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113 changes: 113 additions & 0 deletions
113
platforms/beagleboard/pocketbeagle/pocketbeagle_adaptor.go
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,113 @@ | ||
| package pocketbeagle | ||
|
|
||
| import ( | ||
| "fmt" | ||
| "os" | ||
|
|
||
| "gobot.io/x/gobot/v2" | ||
| "gobot.io/x/gobot/v2/platforms/adaptors" | ||
| "gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone" | ||
| "gobot.io/x/gobot/v2/system" | ||
| ) | ||
|
|
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| const pwmPeriodDefault = 500000 // 0.5 ms = 2 kHz | ||
|
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| // PocketBeagleAdaptor is the Gobot Adaptor for the PocketBeagle | ||
| // For more information check out: | ||
| // | ||
| // http://beagleboard.org/pocket | ||
| type PocketBeagleAdaptor struct { | ||
| *beaglebone.Adaptor | ||
| sys *system.Accesser | ||
| } | ||
|
|
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| // NewAdaptor creates a new Adaptor for the PocketBeagle | ||
| // tested with sysfs and cdev on "Linux BeagleBone 5.10.168-ti-r71" | ||
| // | ||
| // Optional parameters: | ||
| // | ||
| // adaptors.WithGpioCdevAccess(): use character device driver instead of sysfs | ||
| // adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.# | ||
| // adaptors.WithGpiosPullUp(pins): will be silently ignored (for some pins) | ||
| // adaptors.WithGpioDebounce(inPinNum, debounceTime): is only supported for debounceTime < 8ms | ||
| // | ||
| // Optional parameters for PWM, see [adaptors.NewPWMPinsAdaptor] | ||
| func NewAdaptor(opts ...interface{}) *PocketBeagleAdaptor { | ||
| sys := system.NewAccesser() | ||
| a := PocketBeagleAdaptor{ | ||
| Adaptor: beaglebone.NewAdaptor(opts...), | ||
| sys: sys, | ||
| } | ||
|
|
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| a.SetName(gobot.DefaultName("PocketBeagle")) | ||
|
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| var digitalPinsOpts []adaptors.DigitalPinsOptionApplier | ||
| pwmPinsOpts := []adaptors.PwmPinsOptionApplier{adaptors.WithPWMDefaultPeriod(pwmPeriodDefault)} | ||
| for _, opt := range opts { | ||
| switch o := opt.(type) { | ||
| case adaptors.DigitalPinsOptionApplier: | ||
| digitalPinsOpts = append(digitalPinsOpts, o) | ||
| case adaptors.PwmPinsOptionApplier: | ||
| pwmPinsOpts = append(pwmPinsOpts, o) | ||
| case func(system.Optioner): | ||
| // do nothing, already applied on NewAdaptor(opts) | ||
| default: | ||
| panic(fmt.Sprintf("'%s' can not be applied on adaptor '%s'", opt, a.Name())) | ||
| } | ||
| } | ||
|
|
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| analogPinTranslator := adaptors.NewAnalogPinTranslator(sys, analogPinMap) | ||
| digitalPinTranslator := adaptors.NewDigitalPinTranslator(sys, gpioPinDefinitions) | ||
| pwmPinTranslator := adaptors.NewPWMPinTranslator(sys, pwmPinMap) | ||
|
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| a.AnalogPinsAdaptor = adaptors.NewAnalogPinsAdaptor(sys, analogPinTranslator.Translate) | ||
| a.DigitalPinsAdaptor = adaptors.NewDigitalPinsAdaptor(sys, | ||
| a.getTranslateAndMuxDigitalPinFunc(digitalPinTranslator.Translate), digitalPinsOpts...) | ||
| a.PWMPinsAdaptor = adaptors.NewPWMPinsAdaptor(sys, a.getTranslateAndMuxPWMPinFunc(pwmPinTranslator.Translate), | ||
| pwmPinsOpts...) | ||
|
|
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| return &a | ||
| } | ||
|
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| func (a *PocketBeagleAdaptor) getTranslateAndMuxDigitalPinFunc( | ||
| digitalPinTranslate func(id string) (string, int, error), | ||
| ) func(id string) (string, int, error) { | ||
| return func(id string) (string, int, error) { | ||
| if a.sys.IsSysfsDigitalPinAccess() { | ||
| // mux is done by id, not by line | ||
| if err := a.muxPin(id, "gpio"); err != nil { | ||
| return "", -1, err | ||
| } | ||
| } | ||
|
|
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| return digitalPinTranslate(id) | ||
| } | ||
| } | ||
|
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| func (a *PocketBeagleAdaptor) getTranslateAndMuxPWMPinFunc( | ||
| pwmPinTranslate func(id string) (string, int, error), | ||
| ) func(id string) (string, int, error) { | ||
| return func(id string) (string, int, error) { | ||
| path, channel, err := pwmPinTranslate(id) | ||
| if err != nil { | ||
| return path, channel, err | ||
| } | ||
|
|
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| if err := a.muxPin(id, "pwm"); err != nil { | ||
| return "", -1, err | ||
| } | ||
|
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| return path, channel, nil | ||
| } | ||
| } | ||
|
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| func (a *PocketBeagleAdaptor) muxPin(pin, cmd string) error { | ||
| path := fmt.Sprintf("/sys/devices/platform/ocp/ocp:%s_pinmux/state", pin) | ||
| fi, e := a.sys.OpenFile(path, os.O_WRONLY, 0o666) | ||
| defer fi.Close() //nolint:staticcheck // for historical reasons | ||
| if e != nil { | ||
| return e | ||
| } | ||
| _, e = fi.WriteString(cmd) | ||
| return e | ||
| } |
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