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edison: Experimental support for other breakout boards besides Arduino 

Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram 2016-10-07 13:23:17 +02:00
parent 3fa1ca762a
commit 311fea76ff
4 changed files with 730 additions and 244 deletions
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40
examples/edison_miniboard_grove_accelerometer.go Normal file
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@ -0,0 +1,40 @@
package main
import (
"fmt"
"time"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/drivers/i2c"
"github.com/hybridgroup/gobot/platforms/intel-iot/edison"
)
func main() {
gbot := gobot.NewGobot()
board := edison.NewAdaptor()
board.SetBoard("miniboard")
accel := i2c.NewGroveAccelerometerDriver(board)
work := func() {
gobot.Every(500*time.Millisecond, func() {
if x, y, z, err := accel.XYZ(); err == nil {
fmt.Println(x, y, z)
fmt.Println(accel.Acceleration(x, y, z))
} else {
fmt.Println(err)
}
})
}
robot := gobot.NewRobot("accelBot",
[]gobot.Connection{board},
[]gobot.Device{accel},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}

115
platforms/intel-iot/edison/arduino_pinmap.go Normal file
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@ -0,0 +1,115 @@
package edison
import "github.com/hybridgroup/gobot/sysfs"
var arduinoPinMap = map[string]sysfsPin{
"0": sysfsPin{
pin: 130,
resistor: 216,
levelShifter: 248,
pwmPin: -1,
mux: []mux{},
},
"1": sysfsPin{
pin: 131,
resistor: 217,
levelShifter: 249,
pwmPin: -1,
mux: []mux{},
},
"2": sysfsPin{
pin: 128,
resistor: 218,
levelShifter: 250,
pwmPin: -1,
mux: []mux{},
},
"3": sysfsPin{
pin: 12,
resistor: 219,
levelShifter: 251,
pwmPin: 0,
mux: []mux{},
},
"4": sysfsPin{
pin: 129,
resistor: 220,
levelShifter: 252,
pwmPin: -1,
mux: []mux{},
},
"5": sysfsPin{
pin: 13,
resistor: 221,
levelShifter: 253,
pwmPin: 1,
mux: []mux{},
},
"6": sysfsPin{
pin: 182,
resistor: 222,
levelShifter: 254,
pwmPin: 2,
mux: []mux{},
},
"7": sysfsPin{
pin: 48,
resistor: 223,
levelShifter: 255,
pwmPin: -1,
mux: []mux{},
},
"8": sysfsPin{
pin: 49,
resistor: 224,
levelShifter: 256,
pwmPin: -1,
mux: []mux{},
},
"9": sysfsPin{
pin: 183,
resistor: 225,
levelShifter: 257,
pwmPin: 3,
mux: []mux{},
},
"10": sysfsPin{
pin: 41,
resistor: 226,
levelShifter: 258,
pwmPin: 4,
mux: []mux{
mux{263, sysfs.HIGH},
mux{240, sysfs.LOW},
},
},
"11": sysfsPin{
pin: 43,
resistor: 227,
levelShifter: 259,
pwmPin: 5,
mux: []mux{
mux{262, sysfs.HIGH},
mux{241, sysfs.LOW},
},
},
"12": sysfsPin{
pin: 42,
resistor: 228,
levelShifter: 260,
pwmPin: -1,
mux: []mux{
mux{242, sysfs.LOW},
},
},
"13": sysfsPin{
pin: 40,
resistor: 229,
levelShifter: 261,
pwmPin: -1,
mux: []mux{
mux{243, sysfs.LOW},
},
},
}

422
platforms/intel-iot/edison/edison_adaptor.go
View File

@ -50,6 +50,8 @@ type sysfsPin struct {
// Adaptor represents a Gobot Adaptor for an Intel Edison
type Adaptor struct {
name string
board string
pinmap map[string]sysfsPin
tristate sysfs.DigitalPin
digitalPins map[int]sysfs.DigitalPin
pwmPins map[int]*pwmPin
@ -57,118 +59,6 @@ type Adaptor struct {
connect func(e *Adaptor) (err error)
}
var sysfsPinMap = map[string]sysfsPin{
"0": sysfsPin{
pin: 130,
resistor: 216,
levelShifter: 248,
pwmPin: -1,
mux: []mux{},
},
"1": sysfsPin{
pin: 131,
resistor: 217,
levelShifter: 249,
pwmPin: -1,
mux: []mux{},
},
"2": sysfsPin{
pin: 128,
resistor: 218,
levelShifter: 250,
pwmPin: -1,
mux: []mux{},
},
"3": sysfsPin{
pin: 12,
resistor: 219,
levelShifter: 251,
pwmPin: 0,
mux: []mux{},
},
"4": sysfsPin{
pin: 129,
resistor: 220,
levelShifter: 252,
pwmPin: -1,
mux: []mux{},
},
"5": sysfsPin{
pin: 13,
resistor: 221,
levelShifter: 253,
pwmPin: 1,
mux: []mux{},
},
"6": sysfsPin{
pin: 182,
resistor: 222,
levelShifter: 254,
pwmPin: 2,
mux: []mux{},
},
"7": sysfsPin{
pin: 48,
resistor: 223,
levelShifter: 255,
pwmPin: -1,
mux: []mux{},
},
"8": sysfsPin{
pin: 49,
resistor: 224,
levelShifter: 256,
pwmPin: -1,
mux: []mux{},
},
"9": sysfsPin{
pin: 183,
resistor: 225,
levelShifter: 257,
pwmPin: 3,
mux: []mux{},
},
"10": sysfsPin{
pin: 41,
resistor: 226,
levelShifter: 258,
pwmPin: 4,
mux: []mux{
mux{263, sysfs.HIGH},
mux{240, sysfs.LOW},
},
},
"11": sysfsPin{
pin: 43,
resistor: 227,
