BBB 0.1.2 → 0.1.3

checksums.yaml

@@ -0,0 +1,7 @@
+---
+SHA1:
+  metadata.gz: d18e3e61eefcd87ec52cd8b251cd6799597573cd
+  data.tar.gz: 4c282e7e33f04bc98aad8f2d0f4c41ad46208add
+SHA512:
+  metadata.gz: 87f7819d093f819abcb8bf98e4aab0561cb29716887b49fb3b507b18b00586689f9a158cd097e9f27402fcd8cd56208034a444dd130e307e1c176e95ab149098
+  data.tar.gz: 22c811e2ed74ce86a22e3ddbb4e609f2d998e88a846f0e9ee735787ce38ae77b2531564896744cc034465bac9d0e36ae88093a047682aaa18a834b6d2adf7650

data/BBB.gemspec

@@ -18,6 +18,7 @@ Gem::Specification.new do |spec|
   spec.require_paths = ["lib"]
 
   spec.add_dependency "json"
+  spec.add_dependency "i2c"
   spec.add_development_dependency "bundler", "~> 1.3"
   spec.add_development_dependency "rake"
   spec.add_development_dependency "rspec"

data/lib/BBB.rb

@@ -8,9 +8,11 @@ require "BBB/exceptions"
 
 require "BBB/pins/io/pin_mapper"
 require "BBB/pins/io/mapped"
+require "BBB/pins/io/cape"
 require "BBB/pins/io/ain"
 require "BBB/pins/io/gpio"
 require "BBB/pins/io/pwm"
+require "BBB/pins/io/i2c"
 
 require "BBB/pins/pinnable"
 require "BBB/pins/digital_pin"

data/lib/BBB/components/esc.rb

@@ -0,0 +1,46 @@
+module BBB
+  module Components
+    class ESC
+      include Pinnable
+      uses Pins::PWMPin, Pins::DigitalOutputPin
+
+      attr_accessor :min_duty, :max_duty, :period
+      attr_reader :duty
+
+      def initialize(period=10e6, min_duty=0.8e6, max_duty=2e6)
+        @period   = period
+        @min_duty = min_duty
+        @max_duty = max_duty
+      end
+
+      def after_pin_initialization
+        power.off!
+        pwm.period = period
+        pwm.duty   = min_duty
+        pwm.run    = 1
+      end
+
+      def speed(value)
+        self.duty = min_duty + value * duty_range
+      end
+
+      def duty=(value)
+        @duty = value
+        pwm.duty = @duty
+      end
+
+      def duty_range
+        max_duty - min_duty
+      end
+
+      def pwm
+        pins.first
+      end
+
+      def power
+        pins.last
+      end
+
+    end
+  end
+end

data/lib/BBB/pins/io/ain.rb

@@ -3,6 +3,7 @@ module BBB
     module IO
       class AIN
         include Mapped
+        include Cape
 
         attr_reader :io, :position
 
@@ -22,18 +23,15 @@ module BBB
         end
 
         def export
-          cape_dir = "/sys/devices/bone_capemgr.*/slots"
-          dir = Dir.glob(cape_dir)
-          if dir.length == 0
-            raise BoardError, "unable to access the capemgr directory: #{cape_dir}"
-          end
-          `echo cape-bone-iio > #{dir.first}`
+          `echo cape-bone-iio > #{cape_dir}`
         end
 
         def get_file_handle
           dir  = Dir.glob("/sys/devices/ocp.*/helper.*/")
           file = File.expand_path("AIN#{pin_map.ain}", dir.first)
-          return File.open(file, "r")
+          file = File.open(file, "r")
+          file.sync = true
+          return file
         end
 
         def self.setup

data/lib/BBB/pins/io/cape.rb

@@ -0,0 +1,19 @@
+module BBB
+  module Pins
+    module IO
+      module Cape
+        def cape_dir
+          return @cape_dir if @cape_dir
+
+          cape_dir = "/sys/devices/bone_capemgr.*/slots"
+          dir = Dir.glob(cape_dir)
+          if dir.length == 0
+            raise BoardError, "unable to access the capemgr directory: #{cape_dir}"
+          end
+          @cape_dir = dir.first
+        end
+
+      end
+    end
+  end
+end

