115 lines
2.7 KiB
Go
115 lines
2.7 KiB
Go
package dragonboard
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import (
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"fmt"
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"sync"
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multierror "github.com/hashicorp/go-multierror"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/platforms/adaptors"
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"gobot.io/x/gobot/v2/system"
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)
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const defaultI2cBusNumber = 0
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// Adaptor represents a Gobot Adaptor for a DragonBoard 410c
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type Adaptor struct {
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name string
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sys *system.Accesser
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mutex sync.Mutex
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pinMap map[string]int
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*adaptors.DigitalPinsAdaptor
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*adaptors.I2cBusAdaptor
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}
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// Valid pins are the GPIO_A through GPIO_L pins from the
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// extender (pins 23-34 on header J8), as well as the SoC pins
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// aka all the other pins, APQ GPIO_0-GPIO_122 and PM_MPP_0-4.
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var fixedPins = map[string]int{
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"GPIO_A": 36,
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"GPIO_B": 12,
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"GPIO_C": 13,
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"GPIO_D": 69,
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"GPIO_E": 115,
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"GPIO_F": 507,
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"GPIO_G": 24,
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"GPIO_H": 25,
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"GPIO_I": 35,
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"GPIO_J": 34,
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"GPIO_K": 28,
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"GPIO_L": 33,
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"LED_1": 21,
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"LED_2": 120,
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}
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// NewAdaptor creates a DragonBoard 410c Adaptor
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//
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// Optional parameters:
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//
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// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs
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// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
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func NewAdaptor(opts ...func(adaptors.DigitalPinsOptioner)) *Adaptor {
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sys := system.NewAccesser()
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c := &Adaptor{
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name: gobot.DefaultName("DragonBoard"),
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sys: sys,
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}
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c.DigitalPinsAdaptor = adaptors.NewDigitalPinsAdaptor(sys, c.translateDigitalPin, opts...)
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c.I2cBusAdaptor = adaptors.NewI2cBusAdaptor(sys, c.validateI2cBusNumber, defaultI2cBusNumber)
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c.pinMap = fixedPins
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for i := 0; i < 122; i++ {
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pin := fmt.Sprintf("GPIO_%d", i)
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c.pinMap[pin] = i
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}
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return c
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}
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// Name returns the name of the Adaptor
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func (c *Adaptor) Name() string { return c.name }
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// SetName sets the name of the Adaptor
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func (c *Adaptor) SetName(n string) { c.name = n }
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// Connect create new connection to board and pins.
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func (c *Adaptor) Connect() error {
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c.mutex.Lock()
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defer c.mutex.Unlock()
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if err := c.I2cBusAdaptor.Connect(); err != nil {
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return err
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}
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return c.DigitalPinsAdaptor.Connect()
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}
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// Finalize closes connection to board and pins
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func (c *Adaptor) Finalize() error {
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c.mutex.Lock()
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defer c.mutex.Unlock()
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err := c.DigitalPinsAdaptor.Finalize()
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if e := c.I2cBusAdaptor.Finalize(); e != nil {
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err = multierror.Append(err, e)
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}
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return err
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}
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func (c *Adaptor) validateI2cBusNumber(busNr int) error {
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// Valid bus number is [0..1] which corresponds to /dev/i2c-0 through /dev/i2c-1.
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if (busNr < 0) || (busNr > 1) {
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return fmt.Errorf("Bus number %d out of range", busNr)
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}
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return nil
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}
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func (c *Adaptor) translateDigitalPin(id string) (string, int, error) {
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if line, ok := c.pinMap[id]; ok {
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return "", line, nil
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}
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return "", -1, fmt.Errorf("'%s' is not a valid id for a digital pin", id)
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}
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