add NanoPi NEO platform

gassman · Feb 4, 2023 · f6bcb17 · f6bcb17
1 parent c8335aa
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diff --git a/README.md b/README.md
@@ -211,6 +211,7 @@ platforms are currently supported:
 - [MegaPi](http://www.makeblock.com/megapi) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/megapi)
 - [Microbit](http://microbit.org/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/microbit)
 - [MQTT](http://mqtt.org/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/mqtt)
+- [NanoPi NEO](https://wiki.friendlyelec.com/wiki/index.php/NanoPi_NEO) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/nanopi)
 - [NATS](http://nats.io/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/nats)
 - [Neurosky](http://neurosky.com/products-markets/eeg-biosensors/hardware/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/neurosky)
 - [OpenCV](http://opencv.org/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/opencv)

diff --git a/examples/nanopi_direct_pin.go b/examples/nanopi_direct_pin.go
@@ -0,0 +1,79 @@
+// +build example
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+	"time"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/drivers/gpio"
+	"gobot.io/x/gobot/platforms/adaptors"
+	"gobot.io/x/gobot/platforms/nanopi"
+)
+
+// Wiring
+// PWR  NanoPi: 1, 17 (+3.3V, VCC); 2, 4 (+5V, VDD); 6, 9, 14, 20 (GND)
+// GPIO NanoPi: header pin 22 is input, pin 23 is normal output, pin 24 is inverted output
+// Button: the input pin is wired with a button to GND, the internal pull up resistor is used
+// LED's: the output pins are wired to the cathode of a LED, the anode is wired with a resistor (70-130Ohm for 20mA) to VCC
+// Expected behavior: always one LED is on, the other in opposite state, if button is pressed for >2 seconds the state changes
+func main() {
+	const (
+		inPinNum          = "22" // 7, 8, 10, 11, 12, 13, 15, 16, 18, 22
+		outPinNum         = "23"
+		outPinInvertedNum = "24"
+		debounceTime      = 2 * time.Second
+	)
+	// note: WithGpiosOpenDrain() is optional, if using WithGpiosOpenSource() the LED's will not light up
+	board := nanopi.NewNeoAdaptor(adaptors.WithGpiosActiveLow(outPinInvertedNum),
+		adaptors.WithGpiosOpenDrain(outPinNum, outPinInvertedNum),
+		adaptors.WithGpiosPullUp(inPinNum),
+		adaptors.WithGpioDebounce(inPinNum, debounceTime))
+
+	inPin := gpio.NewDirectPinDriver(board, inPinNum)
+	outPin := gpio.NewDirectPinDriver(board, outPinNum)
+	outPinInverted := gpio.NewDirectPinDriver(board, outPinInvertedNum)
+
+	work := func() {
+		level := byte(1)
+
+		gobot.Every(500*time.Millisecond, func() {
+			read, err := inPin.DigitalRead()
+			fmt.Printf("pin %s state is %d\n", inPinNum, read)
+			if err != nil {
+				fmt.Println(err)
+			} else {
+				level = byte(read)
+			}
+
+			err = outPin.DigitalWrite(level)
+			fmt.Printf("pin %s is now %d\n", outPinNum, level)
+			if err != nil {
+				fmt.Println(err)
+			}
+
+			err = outPinInverted.DigitalWrite(level)
+			fmt.Printf("pin %s is now not %d\n", outPinInvertedNum, level)
+			if err != nil {
+				fmt.Println(err)
+			}
+
+			if level == 1 {
+				level = 0
+			} else {
+				level = 1
+			}
+		})
+	}
+
+	robot := gobot.NewRobot("pinBot",
+		[]gobot.Connection{board},
+		[]gobot.Device{inPin, outPin, outPinInverted},
+		work,
+	)
+
+	robot.Start()
+}
diff --git a/examples/nanopi_direct_pin_event.go b/examples/nanopi_direct_pin_event.go
@@ -0,0 +1,101 @@
+// +build example
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+	"time"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/platforms/nanopi"
