mirror of
https://github.com/kidoman/embd
synced 2025-07-03 20:07:40 +02:00
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"
This commit is contained in:
Karan Misra
parent
57328c979d
commit
c35deeb17c
44 changed files with 1184 additions and 1018 deletions
104
host/bbb/analogpin.go
Normal file
104
host/bbb/analogpin.go
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@ -0,0 +1,104 @@
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// Analog I/O support on the BBB.
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package bbb
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import (
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"fmt"
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"io/ioutil"
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"os"
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"strconv"
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"strings"
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"github.com/kidoman/embd"
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)
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type analogPin struct {
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id string
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n int
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drv embd.GPIODriver
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val *os.File
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initialized bool
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}
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func newAnalogPin(pd *embd.PinDesc, drv embd.GPIODriver) embd.AnalogPin {
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return &analogPin{id: pd.ID, n: pd.AnalogLogical, drv: drv}
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}
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func (p *analogPin) N() int {
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return p.n
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}
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func (p *analogPin) init() error {
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if p.initialized {
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return nil
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}
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var err error
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if err = p.ensureEnabled(); err != nil {
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return err
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}
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if p.val, err = p.valueFile(); err != nil {
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return err
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}
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p.initialized = true
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return nil
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}
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func (p *analogPin) ensureEnabled() error {
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return ensureFeatureEnabled("cape-bone-iio")
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}
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func (p *analogPin) valueFilePath() (string, error) {
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pattern := fmt.Sprintf("/sys/devices/ocp.*/helper.*/AIN%v", p.n)
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return embd.FindFirstMatchingFile(pattern)
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}
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func (p *analogPin) openFile(path string) (*os.File, error) {
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return os.OpenFile(path, os.O_RDONLY, os.ModeExclusive)
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}
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func (p *analogPin) valueFile() (*os.File, error) {
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path, err := p.valueFilePath()
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if err != nil {
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return nil, err
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}
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return p.openFile(path)
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}
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func (p *analogPin) Read() (int, error) {
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if err := p.init(); err != nil {
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return 0, err
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}
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p.val.Seek(0, 0)
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bytes, err := ioutil.ReadAll(p.val)
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if err != nil {
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return 0, err
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}
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str := string(bytes)
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str = strings.TrimSpace(str)
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return strconv.Atoi(str)
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}
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func (p *analogPin) Close() error {
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if err := p.drv.Unregister(p.id); err != nil {
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return err
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}
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if !p.initialized {
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return nil
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}
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if err := p.val.Close(); err != nil {
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return err
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}
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p.initialized = false
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return nil
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}
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26
host/bbb/analogpin_test.go
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26
host/bbb/analogpin_test.go
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package bbb
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import (
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"testing"
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"github.com/kidoman/embd"
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)
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func TestAnalogPinClose(t *testing.T) {
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pinMap := embd.PinMap{
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&embd.PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: embd.CapAnalog},
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}
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driver := embd.NewGPIODriver(pinMap, nil, newAnalogPin, nil)
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pin, err := driver.AnalogPin(1)
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if err != nil {
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t.Fatalf("Looking up analog pin 1: got %v", err)
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}
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pin.Close()
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pin2, err := driver.AnalogPin(1)
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if err != nil {
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t.Fatalf("Looking up analog pin 1: got %v", err)
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}
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if pin == pin2 {
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t.Fatal("Looking up closed analog pin 1: but got the old instance")
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}
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}
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170
host/bbb/bbb.go
Normal file
170
host/bbb/bbb.go
Normal file
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/*
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Package bbb provides BeagleBone Black support.