levelShifter: 259,
pwmPin: 5,
mux: []mux{
mux{262, sysfs.HIGH},
mux{241, sysfs.LOW},
},
},
"12": sysfsPin{
pin: 42,
resistor: 228,
levelShifter: 260,
pwmPin: -1,
mux: []mux{
mux{242, sysfs.LOW},
},
},
"13": sysfsPin{
pin: 40,
resistor: 229,
levelShifter: 261,
pwmPin: -1,
mux: []mux{
mux{243, sysfs.LOW},
},
},
}
// changePinMode writes pin mode to current_pinmux file
func changePinMode(pin, mode string) (err error) {
_, err = writeFile(
@ -181,67 +71,9 @@ func changePinMode(pin, mode string) (err error) {
// NewAdaptor returns a new Edison Adaptor
func NewAdaptor() *Adaptor {
return &Adaptor{
name: "Edison",
connect: func(e *Adaptor) (err error) {
e.tristate = sysfs.NewDigitalPin(214)
if err = e.tristate.Export(); err != nil {
return err
}
if err = e.tristate.Direction(sysfs.OUT); err != nil {
return err
}
if err = e.tristate.Write(sysfs.LOW); err != nil {
return err
}
for _, i := range []int{263, 262} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return err
}
if err = io.Direction(sysfs.OUT); err != nil {
return err
}
if err = io.Write(sysfs.HIGH); err != nil {
return err
}
if err = io.Unexport(); err != nil {
return err
}
}
for _, i := range []int{240, 241, 242, 243} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return err
}
if err = io.Direction(sysfs.OUT); err != nil {
return err
}
if err = io.Write(sysfs.LOW); err != nil {
return err
}
if err = io.Unexport(); err != nil {
return err
}
}
for _, i := range []string{"111", "115", "114", "109"} {
if err = changePinMode(i, "1"); err != nil {
return err
}
}
for _, i := range []string{"131", "129", "40"} {
if err = changePinMode(i, "0"); err != nil {
return err
}
}
err = e.tristate.Write(sysfs.HIGH)
return
},
name: "Edison",
board: "arduino",
pinmap: arduinoPinMap,
}
}
@ -251,11 +83,23 @@ func (e *Adaptor) Name() string { return e.name }
// SetName sets the Adaptors name
func (e *Adaptor) SetName(n string) { e.name = n }
// Board returns the Adaptors board name
func (e *Adaptor) Board() string { return e.board }
// SetBoard sets the Adaptors name
func (e *Adaptor) SetBoard(n string) { e.board = n }
// Connect initializes the Edison for use with the Arduino beakout board
func (e *Adaptor) Connect() (errs []error) {
e.digitalPins = make(map[int]sysfs.DigitalPin)
e.pwmPins = make(map[int]*pwmPin)
if err := e.connect(e); err != nil {
if e.board != "arduino" {
e.pinmap = miniboardPinMap
if err := e.miniboardSetup(); err != nil {
return []error{err}
}
}
if err := e.arduinoSetup(); err != nil {
return []error{err}
}
return
@ -291,23 +135,141 @@ func (e *Adaptor) Finalize() (errs []error) {
return errs
}
// arduinoSetup does needed setup for the Arduino compatible breakout board
func (e *Adaptor) arduinoSetup() (err error) {
e.tristate = sysfs.NewDigitalPin(214)
if err = e.tristate.Export(); err != nil {
return err
}
if err = e.tristate.Direction(sysfs.OUT); err != nil {
return err
}
if err = e.tristate.Write(sysfs.LOW); err != nil {
return err
}
for _, i := range []int{263, 262} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return err
}
if err = io.Direction(sysfs.OUT); err != nil {
return err
}
if err = io.Write(sysfs.HIGH); err != nil {
return err
}
if err = io.Unexport(); err != nil {
return err
}
}
for _, i := range []int{240, 241, 242, 243} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return err
}
if err = io.Direction(sysfs.OUT); err != nil {
return err
}
if err = io.Write(sysfs.LOW); err != nil {
return err
}
if err = io.Unexport(); err != nil {
return err
}
}
for _, i := range []string{"111", "115", "114", "109"} {
if err = changePinMode(i, "1"); err != nil {
return err
}
}
for _, i := range []string{"131", "129", "40"} {
if err = changePinMode(i, "0"); err != nil {
return err
}
}
err = e.tristate.Write(sysfs.HIGH)
return
}
func (e *Adaptor) arduinoI2CSetup() (err error) {
if err = e.tristate.Write(sysfs.LOW); err != nil {
return
}
for _, i := range []int{14, 165, 212, 213} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return
}
if err = io.Direction(sysfs.IN); err != nil {
return
}
if err = io.Unexport(); err != nil {
return
}
}
for _, i := range []int{236, 237, 204, 205} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return
}
