beagleboard: now works on kernel 4.4+ of Debian

Signed-off-by: deadprogram <[email protected]>

examples/beaglebone_blink_usr_led.go

@@ -10,7 +10,7 @@ import (
 
 func main() {
 	beagleboneAdaptor := beaglebone.NewAdaptor()
-	led := gpio.NewLedDriver(beagleboneAdaptor, "usr0")
+	led := gpio.NewLedDriver(beagleboneAdaptor, "usr1")
 
 	work := func() {
 		gobot.Every(1*time.Second, func() {

platforms/beaglebone/README.md

@@ -50,7 +50,7 @@ func main() {
 Simply compile your Gobot program like this:
 
 ```bash
-$ GOARM=7 GOARCH=arm GOOS=linux go build examples/beaglebone_blink.go
+$ GOARCH=arm GOOS=linux go build examples/beaglebone_blink.go
 ```
 
 If you are running the official Debian Linux through the usb->ethernet connection, or are connected to the board using WiFi, you can simply upload your program and execute it with the `scp` command like this:
@@ -72,7 +72,7 @@ Once you have created the SD card, boot your BeagleBone using the new image as f
 
 - Insert SD card into your (powered-down) board, hold down the USER/BOOT button (if using Black) and apply power, either by the USB cable or 5V adapter.
 
-- If using an original BeagleBone, you are done.
+- If all you want to do it boot once from the SD card, it should now be booting.
 
 - If using BeagleBone Black and desire to write the image to your on-board eMMC, you'll need to follow the instructions at http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#Flashing_eMMC. When the flashing is complete, all 4 USRx LEDs will be steady on or off. The latest Debian flasher images automatically power down the board upon completion. This can take up to 45 minutes. Power-down your board, remove the SD card and apply power again to be complete.
 

platforms/beaglebone/beaglebone_adaptor.go

@@ -21,15 +21,16 @@ var glob = func(pattern string) (matches []string, err error) {
 
 // Adaptor is the gobot.Adaptor representation for the Beaglebone
 type Adaptor struct {
-	name        string
-	kernel      string
-	digitalPins []sysfs.DigitalPin
-	pwmPins     map[string]*pwmPin
-	i2cDevice   sysfs.I2cDevice
-	usrLed      string
-	ocp         string
-	helper      string
-	slots       string
+	name         string
+	kernel       string
+	digitalPins  []sysfs.DigitalPin
+	pwmPins      map[string]*pwmPin
+	i2cDevice    sysfs.I2cDevice
+	usrLed       string
+	ocp          string
+	analogPath   string
+	analogPinMap map[string]string
+	slots        string
 }
 
 // NewAdaptor returns a new Beaglebone Adaptor
@@ -74,19 +75,31 @@ func (b *Adaptor) Kernel() string { return b.kernel }
 
 // Connect initializes the pwm and analog dts.
 func (b *Adaptor) Connect() error {
-	if err := ensureSlot(b.slots, "cape-bone-iio"); err != nil {
-		return err
-	}
+	// enable analog
+	if b.kernel[:1] == "4" {
+		if err := ensureSlot(b.slots, "BB-ADC"); err != nil {
+			return err
+		}
 
-	if err := ensureSlot(b.slots, "am33xx_pwm"); err != nil {
-		return err
+		b.analogPath = "/sys/bus/iio/devices/iio:device0"
+		b.analogPinMap = analogPins44
+	} else {
+		if err := ensureSlot(b.slots, "cape-bone-iio"); err != nil {
+			return err
+		}
+
+		g, err := glob(fmt.Sprintf("%v/helper.*", b.ocp))
+		if err != nil {
+			return err
+		}
+		b.analogPath = g[0]
+		b.analogPinMap = analogPins3
 	}
 
-	g, err := glob(fmt.Sprintf("%v/helper.*", b.ocp))
-	if err != nil {
+	// enable pwm
+	if err := ensureSlot(b.slots, "am33xx_pwm"); err != nil {
 		return err
 	}
-	b.helper = g[0]
 
 	return nil
 }
@@ -165,7 +178,7 @@ func (b *Adaptor) AnalogRead(pin string) (val int, err error) {
 	if err != nil {
 		return
 	}
-	fi, err := sysfs.OpenFile(fmt.Sprintf("%v/%v", b.helper, analogPin), os.O_RDONLY, 0644)
+	fi, err := sysfs.OpenFile(fmt.Sprintf("%v/%v", b.analogPath, analogPin), os.O_RDONLY, 0644)
 	defer fi.Close()
 
 	if err != nil {
@@ -233,7 +246,7 @@ func (b *Adaptor) translatePwmPin(pin string) (value string, err error) {
 
 // translateAnalogPin converts analog pin name to pin position
 func (b *Adaptor) translateAnalogPin(pin string) (value string, err error) {
-	for key, value := range analogPins {
+	for key, value := range b.analogPinMap {
 		if key == pin {
 			return value, nil
 		}

platforms/beaglebone/beaglebone_adaptor_test.go

@@ -57,8 +57,8 @@ func TestBeagleboneAdaptor(t *testing.T) {
 		"/sys/devices/platform/bone_capemgr",
 		"/sys/devices/platform/ocp/ocp4",
 		"/sys/class/leds/beaglebone:green:usr1/brightness",
-		"/sys/devices/platform/ocp/ocp4/helper.5",
-		"/sys/devices/platform/ocp/ocp4/helper.5/AIN1",
+		"/sys/bus/iio/devices/iio:device0",
+		"/sys/bus/iio/devices/iio:device0/in_voltage1_raw",
 		"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5",
 		"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/run",
 		"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period",
@@ -79,7 +79,7 @@ func TestBeagleboneAdaptor(t *testing.T) {
 
 	a.Connect()
 
-	a.helper = "/sys/devices/platform/ocp/ocp4/helper.5"
+	a.analogPath = "/sys/bus/iio/devices/iio:device0"
 
 	// PWM
 	glob = func(pattern string) (matches []string, err error) {
@@ -113,11 +113,11 @@ func TestBeagleboneAdaptor(t *testing.T) {
 	)
 
 	// Analog
-	fs.Files["/sys/devices/platform/ocp/ocp4/helper.5/AIN1"].Contents = "567\n"
+	fs.Files["/sys/bus/iio/devices/iio:device0/in_voltage1_raw"].Contents = "567\n"
 	i, _ := a.AnalogRead("P9_40")
 	gobottest.Assert(t, i, 567)
 
-	i, err := a.AnalogRead("P9_99")
+	_, err := a.AnalogRead("P9_99")
 	gobottest.Assert(t, err, errors.New("Not a valid pin"))
 
 	// DigitalIO

platforms/beaglebone/beaglebone_pins.go

@@ -80,7 +80,7 @@ var pwmPins = map[string]string{
 	"P8_46": "P8_46",
 }
 
-var analogPins = map[string]string{
+var analogPins3 = map[string]string{
 	"P9_39": "AIN0",
 	"P9_40": "AIN1",
 	"P9_37": "AIN2",
@@ -89,3 +89,13 @@ var analogPins = map[string]string{
 	"P9_36": "AIN5",
 	"P9_35": "AIN6",
 }
+
+var analogPins44 = map[string]string{
+	"P9_39": "in_voltage0_raw",
+	"P9_40": "in_voltage1_raw",
+	"P9_37": "in_voltage2_raw",
+	"P9_38": "in_voltage3_raw",
+	"P9_33": "in_voltage4_raw",
+	"P9_36": "in_voltage5_raw",
+	"P9_35": "in_voltage6_raw",
+}