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The following features are supported on Linux kernel 3.8+
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GPIO (digital (rw), analog (ro), pwm)
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I²C
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LED
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*/
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package bbb
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import (
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"bufio"
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"fmt"
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"io/ioutil"
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"os"
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"strings"
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"github.com/kidoman/embd"
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"github.com/kidoman/embd/host/generic"
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)
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var pins = embd.PinMap{
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&embd.PinDesc{ID: "P8_07", Aliases: []string{"66", "GPIO_66", "Caps: TIMER4"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 66},
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&embd.PinDesc{ID: "P8_08", Aliases: []string{"67", "GPIO_67", "TIMER7"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 67},
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&embd.PinDesc{ID: "P8_09", Aliases: []string{"69", "GPIO_69", "TIMER5"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 69},
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&embd.PinDesc{ID: "P8_10", Aliases: []string{"68", "GPIO_68", "TIMER6"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 68},
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&embd.PinDesc{ID: "P8_11", Aliases: []string{"45", "GPIO_45"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 45},
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&embd.PinDesc{ID: "P8_12", Aliases: []string{"44", "GPIO_44"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 44},
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&embd.PinDesc{ID: "P8_13", Aliases: []string{"23", "GPIO_23", "EHRPWM2B"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 23},
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&embd.PinDesc{ID: "P8_14", Aliases: []string{"26", "GPIO_26"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 26},
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&embd.PinDesc{ID: "P8_15", Aliases: []string{"47", "GPIO_47"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 47},
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&embd.PinDesc{ID: "P8_16", Aliases: []string{"46", "GPIO_46"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 46},
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&embd.PinDesc{ID: "P8_17", Aliases: []string{"27", "GPIO_27"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 27},
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&embd.PinDesc{ID: "P8_18", Aliases: []string{"65", "GPIO_65"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 65},
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&embd.PinDesc{ID: "P8_19", Aliases: []string{"22", "GPIO_22", "EHRPWM2A"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 22},
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&embd.PinDesc{ID: "P8_26", Aliases: []string{"61", "GPIO_61"}, Caps: embd.CapDigital | embd.CapGPMC, DigitalLogical: 61},
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&embd.PinDesc{ID: "P8_27", Aliases: []string{"86", "GPIO_86"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 86},
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&embd.PinDesc{ID: "P8_28", Aliases: []string{"88", "GPIO_88"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 88},
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&embd.PinDesc{ID: "P8_29", Aliases: []string{"87", "GPIO_87"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 87},
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&embd.PinDesc{ID: "P8_30", Aliases: []string{"89", "GPIO_89"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 89},
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&embd.PinDesc{ID: "P8_31", Aliases: []string{"10", "GPIO_10", "UART5_CTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 10},
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&embd.PinDesc{ID: "P8_32", Aliases: []string{"11", "GPIO_11", "UART5_RTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 11},
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&embd.PinDesc{ID: "P8_33", Aliases: []string{"9", "GPIO_9 ", "UART4_RTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 9},
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&embd.PinDesc{ID: "P8_34", Aliases: []string{"81", "GPIO_81", "UART3_RTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 81},
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&embd.PinDesc{ID: "P8_35", Aliases: []string{"8", "GPIO_8 ", "UART4_CTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 8},
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&embd.PinDesc{ID: "P8_36", Aliases: []string{"80", "GPIO_80", "UART3_CTSN"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 80},
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&embd.PinDesc{ID: "P8_37", Aliases: []string{"78", "GPIO_78", "UART5_TXD"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 78},
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&embd.PinDesc{ID: "P8_38", Aliases: []string{"79", "GPIO_79", "UART5_RXD"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 79},
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&embd.PinDesc{ID: "P8_39", Aliases: []string{"76", "GPIO_76"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 76},
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&embd.PinDesc{ID: "P8_40", Aliases: []string{"77", "GPIO_77"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 77},
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&embd.PinDesc{ID: "P8_41", Aliases: []string{"74", "GPIO_74"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 74},
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&embd.PinDesc{ID: "P8_42", Aliases: []string{"75", "GPIO_75"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 75},
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&embd.PinDesc{ID: "P8_43", Aliases: []string{"72", "GPIO_72"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 72},
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&embd.PinDesc{ID: "P8_44", Aliases: []string{"73", "GPIO_73"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 73},
