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Add support for the CHIP platform 

This includes support for GPIO and I2C interfaces.

Signed-off-by: Hrishikesh Tapaswi <hrishikesh195@yahoo.com>
This commit is contained in:
Hrishikesh Tapaswi 2016-01-30 02:00:27 -08:00
parent ef61647a3a
commit 30d66e2502
7 changed files with 414 additions and 0 deletions
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32
examples/chip_blink.go Normal file
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package main
import (
"time"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/chip"
"github.com/hybridgroup/gobot/platforms/gpio"
)
func main() {
gbot := gobot.NewGobot()
chipAdaptor := chip.NewChipAdaptor("chip")
led := gpio.NewLedDriver(chipAdaptor, "led", "U14_13")
work := func() {
gobot.Every(1*time.Second, func() {
led.Toggle()
})
}
robot := gobot.NewRobot("blinkBot",
[]gobot.Connection{chipAdaptor},
[]gobot.Device{led},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}

34
examples/chip_button.go Normal file
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package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/chip"
"github.com/hybridgroup/gobot/platforms/gpio"
)
func main() {
gbot := gobot.NewGobot()
chipAdaptor := chip.NewChipAdaptor("chip")
button := gpio.NewButtonDriver(chipAdaptor, "button", "U14_13")
work := func() {
gobot.On(button.Event("push"), func(data interface{}) {
fmt.Println("button pressed")
})
gobot.On(button.Event("release"), func(data interface{}) {
fmt.Println("button released")
})
}
robot := gobot.NewRobot("buttonBot",
[]gobot.Connection{chipAdaptor},
[]gobot.Device{button},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}

40
examples/chip_wiichuck.go Normal file
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package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/chip"
"github.com/hybridgroup/gobot/platforms/i2c"
)
func main() {
gbot := gobot.NewGobot()
chipAdaptor := chip.NewChipAdaptor("chip")
wiichuck := i2c.NewWiichuckDriver(chipAdaptor, "wiichuck")
work := func() {
gobot.On(wiichuck.Event("joystick"), func(data interface{}) {
fmt.Println("joystick", data)
})
gobot.On(wiichuck.Event("c"), func(data interface{}) {
fmt.Println("c")
})
gobot.On(wiichuck.Event("z"), func(data interface{}) {
fmt.Println("z")
})
}
robot := gobot.NewRobot("chuck",
[]gobot.Connection{chipAdaptor},
[]gobot.Device{wiichuck},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}

72
platforms/chip/README.md Normal file
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# CHIP
The [CHIP](http://www.getchip.com/) is a small, inexpensive ARM based single board computer, with many different IO interfaces available on the [pin headers](http://docs.getchip.com/#pin-headers).
For documentation about the CHIP platform click [here](http://docs.getchip.com/).
## How to Install
```
go get -d -u github.com/hybridgroup/gobot/... && go install github.com/hybridgroup/gobot/platforms/chip
```
## Cross compiling for the CHIP
If you're using Go version earlier than 1.5, you must first configure your Go environment for ARM linux cross compiling.
```bash
$ cd $GOROOT/src
$ GOOS=linux GOARCH=arm ./make.bash --no-clean
```
The above step is not required for Go >= 1.5
Then compile your Gobot program with
```bash
$ GOARM=7 GOARCH=arm GOOS=linux go build examples/chip_button.go
```
Then you can simply upload your program to the CHIP and execute it with
```bash
$ scp chip_button root@192.168.1.xx:
$ ssh -t root@192.168.1.xx "./chip_button"
```
## How to Use
```go
package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/chip"
"github.com/hybridgroup/gobot/platforms/gpio"
)
func main() {
gbot := gobot.NewGobot()
chipAdaptor := chip.NewChipAdaptor("chip")
button := gpio.NewButtonDriver(chipAdaptor, "button", "U14_13")
work := func() {
gobot.On(button.Event("push"), func(data interface{}) {
fmt.Println("button pressed")
})
gobot.On(button.Event("release"), func(data interface{}) {
fmt.Println("button released")
})
}
robot := gobot.NewRobot("buttonBot",
[]gobot.Connection{chipAdaptor},
[]gobot.Device{button},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
```

