go-embedded/embd
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Code Issues Releases Wiki Activity

host specific drivers can now be loaded separately

Browse Source 
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 2014-04-06 06:50:09 +05:30
parent 57328c979d
commit c35deeb17c
44 changed files with 1184 additions and 1018 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

507
bbb.go
View File

@ -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)
},
}
})
}

41
bbb_test.go
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@ -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")
}
}

4
gpiodriver.go
View File

@ -25,7 +25,9 @@ type gpioDriver struct {
initializedPins map[string]pin 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{ return &gpioDriver{
pinMap: pinMap, pinMap: pinMap,
dpf: dpf, dpf: dpf,

8
gpiodriver_test.go
View File

@ -62,7 +62,7 @@ func TestGpioDriverDigitalPin(t *testing.T) {
pinMap := PinMap{ pinMap := PinMap{
&PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapDigital, DigitalLogical: 1}, &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 { for _, test := range tests {
pin, err := driver.DigitalPin(test.key) pin, err := driver.DigitalPin(test.key)
if err != nil { if err != nil {
@ -112,7 +112,7 @@ func TestGpioDriverAnalogPin(t *testing.T) {
pinMap := PinMap{ pinMap := PinMap{
&PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapAnalog, AnalogLogical: 1}, &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 { for _, test := range tests {
pin, err := driver.AnalogPin(test.key) pin, err := driver.AnalogPin(test.key)
if err != nil { 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_1", Aliases: []string{"1"}, Caps: CapDigital, DigitalLogical: 1},
&PinDesc{ID: "P1_2", Aliases: []string{"1"}, Caps: CapAnalog, AnalogLogical: 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) _, err := driver.DigitalPin(1)
if err == nil { if err == nil {
t.Fatal("Looking up digital pin 1: did not get error") t.Fatal("Looking up digital pin 1: did not get error")
@ -153,7 +153,7 @@ func TestGpioPinCaching(t *testing.T) {
pinMap := PinMap{ pinMap := PinMap{
&PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapDigital}, &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) pin, err := driver.DigitalPin(1)
if err != nil { if err != nil {
t.Fatalf("Looking up digital pin 1: got %v", err) t.Fatalf("Looking up digital pin 1: got %v", err)

7
host/all/all.go Normal file
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@ -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"
)

104
host/bbb/analogpin.go Normal file
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@ -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
}

26
host/bbb/analogpin_test.go Normal file
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@ -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")
}
}

170
host/bbb/bbb.go Normal file
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@ -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)
},
}
})
}

261
host/bbb/pwmpin.go Normal file
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// 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
}

26
host/bbb/pwmpin_test.go Normal file
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@ -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")
}
}

2
host/doc.go Normal file
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@ -0,0 +1,2 @@
// Package host is a container for the various hosts supported by EMBD.
package host

20
digitalpin.go → host/generic/digitalpin.go
View File

@ -2,7 +2,7 @@
// This driver requires kernel version 3.8+ and should work uniformly // This driver requires kernel version 3.8+ and should work uniformly
// across all supported devices. // across all supported devices.
package embd package generic
import ( import (
"errors" "errors"
@ -11,13 +11,15 @@ import (
"path" "path"
"strconv" "strconv"
"time" "time"
"github.com/kidoman/embd"
) )
type digitalPin struct { type digitalPin struct {
id string id string
n int n int
drv GPIODriver drv embd.GPIODriver
dir *os.File dir *os.File
val *os.File val *os.File
@ -28,7 +30,7 @@ type digitalPin struct {
initialized bool 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)} 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")) 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 { if err := p.init(); err != nil {
return err return err
} }
str := "in" str := "in"
if dir == Out { if dir == embd.Out {
str = "out" str = "out"
} }
_, err := p.dir.WriteString(str) _, err := p.dir.WriteString(str)
@ -138,7 +140,7 @@ var (
func (p *digitalPin) write(val int) error { func (p *digitalPin) write(val int) error {
bytes := lowBytes bytes := lowBytes
if val == High { if val == embd.High {
bytes = highBytes bytes = highBytes
} }
_, err := p.val.Write(bytes) _, err := p.val.Write(bytes)
@ -158,9 +160,9 @@ func (p *digitalPin) TimePulse(state int) (time.Duration, error) {
return 0, err return 0, err
} }
aroundState := Low aroundState := embd.Low
if state == Low { if state == embd.Low {
aroundState = High aroundState = embd.High
} }
// Wait for any previous pulse to end // Wait for any previous pulse to end

