(addr) - messages[0].flags = 0 - messages[0].len = 1 - messages[0].buf = uintptr(unsafe.Pointer(®)) - - messages[1].addr = uint16(addr) - messages[1].flags = rd - messages[1].len = uint16(len(value)) - messages[1].buf = uintptr(unsafe.Pointer(hdrp.Data)) - - var packets i2c_rdwr_ioctl_data - - packets.msgs = uintptr(unsafe.Pointer(&messages)) - packets.nmsg = 2 - - if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), rdrwCmd, uintptr(unsafe.Pointer(&packets))); errno != 0 { - return syscall.Errno(errno) - } - - return nil -} - -func (b *i2cBus) ReadByteFromReg(addr, reg byte) (byte, error) { - buf := make([]byte, 1) - if err := b.ReadFromReg(addr, reg, buf); err != nil { - return 0, err - } - return buf[0], nil -} - -func (b *i2cBus) ReadWordFromReg(addr, reg byte) (uint16, error) { - buf := make([]byte, 2) - if err := b.ReadFromReg(addr, reg, buf); err != nil { - return 0, err - } - return uint16((uint16(buf[0]) << 8) | uint16(buf[1])), nil -} - -func (b *i2cBus) WriteToReg(addr, reg byte, value []byte) error { - b.mu.Lock() - defer b.mu.Unlock() - - if err := b.setAddress(addr); err != nil { - return err - } - - outbuf := append([]byte{reg}, value...) - - hdrp := (*reflect.SliceHeader)(unsafe.Pointer(&outbuf)) - - var message i2c_msg - message.addr = uint16(addr) - message.flags = 0 - message.len = uint16(len(outbuf)) - message.buf = uintptr(unsafe.Pointer(&hdrp.Data)) - - var packets i2c_rdwr_ioctl_data - - packets.msgs = uintptr(unsafe.Pointer(&message)) - packets.nmsg = 1 - - if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), rdrwCmd, uintptr(unsafe.Pointer(&packets))); errno != 0 { - return syscall.Errno(errno) - } - - return nil -} - -func (b *i2cBus) WriteByteToReg(addr, reg, value byte) error { - b.mu.Lock() - defer b.mu.Unlock() - - if err := b.setAddress(addr); err != nil { - return err - } - - outbuf := [...]byte{ - reg, - value, - } - - var message i2c_msg - message.addr = uint16(addr) - message.flags = 0 - message.len = uint16(len(outbuf)) - message.buf = uintptr(unsafe.Pointer(&outbuf)) - - var packets i2c_rdwr_ioctl_data - - packets.msgs = uintptr(unsafe.Pointer(&message)) - packets.nmsg = 1 - - if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), rdrwCmd, uintptr(unsafe.Pointer(&packets))); errno != 0 { - return syscall.Errno(errno) - } - - return nil -} - -func (b *i2cBus) WriteWordToReg(addr, reg byte, value uint16) error { - b.mu.Lock() - defer b.mu.Unlock() - - if err := b.setAddress(addr); err != nil { - return err - } - - outbuf := [...]byte{ - reg, - byte(value >> 8), - byte(value), - } - - var messages i2c_msg - messages.addr = uint16(addr) - messages.flags = 0 - messages.len = uint16(len(outbuf)) - messages.buf = uintptr(unsafe.Pointer(&outbuf)) - - var packets i2c_rdwr_ioctl_data - - packets.msgs = uintptr(unsafe.Pointer(&messages)) - packets.nmsg = 1 - - if _, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), rdrwCmd, uintptr(unsafe.Pointer(&packets))); errno != 0 { - return syscall.Errno(errno) } return nil diff --git a/leddriver.go b/leddriver.go index db7d5cb..943e9e8 100644 --- a/leddriver.go +++ b/leddriver.go @@ -5,24 +5,29 @@ package embd import ( "errors" "fmt" - "io/ioutil" - "os" "strconv" - "strings" ) // LEDMap type represents