149 lines
3.4 KiB
Go
149 lines
3.4 KiB
Go
package chip
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import (
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"errors"
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"github.com/hybridgroup/gobot"
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"github.com/hybridgroup/gobot/platforms/gpio"
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"github.com/hybridgroup/gobot/platforms/i2c"
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"github.com/hybridgroup/gobot/sysfs"
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)
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var _ gobot.Adaptor = (*ChipAdaptor)(nil)
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var _ gpio.DigitalReader = (*ChipAdaptor)(nil)
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var _ gpio.DigitalWriter = (*ChipAdaptor)(nil)
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var _ i2c.I2c = (*ChipAdaptor)(nil)
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type ChipAdaptor struct {
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name string
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digitalPins map[int]sysfs.DigitalPin
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i2cDevice sysfs.I2cDevice
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}
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var pins = map[string]int{
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"XIO-P0": 408,
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"XIO-P1": 409,
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"XIO-P2": 410,
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"XIO-P3": 411,
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"XIO-P4": 412,
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"XIO-P5": 413,
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"XIO-P6": 414,
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"XIO-P7": 415,
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}
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// NewChipAdaptor creates a ChipAdaptor with the specified name
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func NewChipAdaptor(name string) *ChipAdaptor {
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c := &ChipAdaptor{
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name: name,
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digitalPins: make(map[int]sysfs.DigitalPin),
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}
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return c
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}
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// Name returns the name of the ChipAdaptor
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func (c *ChipAdaptor) Name() string { return c.name }
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// Connect initializes the board
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func (c *ChipAdaptor) Connect() (errs []error) {
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return
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}
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// Finalize closes connection to board and pins
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func (c *ChipAdaptor) Finalize() (errs []error) {
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for _, pin := range c.digitalPins {
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if pin != nil {
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if err := pin.Unexport(); err != nil {
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errs = append(errs, err)
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}
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}
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}
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if c.i2cDevice != nil {
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if err := c.i2cDevice.Close(); err != nil {
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errs = append(errs, err)
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}
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}
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return errs
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}
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func (c *ChipAdaptor) translatePin(pin string) (i int, err error) {
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if val, ok := pins[pin]; ok {
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i = val
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} else {
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err = errors.New("Not a valid pin")
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}
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return
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}
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// digitalPin returns matched digitalPin for specified values
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func (c *ChipAdaptor) digitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPin, err error) {
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i, err := c.translatePin(pin)
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if err != nil {
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return
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}
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if c.digitalPins[i] == nil {
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c.digitalPins[i] = sysfs.NewDigitalPin(i)
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if err = c.digitalPins[i].Export(); err != nil {
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return
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}
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}
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if err = c.digitalPins[i].Direction(dir); err != nil {
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return
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}
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return c.digitalPins[i], nil
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}
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// DigitalRead reads digital value from the specified pin.
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// Valids pins are XIO-P0 through XIO-P7 (pins 13-20 on header 14).
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func (c *ChipAdaptor) DigitalRead(pin string) (val int, err error) {
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sysfsPin, err := c.digitalPin(pin, sysfs.IN)
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if err != nil {
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return
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}
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return sysfsPin.Read()
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}
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// DigitalWrite writes digital value to the specified pin.
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// Valids pins are XIO-P0 through XIO-P7 (pins 13-20 on header 14).
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func (c *ChipAdaptor) DigitalWrite(pin string, val byte) (err error) {
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sysfsPin, err := c.digitalPin(pin, sysfs.OUT)
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if err != nil {
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return err
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}
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return sysfsPin.Write(int(val))
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}
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// I2cStart starts an i2c device in specified address.
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// This assumes that the bus used is /dev/i2c-1, which corresponds to
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// pins labeled TWI1-SDA and TW1-SCK (pins 9 and 11 on header 13).
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func (c *ChipAdaptor) I2cStart(address int) (err error) {
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if c.i2cDevice == nil {
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c.i2cDevice, err = sysfs.NewI2cDevice("/dev/i2c-1", address)
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}
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return err
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}
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// I2cWrite writes data to i2c device
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func (c *ChipAdaptor) I2cWrite(address int, data []byte) (err error) {
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if err = c.i2cDevice.SetAddress(address); err != nil {
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return
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}
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_, err = c.i2cDevice.Write(data)
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return
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}
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// I2cRead returns value from i2c device using specified size
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func (c *ChipAdaptor) I2cRead(address int, size int) (data []byte, err error) {
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if err = c.i2cDevice.SetAddress(address); err != nil {
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return
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}
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data = make([]byte, size)
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_, err = c.i2cDevice.Read(data)
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return
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}
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