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&embd.PinDesc{ID: "P8_45", Aliases: []string{"70", "GPIO_70"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 70},
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&embd.PinDesc{ID: "P8_46", Aliases: []string{"71", "GPIO_71"}, Caps: embd.CapDigital | embd.CapLCD, DigitalLogical: 71},
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&embd.PinDesc{ID: "P9_11", Aliases: []string{"30", "GPIO_30", "UART4_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 30},
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&embd.PinDesc{ID: "P9_12", Aliases: []string{"60", "GPIO_60", "GPIO1_28"}, Caps: embd.CapDigital, DigitalLogical: 60},
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&embd.PinDesc{ID: "P9_13", Aliases: []string{"31", "GPIO_31", "UART4_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 31},
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&embd.PinDesc{ID: "P9_14", Aliases: []string{"50", "GPIO_50", "EHRPWM1A"}, Caps: embd.CapDigital | embd.CapPWM, DigitalLogical: 50},
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&embd.PinDesc{ID: "P9_15", Aliases: []string{"48", "GPIO_48", "GPIO1_16"}, Caps: embd.CapDigital, DigitalLogical: 48},
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&embd.PinDesc{ID: "P9_16", Aliases: []string{"51", "GPIO_51", "EHRPWM1B"}, Caps: embd.CapDigital | embd.CapPWM, DigitalLogical: 51},
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&embd.PinDesc{ID: "P9_17", Aliases: []string{"5", "GPIO_5", "I2C1_SCL"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 5},
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&embd.PinDesc{ID: "P9_18", Aliases: []string{"4", "GPIO_4", "I2C1_SDA"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 4},
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&embd.PinDesc{ID: "P9_19", Aliases: []string{"13", "GPIO_13", "I2C2_SCL"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 13},
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&embd.PinDesc{ID: "P9_20", Aliases: []string{"12", "GPIO_12", "I2C2_SDA"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 12},
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&embd.PinDesc{ID: "P9_21", Aliases: []string{"3", "GPIO_3", "UART2_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 3},
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&embd.PinDesc{ID: "P9_22", Aliases: []string{"2", "GPIO_2", "UART2_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 2},
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&embd.PinDesc{ID: "P9_23", Aliases: []string{"49", "GPIO_49", "GPIO1_17"}, Caps: embd.CapDigital, DigitalLogical: 49},
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&embd.PinDesc{ID: "P9_24", Aliases: []string{"15", "GPIO_15", "UART1_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 15},
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&embd.PinDesc{ID: "P9_25", Aliases: []string{"117", "GPIO_117", "GPIO3_21"}, Caps: embd.CapDigital, DigitalLogical: 117},
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&embd.PinDesc{ID: "P9_26", Aliases: []string{"14", "GPIO_14", "UART1_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 14},
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&embd.PinDesc{ID: "P9_27", Aliases: []string{"115", "GPIO_115", "GPIO3_19"}, Caps: embd.CapDigital, DigitalLogical: 115},
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&embd.PinDesc{ID: "P9_28", Aliases: []string{"113", "GPIO_113", "SPI1_CS0"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 113},
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&embd.PinDesc{ID: "P9_29", Aliases: []string{"111", "GPIO_111", "SPI1_D0"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 111},
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&embd.PinDesc{ID: "P9_30", Aliases: []string{"112", "GPIO_112", "SPI1_D1"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 112},
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&embd.PinDesc{ID: "P9_31", Aliases: []string{"110", "GPIO_110", "SPI1_SCLK"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 110},
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&embd.PinDesc{ID: "P9_32", Aliases: []string{"VADC"}},
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&embd.PinDesc{ID: "P9_33", Aliases: []string{"4", "AIN4"}, Caps: embd.CapAnalog, AnalogLogical: 4},
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&embd.PinDesc{ID: "P9_34", Aliases: []string{"AGND"}},
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&embd.PinDesc{ID: "P9_35", Aliases: []string{"6", "AIN6"}, Caps: embd.CapAnalog, AnalogLogical: 6},
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&embd.PinDesc{ID: "P9_36", Aliases: []string{"5", "AIN5"}, Caps: embd.CapAnalog, AnalogLogical: 5},
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&embd.PinDesc{ID: "P9_37", Aliases: []string{"2", "AIN2"}, Caps: embd.CapAnalog, AnalogLogical: 2},
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&embd.PinDesc{ID: "P9_38", Aliases: []string{"3", "AIN3"}, Caps: embd.CapAnalog, AnalogLogical: 3},
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&embd.PinDesc{ID: "P9_39", Aliases: []string{"0", "AIN0"}, Caps: embd.CapAnalog, AnalogLogical: 0},
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&embd.PinDesc{ID: "P9_40", Aliases: []string{"1", "AIN1"}, Caps: embd.CapAnalog, AnalogLogical: 1},
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}
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var ledMap = embd.LEDMap{
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"beaglebone:green:usr0": []string{"0", "USR0", "usr0"},
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"beaglebone:green:usr1": []string{"1", "USR1", "usr1"},
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"beaglebone:green:usr2": []string{"2", "USR2", "usr2"},
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"beaglebone:green:usr3": []string{"3", "USR3", "usr3"},
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}
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func ensureFeatureEnabled(id string) error {
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pattern := "/sys/devices/bone_capemgr.*/slots"
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file, err := embd.FindFirstMatchingFile(pattern)
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if err != nil {
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return err
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}
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bytes, err := ioutil.ReadFile(file)
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if err != nil {
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return err