a LED mapping for a host. type LEDMap map[string][]string +type ledFactory func(string) LED + type ledDriver struct { ledMap LEDMap + lf ledFactory + initializedLEDs map[string]LED } -func newLEDDriver(ledMap LEDMap) LEDDriver { +// NewLEDDriver returns a LEDDriver interface which allows control +// over the LED subsystem. +func NewLEDDriver(ledMap LEDMap, lf ledFactory) LEDDriver { return &ledDriver{ - ledMap: ledMap, + ledMap: ledMap, + lf: lf, + initializedLEDs: map[string]LED{}, } } @@ -57,7 +62,7 @@ func (d *ledDriver) LED(k interface{}) (LED, error) { return nil, err } - led := newLED(id) + led := d.lf(id) d.initializedLEDs[id] = led return led, nil @@ -72,104 +77,3 @@ func (d *ledDriver) Close() error { return nil } - -type led struct { - id string - - brightness *os.File - - initialized bool -} - -func newLED(id string) LED { - return &led{id: id} -} - -func (l *led) init() error { - if l.initialized { - return nil - } - - var err error - if l.brightness, err = l.brightnessFile(); err != nil { - return err - } - - l.initialized = true - - return nil -} - -func (l *led) brightnessFilePath() string { - return fmt.Sprintf("/sys/class/leds/%v/brightness", l.id) -} - -func (l *led) openFile(path string) (*os.File, error) { - return os.OpenFile(path, os.O_RDWR, os.ModeExclusive) -} - -func (l *led) brightnessFile() (*os.File, error) { - return l.openFile(l.brightnessFilePath()) -} - -func (l *led) On() error { - if err := l.init(); err != nil { - return err - } - - _, err := l.brightness.WriteString("1") - return err -} - -func (l *led) Off() error { - if err := l.init(); err != nil { - return err - } - - _, err := l.brightness.WriteString("0") - return err -} - -func (l *led) isOn() (bool, error) { - l.brightness.Seek(0, 0) - bytes, err := ioutil.ReadAll(l.brightness) - if err != nil { - return false, err - } - str := string(bytes) - str = strings.TrimSpace(str) - if str == "1" { - return true, nil - } - return false, nil -} - -func (l *led) Toggle() error { - if err := l.init(); err != nil { - return err - } - - state, err := l.isOn() - if err != nil { - return err - } - - if state { - return l.Off() - } - return l.On() -} - -func (l *led) Close() error { - if !l.initialized { - return nil - } - - if err := l.brightness.Close(); err != nil { - return err - } - - l.initialized = false - - return nil -} diff --git a/rpi.go b/rpi.go deleted file mode 100644 index 218a8ae..0000000 --- a/rpi.go +++ /dev/null @@ -1,63 +0,0 @@ -// RaspberryPi support. -// The following features are supported on Linux kernel 3.8+ -// -// GPIO (digital (rw)) -// I2C - -package embd - -var rpiRev1Pins = PinMap{ - &PinDesc{ID: "P1_3", Aliases: []string{"0", "GPIO_0", "SDA", "I2C0_SDA"}, Caps: CapDigital | CapI2C, DigitalLogical: 0}, - &PinDesc{ID: "P1_5", Aliases: []string{"1", "GPIO_1", "SCL", "I2C0_SCL"}, Caps: CapDigital | CapI2C, DigitalLogical: 1}, - &PinDesc{ID: "P1_7", Aliases: []string{"4", "GPIO_4", "GPCLK0"}, Caps: CapDigital, DigitalLogical: 4}, - &PinDesc{ID: "P1_8", Aliases: []string{"14", "GPIO_14", "TXD", "UART0_TXD"}, Caps: CapDigital | CapUART, DigitalLogical: 14}, - &PinDesc{ID: "P1_10", Aliases: []string{"15", "GPIO_15", "RXD", "UART0_RXD"}, Caps: CapDigital | CapUART, DigitalLogical: 15}, - &PinDesc{ID: "P1_11", Aliases: []string{"17", "GPIO_17"}, Caps: CapDigital, DigitalLogical: 17}, - &PinDesc{ID: "P1_12", Aliases: []string{"18", "GPIO_18", "PCM_CLK"}, Caps: CapDigital, DigitalLogical: 18}, - &PinDesc{ID: "P1_13", Aliases: []string{"21", "GPIO_21"}, Caps: CapDigital, DigitalLogical: 21}, - &PinDesc{ID: "P1_15", Aliases: []string{"22", "GPIO_22"}, Caps: CapDigital, DigitalLogical: 22}, - &PinDesc{ID: "P1_16", Aliases: []string{"23", "GPIO_23"}, Caps: CapDigital, DigitalLogical: 23}, - &PinDesc{ID: "P1_18", Aliases: []string{"24", "GPIO_24"}, Caps: CapDigital, DigitalLogical: 24}, - &PinDesc{ID: "P1_19", Aliases: []string{"10", "GPIO_10", "MOSI", "SPI0_MOSI"}, Caps: CapDigital | CapSPI, DigitalLogical: 10}, - &PinDesc{ID: "P1_21", Aliases: []string{"9", "GPIO_9", "MISO", "SPI0_MISO"}, Caps: CapDigital | CapSPI, DigitalLogical: 9}, - &PinDesc{ID: "P1_22", Aliases: []string{"25", "GPIO_25"}, Caps: CapDigital, DigitalLogical: 25}, - &PinDesc{ID: "P1_23", Aliases: []string{"11", "GPIO_11", "SCLK", "SPI0_SCLK"}, Caps: CapDigital | CapSPI, DigitalLogical: 11}, - &PinDesc{ID: "P1_24", Aliases: []string{"8", "GPIO_8", "CE0", "SPI0_CE0_N"}, Caps: CapDigital | CapSPI, DigitalLogical: 8}, - &PinDesc{ID: "P1_26", Aliases: []string{"7", "GPIO_7", "CE1", "SPI0_CE1_N"}, Caps: CapDigital | CapSPI, DigitalLogical: 7}, -} - -var rpiRev2Pins = PinMap{ - &PinDesc{ID: "P1_3", Aliases: []string{"2", "GPIO_2", "SDA", "I2C1_SDA"}, Caps: CapDigital | CapI2C, DigitalLogical: 2}, - &PinDesc{ID: "P1_5", Aliases: []string{"3", "GPIO_3", "SCL", "I2C1_SCL"}, Caps: CapDigital | CapI2C, DigitalLogical: 3}, - &PinDesc{ID: "P1_7", Aliases: []string{"4", "GPIO_4", "GPCLK0"}, Caps: CapDigital, DigitalLogical: 4}, - &PinDesc{ID: "P1_8", Aliases: []string{"14", "GPIO_14", "TXD", "UART0_TXD"}, Caps: CapDigital | CapUART, DigitalLogical: 14}, - &PinDesc{ID: "P1_10", Aliases: []string{"15", "GPIO_15", "RXD", "UART0_RXD"}, Caps: CapDigital | CapUART, DigitalLogical: 15}, - &PinDesc{ID: "P1_11", Aliases: []string{"17", "GPIO_17"}, Caps: CapDigital, DigitalLogical: 17}, - &PinDesc{ID: "P1_12", Aliases: []string{"18", "GPIO_18", "PCM_CLK"}, Caps: CapDigital, DigitalLogical: 18}, - &PinDesc{ID: "P1_13", Aliases: []string{"27", "GPIO_27"}, Caps: CapDigital, DigitalLogical: 27}, - &PinDesc{ID: "P1_15", Aliases: []string{"22", "GPIO_22"}, Caps: CapDigital, DigitalLogical: 22}, - &PinDesc{ID: "P1_16", Aliases: []string{"23", "GPIO_23"}, Caps: CapDigital, DigitalLogical: 23}, - &PinDesc{ID: "P1_18", Aliases: []string{"24", "GPIO_24"}, Caps: CapDigital, DigitalLogical: 24}, - &PinDesc{ID: "P1_19", Aliases: []string{"10", "GPIO_10", "MOSI", "SPI0_MOSI"}, Caps: CapDigital | CapSPI, DigitalLogical: 10}, - &PinDesc{ID: "P1_21", Aliases: []string{"9", "GPIO_9", "MISO", "SPI0_MISO"}, Caps: CapDigital | CapSPI, DigitalLogical: 9}, - &PinDesc{ID: "P1_22", Aliases: []string{"25", "GPIO_25"}, Caps: CapDigital, DigitalLogical: 25}, - &PinDesc{ID: "P1_23", Aliases: []string{"11", "GPIO_11", "SCLK", "SPI0_SCLK"}, Caps: CapDigital | CapSPI, DigitalLogical: 11}, - &PinDesc{ID: "P1_24", Aliases: []string{"8", "GPIO_8", "CE0", "SPI0_CE0_N"}, Caps: CapDigital | CapSPI, DigitalLogical: 8}, - &PinDesc{ID: "P1_26", Aliases: []string{"7", "GPIO_7", "CE1", "SPI0_CE1_N"}, Caps: CapDigital | CapSPI, DigitalLogical: 7}, -} - -func init() { - Register(HostRPi, func(rev int) *Descriptor { - var pins = rpiRev1Pins - if rev > 1 { - pins = rpiRev2Pins - } - - return &Descriptor{ - GPIODriver: func() GPIODriver { - return newGPIODriver(pins, newDigitalPin, nil, nil) - }, - I2CDriver: newI2CDriver, - } - }) -} diff --git a/samples/analog.go b/samples/analog.go index 6b20b05..687ecd5 100644 --- a/samples/analog.go +++ b/samples/analog.go @@ -10,6 +10,8 @@ import ( "time" "github.com/kidoman/embd" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/analogshort.go b/samples/analogshort.go index 5ca3f91..064be32 100644 --- a/samples/analogshort.go +++ b/samples/analogshort.go @@ -7,6 +7,8 @@ import ( "fmt" "github.com/kidoman/embd" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/bh1750fvi.go b/samples/bh1750fvi.go index 35e208f..83e9a72 100644 --- a/samples/bh1750fvi.go +++ b/samples/bh1750fvi.go @@ -9,6 +9,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/sensor/bh1750fvi" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/bmp085.go b/samples/bmp085.go index f98608e..0fa56ad 100644 --- a/samples/bmp085.go +++ b/samples/bmp085.go @@ -9,6 +9,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/sensor/bmp085" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/bmp180.go b/samples/bmp180.go index 8388b0d..845e771 100644 --- a/samples/bmp180.go +++ b/samples/bmp180.go @@ -9,6 +9,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/sensor/bmp180" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/gpio.go b/samples/gpio.go index 5a9ad79..b3769eb 100644 --- a/samples/gpio.go +++ b/samples/gpio.go @@ -7,6 +7,8 @@ import ( "time" "github.com/kidoman/embd" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/gpiodetect.go b/samples/gpiodetect.go index 1fac511..8bc5f78 100644 --- a/samples/gpiodetect.go +++ b/samples/gpiodetect.go @@ -7,6 +7,8 @@ import ( "time" "github.com/kidoman/embd" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/gpiodirect.go b/samples/gpiodirect.go index b91d6b0..85bd22c 100644 --- a/samples/gpiodirect.go +++ b/samples/gpiodirect.go @@ -7,6 +7,8 @@ import ( "time" "github.com/kidoman/embd" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/gpioshort.go b/samples/gpioshort.go index 56cb989..b1c5c2c 100644 --- a/samples/gpioshort.go +++ b/samples/gpioshort.go @@ -6,6 +6,8 @@ import ( "flag" "github.com/kidoman/embd" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/l3gd20.go b/samples/l3gd20.go index 4d5ab47..f0a94e6 100644 --- a/samples/l3gd20.go +++ b/samples/l3gd20.go @@ -11,6 +11,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/sensor/l3gd20" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/led.go b/samples/led.go index 3acaa82..0ab5253 100644 --- a/samples/led.go +++ b/samples/led.go @@ -12,6 +12,8 @@ import ( "time" "github.com/kidoman/embd" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/ledshort.go b/samples/ledshort.go index 44b6097..4ea629c 100644 --- a/samples/ledshort.go +++ b/samples/ledshort.go @@ -9,6 +9,8 @@ import ( "time" "github.com/kidoman/embd" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/lsm303.go b/samples/lsm303.go index 2fdbbf3..e4461de 100644 --- a/samples/lsm303.go +++ b/samples/lsm303.go @@ -9,6 +9,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/sensor/lsm303" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/mcp4725.go b/samples/mcp4725.go index 7e6425b..ad80967 100644 --- a/samples/mcp4725.go +++ b/samples/mcp4725.go @@ -11,6 +11,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/controller/mcp4725" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/pca9685.go b/samples/pca9685.go index ea90ea6..9976340 100644 --- a/samples/pca9685.go +++ b/samples/pca9685.go @@ -10,6 +10,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/controller/pca9685" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/pwm.go b/samples/pwm.go index 85ff6d0..cecbc4d 100644 --- a/samples/pwm.go +++ b/samples/pwm.go @@ -9,6 +9,9 @@ import ( "time" "github.com/kidoman/embd" + "github.com/kidoman/embd/host/bbb" + + _ "github.com/kidoman/embd/host/all" ) func main() { @@ -25,7 +28,7 @@ func main() { } defer pwm.Close() - if err := pwm.SetDuty(embd.BBBPWMDefaultPeriod / 2); err != nil { + if err := pwm.SetDuty(bbb.PWMDefaultPeriod / 2); err != nil { panic(err) } diff --git a/samples/servo.go b/samples/servo.go index 5077c10..2e82dd8 100644 --- a/samples/servo.go +++ b/samples/servo.go @@ -11,6 +11,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/controller/pca9685" "github.com/kidoman/embd/motion/servo" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/servobbb.go b/samples/servobbb.go index 4e190cc..fbf0db1 100644 --- a/samples/servobbb.go +++ b/samples/servobbb.go @@ -10,6 +10,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/motion/servo" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/servoblaster.go b/samples/servoblaster.go index 77a7b61..b2d4cdf 100644 --- a/samples/servoblaster.go +++ b/samples/servoblaster.go @@ -10,6 +10,8 @@ import ( "github.com/kidoman/embd/controller/servoblaster" "github.com/kidoman/embd/motion/servo" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/tmp006.go b/samples/tmp006.go index 3e73408..6252b00 100644 --- a/samples/tmp006.go +++ b/samples/tmp006.go @@ -10,6 +10,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/sensor/tmp006" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/us020.go b/samples/us020.go index 078d8b0..f0e7537 100644 --- a/samples/us020.go +++ b/samples/us020.go @@ -11,6 +11,8 @@ import ( "github.com/kidoman/embd" "github.com/kidoman/embd/sensor/us020" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/samples/watersensor.go b/samples/watersensor.go index 8e2eb8f..ff4ba8a 100644 --- a/samples/watersensor.go +++ b/samples/watersensor.go @@ -9,6 +9,8 @@ import ( "github.com/golang/glog" "github.com/kidoman/embd" "github.com/kidoman/embd/sensor/watersensor" + + _ "github.com/kidoman/embd/host/all" ) func main() { diff --git a/utils.go b/utils.go index aadb4cc..a2e0c32 100644 --- a/utils.go +++ b/utils.go @@ -2,8 +2,9 @@ package embd import "path/filepath" +// FindFirstMatchingFile finds the first glob match in the filesystem. // Inspiration: https://github.com/mrmorphic/hwio/blob/master/hwio.go#L451 -func findFirstMatchingFile(glob string) (string, error) { +func FindFirstMatchingFile(glob string) (string, error) { matches, err := filepath.Glob(glob) if err != nil { return "", err