embedded

package
v0.0.0-...-26c3e66 Latest Latest
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 Go to latest Published: Jul 18, 2020 License: BSD-3-Clause Imports: 6 Imported by: 0

Documentation

Overview

first fat32 implementation in Go?

* This entire damn driver was directly ported from the iMX6 bare metal sdk * for use in GERT

Index

Constants

View Source 
const (
	GPIO1_BASE = 0x209C000
	GPIO2_BASE = 0x20A0000
	GPIO3_BASE = 0x20A4000
	GPIO4_BASE = 0x20A8000
	GPIO5_BASE = 0x20AC000
	GPIO6_BASE = 0x20B0000
	GPIO7_BASE = 0x20B4000
)
View Source 
const (
	INTR_LOW     = 0
	INTR_HIGH    = 1
	INTR_RISING  = 2
	INTR_FALLING = 3
)

/user api

View Source 
const (
	PULLDOWN_100K = 0
	PULLUP_47K    = 1
	PULLUP_100K   = 2
	PULLUP_22K    = 3
	DRIVE_HIZ     = 0
	DRIVE_260R    = 1
	DRIVE_130R    = 2
	DRIVE_90R     = 3
	DRIVE_60R     = 4
	DRIVE_50R     = 5
	DRIVE_40R     = 6
	DRIVE_33R     = 7
	SLEW_SLOW     = 0
	SLEW_FAST     = 1
	MUX_ALT0      = 0
	MUX_ALT1      = 1
	MUX_ALT2      = 2
	MUX_ALT3      = 3
	MUX_ALT4      = 4
	MUX_ALT5      = 5
	MUX_ALT6      = 6
	MUX_ALT7      = 7
	SPEED_LOW     = 0
	SPEED_MEDIUM  = 1
	SPEED_FAST    = 3
)

this function applies to pins 4,6,8,10,12,14,16,18 on JP4 of the wandboard

View Source 
const (
	CARD_SD   = 0
	CARD_MMC  = 1
	CARD_ESD  = 2
	CARD_EMMC = 3
)

sd card type

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const (
	CMD0   = 0
	CMD1   = 1
	CMD2   = 2
	CMD3   = 3
	CMD5   = 5
	CMD6   = 6
	ACMD6  = 6
	CMD7   = 7
	CMD8   = 8
	CMD9   = 9
	CMD12  = 12
	CMD13  = 13
	CMD16  = 16
	CMD17  = 17
	CMD18  = 18
	CMD24  = 24
	CMD25  = 25
	CMD26  = 26
	CMD32  = 32
	CMD33  = 33
	CMD35  = 35
	CMD36  = 36
	CMD37  = 37
	CMD38  = 38
	CMD39  = 39
	ACMD41 = 41
	CMD43  = 43
	ACMD51 = 51
	CMD55  = 55
	CMD60  = 60
	CMD61  = 61
	CMD62  = 62
)

commands

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const (
	IDLE  = 0
	READY = 1
	IDENT = 2
	STBY  = 3
	TRAN  = 4
	DATA  = 5
	RCV   = 6
	PRG   = 7
	DIS   = 8
)

states

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const (
	USDHC_PORT1        = 0
	USDHC_PORT2        = 1
	USDHC_PORT3        = 2
	USDHC_PORT4        = 3
	USDHC_NUMBER_PORTS = 4
)
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const (
	WRITE      = 0
	READ       = 1
	SD_COMMAND = 2
)
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const (
	RESPONSE_NONE          = 0
	RESPONSE_136           = 1
	RESPONSE_48            = 2
	RESPONSE_48_CHECK_BUSY = 3
)
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const (
	DATA_PRESENT_NONE = 0
	DATA_PRESENT      = 1
)
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const (
	DISABLE = 0
	ENABLE  = 1
)
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const (
	SINGLE   = 0
	MULTIPLE = 1
)
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const (
	INTR_BUSY  = 0
	INTR_TC    = 1
	INTR_ERROR = 2
)

interrupt status

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const (
	OPERATING_FREQ         = 0
	IDENTIFICATION_FREQ    = 1
	HS_FREQ                = 2
	ESDHC_IDENT_DVS        = 8
	ESDHC_IDENT_SDCLKFS    = 0x20
	ESDHC_OPERT_DVS        = 0x3
	ESDHC_OPERT_SDCLKFS    = 0x1
	ESDHC_HS_DVS           = 0x1
	ESDHC_HS_SDCLKFS       = 0x1
	ESDHC_SYSCTL_DTOCV_VAL = 0xE
)
View Source 
const (
	REGS_USDHC1_BASE = 0x02190000
	REGS_USDHC2_BASE = 0x02194000
	REGS_USDHC3_BASE = 0x02198000
	REGS_USDHC4_BASE = 0x0219C000
)

sdcard regs base

View Source 
const (
	USDHC_ADMA_BUFFER1 = 0x00907000
	USDHC_ADMA_BUFFER2 = 0x00908000
	USDHC_ADMA_BUFFER3 = 0x00909000
	USDHC_ADMA_BUFFER4 = 0x0090A000
)
View Source 
const (
	ESDHC_CLEAR_INTERRUPT              = 0x117F01FF
	ESDHC_INTERRUPT_ENABLE             = 0x007F013F
	ESDHC_STATUS_END_CMD_RESP_TIME_MSK = 0x100F0001
	IMX_INT_USDHC1                     = 54
	IMX_INT_USDHC2                     = 55
	IMX_INT_USDHC3                     = 56
	IMX_INT_USDHC4                     = 57
)

sdcard interrupts

View Source 
const (
	ESDHC_ONE_BIT_SUPPORT             = 0x0
	ESDHC_LITTLE_ENDIAN_MODE          = 0x2
	ESDHC_CIHB_CHK_COUNT              = 10
	ESDHC_CDIHB_CHK_COUNT             = 100
	BM_USDHC_PROT_CTRL_DMASEL         = 0x00000300
	ESDHC_MIXER_CTRL_CMD_MASK         = 0xFFFFFFC0
	BP_USDHC_MIX_CTRL_DMAEN           = 0
	BP_USDHC_MIX_CTRL_BCEN            = 1
	BP_USDHC_MIX_CTRL_AC12EN          = 2
	BP_USDHC_MIX_CTRL_DDR_EN          = 3
	BP_USDHC_MIX_CTRL_DTDSEL          = 4
	BP_USDHC_MIX_CTRL_MSBSEL          = 5
	BP_USDHC_CMD_XFR_TYP_RSPTYP       = 16
	BP_USDHC_CMD_XFR_TYP_CCCEN        = 19
	BP_USDHC_CMD_XFR_TYP_CICEN        = 20
	BP_USDHC_CMD_XFR_TYP_DPSEL        = 21
	BP_USDHC_CMD_XFR_TYP_CMDINX       = 24
	ESDHC_OPER_TIMEOUT_COUNT          = 10000
	SD_IF_CMD_ARG_COUNT               = 2
	SD_IF_HV_COND_ARG                 = 0x000001AA
	SD_IF_LV_COND_ARG                 = 0x000002AA
	SD_OCR_VALUE_HV_HC                = 0x40ff8000
	SD_OCR_VALUE_LV_HC                = 0x40000080
	SD_OCR_VALUE_HV_LC                = 0x00ff8000
	SD_OCR_VALUE_COUNT                = 3
	SD_VOLT_VALID_COUNT               = 3000
	CARD_BUSY_BIT                     = 0x80000000
	SD_OCR_HC_RES                     = 0x40000000
	SECT_MODE                         = 1
	BYTE_MODE                         = 0
	RCA_SHIFT                         = 16
	SD_R1_STATUS_APP_CMD_MSK          = 0x20
	MMC_HV_HC_OCR_VALUE               = 0x40FF8000
	MMC_VOLT_VALID_COUNT              = 3000
	MMC_OCR_HC_BIT_MASK               = 0x60000000
	MMC_OCR_HC_RESP_VAL               = 0x40000000
	BLK_LEN                           = 512
	ESDHC_FIFO_LENGTH                 = 0x80
	ESDHC_BLKATTR_WML_BLOCK           = 0x80
	ESDHC_STATUS_END_DATA_RSP_TC_MASK = 0x00700002
)

sdcard randoms

View Source 
const (
	READ_MASK = 0xFF
	RRDY      = 1 << 9
)
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const ATTR_DIRECTORY = 0x1 << 4
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const ATTR_LFN = 0xF
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const BLKSIZE = 512
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const EOC = 0x0FFFFFF8
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const FAT_TYPE = 0xb
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const MBR_MAGIC = 0xAA55
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const MPCOREBASE uint32 = 0xa00000
View Source 
const SDHC_ADMA_mode = 0

Variables

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var IOMUX_GPIO1 = ((*uint32)(unsafe.Pointer((uintptr(0x20E0224)))))
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var IOMUX_MUX_CTL_DISP0_DAT8 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0190))))
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var IOMUX_MUX_CTL_DISP0_DAT9 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0194))))
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var IOMUX_MUX_CTL_EIM_BCLK = ((*uint32)(unsafe.Pointer(uintptr(0x20E0158))))
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var IOMUX_MUX_CTL_EIM_D16 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0090))))
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var IOMUX_MUX_CTL_EIM_D17 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0094))))

SPI1

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var IOMUX_MUX_CTL_EIM_D18 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0098))))
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var IOMUX_MUX_CTL_EIM_D26 = ((*uint32)(unsafe.Pointer(uintptr(0x20E00BC))))
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var IOMUX_MUX_CTL_EIM_D27 = ((*uint32)(unsafe.Pointer(uintptr(0x20E00C0))))
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var IOMUX_MUX_CTL_EIM_DA11 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0140))))
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var IOMUX_MUX_CTL_EIM_EB2 = ((*uint32)(unsafe.Pointer(uintptr(0x20E008C))))
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var IOMUX_MUX_CTL_ENET_RX_ER = ((*uint32)(unsafe.Pointer(uintptr(0x20E01D8))))
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var IOMUX_MUX_CTL_GPIO0 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0220))))

gpios

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var IOMUX_MUX_CTL_GPIO1 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0224))))
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var IOMUX_MUX_CTL_GPIO16 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0248))))
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var IOMUX_MUX_CTL_GPIO17 = ((*uint32)(unsafe.Pointer(uintptr(0x20E024C))))
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var IOMUX_MUX_CTL_GPIO18 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0250))))
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var IOMUX_MUX_CTL_GPIO19 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0254))))
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var IOMUX_MUX_CTL_GPIO2 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0234))))
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var IOMUX_MUX_CTL_GPIO3 = ((*uint32)(unsafe.Pointer(uintptr(0x20E022C))))
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var IOMUX_MUX_CTL_GPIO4 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0238))))
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var IOMUX_MUX_CTL_GPIO5 = ((*uint32)(unsafe.Pointer(uintptr(0x20E023C))))
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var IOMUX_MUX_CTL_GPIO6 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0230))))
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var IOMUX_MUX_CTL_GPIO7 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0240))))
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var IOMUX_MUX_CTL_GPIO8 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0244))))
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var IOMUX_MUX_CTL_GPIO9 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0228))))
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var IOMUX_MUX_CTL_KEY_COL2 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0208))))
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var IOMUX_MUX_CTL_SD3_RST = ((*uint32)(unsafe.Pointer(uintptr(0x20E02D0))))
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var IOMUX_MUX_CTL_SD4_DATA1 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0320))))

PWM

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var IOMUX_MUX_CTL_SD4_DATA2 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0324))))
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var IOMUX_PAD_CTL_DISP0_DAT8 = ((*uint32)(unsafe.Pointer(uintptr(0x20E04A4))))
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var IOMUX_PAD_CTL_DISP0_DAT9 = ((*uint32)(unsafe.Pointer(uintptr(0x20E04A8))))
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var IOMUX_PAD_CTL_EIM_BCLK = ((*uint32)(unsafe.Pointer(uintptr(0x20E046C))))
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var IOMUX_PAD_CTL_EIM_D16 = ((*uint32)(unsafe.Pointer(uintptr(0x20E03A4))))
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var IOMUX_PAD_CTL_EIM_D17 = ((*uint32)(unsafe.Pointer(uintptr(0x20E03A8))))
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var IOMUX_PAD_CTL_EIM_D18 = ((*uint32)(unsafe.Pointer(uintptr(0x20E03AC))))
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var IOMUX_PAD_CTL_EIM_D26 = ((*uint32)(unsafe.Pointer(uintptr(0x20E03D0))))
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var IOMUX_PAD_CTL_EIM_D27 = ((*uint32)(unsafe.Pointer(uintptr(0x20E03D4))))
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var IOMUX_PAD_CTL_EIM_DA11 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0454))))
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var IOMUX_PAD_CTL_EIM_EB2 = ((*uint32)(unsafe.Pointer(uintptr(0x20E03A0))))
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var IOMUX_PAD_CTL_ENET_RX_ER = ((*uint32)(unsafe.Pointer(uintptr(0x20E04EC))))
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var IOMUX_PAD_CTL_GPIO0 = ((*uint32)(unsafe.Pointer(uintptr(0x20E05F0))))
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var IOMUX_PAD_CTL_GPIO1 = ((*uint32)(unsafe.Pointer(uintptr(0x20E05F4))))
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var IOMUX_PAD_CTL_GPIO16 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0618))))
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var IOMUX_PAD_CTL_GPIO17 = ((*uint32)(unsafe.Pointer(uintptr(0x20E061C))))
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var IOMUX_PAD_CTL_GPIO18 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0620))))
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var IOMUX_PAD_CTL_GPIO19 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0624))))
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var IOMUX_PAD_CTL_GPIO2 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0604))))
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var IOMUX_PAD_CTL_GPIO3 = ((*uint32)(unsafe.Pointer(uintptr(0x20E05FC))))
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var IOMUX_PAD_CTL_GPIO4 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0608))))
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var IOMUX_PAD_CTL_GPIO5 = ((*uint32)(unsafe.Pointer(uintptr(0x20E060C))))
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var IOMUX_PAD_CTL_GPIO6 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0600))))
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var IOMUX_PAD_CTL_GPIO7 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0610))))
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var IOMUX_PAD_CTL_GPIO8 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0614))))
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var IOMUX_PAD_CTL_GPIO9 = ((*uint32)(unsafe.Pointer(uintptr(0x20E05F8))))
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var IOMUX_PAD_CTL_KEY_COL2 = ((*uint32)(unsafe.Pointer(uintptr(0x20E05D8))))
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var IOMUX_PAD_CTL_SD3_RST = ((*uint32)(unsafe.Pointer(uintptr(0x20E06B8))))
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var IOMUX_PAD_CTL_SD4_DATA1 = ((*uint32)(unsafe.Pointer(uintptr(0x20E0708))))
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var IOMUX_PAD_CTL_SD4_DATA2 = ((*uint32)(unsafe.Pointer(uintptr(0x20E070C))))
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var IOMUX_SD1_CLK = ((*uint32)(unsafe.Pointer((uintptr(0x20E0350)))))
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var IOMUX_SD1_CMD = ((*uint32)(unsafe.Pointer((uintptr(0x20E0348)))))
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var IOMUX_SD1_DATA0 = ((*uint32)(unsafe.Pointer((uintptr(0x20E0340)))))
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var IOMUX_SD1_DATA1 = ((*uint32)(unsafe.Pointer((uintptr(0x20E033C)))))
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var IOMUX_SD1_DATA2 = ((*uint32)(unsafe.Pointer((uintptr(0x20E034C)))))
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var IOMUX_SD1_DATA3 = ((*uint32)(unsafe.Pointer((uintptr(0x20E0344)))))
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var WB_DEFAULT_UART = UART{((*UART_regs)(unsafe.Pointer(uintptr(0x2020000))))}
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var WB_JP4_10 = GPIO_pin{"JP4_10", 1, 24, gpios[1-1], IOMUX_MUX_CTL_ENET_RX_ER, IOMUX_PAD_CTL_ENET_RX_ER}
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var WB_JP4_12 = GPIO_pin{"JP4_12", 7, 8, gpios[7-1], IOMUX_MUX_CTL_SD3_RST, IOMUX_PAD_CTL_SD3_RST}
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var WB_JP4_14 = GPIO_pin{"JP4_14", 3, 26, gpios[3-1], IOMUX_MUX_CTL_EIM_D26, IOMUX_PAD_CTL_EIM_D26}
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var WB_JP4_4 = GPIO_pin{"JP4_4", 3, 11, gpios[3-1], IOMUX_MUX_CTL_EIM_DA11, IOMUX_PAD_CTL_EIM_DA11}
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var WB_JP4_6 = GPIO_pin{"JP4_6", 3, 27, gpios[3-1], IOMUX_MUX_CTL_EIM_D27, IOMUX_PAD_CTL_EIM_D27}
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var WB_JP4_8 = GPIO_pin{"JP4_8", 6, 31, gpios[6-1], IOMUX_MUX_CTL_EIM_BCLK, IOMUX_PAD_CTL_EIM_BCLK}
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var WB_PWM1 = PWM_periph{PWM_pin{"JP1_17", 2, IOMUX_MUX_CTL_DISP0_DAT8, IOMUX_PAD_CTL_DISP0_DAT8}, ((*PWM_regs)(unsafe.Pointer(uintptr(0x2080000)))), 0, 0.0}
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var WB_PWM2 = PWM_periph{PWM_pin{"JP1_19", 2, IOMUX_MUX_CTL_DISP0_DAT9, IOMUX_PAD_CTL_DISP0_DAT9}, ((*PWM_regs)(unsafe.Pointer(uintptr(0x2084000)))), 0, 0.0}
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var WB_PWM3 = PWM_periph{PWM_pin{"JP1_3", 2, IOMUX_MUX_CTL_SD4_DATA1, IOMUX_PAD_CTL_SD4_DATA1}, ((*PWM_regs)(unsafe.Pointer(uintptr(0x2088000)))), 0, 0.0}
View Source 
var WB_SPI1 = SPI_periph{SPI_pin{"mosi", 1, IOMUX_MUX_CTL_EIM_D18, IOMUX_PAD_CTL_EIM_D18},
	SPI_pin{"miso", 1, IOMUX_MUX_CTL_EIM_D17, IOMUX_PAD_CTL_EIM_D17},
	SPI_pin{"sclk", 1, IOMUX_MUX_CTL_EIM_D16, IOMUX_PAD_CTL_EIM_D16},
	[]SPI_pin{
		SPI_pin{"channel0", 1, IOMUX_MUX_CTL_EIM_EB2, IOMUX_PAD_CTL_EIM_EB2},
		SPI_pin{"channel1", 0, IOMUX_MUX_CTL_KEY_COL2, IOMUX_PAD_CTL_KEY_COL2},
	},
	((*SPI_regs)(unsafe.Pointer(uintptr(0x2008000)))),
	0,
	0,
	0}

SPI clock is 59.2MHz

Functions

func Addtime 

func Addtime(amt uint32)

func BitReverse32 

func BitReverse32(x uint32) uint32

from the internet

func Busysleep 

func Busysleep(sleeptime uint32) uint32

func ClearGPTIntr 

func ClearGPTIntr()

func ClearIntr 

func ClearIntr(gpiobank uint8)

func Clearjp4 

func Clearjp4()

func Enable_interrupt 

func Enable_interrupt(num uint32, cpunum uint32, priority uint8)

func Enable_interrupt_mask 

func Enable_interrupt_mask(num uint32, cpumask uint8, priority uint8)

func Fat32_som_start 

func Fat32_som_start(sdcard_init func() bool, reader_func readfunc) (bool, directory)

this returns an interface for navigating and modifying the directory structure

func GIC_init 

func GIC_init(checks bool)

func GIC_mask_all 

func GIC_mask_all()

func GIC_unmask_all 

func GIC_unmask_all()

func GICcpumask 

func GICcpumask(cpus []uint8) uint8

func GPIO_ISR 

func GPIO_ISR(num uint32)

func GetPinNum 

func GetPinNum(base, number uint32) uint32

converts the imx pin numbering into a linear number that I use and the registers use

func Gettime 

func Gettime() uint32

func Gopherwatch 

func Gopherwatch()

func Init_board_sdcard 

func Init_board_sdcard() bool

init the board sdcard at port 1 with 4bit bus width

func Init_som_sdcard 

func Init_som_sdcard() bool

init the som sdcard at port 3 with 4bit bus width

func MMC_SWITCH_SETBW_ARG 

func MMC_SWITCH_SETBW_ARG(bus_width uint32) uint32

func Openabsolute 

func Openabsolute(path string) (bool, []byte)

func Poll 

func Poll(f Pollfunc, period time.Duration, sink chan interface{}) chan bool

func Read_board_sdcard 

func Read_board_sdcard(length uint32, offset uint32) (bool, []byte)

/read length bytes at byte offset from the start of the sdcard

func Read_som_sdcard 

func Read_som_sdcard(length uint32, offset uint32) (bool, []byte)

/read length bytes at byte offset from the start of the sdcard

func SWI 

func SWI()

func Set 

func Set(ptr unsafe.Pointer, val uint32)

func Setjp4 

func Setjp4()

static functions for the toggle benchmark expand these if you want a static GPIO driver

func Sgi 

func Sgi(num uint32, cpus uint32)

func Sleep 

func Sleep(sleeptime uint32) uint32

func StartGPT 

func StartGPT() bool

Types

type ADC_reading 

type ADC_reading struct {
	Channel uint8
	Value   float32
}

type Counter 

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

type GIC_cpu_map 

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

type GIC_distributor_map 

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

type GPIO_pin 

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

* Turns out individual pins are complicated things in the iMX6. * Lets use go to make them easier to use

func (GPIO_pin) DisableIntr 

func (pin GPIO_pin) DisableIntr()

func (GPIO_pin) EnableIntr 

func (pin GPIO_pin) EnableIntr(mode uint8)

func (GPIO_pin) GetPinNum 

func (pin GPIO_pin) GetPinNum() uint32

func (GPIO_pin) Read 

func (pin GPIO_pin) Read() uint8

this is either hi or lo section 28.4.3.1

func (GPIO_pin) SetHI 

func (pin GPIO_pin) SetHI()

directly set hi or lo

func (GPIO_pin) SetHInow 

func (pin GPIO_pin) SetHInow()

directly set hi or lo without caring about the other pins

func (GPIO_pin) SetInput 

func (pin GPIO_pin) SetInput()

section 28.4.3.1

func (GPIO_pin) SetLO 

func (pin GPIO_pin) SetLO()

func (GPIO_pin) SetLOnow 

func (pin GPIO_pin) SetLOnow()

func (GPIO_pin) SetOutput 

func (pin GPIO_pin) SetOutput()

section 28.4.3.2

func (GPIO_pin) Write 

func (pin GPIO_pin) Write(val uint8)

this is either hi or lo section 28.4.3.2

type GPT 

type GPT struct {
	CR   uint32
	PR   uint32
	SR   uint32
	IR   uint32
	OCR1 uint32
	OCR2 uint32
	OCR3 uint32
	ICR1 uint32
	ICR2 uint32
	CNT  uint32
}

type MBR 

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

type MCP3008_controller 

type MCP3008_controller struct {
	// contains filtered or unexported fields
}

func MakeMCP3008 

func MakeMCP3008(spi SPI_periph) *MCP3008_controller

func (*MCP3008_controller) Read 

func (mcp *MCP3008_controller) Read(channel uint8) ADC_reading

type MCP4922_controller 

type MCP4922_controller struct {
	// contains filtered or unexported fields
}

func MakeMCP4922 

func MakeMCP4922(spi SPI_periph) MCP4922_controller

func (MCP4922_controller) Write 

func (m MCP4922_controller) Write(data uint16, channel uint8)

type MDD10A_controller 

type MDD10A_controller struct {
	PWM1 PWM_periph
	DIR1 GPIO_pin

	PWM2 PWM_periph
	DIR2 GPIO_pin
}

func MakeMDD10A 

func MakeMDD10A(pwm1, pwm2 PWM_periph, dir1, dir2 GPIO_pin) *MDD10A_controller

func (*MDD10A_controller) Backward 

func (c *MDD10A_controller) Backward(speed float32)

func (*MDD10A_controller) Forward 

func (c *MDD10A_controller) Forward(speed float32)

func (*MDD10A_controller) Stop 

func (c *MDD10A_controller) Stop()

func (*MDD10A_controller) TurnLeft 

func (c *MDD10A_controller) TurnLeft(speed float32)

func (*MDD10A_controller) TurnRight 

func (c *MDD10A_controller) TurnRight(speed float32)

type PWM_periph 

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

func (*PWM_periph) Begin 

func (pwm *PWM_periph) Begin(freq khz)

func (*PWM_periph) SetDuty 

func (pwm *PWM_periph) SetDuty(dutycycle float32)

func (*PWM_periph) SetFreq 

func (pwm *PWM_periph) SetFreq(freq khz)

func (*PWM_periph) Stop 

func (pwm *PWM_periph) Stop()

type PWM_pin 

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

type PWM_regs 

type PWM_regs struct {
	CR  uint32
	SR  uint32
	IR  uint32
	SAR uint32
	PR  uint32
	CNR uint32
}

type Pollfunc 

type Pollfunc func() interface{}

type SPI_periph 

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

func (*SPI_periph) Begin 

func (spi *SPI_periph) Begin(mode, freq, datalength, channel uint32)

the imx6 can support up to 2^12 bits in a single frame!

func (*SPI_periph) Exchange 

func (spi *SPI_periph) Exchange(data uint32) uint32

assumes datalength < 32 bits

func (*SPI_periph) Send 

func (spi *SPI_periph) Send(data uint32)

assumes datalength < 32bits

type SPI_pin 

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

either mosi, miso, sclk, or cs

type SPI_regs 

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

type UART 

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

func (*UART) Read 

func (u *UART) Read(n int) []byte

type UART_regs 

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

Source Files

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