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

Author: ysoldak

bmi160/bmi160.go

@@ -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

@@ -2,37 +2,37 @@
 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,
 	}
 }
 
 // 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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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=