87 lines
1.6 KiB
Go
87 lines
1.6 KiB
Go
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package gobotBeaglebone
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import (
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"fmt"
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"os"
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"path/filepath"
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"strings"
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"time"
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)
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type pwmPin struct {
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pinNum string
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pwmDevice string
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}
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func newPwmPin(pinNum string) *pwmPin {
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var err error
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var fi *os.File
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d := new(pwmPin)
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d.pinNum = strings.ToUpper(pinNum)
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slots, err := filepath.Glob(SLOTS)
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if err != nil {
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panic(err)
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}
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fi, err = os.OpenFile(fmt.Sprintf("%v/slots", slots[0]), os.O_WRONLY|os.O_APPEND, 0666)
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if err != nil {
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panic(err)
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}
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fi.WriteString("am33xx_pwm")
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fi.Sync()
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fi.WriteString(fmt.Sprintf("bone_pwm_%v", d.pinNum))
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fi.Sync()
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fi.Close()
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ocp, err := filepath.Glob(OCP)
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if err != nil {
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panic(err)
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}
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pwmDevice, err := filepath.Glob(fmt.Sprintf("%v/pwm_test_%v.*", ocp[0], d.pinNum))
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if err != nil {
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panic(err)
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}
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d.pwmDevice = pwmDevice[0]
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for i := 0; i < 10; i++ {
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fi, err = os.OpenFile(fmt.Sprintf("%v/run", d.pwmDevice), os.O_WRONLY|os.O_APPEND, 0666)
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if err != nil && i == 9 {
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panic(err)
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}
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time.Sleep(10 * time.Millisecond)
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}
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fi.WriteString("1")
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fi.Close()
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return d
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}
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func (me *pwmPin) pwmWrite(period string, duty string) {
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var err error
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var fi *os.File
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fi, err = os.OpenFile(fmt.Sprintf("%v/period", me.pwmDevice), os.O_WRONLY|os.O_APPEND, 0666)
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if err != nil {
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panic(err)
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}
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fi.WriteString(period)
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fi.Close()
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fi, err = os.OpenFile(fmt.Sprintf("%v/duty", me.pwmDevice), os.O_WRONLY|os.O_APPEND, 0666)
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if err != nil {
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panic(err)
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}
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fi.WriteString(duty)
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fi.Close()
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}
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func (me *pwmPin) release() {
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fi, err := os.OpenFile(fmt.Sprintf("%v/run", me.pwmDevice), os.O_WRONLY|os.O_APPEND, 0666)
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if err != nil {
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panic(err)
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}
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fi.WriteString("0")
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fi.Close()
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}
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