data/lib/BBB/pins/io/gpio.rb

@@ -27,11 +27,13 @@ module BBB
           return @io unless @io.nil?
           value_file = gpio_pin_dir + "/value"
           @io = file_class.open(value_file, file_mode)
+          @io.sync = true
+
+          return @io
         end
 
         def write(value)
           io.write(value_map[value])
-          io.flush
         end
 
         def read

data/lib/BBB/pins/io/i2c.rb

@@ -0,0 +1,52 @@
+require 'i2c'
+
+module BBB
+  module Pins
+    module IO
+      class I2C
+        include Mapped
+        include Cape
+
+        attr_reader :backend
+
+        ##
+        # Initializes two I2C pins. The initializer takes the cape argument,
+        # where most other IO classes in the library take a position. This is
+        # because it seems more natural to indicate BB-I2C1 as opposed to
+        # figuring out that I2C1 is mapped to P9_18, and P9_17 (sda, scl) and
+        # then give those positions.
+        #
+        # @param cape [String] The cape name of the I2C chip.
+        #
+        def initialize(cape)
+          @cape = cape
+          self.export
+        end
+
+        def position
+          @cape
+        end
+
+        def export
+          tree = pin_map.devicetree
+          system("echo #{tree} > #{cape_dir}")
+          sleep(0.2) # Give the kernel time to load the cape
+          @backend = I2C.create(pin_map.path)
+        end
+
+        def write(address, *params)
+          @backend.write(address, params)
+        end
+
+        def read(address, size, *params)
+          @backend.read(address, size, params)
+        end
+
+        def pin_map_key
+          :devicetree
+        end
+
+      end
+    end
+  end
+end

data/lib/BBB/pins/io/pin_mapper.rb

@@ -18,8 +18,8 @@ module BBB
 
         class Pin    < Struct.new(:name, :gpio, :led, :mux, :key, :mux_reg_offset,
                                   :options, :eeprom, :pwm, :ain, :scale); end
-        class UART   < Struct.new(:devicetree, :rx, :tx); end
-        class I2C    < Struct.new(:devicetree, :path, :sda, :scl); end
+        class UART   < Struct.new(:devicetree, :rx, :tx, :filesystem); end
+        class I2C    < Struct.new(:devicetree, :path, :sda, :scl, :filesystem); end
 
         attr_reader :data
 
@@ -58,7 +58,11 @@ module BBB
         def self.map(pin_symbol)
           @map ||= convert(PIN_MAP_FILE)
           begin
-            @map.pins.fetch(pin_symbol.upcase.to_sym)
+            sym = pin_symbol.upcase
+            map = @map.pins.fetch(sym, nil)
+            map = @map.i2c.fetch(sym) if map.nil?
+
+            return map
           rescue Exception => e
             raise UnknownPinException, "Pin #{pin_symbol} could not be mapped"
           end
@@ -155,6 +159,30 @@ module BBB
         #      "scl": "P9_17"
         #  }
         #
+        # Mind you, the mapping actually turns some of these keys around. The
+        # resulting hash takes the "devicetree" as the main key, and adds the
+        # key of the JSON object "/dev/i2c-1" as the value of the key
+        # :filesystem in the resulting hash. So, to follow the example above,
+        # the "mapping" of the example above is:
+        #
+        #  @example
+        #   i2c            = I2C.new
+        #   i2c.devicetree = "BB-I2C1"
+        #   i2c.filesystem = "/dev/i2c-1"
+        #   i2c.path       = "/dev/i2c-2",
+        #   i2c.sda        = "P9_18"
+        #   i2c.scl        = "P9_17"
+        #
+        #   map = {:'BB-I2C1' => i2c}
+        #
+        # ** Beware **
+        #
+        # The filesystem and path properties are not always the same! Check for
+        # example the i2c-1, it is found under the JSON key of /dev/i2c-1 but
+        # maps it's path to /dev/i2c-2. It's rather odd...
+        #
+        # ** End of Beware **
+        #
         # @param [Hash] data_hash with strings as keys and hashes as values
         #
         # @return [Hash] with strings of I2C folders as keys and I2C objects as
@@ -177,8 +205,9 @@ module BBB
             info_hash.each_pair do |key, value|
               instance[key] = value
             end
+            instance[:filesystem] = filesystem
 
-            hash[filesystem] = instance
+            hash[instance.devicetree] = instance
           end
 
           return hash
@@ -187,7 +216,7 @@ module BBB
         ##
         # Makes an underscored, lowercase form from the expression in the string.
         #
-        # Gracefully copied from ActiveSupport::Inflections
+        # Copied from ActiveSupport::Inflections
         # http://api.rubyonrails.org/classes/ActiveSupport/Inflector.html#method-i-underscore
         #
         # Changes '::' to '/' to convert namespaces to paths.

data/lib/BBB/pins/io/pwm.rb

@@ -3,6 +3,7 @@ module BBB
     module IO
       class PWM
         include Mapped
+        include Cape
 
         attr_reader :handles, :position
 
@@ -23,29 +24,30 @@ module BBB
 
           files.each do |file|
             file_path = File.expand_path(file, path)
-            handles[file.to_sym] = File.open(file_path, "r+")
+            f = File.open(file_path, "r+")
+            f.sync = true
+            handles[file.to_sym] = f
           end
 
           return handles
         end
 
         def export
-          cape_dir = "/sys/devices/bone_capemgr.*/slots"
-          dir = Dir.glob(cape_dir)
-          if dir.length == 0
-            raise BoardError, "unable to access the capemgr directory: #{cape_dir}"
-          end
-
           pin_map_key = pin_map.key # This calls the pin map, which raises an error in case pin can't be mapped.
-          system("echo am33xx_pwm > #{dir.first}")
-          system("echo bone_pwm_#{pin_map_key} > #{dir.first}")
+
+          system("echo am33xx_pwm > #{cape_dir}")
+          system("echo bone_pwm_#{pin_map_key} > #{cape_dir}")
+          sleep(0.2) # This seems to be necessary for te driver to load
         end
 
         def write(symbol, value)
           handle = handles[symbol]
           handle.rewind
-          handle.write(value)
-          handle.flush
+          begin
+            handle.write(value)
+          rescue Errno::EINVAL
+            puts "Could not write the value #{value} to the handle #{symbol}"
+          end
           return value
         end
 

data/lib/BBB/version.rb

@@ -1,3 +1,3 @@
 module BBB
-  VERSION = "0.1.2"
+  VERSION = "0.1.3"
 end

data/spec/pins/io/i2c_spec.rb

@@ -0,0 +1,11 @@
+require 'spec_helper'
+
+describe BBB::Pins::IO::I2C do
+  let(:i2c) { BBB::Pins::IO::I2C }
+
+  #it "initializes" do
+    #i2c.any_instance.should_receive(:system)
+    #i2c.any_instance.should_receive(:export)
+    #i2c.new("BB-I2C1").should_not raise_error
+  #end
+end