if err = io.Direction(sysfs.OUT); err != nil {
return
}
if err = io.Write(sysfs.LOW); err != nil {
return
}
if err = io.Unexport(); err != nil {
return
}
}
for _, i := range []string{"28", "27"} {
if err = changePinMode(i, "1"); err != nil {
return
}
}
if err = e.tristate.Write(sysfs.HIGH); err != nil {
return
}
return
}
// miniboardSetup does needed setup for Edison minibpard and other compatible boards
func (e *Adaptor) miniboardSetup() (err error) {
return
}
// digitalPin returns matched digitalPin for specified values
func (e *Adaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) {
i := sysfsPinMap[pin]
i := e.pinmap[pin]
if e.digitalPins[i.pin] == nil {
e.digitalPins[i.pin] = sysfs.NewDigitalPin(i.pin)
if err = e.digitalPins[i.pin].Export(); err != nil {
return
}
e.digitalPins[i.resistor] = sysfs.NewDigitalPin(i.resistor)
if err = e.digitalPins[i.resistor].Export(); err != nil {
return
if i.resistor > 0 {
e.digitalPins[i.resistor] = sysfs.NewDigitalPin(i.resistor)
if err = e.digitalPins[i.resistor].Export(); err != nil {
return
}
}
e.digitalPins[i.levelShifter] = sysfs.NewDigitalPin(i.levelShifter)
if err = e.digitalPins[i.levelShifter].Export(); err != nil {
return
if i.levelShifter > 0 {
e.digitalPins[i.levelShifter] = sysfs.NewDigitalPin(i.levelShifter)
if err = e.digitalPins[i.levelShifter].Export(); err != nil {
return
}
}
if len(i.mux) > 0 {
@ -334,39 +296,45 @@ func (e *Adaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin,
return
}
if err = e.digitalPins[i.resistor].Direction(sysfs.OUT); err != nil {
return
if i.resistor > 0 {
if err = e.digitalPins[i.resistor].Direction(sysfs.OUT); err != nil {
return
}
if err = e.digitalPins[i.resistor].Write(sysfs.LOW); err != nil {
return
}
}
if err = e.digitalPins[i.resistor].Write(sysfs.LOW); err != nil {
return
}
if i.levelShifter > 0 {
if err = e.digitalPins[i.levelShifter].Direction(sysfs.OUT); err != nil {
return
}
if err = e.digitalPins[i.levelShifter].Direction(sysfs.OUT); err != nil {
return
if err = e.digitalPins[i.levelShifter].Write(sysfs.LOW); err != nil {
return
}
}
if err = e.digitalPins[i.levelShifter].Write(sysfs.LOW); err != nil {
return
}
} else if dir == "out" {
if err = e.digitalPins[i.pin].Direction(sysfs.OUT); err != nil {
return
}
if err = e.digitalPins[i.resistor].Direction(sysfs.IN); err != nil {
return
if i.resistor > 0 {
if err = e.digitalPins[i.resistor].Direction(sysfs.IN); err != nil {
return
}
}
if err = e.digitalPins[i.levelShifter].Direction(sysfs.OUT); err != nil {
return
}
if i.levelShifter > 0 {
if err = e.digitalPins[i.levelShifter].Direction(sysfs.OUT); err != nil {
return
}
if err = e.digitalPins[i.levelShifter].Write(sysfs.HIGH); err != nil {
return
if err = e.digitalPins[i.levelShifter].Write(sysfs.HIGH); err != nil {
return
}
}
}
return e.digitalPins[i.pin], nil
}
@ -391,7 +359,7 @@ func (e *Adaptor) DigitalWrite(pin string, val byte) (err error) {
// PwmWrite writes the 0-254 value to the specified pin
func (e *Adaptor) PwmWrite(pin string, val byte) (err error) {
sysPin := sysfsPinMap[pin]
sysPin := e.pinmap[pin]
if sysPin.pwmPin != -1 {
if e.pwmPins[sysPin.pwmPin] == nil {
if err = e.DigitalWrite(pin, 1); err != nil {
@ -442,50 +410,16 @@ func (e *Adaptor) I2cStart(address int) (err error) {
return
}
if err = e.tristate.Write(sysfs.LOW); err != nil {
return
// most board use I2C bus 1
bus := "/dev/i2c-1"
// except for Arduino which uses bus 6
if e.board == "arduino" {
bus = "/dev/i2c-6"
e.arduinoI2CSetup()
}
for _, i := range []int{14, 165, 212, 213} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return
}
if err = io.Direction(sysfs.IN); err != nil {
return
}
if err = io.Unexport(); err != nil {
return
}
}
for _, i := range []int{236, 237, 204, 205} {
io := sysfs.NewDigitalPin(i)
if err = io.Export(); err != nil {
return
}
if err = io.Direction(sysfs.OUT); err != nil {
return
}
if err = io.Write(sysfs.LOW); err != nil {
return
}
if err = io.Unexport(); err != nil {
return
}
}
for _, i := range []string{"28", "27"} {
if err = changePinMode(i, "1"); err != nil {
return
}
}
if err = e.tristate.Write(sysfs.HIGH); err != nil {
return
}
e.i2cDevice, err = sysfs.NewI2cDevice("/dev/i2c-6", address)
e.i2cDevice, err = sysfs.NewI2cDevice(bus, address)
return
}

397
platforms/intel-iot/edison/miniboard_pinmap.go Normal file
View File

@ -0,0 +1,397 @@
package edison
var miniboardPinMap = map[string]sysfsPin{
"J17-1": sysfsPin{
pin: 182,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-2": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-3": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-4": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-5": sysfsPin{
pin: 135,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-6": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-7": sysfsPin{
pin: 27,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-8": sysfsPin{
pin: 20,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-9": sysfsPin{
pin: 28,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-10": sysfsPin{
pin: 111,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-11": sysfsPin{
pin: 109,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-12": sysfsPin{
pin: 115,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-13": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J17-14": sysfsPin{
pin: 128,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-1": sysfsPin{
pin: 13,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-2": sysfsPin{
pin: 165,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-3": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-4": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-5": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-6": sysfsPin{
pin: 19,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-7": sysfsPin{
pin: 12,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-8": sysfsPin{
pin: 183,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-9": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-10": sysfsPin{
pin: 110,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-11": sysfsPin{
pin: 114,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-12": sysfsPin{
pin: 129,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-13": sysfsPin{
pin: 130,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J18-14": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-1": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-2": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-3": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-4": sysfsPin{
pin: 44,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-5": sysfsPin{
pin: 46,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-6": sysfsPin{
pin: 48,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-7": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-8": sysfsPin{
pin: 131,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-9": sysfsPin{
pin: 14,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-10": sysfsPin{
pin: 40,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-11": sysfsPin{
pin: 43,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-12": sysfsPin{
pin: 77,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-13": sysfsPin{
pin: 82,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J19-14": sysfsPin{
pin: 83,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-1": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-2": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-3": sysfsPin{
pin: -1,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-4": sysfsPin{
pin: 45,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-5": sysfsPin{
pin: 47,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-6": sysfsPin{
pin: 49,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-7": sysfsPin{
pin: 15,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-8": sysfsPin{
pin: 84,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-9": sysfsPin{
pin: 42,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-10": sysfsPin{
pin: 41,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-11": sysfsPin{
pin: 78,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-12": sysfsPin{
pin: 79,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-13": sysfsPin{
pin: 80,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
"J20-14": sysfsPin{
pin: 81,
resistor: -1,
levelShifter: -1,
pwmPin: -1,
mux: []mux{},
},
}