+	"gobot.io/x/gobot/system"
+)
+
+const (
+	inPinNum          = "22" // 7, 8, 10, 11, 12, 13, 15, 16, 18, 22
+	outPinNum         = "23"
+	outPinInvertedNum = "24"
+	debounceTime      = 2 * time.Second
+)
+
+var (
+	outPin         gobot.DigitalPinner
+	outPinInverted gobot.DigitalPinner
+)
+
+// Wiring
+// PWR  NanoPi: 1, 17 (+3.3V, VCC); 2, 4 (+5V, VDD); 6, 9, 14, 20 (GND)
+// GPIO NanoPi: header pin 22 is input, pin 23 is normal output, pin 24 is inverted output
+// Button: the input pin is wired with a button to GND, the internal pull up resistor is used
+// LED's: the output pins are wired to the cathode of a LED, the anode is wired with a resistor (70-130Ohm for 20mA) to VCC
+// Expected behavior: always one LED is on, the other in opposite state, if button is pressed for >2 seconds the state changes
+func main() {
+
+	board := nanopi.NewNeoAdaptor()
+
+	work := func() {
+		inPin, err := board.DigitalPin(inPinNum)
+		if err != nil {
+			fmt.Println(err)
+		}
+		if err := inPin.ApplyOptions(system.WithPinDirectionInput(), system.WithPinPullUp(),
+			system.WithPinDebounce(debounceTime), system.WithPinEventOnBothEdges(buttonEventHandler)); err != nil {
+			fmt.Println(err)
+		}
+
+		// note: WithPinOpenDrain() is optional, if using WithPinOpenSource() the LED's will not light up
+		outPin, err = board.DigitalPin(outPinNum)
+		if err != nil {
+			fmt.Println(err)
+		}
+		if err := outPin.ApplyOptions(system.WithPinDirectionOutput(1), system.WithPinOpenDrain()); err != nil {
+			fmt.Println(err)
+		}
+
+		outPinInverted, err = board.DigitalPin(outPinInvertedNum)
+		if err != nil {
+			fmt.Println(err)
+		}
+		if err := outPinInverted.ApplyOptions(system.WithPinActiveLow(), system.WithPinDirectionOutput(1),
+			system.WithPinOpenDrain()); err != nil {
+			fmt.Println(err)
+		}
+
+		fmt.Printf("\nPlease press and hold the button for at least %s\n", debounceTime)
+	}
+
+	robot := gobot.NewRobot("pinEdgeBot",
+		[]gobot.Connection{board},
+		[]gobot.Device{},
+		work,
+	)
+
+	robot.Start()
+}
+
+func buttonEventHandler(offset int, t time.Duration, et string, sn uint32, lsn uint32) {
+	fmt.Printf("%s: %s detected on line %d with total sequence %d and line sequence %d\n", t, et, offset, sn, lsn)
+	level := 1
+
+	if et == "falling edge" {
+		level = 0
+	}
+
+	if outPin != nil {
+		err := outPin.Write(level)
+		fmt.Printf("pin %s is now %d\n", outPinNum, level)
+		if err != nil {
+			fmt.Println(err)
+		}
+	}
+
+	if outPinInverted != nil {
+		err := outPinInverted.Write(level)
+		fmt.Printf("pin %s is now not %d\n", outPinInvertedNum, level)
+		if err != nil {
+			fmt.Println(err)
+		}
+	}
+}
diff --git a/examples/nanopi_led_brightness.go b/examples/nanopi_led_brightness.go
@@ -0,0 +1,47 @@
+// +build example
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+	"time"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/drivers/gpio"
+	"gobot.io/x/gobot/platforms/nanopi"
+)
+
+// Wiring
+// PWR  NanoPi: 1, 17 (+3.3V, VCC); 2, 4 (+5V, VDD); 6, 9, 14, 20 (GND)
+// GPIO NanoPi: the fourth header pin at inner USB side, count from USB side, is the PWM output
+// LED: the PWM output is NOT able to drive a 20mA LED with full brightness, so a custom driver or low current LED is needed
+// Expected behavior: the LED fades in and out
+func main() {
+	r := nanopi.NewNeoAdaptor()
+	led := gpio.NewLedDriver(r, "PWM")
+
+	work := func() {
+		brightness := uint8(0)
+		fadeAmount := uint8(15)
+
+		gobot.Every(100*time.Millisecond, func() {
