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Pin HAL to break dependency of drivers from TinyGo's machine package

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This commit is contained in:
Yurii Soldak
2025-09-21 04:38:21 +02:00
parent 3fa08112db
commit c6d83b783f
15 changed files with 328 additions and 88 deletions
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bmi160/bmi160.go
+14 -16
View File
@@ -1,7 +1,6 @@
package bmi160
import (
"machine"
"time"
"tinygo.org/x/drivers"
@@ -11,7 +10,7 @@ import (
// also an I2C interface, but it is not yet supported.
type DeviceSPI struct {
// Chip select pin
CSB machine.Pin
CSB drivers.PinOutput
buf [7]byte
@@ -22,9 +21,9 @@ type DeviceSPI struct {
// NewSPI returns a new device driver. The pin and SPI interface are not
// touched, provide a fully configured SPI object and call Configure to start
// using this device.
func NewSPI(csb machine.Pin, spi drivers.SPI) *DeviceSPI {
func NewSPI(csb drivers.PinOutput, spi drivers.SPI) *DeviceSPI {
return &DeviceSPI{
CSB: csb, // chip select
CSB: drivers.SafePinOutput(csb), // chip select
Bus: spi,
}
}
@@ -33,8 +32,7 @@ func NewSPI(csb machine.Pin, spi drivers.SPI) *DeviceSPI {
// configures the BMI160, but it does not configure the SPI interface (it is
// assumed to be up and running).
func (d *DeviceSPI) Configure() error {
d.CSB.Configure(machine.PinConfig{Mode: machine.PinOutput})
d.CSB.High()
d.CSB.Set(true)
// The datasheet recommends doing a register read from address 0x7F to get
// SPI communication going:
@@ -86,9 +84,9 @@ func (d *DeviceSPI) ReadTemperature() (temperature int32, err error) {
data[0] = 0x80 | reg_TEMPERATURE_0
data[1] = 0
data[2] = 0
d.CSB.Low()
d.CSB.Set(false)
err = d.Bus.Tx(data, data)
d.CSB.High()
d.CSB.Set(true)
if err != nil {
return
}
@@ -123,9 +121,9 @@ func (d *DeviceSPI) ReadAcceleration() (x int32, y int32, z int32, err error) {
for i := 1; i < len(data); i++ {
data[i] = 0
}
d.CSB.Low()
d.CSB.Set(false)
err = d.Bus.Tx(data, data)
d.CSB.High()
d.CSB.Set(true)
if err != nil {
return
}
@@ -153,9 +151,9 @@ func (d *DeviceSPI) ReadRotation() (x int32, y int32, z int32, err error) {
for i := 1; i < len(data); i++ {
data[i] = 0
}
d.CSB.Low()
d.CSB.Set(false)
err = d.Bus.Tx(data, data)
d.CSB.High()
d.CSB.Set(true)
if err != nil {
return
}
@@ -201,9 +199,9 @@ func (d *DeviceSPI) readRegister(address uint8) uint8 {
data := d.buf[:2]
data[0] = 0x80 | address
data[1] = 0
d.CSB.Low()
d.CSB.Set(false)
d.Bus.Tx(data, data)
d.CSB.High()
d.CSB.Set(true)
return data[1]
}
@@ -217,7 +215,7 @@ func (d *DeviceSPI) writeRegister(address, data uint8) {
buf[0] = address
buf[1] = data
d.CSB.Low()
d.CSB.Set(false)
d.Bus.Tx(buf, buf)
d.CSB.High()
d.CSB.Set(true)
}
buzzer/buzzer.go
+7 -7
View File
@@ -2,22 +2,22 @@
package buzzer // import "tinygo.org/x/drivers/buzzer"
import (
"machine"
"time"
"tinygo.org/x/drivers"
)
// Device wraps a GPIO connection to a buzzer.
type Device struct {
pin machine.Pin
set drivers.PinSet
High bool
BPM float64
}
// New returns a new buzzer driver given which pin to use
func New(pin machine.Pin) Device {
func New(pin drivers.PinOutput) Device {
return Device{
pin: pin,
set: drivers.SafePinOutput(pin).Set,
High: false,
BPM: 96.0,
}
@@ -25,14 +25,14 @@ func New(pin machine.Pin) Device {
// On sets the buzzer to a high state.
