genericlinux

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 Go to latest Published: Oct 30, 2023 License: AGPL-3.0 Imports: 27 Imported by: 2

Documentation

Overview

Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs). This does not provide a board model itself but provides the underlying logic for any Linux/sysfs based board.

Package genericlinux is for Linux boards, and this particular file is for digital interrupt pins using the ioctl interface, indirectly by way of mkch's gpio package.

Package genericlinux is for Linux boards, and this particular file is for GPIO pins using the ioctl interface, indirectly by way of mkch's gpio package.

Package genericlinux is for Linux boards. This particular file is for using sysfs to interact with PWM devices. All of these functions are idempotent: you can double-export a pin or double-close it with no problems.

Package genericlinux is for boards that run Linux. This file is for I2C support on those boards.

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

func GetGPIOBoardMappingFromPinDefs added in v0.6.0 

func GetGPIOBoardMappingFromPinDefs(pinDefs []PinDefinition) (map[string]GPIOBoardMapping, error)

GetGPIOBoardMappingFromPinDefs attempts to find a compatible board-pin mapping using the pin definitions.

func GetGPIOBoardMappings 

func GetGPIOBoardMappings(modelName string, boardInfoMappings map[string]BoardInformation) (map[string]GPIOBoardMapping, error)

GetGPIOBoardMappings attempts to find a compatible GPIOBoardMapping for the given board.

func GetI2CBus added in v0.11.0 

func GetI2CBus(deps resource.Dependencies, boardName, busName, busNum string) (board.I2C, error)

GetI2CBus retrieves an I2C interface. If the bus number is specified, it uses that on the local machine, and otherwise it tries to get the named bus from the named board. Although it would be intuitive for the bus number to be an integer, we keep it as a string because it's possible for a devicetree overlay on some unusual board to make it non-numerical. TODO(RSDK-5254): remove this once all I2C devices are talking directly to the bus without going through the board.

func NewBoard added in v0.7.3 

func NewBoard(
	ctx context.Context,
	conf resource.Config,
	convertConfig ConfigConverter,
	logger logging.Logger,
) (board.Board, error)

NewBoard is the constructor for a Board.

func NewSpiBus added in v0.12.0 

func NewSpiBus(name string) board.SPI

NewSpiBus creates a new SPI bus. The name passed in should be the bus number, such as "0" or "1". We don't open this bus until you call spiHandle.Xfer(), so there are no errors to return immediately here.

func RegisterBoard 

func RegisterBoard(modelName string, gpioMappings map[string]GPIOBoardMapping)

RegisterBoard registers a sysfs based board of the given model.

Types

type Board added in v0.7.3 

type Board struct {
	resource.Named
	// contains filtered or unexported fields
}

Board implements a component for a Linux machine.

func (*Board) AnalogReaderByName added in v0.7.3 

func (b *Board) AnalogReaderByName(name string) (board.AnalogReader, bool)

AnalogReaderByName returns the analog reader by the given name if it exists.

func (*Board) AnalogReaderNames added in v0.7.3 

func (b *Board) AnalogReaderNames() []string

AnalogReaderNames returns the names of all known analog readers.

func (*Board) Close added in v0.7.3 

func (b *Board) Close(ctx context.Context) error

Close attempts to cleanly close each part of the board.

func (*Board) DigitalInterruptByName added in v0.7.3 

func (b *Board) DigitalInterruptByName(name string) (board.DigitalInterrupt, bool)

DigitalInterruptByName returns the interrupt by the given name if it exists.

func (*Board) DigitalInterruptNames added in v0.7.3 

func (b *Board) DigitalInterruptNames() []string

DigitalInterruptNames returns the names of all known digital interrupts.

func (*Board) GPIOPinByName added in v0.7.3 

func (b *Board) GPIOPinByName(pinName string) (board.GPIOPin, error)

GPIOPinByName returns a GPIOPin by name.

func (*Board) GPIOPinNames added in v0.7.3 

func (b *Board) GPIOPinNames() []string

GPIOPinNames returns the names of all known GPIO pins.

func (*Board) I2CByName added in v0.7.3 

func (b *Board) I2CByName(name string) (board.I2C, bool)

I2CByName returns the i2c by the given name if it exists.

func (*Board) I2CNames added in v0.7.3 

func (b *Board) I2CNames() []string

I2CNames returns the names of all known I2Cs.

func (*Board) ModelAttributes added in v0.7.3 

func (b *Board) ModelAttributes() board.ModelAttributes

ModelAttributes returns attributes related to the model of this board.

func (*Board) Reconfigure added in v0.7.3 

func (b *Board) Reconfigure(
	ctx context.Context,
	_ resource.Dependencies,
	conf resource.Config,
) error

Reconfigure reconfigures the board with interrupt pins, spi and i2c, and analogs.

func (*Board) SPIByName added in v0.7.3 

func (b *Board) SPIByName(name string) (board.SPI, bool)

SPIByName returns the SPI by the given name if it exists.

func (*Board) SPINames added in v0.7.3 

func (b *Board) SPINames() []string

SPINames returns the names of all known SPIs.

func (*Board) SetPowerMode added in v0.7.3 

func (b *Board) SetPowerMode(
	ctx context.Context,
	mode pb.PowerMode,
	duration *time.Duration,
) error

SetPowerMode sets the board to the given power mode. If provided, the board will exit the given power mode after the specified duration.

func (*Board) Status added in v0.7.3 

func (b *Board) Status(ctx context.Context, extra map[string]interface{}) (*commonpb.BoardStatus, error)

Status returns the current status of the board.

func (*Board) WriteAnalog added in v0.11.0 

func (b *Board) WriteAnalog(ctx context.Context, pin string, value int32, extra map[string]interface{}) error

WriteAnalog writes the value to the given pin.

type BoardInformation 

type BoardInformation struct {
	PinDefinitions []PinDefinition
	Compats        []string
}

BoardInformation details pin definitions and device compatibility for a particular board.

type Config 

type Config struct {
	I2Cs              []board.I2CConfig              `json:"i2cs,omitempty"`
	SPIs              []board.SPIConfig              `json:"spis,omitempty"`
	AnalogReaders     []board.MCP3008AnalogConfig    `json:"analogs,omitempty"`
	DigitalInterrupts []board.DigitalInterruptConfig `json:"digital_interrupts,omitempty"`
	Attributes        utils.AttributeMap             `json:"attributes,omitempty"`
}

A Config describes the configuration of a board and all of its connected parts.

func (*Config) Validate 

func (conf *Config) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

type ConfigConverter added in v0.7.3 

type ConfigConverter = func(resource.Config) (*LinuxBoardConfig, error)

ConfigConverter is a type synonym for a function to turn whatever config we get during reconfiguration into a LinuxBoardConfig, so that we can reconfigure based on that. We return a pointer to a LinuxBoardConfig instead of the struct itself so that we can return nil if we encounter an error.

func ConstPinDefs added in v0.7.3 

func ConstPinDefs(gpioMappings map[string]GPIOBoardMapping) ConfigConverter

ConstPinDefs takes in a map from pin names to GPIOBoardMapping structs, and returns a ConfigConverter that will use these pin definitions in the underlying config. It is intended to be used for board components whose pin definitions are built into the RDK, such as the BeagleBone or Jetson boards.

type GPIOBoardMapping 

type GPIOBoardMapping struct {
	GPIOChipDev    string
	GPIO           int
	GPIOName       string
	PWMSysFsDir    string // Absolute path to the directory, empty string for none
	PWMID          int
	HWPWMSupported bool
}

GPIOBoardMapping represents a GPIO pin's location locally within a GPIO chip and globally within sysfs.

type I2cBus added in v0.4.0 

type I2cBus struct {
	// contains filtered or unexported fields
}

I2cBus represents an I2C bus. You can use it to create handles for devices at specific addresses on the bus. Creating a handle locks the bus, and closing the handle unlocks the bus again, so that you can only communicate with 1 device on the bus at a time.

func NewI2cBus added in v0.4.0 

func NewI2cBus(deviceName string) (*I2cBus, error)

NewI2cBus creates a new I2cBus object.

func (*I2cBus) OpenHandle added in v0.4.0 

func (bus *I2cBus) OpenHandle(addr byte) (board.I2CHandle, error)