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}
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str := string(bytes)
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if strings.Contains(str, id) {
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return nil
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}
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slots, err := os.OpenFile(file, os.O_WRONLY, os.ModeExclusive)
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if err != nil {
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return err
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}
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defer slots.Close()
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_, err = slots.WriteString(id)
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return err
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}
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// This cannot be currently used to disable things like the
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// analog and pwm modules. Removing them from slots file can
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// potentially cause a kernel panic and unsettle things. So the
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// recommended thing to do is to simply reboot.
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func ensureFeatureDisabled(id string) error {
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pattern := "/sys/devices/bone_capemgr.*/slots"
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file, err := embd.FindFirstMatchingFile(pattern)
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if err != nil {
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return err
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}
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slots, err := os.OpenFile(file, os.O_RDWR, os.ModeExclusive)
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if err != nil {
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return err
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}
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defer slots.Close()
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scanner := bufio.NewScanner(slots)
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for scanner.Scan() {
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text := scanner.Text()
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if !strings.Contains(text, id) {
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continue
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}
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// Extract the id from the line
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idx := strings.Index(text, ":")
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if idx < 0 {
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// Something is off, bail
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continue
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}
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dis := strings.TrimSpace(text[:idx])
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slots.Seek(0, 0)
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_, err = slots.WriteString("-" + dis)
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return err
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}
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||||
// Could not disable the feature
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return fmt.Errorf("embd: could not disable feature %q", id)
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}
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func init() {
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embd.Register(embd.HostBBB, func(rev int) *embd.Descriptor {
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return &embd.Descriptor{
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GPIODriver: func() embd.GPIODriver {
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return embd.NewGPIODriver(pins, generic.NewDigitalPin, newAnalogPin, newPWMPin)
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},
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I2CDriver: func() embd.I2CDriver {
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return embd.NewI2CDriver(generic.NewI2CBus)
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},
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LEDDriver: func() embd.LEDDriver {
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return embd.NewLEDDriver(ledMap, generic.NewLED)
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},
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}
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})
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}
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261
host/bbb/pwmpin.go
Normal file
261
host/bbb/pwmpin.go
Normal file
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@ -0,0 +1,261 @@
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// PWM support on the BBB.
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|
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package bbb
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||||
|
||||
import (
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||||
"errors"
|
||||
"fmt"
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||||
"os"
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||||
"path"
|
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"strconv"
|
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"time"
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||||
|
||||
"github.com/golang/glog"
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"github.com/kidoman/embd"
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"github.com/kidoman/embd/util"
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)
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const (
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// PWMDefaultPolarity represents the default polarity (Positve or 1) for pwm.
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PWMDefaultPolarity = embd.Positive
|
||||
|
||||
// PWMDefaultDuty represents the default duty (0ns) for pwm.
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PWMDefaultDuty = 0
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||||
|
||||
// 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
|
||||
}
|
||||
26
host/bbb/pwmpin_test.go
Normal file
26
host/bbb/pwmpin_test.go
Normal file
|
|
@ -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")
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue