com.diozero.internal.board.beaglebone.BeagleBoneBoardInfoProvider Maven / Gradle / Ivy
package com.diozero.internal.board.beaglebone;
/*
* #%L
* Organisation: diozero
* Project: diozero - Core
* Filename: BeagleBoneBoardInfoProvider.java
*
* This file is part of the diozero project. More information about this project
* can be found at https://www.diozero.com/.
* %%
* Copyright (C) 2016 - 2024 diozero
* %%
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
* #L%
*/
import java.io.IOException;
import java.nio.file.DirectoryStream;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.Collections;
import java.util.HashMap;
import java.util.Map;
import org.tinylog.Logger;
import com.diozero.api.PinInfo;
import com.diozero.internal.board.GenericLinuxArmBoardInfo;
import com.diozero.internal.spi.BoardInfoProvider;
import com.diozero.sbc.BoardInfo;
import com.diozero.sbc.LocalSystemInfo;
/*-
* https://github.com/derekmolloy/boneDeviceTree/raw/master/docs/BeagleboneBlackP8HeaderTable.pdf
* https://github.com/derekmolloy/boneDeviceTree/raw/master/docs/BeagleboneBlackP9HeaderTable.pdf
*/
public class BeagleBoneBoardInfoProvider implements BoardInfoProvider {
public static final String MAKE = "TI";
static final class PwmModule {
final int subsystem;
final int address;
final String suffix;
PwmModule(int subsystem, int address, String suffix) {
this.subsystem = subsystem;
this.address = address;
this.suffix = suffix;
}
}
// private static final String BBB_HARDWARE_ID = "Generic AM33XX";
static final Map PWM_MODULES;
static {
// See https://github.com/julianduque/beaglebone-io/blob/master/lib/bbb-pins.js
// and
// https://github.com/julianduque/beaglebone-io/blob/master/lib/pwm-output.js
/*-
var pwmSubSystems = {
subSystem0: { addr: 0x48300000 },
subSystem1: { addr: 0x48302000 },
subSystem2: { addr: 0x48304000 }
};
var pwmModules = {
ecap0: { subSystem: pwmSubSystems.subSystem0, addr: 0x48300100, suffix: 'ecap' },
ehrpwm0: { subSystem: pwmSubSystems.subSystem0, addr: 0x48300200, suffix: 'pwm' },
ehrpwm1: { subSystem: pwmSubSystems.subSystem1, addr: 0x48302200, suffix: 'pwm' },
ehrpwm2: { subSystem: pwmSubSystems.subSystem2, addr: 0x48304200, suffix: 'pwm' }
};
var pwmPins = {
p8_13: { module: pwmModules.ehrpwm2, channel: 1 },
p8_19: { module: pwmModules.ehrpwm2, channel: 0 },
p9_14: { module: pwmModules.ehrpwm1, channel: 0 },
p9_16: { module: pwmModules.ehrpwm1, channel: 1 },
p9_21: { module: pwmModules.ehrpwm0, channel: 1 },
p9_22: { module: pwmModules.ehrpwm0, channel: 0 },
p9_42: { module: pwmModules.ecap0, channel: 0 }
};
*/
// Map "_" to PWM Subsystem
Map map = new HashMap<>();
int subsystem0 = 0x48300000;
int subsystem1 = 0x48302000;
int subsystem2 = 0x48304000;
PwmModule ecap0 = new PwmModule(subsystem0, 0x48300100, "ecap");
PwmModule ehrpwm0 = new PwmModule(subsystem0, 0x48300200, "pwm");
PwmModule ehrpwm1 = new PwmModule(subsystem1, 0x48302200, "pwm");
PwmModule ehrpwm2 = new PwmModule(subsystem2, 0x48304200, "pwm");
map.put("P9_42", ecap0); // ECAP0PWMA
map.put("P9_22", ehrpwm0); // EHRPWM0A
map.put("P9_21", ehrpwm0); // EHRPWM0B
map.put("P9_14", ehrpwm1); // EHRPWM1A
map.put("P9_16", ehrpwm1); // EHRPWM1B
map.put("P8_19", ehrpwm2); // EHRPWM21
map.put("P8_13", ehrpwm2); // EHRPWM2B
PWM_MODULES = Collections.unmodifiableMap(map);
}
@Override
public BoardInfo lookup(LocalSystemInfo localSysInfo) {
String model = localSysInfo.getModel();
if (model != null && model.contains(MAKE)) {
return new BeagleBoneBlackBoardInfo(localSysInfo);
}
return null;
}
/**
* Also works on the BeagleBone Green
*/
public static class BeagleBoneBlackBoardInfo extends GenericLinuxArmBoardInfo {
public static final String P9_HEADER = "P9";
public static final String P8_HEADER = "P8";
// private static final int MEMORY = 512_000;
private static final float ADC_VREF = 1.8f;