func (l *Device) On() (err error) {
l.pin.Set(true)
l.set(true)
l.High = true
return
}
// Off sets the buzzer to a low state.
func (l *Device) Off() (err error) {
l.pin.Set(false)
l.set(false)
l.High = false
return
}
dht/thermometer.go
+14 -13
View File
@@ -9,9 +9,10 @@
package dht // import "tinygo.org/x/drivers/dht"
import (
"machine"
"runtime/interrupt"
"time"
"tinygo.org/x/drivers"
)
// DummyDevice provides a basic interface for DHT devices.
@@ -30,7 +31,7 @@ type DummyDevice interface {
// Since taking measurements from the sensor is time consuming procedure and blocks interrupts,
// user can avoid any hidden calls to the sensor.
type device struct {
pin machine.Pin
pin drivers.Pin
measurements DeviceType
initialized bool
@@ -44,7 +45,9 @@ type device struct {
func (t *device) ReadMeasurements() error {
// initial waiting
state := powerUp(t.pin)
defer t.pin.Set(state)
defer func() {
t.pin.Set(state)
}()
err := t.read()
if err == nil {
t.initialized = true
@@ -93,14 +96,12 @@ func (t *device) HumidityFloat() (float32, error) {
// Perform initialization of the communication protocol.
// Device lowers the voltage on pin for startingLow=20ms and starts listening for response
// Section 5.2 in [1]
func initiateCommunication(p machine.Pin) {
func initiateCommunication(p drivers.Pin) {
// Send low signal to the device
p.Configure(machine.PinConfig{Mode: machine.PinOutput})
p.Low()
p.Set(false)
time.Sleep(startingLow)
// Set pin to high and wait for reply
p.High()
p.Configure(machine.PinConfig{Mode: machine.PinInput})
p.Set(true)
}
// Measurements returns both measurements: temperature and humidity as they sent by the device.
@@ -158,7 +159,7 @@ func (t *device) read() error {
// receiveSignals counts number of low and high cycles. The execution is time critical, so the function disables
// interrupts
func receiveSignals(pin machine.Pin, result []counter) {
func receiveSignals(pin drivers.PinInput, result []counter) {
i := uint8(0)
mask := interrupt.Disable()
defer interrupt.Restore(mask)
@@ -189,7 +190,7 @@ func (t *device) extractData(signals []counter, buf []uint8) error {
// waitForDataTransmission waits for reply from the sensor.
// If no reply received, returns NoSignalError.
// For more details, see section 5.2 in [1]
func waitForDataTransmission(p machine.Pin) error {
func waitForDataTransmission(p drivers.PinInput) error {
// wait for thermometer to pull down
if expectChange(p, true) == timeout {
return NoSignalError
@@ -209,10 +210,10 @@ func waitForDataTransmission(p machine.Pin) error {
// This device provides full control to the user.
// It does not do any hidden measurements calls and does not check
// for 2 seconds delay between measurements.
func NewDummyDevice(pin machine.Pin, deviceType DeviceType) DummyDevice {
pin.High()
func NewDummyDevice(pin drivers.Pin, deviceType DeviceType) DummyDevice {
pin.Set(true)
return &device{
pin: pin,
pin: drivers.SafePin(pin),
measurements: deviceType,
initialized: false,
temperature: 0,
dht/timesafethermometer.go
+8 -7
View File
@@ -9,8 +9,9 @@
package dht // import "tinygo.org/x/drivers/dht"
import (
"machine"
"time"
"tinygo.org/x/drivers"
)
// Device interface provides main functionality of the DHTXX sensors.
@@ -124,11 +125,11 @@ func (m *managedDevice) Configure(policy UpdatePolicy) {
// Constructor of the Device implementation.