OpenHandle lets the I2cBus type implement the board.I2C interface. It returns a handle for communicating with a device at a specific I2C handle. Opening a handle locks the I2C bus so nothing else can use it, and closing the handle unlocks the bus again.

type I2cHandle added in v0.4.0 

type I2cHandle struct {
	// contains filtered or unexported fields
}

I2cHandle represents a way to talk to a specific device on the I2C bus. Creating a handle locks the bus so nothing else can use it, and closing the handle unlocks it again.

func (*I2cHandle) Close added in v0.4.0 

func (h *I2cHandle) Close() error

Close closes the handle to the device, and unlocks the I2C bus.

func (*I2cHandle) Read added in v0.4.0 

func (h *I2cHandle) Read(ctx context.Context, count int) ([]byte, error)

Read reads the given number of bytes from the handle. For I2C devices that organize their data into registers, prefer using ReadBlockData instead.

func (*I2cHandle) ReadBlockData added in v0.4.0 

func (h *I2cHandle) ReadBlockData(ctx context.Context, register byte, numBytes uint8) ([]byte, error)

ReadBlockData reads the given number of bytes from the I2C device, starting at the given register.

func (*I2cHandle) ReadByteData added in v0.4.0 

func (h *I2cHandle) ReadByteData(ctx context.Context, register byte) (byte, error)

ReadByteData reads a single byte from the given register on this I2C device.

func (*I2cHandle) Write added in v0.4.0 

func (h *I2cHandle) Write(ctx context.Context, tx []byte) error

Write writes the given bytes to the handle. For I2C devices that organize their data into registers, prefer using WriteBlockData instead.

func (*I2cHandle) WriteBlockData added in v0.4.0 

func (h *I2cHandle) WriteBlockData(ctx context.Context, register byte, data []byte) error

WriteBlockData writes the given bytes into the given register on the I2C device.

func (*I2cHandle) WriteByteData added in v0.4.0 

func (h *I2cHandle) WriteByteData(ctx context.Context, register, data byte) error

WriteByteData writes a single byte to the given register on this I2C device.

type LinuxBoardConfig added in v0.7.3 

type LinuxBoardConfig struct {
	I2Cs              []board.I2CConfig
	SPIs              []board.SPIConfig
	AnalogReaders     []board.MCP3008AnalogConfig
	DigitalInterrupts []board.DigitalInterruptConfig
	GpioMappings      map[string]GPIOBoardMapping
}

LinuxBoardConfig is a struct containing absolutely everything a genericlinux board might need configured. It is a union of the configs for the customlinux boards and the genericlinux boards with static pin definitions, because those components all use the same underlying code but have different config types (e.g., only genericlinux has named I2C and SPI buses, while only customlinux can change its pin definitions during reconfiguration). The LinuxBoardConfig struct is a unification of the two of them. Whenever we go through reconfiguration, we convert the provided config into this type, and then reconfigure based on this.

type NoBoardFoundError 

type NoBoardFoundError struct {
	// contains filtered or unexported fields
}

A NoBoardFoundError is returned when no compatible mapping is found for a board during GPIO board mapping.

func (NoBoardFoundError) Error 

func (err NoBoardFoundError) Error() string

type PinDefinition 

type PinDefinition struct {
	Name            string `json:"name"`
	DeviceName      string `json:"device_name"` // name of the pin's chip's device, within /dev
	LineNumber      int    `json:"line_number"` // relative line number on chip
	PwmChipSysfsDir string `json:"pwm_chip_sysfs_dir,omitempty"`
	PwmID           int    `json:"pwm_id,omitempty"`
}

PinDefinition describes a gpio pin on a linux board.

func (*PinDefinition) UnmarshalJSON added in v0.6.0 

func (conf *PinDefinition) UnmarshalJSON(text []byte) error

UnmarshalJSON handles setting defaults for pin configs. Int values default to -1.

func (*PinDefinition) Validate added in v0.6.0 

func (conf *PinDefinition) Validate(path string) error

Validate ensures all parts of the config are valid.

type PinDefinitions added in v0.6.0 

type PinDefinitions struct {
	Pins []PinDefinition `json:"pins"`
}

PinDefinitions describes a list of pins on a linux board.

Source Files

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