+			if err := led.Brightness(brightness); err != nil {
+				fmt.Println(err)
+			}
+			brightness = brightness + fadeAmount
+			if brightness == 0 || brightness == 255 {
+				fadeAmount = -fadeAmount
+			}
+		})
+	}
+
+	robot := gobot.NewRobot("pwmBot",
+		[]gobot.Connection{r},
+		[]gobot.Device{led},
+		work,
+	)
+
+	robot.Start()
+}
diff --git a/examples/nanopi_pca9533.go b/examples/nanopi_pca9533.go
@@ -0,0 +1,131 @@
+// +build example
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+	"time"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/drivers/i2c"
+	"gobot.io/x/gobot/platforms/nanopi"
+)
+
+// Wiring
+// PWR  NanoPi: 1, 17 (+3.3V, VCC); 2, 4 (+5V, VDD); 6, 9, 14, 20 (GND)
+// I2C0 NanoPi: 3 (SDA), 5 (SCL)
+// PCA9533: 8 (VDD, +2.3..5.5V), 4 (VSS, GND), 7 (SDA), 6 (SCL)
+// LED pins: 1 (LED0), 2 (LED1), 3 (LED2), 5 (LED3)
+// LED's directly driven with pull-up resistors to VDD, e.g. 180 Ohm
+// I2C addresses: 0x62 (PCA9533/01), 0x63 (PCA9533/02)
+func main() {
+	board := nanopi.NewNeoAdaptor()
+	pca := i2c.NewPCA953xDriver(board, i2c.WithAddress(0x63))
+
+	led := uint8(0)  // index of LED
+	wVal := uint8(1) // start with LED is "off"
+	rVal := uint8(0)
+
+	work := func() {
+		// LED 2 with 5 Hz 1:1, LED 3 with 1 Hz 1:10
+		initialize(pca, 5, 1)
+
+		gobot.Every(2000*time.Millisecond, func() {
+			fmt.Printf("set LED%d output to %d", led, wVal)
+			err := pca.WriteGPIO(led, wVal)
+			if err != nil {
+				fmt.Println("errW:", err)
+			}
+
+			rVal, err = pca.ReadGPIO(led)
+			if err != nil {
+				fmt.Println("errR:", err)
+			}
+			if rVal == 0 {
+				fmt.Printf(" - LED%d is ON\n", led)
+			} else {
+				fmt.Printf(" - LED%d is OFF\n", led)
+			}
+
+			led = led + 1
+			if led > 1 {
+				led = 0
+				if wVal == 1 {
+					wVal = 0
+				} else {
+					wVal = 1
+				}
+			}
+		})
+	}
+
+	robot := gobot.NewRobot("ledI2c",
+		[]gobot.Connection{board},
+		[]gobot.Device{pca},
+		work,
+	)
+
+	err := robot.Start()
+	if err != nil {
+		fmt.Println(err)
+	}
+}
+
+func initialize(pca *i2c.PCA953xDriver, led2FrequHz float32, led3FrequHz float32) {
+	// prepare PWM0
+	err := pca.WriteFrequency(0, led2FrequHz)
+	if err != nil {
+		fmt.Println("errWF0:", err)
+	}
+	frq, err := pca.ReadFrequency(0)
+	if err != nil {
+		fmt.Println("errRF0:", err)
+	}
+	fmt.Println("get Frq0:", frq)
+
+	err = pca.WriteDutyCyclePercent(0, 50)
+	if err != nil {
+		fmt.Println("errWD0:", err)
+	}
+	dc, err := pca.ReadDutyCyclePercent(0)
+	if err != nil {
+		fmt.Println("errRD0:", err)
+	}
+	fmt.Println("get dc0:", dc)
+
+	// prepare PWM1
+	err = pca.WriteFrequency(1, led3FrequHz)
+	if err != nil {
+		fmt.Println("errWF1:", err)
+	}
+	frq, err = pca.ReadFrequency(1)
+	if err != nil {
+		fmt.Println("errRF1:", err)
+	}
+	fmt.Println("get Frq1:", frq)
+
+	err = pca.WriteDutyCyclePercent(1, 10)
+	if err != nil {
+		fmt.Println("errWD1:", err)
+	}
+	dc, err = pca.ReadDutyCyclePercent(1)
+	if err != nil {
+		fmt.Println("errRD1:", err)
+	}
+	fmt.Println("get dc1:", dc)
+
+	// LED 2
+	fmt.Println("set LED: 2 to: pwm0")
+	err = pca.SetLED(2, i2c.PCA953xModePwm0)
+	if err != nil {
+		fmt.Println("errW:", err)
+	}
+	fmt.Println("set LED: 3 to: pwm1")
+	err = pca.SetLED(3, i2c.PCA953xModePwm1)
+	if err != nil {
+		fmt.Println("errW:", err)
+	}
+
+}
diff --git a/platforms/nanopi/LICENSE b/platforms/nanopi/LICENSE
@@ -0,0 +1,13 @@
+Copyright (c) 2014-2018 The Hybrid Group
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+   http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.