// This implementation updates data every 2 seconds during data access.
func New(pin machine.Pin, deviceType DeviceType) Device {
pin.High()
func New(pin drivers.Pin, deviceType DeviceType) Device {
pin.Set(true)
return &managedDevice{
t: device{
pin: pin,
pin: drivers.SafePin(pin),
measurements: deviceType,
initialized: false,
},
@@ -141,11 +142,11 @@ func New(pin machine.Pin, deviceType DeviceType) Device {
}
// Constructor of the Device implementation with given UpdatePolicy
func NewWithPolicy(pin machine.Pin, deviceType DeviceType, updatePolicy UpdatePolicy) Device {
pin.High()
func NewWithPolicy(pin drivers.Pin, deviceType DeviceType, updatePolicy UpdatePolicy) Device {
pin.Set(true)
result := &managedDevice{
t: device{
pin: pin,
pin: drivers.SafePin(pin),
measurements: deviceType,
initialized: false,
},
dht/util.go
+5 -4
View File
@@ -3,21 +3,22 @@
package dht // import "tinygo.org/x/drivers/dht"
import (
"machine"
"time"
"tinygo.org/x/drivers"
)
// Check if the pin is disabled
func powerUp(p machine.Pin) bool {
func powerUp(p drivers.Pin) bool {
state := p.Get()
if !state {
p.High()
p.Set(true)
time.Sleep(startTimeout)
}
return state
}
func expectChange(p machine.Pin, oldState bool) counter {
func expectChange(p drivers.PinInput, oldState bool) counter {
cnt := counter(0)
for ; p.Get() == oldState && cnt != timeout; cnt++ {
}
examples/rpio/main.go
+68
View File
@@ -0,0 +1,68 @@
package main
// Example program for the ST7735 display (Waveshare 1.44" LCD HAT) using the rpio driver on a Raspberry Pi.
import (
"fmt"
"image/color"
"time"
go_rpio "github.com/stianeikeland/go-rpio/v4"
"tinygo.org/x/drivers/rpio"
"tinygo.org/x/drivers/st7735"
)
var (
black = color.RGBA{0, 0, 0, 255}
colors = [...]color.RGBA{
{255, 0, 0, 255}, // red
{0, 255, 0, 255}, // green
{0, 0, 255, 255}, // blue
{255, 255, 0, 255}, // yellow
}
)
func main() {
if err := go_rpio.Open(); err != nil {
fmt.Println("Error opening GPIO:", err)
return
}
defer go_rpio.Close()
// Initialize SPI and pins
spi := rpio.NewSPI()
resetPin := rpio.NewPin(27)
dcPin := rpio.NewPin(25)
csPin := rpio.NewPin(8)
blPin := rpio.NewPin(24)
// Initialize display
device := st7735.New(spi, resetPin, dcPin, csPin, blPin)
device.Configure(st7735.Config{
Width: 128,
Height: 128,
Model: st7735.GREENTAB,
RowOffset: 3,
ColumnOffset: 2,
})
device.InvertColors(false)
device.EnableBacklight(true)
device.IsBGR(true) // no effect w/o rotation!
