113 lines
2.6 KiB
Go
113 lines
2.6 KiB
Go
package digispark
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import (
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"errors"
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"fmt"
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"strconv"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/i2c"
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)
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// ErrConnection is the error resulting of a connection error with the digispark
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var ErrConnection = errors.New("connection error")
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// Adaptor is the Gobot Adaptor for the Digispark
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type Adaptor struct {
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name string
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littleWire lw
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servo bool
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pwm bool
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i2c bool
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connect func(*Adaptor) (err error)
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}
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// NewAdaptor returns a new Digispark Adaptor
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func NewAdaptor() *Adaptor {
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return &Adaptor{
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name: gobot.DefaultName("Digispark"),
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connect: func(d *Adaptor) (err error) {
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d.littleWire = littleWireConnect()
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if d.littleWire.(*littleWire).lwHandle == nil {
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return ErrConnection
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}
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return
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},
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}
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}
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// Name returns the Digispark Adaptors name
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func (d *Adaptor) Name() string { return d.name }
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// SetName sets the Digispark Adaptors name
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func (d *Adaptor) SetName(n string) { d.name = n }
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// Connect starts a connection to the digispark
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func (d *Adaptor) Connect() (err error) {
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err = d.connect(d)
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return
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}
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// Finalize implements the Adaptor interface
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func (d *Adaptor) Finalize() (err error) { return }
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// DigitalWrite writes a value to the pin. Acceptable values are 1 or 0.
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func (d *Adaptor) DigitalWrite(pin string, level byte) (err error) {
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p, err := strconv.Atoi(pin)
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if err != nil {
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return
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}
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if err = d.littleWire.pinMode(uint8(p), 0); err != nil {
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return
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}
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return d.littleWire.digitalWrite(uint8(p), level)
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}
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// PwmWrite writes the 0-254 value to the specified pin
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func (d *Adaptor) PwmWrite(pin string, value byte) (err error) {
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if !d.pwm {
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if err = d.littleWire.pwmInit(); err != nil {
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return
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}
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if err = d.littleWire.pwmUpdatePrescaler(1); err != nil {
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return
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}
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d.pwm = true
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}
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return d.littleWire.pwmUpdateCompare(value, value)
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}
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// ServoWrite writes the 0-180 degree val to the specified pin.
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func (d *Adaptor) ServoWrite(pin string, angle uint8) (err error) {
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if !d.servo {
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if err = d.littleWire.servoInit(); err != nil {
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return
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}
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d.servo = true
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}
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return d.littleWire.servoUpdateLocation(angle, angle)
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}
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// GetI2cConnection returns an i2c connection to a device on a specified bus.
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// Only supports bus number 0
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func (d *Adaptor) GetI2cConnection(address int, bus int) (connection i2c.Connection, err error) {
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if bus != 0 {
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return nil, fmt.Errorf("Invalid bus number %d, only 0 is supported", bus)
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}
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c := NewDigisparkI2cConnection(d, uint8(address))
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if err := c.Init(); err != nil {
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return nil, err
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}
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return i2c.Connection(c), nil
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}
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// DefaultI2cBus returns the default i2c bus for this platform
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func (d *Adaptor) DefaultI2cBus() int {
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return 0
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}
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