148
platforms/chip/chip_adaptor.go Normal file
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package chip
import (
"errors"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/gpio"
"github.com/hybridgroup/gobot/platforms/i2c"
"github.com/hybridgroup/gobot/sysfs"
)
var _ gobot.Adaptor = (*ChipAdaptor)(nil)
var _ gpio.DigitalReader = (*ChipAdaptor)(nil)
var _ gpio.DigitalWriter = (*ChipAdaptor)(nil)
var _ i2c.I2c = (*ChipAdaptor)(nil)
type ChipAdaptor struct {
name string
digitalPins map[int]sysfs.DigitalPin
i2cDevice sysfs.I2cDevice
}
var pins = map[string]int{
"U14_13": 408,
"U14_14": 409,
"U14_15": 410,
"U14_16": 411,
"U14_17": 412,
"U14_18": 413,
"U14_19": 414,
"U14_20": 415,
}
// NewChipAdaptor creates a ChipAdaptor with the specified name
func NewChipAdaptor(name string) *ChipAdaptor {
c := &ChipAdaptor{
name: name,
digitalPins: make(map[int]sysfs.DigitalPin),
}
return c
}
// Name returns the name of the ChipAdaptor
func (c *ChipAdaptor) Name() string { return c.name }
// Connect initializes the board
func (c *ChipAdaptor) Connect() (errs []error) {
return
}
// Finalize closes connection to board and pins
func (c *ChipAdaptor) Finalize() (errs []error) {
for _, pin := range c.digitalPins {
if pin != nil {
if err := pin.Unexport(); err != nil {
errs = append(errs, err)
}
}
}
if c.i2cDevice != nil {
if err := c.i2cDevice.Close(); err != nil {
errs = append(errs, err)
}
}
return errs
}
func (c *ChipAdaptor) translatePin(pin string) (i int, err error) {
if val, ok := pins[pin]; ok {
i = val
} else {
err = errors.New("Not a valid pin")
}
return
}
// digitalPin returns matched digitalPin for specified values
func (c *ChipAdaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) {
i, err := c.translatePin(pin)
if err != nil {
return
}
if c.digitalPins[i] == nil {
c.digitalPins[i] = sysfs.NewDigitalPin(i)
if err = c.digitalPins[i].Export(); err != nil {
return
}
}
if err = c.digitalPins[i].Direction(dir); err != nil {
return
}
return c.digitalPins[i], nil
}
// DigitalRead reads digital value from the specified pin.
// Valids pins are XIO-P0 through XIO-P1 (pins 13-20 on header 14).
func (c *ChipAdaptor) DigitalRead(pin string) (val int, err error) {
sysfsPin, err := c.digitalPin(pin, sysfs.IN)
if err != nil {
return
}
return sysfsPin.Read()
}
// DigitalWrite writes digital value to the specified pin.
// Valids pins are XIO-P0 through XIO-P1 (pins 13-20 on header 14).
func (c *ChipAdaptor) DigitalWrite(pin string, val byte) (err error) {
sysfsPin, err := c.digitalPin(pin, sysfs.OUT)
if err != nil {
return err
}
return sysfsPin.Write(int(val))
}
// I2cStart starts an i2c device in specified address.
// This assumes that the bus used is /dev/i2c-1, which corresponds to
// pins labeled TWI1 (pins 9 and 11 on header 13).
func (c *ChipAdaptor) I2cStart(address int) (err error) {
if c.i2cDevice == nil {
c.i2cDevice, err = sysfs.NewI2cDevice("/dev/i2c-1", address)
}
return err
}
// I2cWrite writes data to i2c device
func (c *ChipAdaptor) I2cWrite(address int, data []byte) (err error) {
if err = c.i2cDevice.SetAddress(address); err != nil {
return
}
_, err = c.i2cDevice.Write(data)
return
}
// I2cRead returns value from i2c device using specified size
func (c *ChipAdaptor) I2cRead(address int, size int) (data []byte, err error) {
if err = c.i2cDevice.SetAddress(address); err != nil {
return
}
data = make([]byte, size)
_, err = c.i2cDevice.Read(data)
return
}

81
platforms/chip/chip_adaptor_test.go Normal file
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package chip
import (
"errors"
"testing"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/sysfs"
)
type NullReadWriteCloser struct {
contents []byte
}
func (n *NullReadWriteCloser) SetAddress(int) error {
return nil
}
func (n *NullReadWriteCloser) Write(b []byte) (int, error) {
n.contents = make([]byte, len(b))
copy(n.contents[:], b[:])
return len(b), nil
}
func (n *NullReadWriteCloser) Read(b []byte) (int, error) {
copy(b, n.contents)
return len(b), nil
}
var closeErr error = nil
func (n *NullReadWriteCloser) Close() error {
return closeErr
}
func initTestChipAdaptor() *ChipAdaptor {
a := NewChipAdaptor("myAdaptor")
a.Connect()
return a
}
func TestChipAdaptorDigitalIO(t *testing.T) {
a := initTestChipAdaptor()
fs := sysfs.NewMockFilesystem([]string{
"/sys/class/gpio/export",
"/sys/class/gpio/unexport",
"/sys/class/gpio/gpio408/value",
"/sys/class/gpio/gpio408/direction",
"/sys/class/gpio/gpio415/value",
"/sys/class/gpio/gpio415/direction",
})
sysfs.SetFilesystem(fs)
a.DigitalWrite("U14_13", 1)
gobot.Assert(t, fs.Files["/sys/class/gpio/gpio408/value"].Contents, "1")
fs.Files["/sys/class/gpio/gpio415/value"].Contents = "1"
i, _ := a.DigitalRead("U14_20")
gobot.Assert(t, i, 1)
gobot.Assert(t, a.DigitalWrite("U13_99", 1), errors.New("Not a valid pin"))
}
func TestChipAdaptorI2c(t *testing.T) {
a := initTestChipAdaptor()
fs := sysfs.NewMockFilesystem([]string{
"/dev/i2c-1",
})
sysfs.SetFilesystem(fs)
sysfs.SetSyscall(&sysfs.MockSyscall{})
a.I2cStart(0xff)
a.i2cDevice = &NullReadWriteCloser{}
a.I2cWrite(0xff, []byte{0x00, 0x01})
data, _ := a.I2cRead(0xff, 2)
gobot.Assert(t, data, []byte{0x00, 0x01})
gobot.Assert(t, len(a.Finalize()), 0)
}

7
platforms/chip/doc.go Normal file
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/*
Package chip contains the Gobot adaptor for the CHIP
For further information refer to the chip README:
https://github.com/hybridgroup/gobot/blob/master/platforms/chip/README.md
*/
package chip