device.SetRotation(st7735.NO_ROTATION)
width, height := device.Size()
// Clear display
device.FillScreen(black)
// Draw rectangles in a loop, clockwise rotation of colors
pos := 0
for {
device.FillRectangle(0, 0, width/2, height/2, colors[(pos+0)%len(colors)]) // top left
device.FillRectangle(0, height/2, width/2, height/2, colors[(pos+1)%len(colors)]) // bottom left
device.FillRectangle(width/2, height/2, width/2, height/2, colors[(pos+2)%len(colors)]) // bottom right
device.FillRectangle(width/2, 0, width/2, height/2, colors[(pos+3)%len(colors)]) // top right
pos++
time.Sleep(1 * time.Second)
}
}
go.mod
+1
View File
@@ -12,6 +12,7 @@ require (
github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510
github.com/orsinium-labs/tinymath v1.1.0
github.com/soypat/natiu-mqtt v0.5.1
github.com/stianeikeland/go-rpio/v4 v4.6.0
golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d
golang.org/x/net v0.33.0
tinygo.org/x/tinyfont v0.3.0
go.sum
+2
View File
@@ -17,6 +17,8 @@ github.com/orsinium-labs/tinymath v1.1.0 h1:KomdsyLHB7vE3f1nRAJF2dyf1m/gnM2HxfTe
github.com/orsinium-labs/tinymath v1.1.0/go.mod h1:WPXX6ei3KSXG7JfA03a+ekCYaY9SWN4I+JRl2p6ck+A=
github.com/soypat/natiu-mqtt v0.5.1 h1:rwaDmlvjzD2+3MCOjMZc4QEkDkNwDzbct2TJbpz+TPc=
github.com/soypat/natiu-mqtt v0.5.1/go.mod h1:xEta+cwop9izVCW7xOx2W+ct9PRMqr0gNVkvBPnQTc4=
github.com/stianeikeland/go-rpio/v4 v4.6.0 h1:eAJgtw3jTtvn/CqwbC82ntcS+dtzUTgo5qlZKe677EY=
github.com/stianeikeland/go-rpio/v4 v4.6.0/go.mod h1:A3GvHxC1Om5zaId+HqB3HKqx4K/AqeckxB7qRjxMK7o=
github.com/valyala/fastjson v1.6.3/go.mod h1:CLCAqky6SMuOcxStkYQvblddUtoRxhYMGLrsQns1aXY=
golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d h1:0olWaB5pg3+oychR51GUVCEsGkeCU/2JxjBgIo4f3M0=
golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d/go.mod h1:qj5a5QZpwLU2NLQudwIN5koi3beDhSAlJwa67PuM98c=
pin.go
+37
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@@ -0,0 +1,37 @@
package drivers
// Pin types abstract the underlying implementation of a pin,
// allowing the use of different hardware or libraries without changing driver code.
//
// Note, pin mode functionality is not part of the Pin interface.
// Implementations must ensure correct pin mode is set when Get or Set methods are called.
//
// Drivers must use SafePin(), SafePinInput() and SafePinOutput() wrappers in constructors.
// The client code can pass either machine.Pin or a custom implementation of the Pin interface.
// Wrappers for TinyGo's machine.Pin are provided in pin_tinygo.go.
// It's custom implementation's responsibility to configure the pin modes correctly as
// Wrappers in pin_generic.go are no-ops.
// PinInput is an interface for reading the state of a pin.
type PinInput interface {
Get() bool
}
// PinOutput is an interface for setting the state of a pin.
type PinOutput interface {
Set(bool)
}
// Pin is an interface for a pin that can be both input and output.
type Pin interface {
PinInput
PinOutput
}
// PinGet is a function type for getting the state of a pin
// Shall be used in high-performance drivers to avoid interface call overhead.
type PinGet func() bool
// PinSet is a function type for setting the state of a pin.
// Shall be used in high-performance drivers to avoid interface call overhead.
type PinSet func(bool)
pin_generic.go
+18
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@@ -0,0 +1,18 @@
//go:build !tinygo
// Generic no-op implementations of SafePin, SafePinInput and SafePinOutput.
// It's custom implementation's responsibility to configure the pin modes correctly when needed.
package drivers
func SafePinInput(pin PinInput) PinInput {
return pin
}
func SafePinOutput(pin PinOutput) PinOutput {
return pin
}
func SafePin(pin Pin) Pin {
return pin
}
pin_tinygo.go
+57
View File
@@ -0,0 +1,57 @@
//go:build tinygo
// Implementation of the Pin interface for tinygo (baremetal), depends on "machine" package.