14
digitalpin_test.go → host/generic/digitalpin_test.go
View File

@ -1,12 +1,16 @@
package embd package generic
import "testing" import (
"testing"
"github.com/kidoman/embd"
)
func TestDigitalPinClose(t *testing.T) { func TestDigitalPinClose(t *testing.T) {
pinMap := PinMap{ pinMap := embd.PinMap{
&PinDesc{ID: "P1_1", Aliases: []string{"1"}, Caps: CapDigital}, &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) pin, err := driver.DigitalPin(1)
if err != nil { if err != nil {
t.Fatalf("Looking up digital pin 1: got %v", err) t.Fatalf("Looking up digital pin 1: got %v", err)

10
host/generic/doc.go Normal file
View File

@ -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

288
host/generic/i2cbus.go Normal file
View File

@ -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(&reg))
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()
}

113
host/generic/led.go Normal file
View File

@ -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
}

71
host/rpi/rpi.go Normal file
View File

@ -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)
},
}
})
}

4
i2c.go
View File

@ -24,6 +24,9 @@ type I2CBus interface {
WriteByteToReg(addr, reg, value byte) error WriteByteToReg(addr, reg, value byte) error
// WriteU16ToReg // WriteU16ToReg
WriteWordToReg(addr, reg byte, value uint16) error 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 // I2CDriver interface interacts with the host descriptors to allow us
@ -31,6 +34,7 @@ type I2CBus interface {
type I2CDriver interface { type I2CDriver interface {
Bus(l byte) I2CBus Bus(l byte) I2CBus
// Close releases the resources associated with the driver.
Close() error Close() error
} }

295
i2cdriver.go
View File

@ -1,25 +1,24 @@
// Generic I2C driver. // Generic I²C driver.
package embd package embd
import ( import "sync"
"fmt"
"os" type i2cBusFactory func(byte) I2CBus
"reflect"
"sync"
"syscall"
"time"
"unsafe"
)
type i2cDriver struct { type i2cDriver struct {
busMap map[byte]*i2cBus busMap map[byte]I2CBus
busMapLock sync.Mutex 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{ 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() i.busMapLock.Lock()
defer i.busMapLock.Unlock() defer i.busMapLock.Unlock()
var b *i2cBus if b, ok := i.busMap[l]; ok {
return b
if b = i.busMap[l]; b == nil {
b = &i2cBus{l: l}
i.busMap[l] = b
} }
b := i.ibf(l)
i.busMap[l] = b
return b return b
} }
func (i *i2cDriver) Close() error { func (i *i2cDriver) Close() error {
for _, b := range i.busMap { for _, b := range i.busMap {
b.Close() 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(&reg))
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 return nil

118
leddriver.go
View File

@ -5,24 +5,29 @@ package embd
import ( import (
"errors" "errors"
"fmt" "fmt"
"io/ioutil"
"os"
"strconv" "strconv"
"strings"
) )
// LEDMap type represents a LED mapping for a host. // LEDMap type represents a LED mapping for a host.
type LEDMap map[string][]string type LEDMap map[string][]string
type ledFactory func(string) LED
type ledDriver struct { type ledDriver struct {
ledMap LEDMap ledMap LEDMap
lf ledFactory
initializedLEDs map[string]LED 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{ return &ledDriver{
ledMap: ledMap, ledMap: ledMap,
lf: lf,
initializedLEDs: map[string]LED{}, initializedLEDs: map[string]LED{},
} }
} }
@ -57,7 +62,7 @@ func (d *ledDriver) LED(k interface{}) (LED, error) {
return nil, err return nil, err
} }
led := newLED(id) led := d.lf(id)
d.initializedLEDs[id] = led d.initializedLEDs[id] = led
return led, nil return led, nil
@ -72,104 +77,3 @@ func (d *ledDriver) Close() error {
return nil 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
}

63
rpi.go
View File

@ -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,
}
})
}

2
samples/analog.go
View File

@ -10,6 +10,8 @@ import (
"time" "time"
"github.com/kidoman/embd" "github.com/kidoman/embd"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/analogshort.go
View File

@ -7,6 +7,8 @@ import (
"fmt" "fmt"
"github.com/kidoman/embd" "github.com/kidoman/embd"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/bh1750fvi.go
View File

@ -9,6 +9,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/bh1750fvi" "github.com/kidoman/embd/sensor/bh1750fvi"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/bmp085.go
View File

@ -9,6 +9,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/bmp085" "github.com/kidoman/embd/sensor/bmp085"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/bmp180.go
View File

@ -9,6 +9,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/bmp180" "github.com/kidoman/embd/sensor/bmp180"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/gpio.go
View File

@ -7,6 +7,8 @@ import (
"time" "time"
"github.com/kidoman/embd" "github.com/kidoman/embd"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/gpiodetect.go
View File

@ -7,6 +7,8 @@ import (
"time" "time"
"github.com/kidoman/embd" "github.com/kidoman/embd"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/gpiodirect.go
View File

@ -7,6 +7,8 @@ import (
"time" "time"
"github.com/kidoman/embd" "github.com/kidoman/embd"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/gpioshort.go
View File

@ -6,6 +6,8 @@ import (
"flag" "flag"
"github.com/kidoman/embd" "github.com/kidoman/embd"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/l3gd20.go
View File

@ -11,6 +11,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/l3gd20" "github.com/kidoman/embd/sensor/l3gd20"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/led.go
View File

@ -12,6 +12,8 @@ import (
"time" "time"
"github.com/kidoman/embd" "github.com/kidoman/embd"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/ledshort.go
View File

@ -9,6 +9,8 @@ import (
"time" "time"
"github.com/kidoman/embd" "github.com/kidoman/embd"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/lsm303.go
View File

@ -9,6 +9,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/lsm303" "github.com/kidoman/embd/sensor/lsm303"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/mcp4725.go
View File

@ -11,6 +11,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/controller/mcp4725" "github.com/kidoman/embd/controller/mcp4725"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/pca9685.go
View File

@ -10,6 +10,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/controller/pca9685" "github.com/kidoman/embd/controller/pca9685"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

5
samples/pwm.go
View File

@ -9,6 +9,9 @@ import (
"time" "time"
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/host/bbb"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {
@ -25,7 +28,7 @@ func main() {
} }
defer pwm.Close() defer pwm.Close()
if err := pwm.SetDuty(embd.BBBPWMDefaultPeriod / 2); err != nil { if err := pwm.SetDuty(bbb.PWMDefaultPeriod / 2); err != nil {
panic(err) panic(err)
} }

2
samples/servo.go
View File

@ -11,6 +11,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/controller/pca9685" "github.com/kidoman/embd/controller/pca9685"
"github.com/kidoman/embd/motion/servo" "github.com/kidoman/embd/motion/servo"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/servobbb.go
View File

@ -10,6 +10,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/motion/servo" "github.com/kidoman/embd/motion/servo"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/servoblaster.go
View File

@ -10,6 +10,8 @@ import (
"github.com/kidoman/embd/controller/servoblaster" "github.com/kidoman/embd/controller/servoblaster"
"github.com/kidoman/embd/motion/servo" "github.com/kidoman/embd/motion/servo"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/tmp006.go
View File

@ -10,6 +10,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/tmp006" "github.com/kidoman/embd/sensor/tmp006"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/us020.go
View File

@ -11,6 +11,8 @@ import (
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/us020" "github.com/kidoman/embd/sensor/us020"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

2
samples/watersensor.go
View File

@ -9,6 +9,8 @@ import (
"github.com/golang/glog" "github.com/golang/glog"
"github.com/kidoman/embd" "github.com/kidoman/embd"
"github.com/kidoman/embd/sensor/watersensor" "github.com/kidoman/embd/sensor/watersensor"
_ "github.com/kidoman/embd/host/all"
) )
func main() { func main() {

3
utils.go
View File

@ -2,8 +2,9 @@ package embd
import "path/filepath" import "path/filepath"
// FindFirstMatchingFile finds the first glob match in the filesystem.
// Inspiration: https://github.com/mrmorphic/hwio/blob/master/hwio.go#L451 // 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) matches, err := filepath.Glob(glob)
if err != nil { if err != nil {
return "", err return "", err