public BeagleBoneBlackBoardInfo(LocalSystemInfo localSysInfo) {
super(localSysInfo, MAKE);
}
public void oldPopulateBoardPinInfo() {
// Kept for info only - now externalised to a file
addGpioPinInfo(P9_HEADER, 60, 12, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P9_HEADER, 48, 15, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P9_HEADER, 49, 23, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P9_HEADER, 117, 25, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P9_HEADER, 115, 27, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P9_HEADER, 112, 30, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P9_HEADER, 20, 41, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 66, 7, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 67, 8, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 69, 9, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 68, 10, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 45, 11, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 44, 12, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 26, 14, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 47, 15, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 46, 16, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 27, 17, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 65, 18, PinInfo.DIGITAL_IN_OUT);
addGpioPinInfo(P8_HEADER, 61, 26, PinInfo.DIGITAL_IN_OUT);
/*- To enable: sudo sh -c "echo 'BB-ADC' > /sys/devices/platform/bone_capemgr/slots" */
addAdcPinInfo(P9_HEADER, 0, "AIN0", 39, ADC_VREF);
addAdcPinInfo(P9_HEADER, 1, "AIN1", 40, ADC_VREF);
addAdcPinInfo(P9_HEADER, 2, "AIN2", 37, ADC_VREF);
addAdcPinInfo(P9_HEADER, 3, "AIN3", 38, ADC_VREF);
addAdcPinInfo(P9_HEADER, 4, "AIN4", 33, ADC_VREF);
addAdcPinInfo(P9_HEADER, 5, "AIN5", 36, ADC_VREF);
addAdcPinInfo(P9_HEADER, 6, "AIN6", 35, ADC_VREF);
// BB-PWM0,BB-PWM1,BB-PWM2
addPwmPinInfo(P9_HEADER, PinInfo.NOT_DEFINED, "EHRPWM1A", 14, 0, 0, PinInfo.DIGITAL_IN_OUT_PWM);
addPwmPinInfo(P9_HEADER, PinInfo.NOT_DEFINED, "EHRPWM1B", 16, 0, 1, PinInfo.DIGITAL_IN_OUT_PWM);
addPwmPinInfo(P8_HEADER, PinInfo.NOT_DEFINED, "EHRPWM2A", 13, 0, 3, PinInfo.DIGITAL_IN_OUT_PWM);
addPwmPinInfo(P8_HEADER, PinInfo.NOT_DEFINED, "EHRPWM2B", 19, 0, 4, PinInfo.DIGITAL_IN_OUT_PWM);
}
/*-
* Alternatively override addPwmPinInfo:
@Override
public PinInfo addPwmPinInfo(String header, int gpioNumber, String name, int physicalPin, int pwmChip,
int pwmNum, Collection modes, int chip, int line) {
}
*/
@Override
public int getPwmChipNumberOverride(PinInfo pinInfo) {
// PWM chip number for a GPIO can change between boots
/*-
ecap0: /sys/devices/platform/ocp/0x48300000.epwmss/0x48300100.ecap/pwm
ehrpwm0: /sys/devices/platform/ocp/0x48300000.epwmss/0x48300200.pwm/pwm
ehrpwm1: /sys/devices/platform/ocp/0x48302000.epwmss/0x48302200.pwm/pwm
ehrpwm2: /sys/devices/platform/ocp/0x48304000.epwmss/0x48304200.pwm/pwm
*/
String lookup = pinInfo.getHeader() + "_" + pinInfo.getPhysicalPin();
PwmModule pwm_module = PWM_MODULES.get(lookup);
if (pwm_module == null) {
Logger.warn("PWM module not found for '" + lookup + "'");
return -1;
}
Path chip_path = Paths.get(String.format("/sys/devices/platform/ocp/%d.epwmss/%d.%s/pwm",
Integer.valueOf(pwm_module.subsystem), Integer.valueOf(pwm_module.address), pwm_module.suffix));
int pwm_chip = -1;
// FIXME Treat as a stream?
try (DirectoryStream dirs = Files.newDirectoryStream(chip_path, "pwm*")) {
for (Path p : dirs) {
String dir = p.getFileName().toString();
Logger.info("Got {}", dir);
pwm_chip = Integer.parseInt(dir.substring(dir.length() - 1));
Logger.info("Found pwmChip {}", Integer.valueOf(pwm_chip));
}
} catch (IOException e) {
Logger.error(e, "Error: " + e);
}
return pwm_chip;
}
/*-
@Override
public MmapGpioInterface createMmapGpio() {
return new BeagleBoneBlackMmapGpio();
}
*/
}
}
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