// SafePin, SafePinInput and SafePinOutput wrappers must be used in constructors of drivers.
package drivers
import (
"machine"
)
// MachinePin wraps machine.Pin to ensure correct pin mode is set when Get or Set methods are called.
type MachinePin struct {
pin machine.Pin
mode machine.PinMode
modeSet bool
}
func (p *MachinePin) Get() bool {
if !p.modeSet || p.mode != machine.PinInput {
p.pin.Configure(machine.PinConfig{Mode: machine.PinInput})
p.mode = machine.PinInput
}
return p.pin.Get()
}
func (p *MachinePin) Set(high bool) {
if !p.modeSet || p.mode != machine.PinOutput {
p.pin.Configure(machine.PinConfig{Mode: machine.PinOutput})
p.mode = machine.PinOutput
}
p.pin.Set(high)
}
// Wrappers for Pin, PinInput and PinOutput interfaces that convert machine.Pin to safe MachinePin.
func SafePinInput(pin PinInput) PinInput {
if p, ok := pin.(machine.Pin); ok {
return &MachinePin{pin: p}
}
return pin
}
func SafePinOutput(pin PinOutput) PinOutput {
if p, ok := pin.(machine.Pin); ok {
return &MachinePin{pin: p}
}
return pin
}
func SafePin(pin Pin) Pin {
if p, ok := pin.(machine.Pin); ok {
return &MachinePin{pin: p}
}
return pin
}
rpio/pin.go
+35
View File
@@ -0,0 +1,35 @@
// Implementation of the Pin interface for the Raspberry Pi GPIO pins.
package rpio // import "tinygo.org/x/drivers/rpio"
import go_rpio "github.com/stianeikeland/go-rpio/v4"
type Pin struct {
modeSet bool
Mode go_rpio.Mode
Pin go_rpio.Pin
}
func NewPin(pinNumber int) *Pin {
return &Pin{Pin: go_rpio.Pin(pinNumber)}
}
func (p *Pin) Get() bool {
if !p.modeSet || p.Mode != go_rpio.Input {
p.Pin.Input()
p.Mode = go_rpio.Input
}
return p.Pin.Read() == go_rpio.High
}
func (p *Pin) Set(high bool) {
if !p.modeSet || p.Mode != go_rpio.Output {
p.Pin.Output()
p.Mode = go_rpio.Output
}
state := go_rpio.Low
if high {
state = go_rpio.High
}
p.Pin.Write(state)
}
rpio/spi.go
+30
View File
@@ -0,0 +1,30 @@
package rpio // import "tinygo.org/x/drivers/rpio"
import go_rpio "github.com/stianeikeland/go-rpio/v4"
type SPI struct {
}
func NewSPI() (s *SPI) {
if err := go_rpio.SpiBegin(go_rpio.Spi0); err != nil {
panic(err)
}
go_rpio.SpiSpeed(25_000_000) // 25 MHz
go_rpio.SpiChipSelect(0)
return &SPI{}
}
func (s *SPI) Tx(w, r []byte) error {
data := make([]byte, len(w))
copy(data, w)
go_rpio.SpiExchange(data)
copy(r, data)
return nil
}
func (s *SPI) Transfer(b byte) (byte, error) {
w := []byte{b}
r := make([]byte, len(w))
err := s.Tx(w, r)
return r[0], err
}
ssd1306/ssd1306_spi.go
+16 -20
View File
@@ -1,7 +1,6 @@
package ssd1306
import (
"machine"
"time"
"tinygo.org/x/drivers"
@@ -9,38 +8,35 @@ import (
type SPIBus struct {
wire drivers.SPI
dcPin machine.Pin
resetPin machine.Pin
csPin machine.Pin
dcPin drivers.PinOutput
resetPin drivers.PinOutput
csPin drivers.PinOutput
buffer []byte // buffer to avoid heap allocations
}
// NewSPI creates a new SSD1306 connection. The SPI wire must already be configured.
