gobot.io/x/gobot/v2@v2.1.0/platforms/digispark/littleWire.go (about)

     1  package digispark
     2  
     3  //#cgo pkg-config: libusb
     4  //#include "littleWire.h"
     5  //#include "littleWire_servo.h"
     6  //typedef usb_dev_handle littleWire;
     7  import "C"
     8  
     9  import (
    10  	"errors"
    11  	"fmt"
    12  )
    13  
    14  type lw interface {
    15  	digitalWrite(uint8, uint8) error
    16  	pinMode(uint8, uint8) error
    17  	pwmInit() error
    18  	pwmStop() error
    19  	pwmUpdateCompare(uint8, uint8) error
    20  	pwmUpdatePrescaler(uint) error
    21  	servoInit() error
    22  	servoUpdateLocation(uint8, uint8) error
    23  	i2cInit() error
    24  	i2cStart(address7bit uint8, direction uint8) error
    25  	i2cWrite(sendBuffer []byte, length int, endWithStop uint8) error
    26  	i2cRead(readBuffer []byte, length int, endWithStop uint8) error
    27  	i2cUpdateDelay(duration uint) error
    28  	error() error
    29  }
    30  
    31  type littleWire struct {
    32  	lwHandle *C.littleWire
    33  }
    34  
    35  func littleWireConnect() *littleWire {
    36  	return &littleWire{
    37  		lwHandle: C.littleWire_connect(),
    38  	}
    39  }
    40  
    41  func (l *littleWire) digitalWrite(pin uint8, state uint8) error {
    42  	C.digitalWrite(l.lwHandle, C.uchar(pin), C.uchar(state))
    43  	return l.error()
    44  }
    45  
    46  func (l *littleWire) pinMode(pin uint8, mode uint8) error {
    47  	C.pinMode(l.lwHandle, C.uchar(pin), C.uchar(mode))
    48  	return l.error()
    49  }
    50  
    51  func (l *littleWire) pwmInit() error {
    52  	C.pwm_init(l.lwHandle)
    53  	return l.error()
    54  }
    55  
    56  func (l *littleWire) pwmStop() error {
    57  	C.pwm_stop(l.lwHandle)
    58  	return l.error()
    59  }
    60  
    61  func (l *littleWire) pwmUpdateCompare(channelA uint8, channelB uint8) error {
    62  	C.pwm_updateCompare(l.lwHandle, C.uchar(channelA), C.uchar(channelB))
    63  	return l.error()
    64  }
    65  
    66  func (l *littleWire) pwmUpdatePrescaler(value uint) error {
    67  	C.pwm_updatePrescaler(l.lwHandle, C.uint(value))
    68  	return l.error()
    69  }
    70  
    71  func (l *littleWire) servoInit() error {
    72  	C.servo_init(l.lwHandle)
    73  	return l.error()
    74  }
    75  
    76  func (l *littleWire) servoUpdateLocation(locationA uint8, locationB uint8) error {
    77  	C.servo_updateLocation(l.lwHandle, C.uchar(locationA), C.uchar(locationB))
    78  	return l.error()
    79  }
    80  
    81  func (l *littleWire) i2cInit() error {
    82  	C.i2c_init(l.lwHandle)
    83  	return l.error()
    84  }
    85  
    86  // i2cStart starts the i2c communication; set direction to 1 for reading, 0 for writing
    87  func (l *littleWire) i2cStart(address7bit uint8, direction uint8) error {
    88  	if C.i2c_start(l.lwHandle, C.uchar(address7bit), C.uchar(direction)) == 1 {
    89  		return nil
    90  	}
    91  	if err := l.error(); err != nil {
    92  		return err
    93  	}
    94  	return fmt.Errorf("Littlewire i2cStart failed for %d in direction %d", address7bit, direction)
    95  }
    96  
    97  // i2cWrite sends byte(s) over i2c with a given length <= 4
    98  func (l *littleWire) i2cWrite(sendBuffer []byte, length int, endWithStop uint8) error {
    99  	C.i2c_write(l.lwHandle, (*C.uchar)(&sendBuffer[0]), C.uchar(length), C.uchar(endWithStop))
   100  	return l.error()
   101  }
   102  
   103  // i2cRead reads byte(s) over i2c with a given length <= 8
   104  func (l *littleWire) i2cRead(readBuffer []byte, length int, endWithStop uint8) error {
   105  	C.i2c_read(l.lwHandle, (*C.uchar)(&readBuffer[0]), C.uchar(length), C.uchar(endWithStop))
   106  	return l.error()
   107  }
   108  
   109  // i2cUpdateDelay updates i2c signal delay amount. Tune if neccessary to fit your requirements
   110  func (l *littleWire) i2cUpdateDelay(duration uint) error {
   111  	C.i2c_updateDelay(l.lwHandle, C.uint(duration))
   112  	return l.error()
   113  }
   114  
   115  func (l *littleWire) error() error {
   116  	str := C.GoString(C.littleWire_errorName())
   117  	if str != "" {
   118  		return errors.New(str)
   119  	}
   120  	return nil
   121  }