139 lines
3.1 KiB
Go
139 lines
3.1 KiB
Go
package chip
|
|
|
|
import (
|
|
"errors"
|
|
|
|
"github.com/hybridgroup/gobot/sysfs"
|
|
)
|
|
|
|
type ChipAdaptor struct {
|
|
name string
|
|
digitalPins map[int]sysfs.DigitalPin
|
|
i2cDevice sysfs.I2cDevice
|
|
}
|
|
|
|
var pins = map[string]int{
|
|
"XIO-P0": 408,
|
|
"XIO-P1": 409,
|
|
"XIO-P2": 410,
|
|
"XIO-P3": 411,
|
|
"XIO-P4": 412,
|
|
"XIO-P5": 413,
|
|
"XIO-P6": 414,
|
|
"XIO-P7": 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-P7 (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-P7 (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-SDA and TW1-SCK (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
|
|
}
|