Initial commit of driver code, with accompanying example, for the Ada…

…fruit_MotorHat.

examples/Makefile

@@ -0,0 +1,3 @@
+all:
+	GOARM=7 GOARCH=arm GOOS=linux go build -v raspi_adafruit.go
+	# scp raspi_adafruit [email protected]:~

examples/raspi_adafruit.go

@@ -0,0 +1,31 @@
+package main
+
+import (
+	"time"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/i2c"
+	"github.com/hybridgroup/gobot/platforms/raspi"
+)
+
+func main() {
+	gbot := gobot.NewGobot()
+	r := raspi.NewRaspiAdaptor("raspi")
+	adaFruit := i2c.NewAdafruitDriver(r, "adafruit")
+
+	work := func() {
+		gobot.Every(5*time.Second, func() {
+			adaFruit.Run()
+		})
+	}
+
+	robot := gobot.NewRobot("adaFruitBot",
+		[]gobot.Connection{r},
+		[]gobot.Device{adaFruit},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}

platforms/i2c/adafruit_drivers.go

@@ -0,0 +1,191 @@
+package i2c
+
+import (
+	"fmt"
+	"time"
+
+	"github.com/hybridgroup/gobot"
+)
+
+var _ gobot.Driver = (*AdafruitMotorHatDriver)(nil)
+
+const motorHatAddress = 0x60
+
+// TODO: consider moving to other file, etc
+const (
+	// Registers
+	_Mode1       = 0x00
+	_Mode2       = 0x01
+	_SubAdr1     = 0x02
+	_SubAdr2     = 0x03
+	_SubAdr3     = 0x04
+	_Prescale    = 0xFE
+	_LedZeroOnL  = 0x06
+	_LedZeroOnH  = 0x07
+	_LedZeroOffL = 0x08
+	_LedZeroOffH = 0x09
+	_AllLedOnL   = 0xFA
+	_AllLedOnH   = 0xFB
+	_AllLedOffL  = 0xFC
+	_AllLedOffH  = 0xFD
+
+	// Bits
+	_Restart = 0x80
+	_Sleep   = 0x10
+	_AllCall = 0x01
+	_Invrt   = 0x10
+	_Outdrv  = 0x04
+)
+
+// AdafruitMotorHatDriver is a driver for the DC+Stepper Motor HAT from Adafruit.
+// This HAT is a Raspberry Pi add-on that can drive up to 4 DC or 2 Stepper motors
+// with full PWM speed control.  It has a dedicated PWM driver chip onboard to
+// control both motor direction and speed over I2C.
+type AdafruitMotorHatDriver struct {
+	name       string
+	connection I2c
+	gobot.Commander
+}
+
+func (a *AdafruitMotorHatDriver) Name() string                 { return a.name }
+func (a *AdafruitMotorHatDriver) Connection() gobot.Connection { return a.connection.(gobot.Connection) }
+
+// NewAdafruitDriver adds the following API commands: TODO
+func NewAdafruitDriver(a I2c, name string) *AdafruitMotorHatDriver {
+	driver := &AdafruitMotorHatDriver{
+		name:       name,
+		connection: a,
+		Commander:  gobot.NewCommander(),
+	}
+	// TODO: add API funcs
+	return driver
+}
+
+// Start initializes the Adafruit Motor HAT
+func (a *AdafruitMotorHatDriver) Start() (errs []error) {
+	if err := a.connection.I2cStart(motorHatAddress); err != nil {
+		return []error{err}
+	}
+	/*
+		  def __init__(self, address=0x40, debug=False):
+			self.i2c = Adafruit_I2C(address)
+			self.i2c.debug = debug
+			self.address = address
+			self.debug = debug
+			if (self.debug):
+			print "Reseting PCA9685 MODE1 (without SLEEP) and MODE2"
+			self.setAllPWM(0, 0)
+			self.i2c.write8(self.__MODE2, self.__OUTDRV)
+			self.i2c.write8(self.__MODE1, self.__ALLCALL)
+			time.sleep(0.005)                                       # wait for oscillator
+
+			mode1 = self.i2c.readU8(self.__MODE1)
+			mode1 = mode1 & ~self.__SLEEP                 # wake up (reset sleep)
+			self.i2c.write8(self.__MODE1, mode1)
+			time.sleep(0.005)                             # wait for oscillator
+	*/
+	return
+}
+
+// Halt returns true if devices is halted successfully
+func (a *AdafruitMotorHatDriver) Halt() (errs []error) { return }
+
+//
+/*
+  def setPWM(self, channel, on, off):
+    "Sets a single PWM channel"
+    self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
+    self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
+    self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
+    self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
+*/
+func (a *AdafruitMotorHatDriver) setPWM(pin byte, on, off int32) (err error) {
+	reg := _LedZeroOnL + 4*pin
+	val := byte(on & 0xff)
+	if err = a.connection.I2cWrite(motorHatAddress, []byte{reg, val}); err != nil {
+		return
+	}
+	reg = _LedZeroOnH + 4*pin
+	val = byte(on >> 8)
+	if err = a.connection.I2cWrite(motorHatAddress, []byte{reg, val}); err != nil {
+		return
+	}
+	reg = _LedZeroOffL + 4*pin
+	val = byte(off & 0xff)
+	if err = a.connection.I2cWrite(motorHatAddress, []byte{reg, val}); err != nil {
+		return
+	}
+	reg = _LedZeroOffH + 4*pin
+	val = byte(off >> 8)
+	if err = a.connection.I2cWrite(motorHatAddress, []byte{reg, val}); err != nil {
+		return
+	}
+	return
+}
+
+func (a *AdafruitMotorHatDriver) setPin(pin byte, value int32) (err error) {
+	if value == 0 {
+		return a.setPWM(pin, 0, 4096)
+	}
+	if value == 1 {
+		return a.setPWM(pin, 4096, 0)
+	}
+	return nil
+}
+
+/*
+
+Test Runner:
+	For motor 3:
+	        pwm = 2
+            in2 = 3
+            in1 = 4
+
+	1. SetSpeed(setPWM(self.PWMpin, 0, speed*16))
+	2. Run(Adafruit_MotorHAT.FORWARD):
+    	self.MC.setPin(self.IN2pin, 0)
+    	self.MC.setPin(self.IN1pin, 1)
+
+	Run():
+	  Where setPin(pin, value) is:
+		if (value == 0):
+        	self._pwm.setPWM(pin, 0, 4096)
+        if (value == 1):
+            self._pwm.setPWM(pin, 4096, 0)
+
+*/
+func (a *AdafruitMotorHatDriver) Run() (err error) {
+	fmt.Printf("NOW: %s\n", time.Now().String())
+	//-------------------------------------------------------------------------
+	// set the speed:
+	//-------------------------------------------------------------------------
+	var speed int32 = 255 // full speed!
+	var in1Pin byte = 4
+	var in2Pin byte = 3
+	var pwmPin byte = 2
+
+	if err = a.setPWM(pwmPin, 0, speed*16); err != nil {
+		return
+	}
+	//-------------------------------------------------------------------------
+	// run FORWARD:
+	//-------------------------------------------------------------------------
+	if err = a.setPin(in2Pin, 0); err != nil {
+		return
+	}
+	if err = a.setPin(in1Pin, 1); err != nil {
+		return
+	}
+	//-------------------------------------------------------------------------
+	// Sleep and RELEASE
+	//-------------------------------------------------------------------------
+	<-time.After(2000 * time.Millisecond)
+
+	if err = a.setPin(in1Pin, 0); err != nil {
+		return
+	}
+	if err = a.setPin(in2Pin, 0); err != nil {
+		return
+	}
+	return
+}

sysfs/i2c_device.go

@@ -126,6 +126,8 @@ func (d *i2cDevice) Write(b []byte) (n int, err error) {
 		return d.file.Write(b)
 	}
 
+	// Command byte - a data byte which often selects a register on the device:
+	// 	https://www.kernel.org/doc/Documentation/i2c/smbus-protocol
 	command := byte(b[0])
 	buf := b[1:]