func NewSPI(bus drivers.SPI, dcPin, resetPin, csPin machine.Pin) *Device {
dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
func NewSPI(bus drivers.SPI, dcPin, resetPin, csPin drivers.PinOutput) *Device {
return &Device{
bus: &SPIBus{
wire: bus,
dcPin: dcPin,
resetPin: resetPin,
csPin: csPin,
dcPin: drivers.SafePinOutput(dcPin),
resetPin: drivers.SafePinOutput(resetPin),
csPin: drivers.SafePinOutput(csPin),
},
}
}
// configure pins with the SPI bus and allocate the buffer
func (b *SPIBus) configure(address uint16, size int16) []byte {
b.csPin.Low()
b.dcPin.Low()
b.resetPin.Low()
b.csPin.Set(false)
b.dcPin.Set(false)
b.resetPin.Set(false)
b.resetPin.High()
b.resetPin.Set(true)
time.Sleep(1 * time.Millisecond)
b.resetPin.Low()
b.resetPin.Set(false)
time.Sleep(10 * time.Millisecond)
b.resetPin.High()
b.resetPin.Set(true)
b.buffer = make([]byte, size+1) // +1 for a command
return b.buffer[1:] // return the image buffer
@@ -59,10 +55,10 @@ func (b *SPIBus) flush() error {
// tx sends data to the display
func (b *SPIBus) tx(data []byte, isCommand bool) error {
b.csPin.High()
b.csPin.Set(true)
b.dcPin.Set(!isCommand)
b.csPin.Low()
b.csPin.Set(false)
err := b.wire.Tx(data, nil)
b.csPin.High()
b.csPin.Set(true)
return err
}
st7735/st7735.go
+16 -21
View File
@@ -5,7 +5,6 @@ package st7735 // import "tinygo.org/x/drivers/st7735"
import (
"image/color"
"machine"
"time"
"errors"
@@ -39,10 +38,10 @@ type Device = DeviceOf[pixel.RGB565BE]
// formats.
type DeviceOf[T Color] struct {
bus drivers.SPI
dcPin machine.Pin
resetPin machine.Pin
csPin machine.Pin
blPin machine.Pin
dcPin drivers.PinOutput
resetPin drivers.PinOutput
csPin drivers.PinOutput
blPin drivers.PinOutput
width int16
height int16
columnOffset int16
@@ -65,23 +64,19 @@ type Config struct {
}
// New creates a new ST7735 connection. The SPI wire must already be configured.
func New(bus drivers.SPI, resetPin, dcPin, csPin, blPin machine.Pin) Device {
func New(bus drivers.SPI, resetPin, dcPin, csPin, blPin drivers.PinOutput) Device {
return NewOf[pixel.RGB565BE](bus, resetPin, dcPin, csPin, blPin)
}
// NewOf creates a new ST7735 connection with a particular pixel format. The SPI
// wire must already be configured.
func NewOf[T Color](bus drivers.SPI, resetPin, dcPin, csPin, blPin machine.Pin) DeviceOf[T] {
dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
blPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
func NewOf[T Color](bus drivers.SPI, resetPin, dcPin, csPin, blPin drivers.PinOutput) DeviceOf[T] {
return DeviceOf[T]{
bus: bus,
dcPin: dcPin,
resetPin: resetPin,
csPin: csPin,
blPin: blPin,
dcPin: drivers.SafePinOutput(dcPin),
resetPin: drivers.SafePinOutput(resetPin),
csPin: drivers.SafePinOutput(csPin),
blPin: drivers.SafePinOutput(blPin),
}
}
@@ -114,11 +109,11 @@ func (d *DeviceOf[T]) Configure(cfg Config) {
d.batchData = pixel.NewImage[T](int(d.batchLength), 1)
// reset the device
d.resetPin.High()
d.resetPin.Set(true)
time.Sleep(5 * time.Millisecond)
d.resetPin.Low()
d.resetPin.Set(false)
time.Sleep(20 * time.Millisecond)
d.resetPin.High()
d.resetPin.Set(true)
time.Sleep(150 * time.Millisecond)
// Common initialization
@@ -226,7 +221,7 @@ func (d *DeviceOf[T]) Configure(cfg Config) {
d.SetRotation(d.rotation)
d.blPin.High()
d.blPin.Set(true)
}
// Display does nothing, there's no buffer as it might be too big for some boards
@@ -438,9 +433,9 @@ func (d *DeviceOf[T]) Size() (w, h int16) {
// EnableBacklight enables or disables the backlight
func (d *DeviceOf[T]) EnableBacklight(enable bool) {
if enable {
d.blPin.High()
d.blPin.Set(true)
} else {
d.blPin.Low()
d.blPin.Set(false)
}
}