metadata

@@ -1,36 +1,46 @@
 --- !ruby/object:Gem::Specification
 name: BBB
 version: !ruby/object:Gem::Version
-  version: 0.1.2
-  prerelease: 
+  version: 0.1.3
 platform: ruby
 authors:
 - Wilco van Duinkerken
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-12-30 00:00:00.000000000 Z
+date: 2014-01-06 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: json
   requirement: !ruby/object:Gem::Requirement
-    none: false
     requirements:
-    - - ! '>='
+    - - '>='
       - !ruby/object:Gem::Version
         version: '0'
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
-    none: false
     requirements:
-    - - ! '>='
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: i2c
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
       - !ruby/object:Gem::Version
         version: '0'
 - !ruby/object:Gem::Dependency
   name: bundler
   requirement: !ruby/object:Gem::Requirement
-    none: false
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
@@ -38,7 +48,6 @@ dependencies:
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
-    none: false
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
@@ -46,33 +55,29 @@ dependencies:
 - !ruby/object:Gem::Dependency
   name: rake
   requirement: !ruby/object:Gem::Requirement
-    none: false
     requirements:
-    - - ! '>='
+    - - '>='
       - !ruby/object:Gem::Version
         version: '0'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
-    none: false
     requirements:
-    - - ! '>='
+    - - '>='
       - !ruby/object:Gem::Version
         version: '0'
 - !ruby/object:Gem::Dependency
   name: rspec
   requirement: !ruby/object:Gem::Requirement
-    none: false
     requirements:
-    - - ! '>='
+    - - '>='
       - !ruby/object:Gem::Version
         version: '0'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
-    none: false
     requirements:
-    - - ! '>='
+    - - '>='
       - !ruby/object:Gem::Version
         version: '0'
 description: Helper functions to ruby around on the BeagleBone Black
@@ -97,6 +102,7 @@ files:
 - lib/BBB/application.rb
 - lib/BBB/circuit.rb
 - lib/BBB/components/analog_component.rb
+- lib/BBB/components/esc.rb
 - lib/BBB/components/led.rb
 - lib/BBB/components/pinnable.rb
 - lib/BBB/components/servo.rb
@@ -104,7 +110,9 @@ files:
 - lib/BBB/pins/analog_pin.rb
 - lib/BBB/pins/digital_pin.rb
 - lib/BBB/pins/io/ain.rb
+- lib/BBB/pins/io/cape.rb
 - lib/BBB/pins/io/gpio.rb
+- lib/BBB/pins/io/i2c.rb
 - lib/BBB/pins/io/mapped.rb
 - lib/BBB/pins/io/pin_mapper.rb
 - lib/BBB/pins/io/pwm.rb
@@ -123,6 +131,7 @@ files:
 - spec/pins/digital_input_pin_spec.rb
 - spec/pins/digital_output_pin_spec.rb
 - spec/pins/digital_pin_spec.rb
+- spec/pins/io/i2c_spec.rb
 - spec/pins/io/mapped_spec.rb
 - spec/pins/io/pin_mapper_spec.rb
 - spec/pins/pinnable_spec.rb
@@ -131,33 +140,26 @@ files:
 homepage: 
 licenses:
 - MIT
+metadata: {}
 post_install_message: 
 rdoc_options: []
 require_paths:
 - lib
 required_ruby_version: !ruby/object:Gem::Requirement
-  none: false
   requirements:
-  - - ! '>='
+  - - '>='
     - !ruby/object:Gem::Version
       version: '0'
-      segments:
-      - 0
-      hash: -4269646228377431993
 required_rubygems_version: !ruby/object:Gem::Requirement
-  none: false
   requirements:
-  - - ! '>='
+  - - '>='
     - !ruby/object:Gem::Version
       version: '0'
-      segments:
-      - 0
-      hash: -4269646228377431993
 requirements: []
 rubyforge_project: 
-rubygems_version: 1.8.25
+rubygems_version: 2.0.3
 signing_key: 
-specification_version: 3
+specification_version: 4
 summary: Helper functions to ruby around on the BeagleBone Black
 test_files:
 - spec/application_spec.rb
@@ -170,8 +172,10 @@ test_files:
 - spec/pins/digital_input_pin_spec.rb
 - spec/pins/digital_output_pin_spec.rb
 - spec/pins/digital_pin_spec.rb
+- spec/pins/io/i2c_spec.rb
 - spec/pins/io/mapped_spec.rb
 - spec/pins/io/pin_mapper_spec.rb
 - spec/pins/pinnable_spec.rb
 - spec/pins/pwm_pin_spec.rb
 - spec/spec_helper.rb
+has_rdoc: