├── bulldog.core ├── build.gradle ├── .gitignore ├── src │ ├── main │ │ └── java │ │ │ └── org │ │ │ └── bulldog │ │ │ └── core │ │ │ ├── Edge.java │ │ │ ├── Polarity.java │ │ │ ├── io │ │ │ ├── uart │ │ │ │ ├── UartSignalType.java │ │ │ │ ├── UartRx.java │ │ │ │ ├── UartTx.java │ │ │ │ ├── UartPinFeature.java │ │ │ │ ├── UartPort.java │ │ │ │ └── AbstractUartPinFeature.java │ │ │ ├── bus │ │ │ │ ├── i2c │ │ │ │ │ ├── I2cSignalType.java │ │ │ │ │ ├── I2cScl.java │ │ │ │ │ ├── I2cSda.java │ │ │ │ │ ├── I2cPinFeature.java │ │ │ │ │ ├── AbstractI2cPinFeature.java │ │ │ │ │ ├── I2cBus.java │ │ │ │ │ ├── I2cConnection.java │ │ │ │ │ └── I2cDevice.java │ │ │ │ ├── spi │ │ │ │ │ ├── SpiSignalType.java │ │ │ │ │ ├── SpiMode.java │ │ │ │ │ ├── SpiMessage.java │ │ │ │ │ ├── SpiDevice.java │ │ │ │ │ └── SpiBus.java │ │ │ │ └── Bus.java │ │ │ ├── serial │ │ │ │ ├── SerialDataListener.java │ │ │ │ ├── SerialDataEventArgs.java │ │ │ │ └── SerialPort.java │ │ │ ├── PinIOOutputStream.java │ │ │ ├── PinIOInputStream.java │ │ │ └── IOPort.java │ │ │ ├── Parity.java │ │ │ ├── gpio │ │ │ ├── event │ │ │ │ ├── ValueChangedListener.java │ │ │ │ ├── InterruptListener.java │ │ │ │ ├── InterruptEventArgs.java │ │ │ │ ├── FeatureActivationEventArgs.java │ │ │ │ ├── FeatureActivationListener.java │ │ │ │ └── ThresholdListener.java │ │ │ ├── Pwm.java │ │ │ ├── PinFeature.java │ │ │ ├── base │ │ │ │ ├── AbstractPinFeature.java │ │ │ │ └── AbstractAnalogInput.java │ │ │ └── PinBlockedException.java │ │ │ ├── platform │ │ │ ├── BoardFactory.java │ │ │ ├── IncompatiblePlatformException.java │ │ │ ├── PinProvider.java │ │ │ ├── Platform.java │ │ │ ├── Board.java │ │ │ └── AbstractPinProvider.java │ │ │ ├── util │ │ │ ├── easing │ │ │ │ ├── Easing.java │ │ │ │ ├── LinearEasing.java │ │ │ │ ├── EasingOptions.java │ │ │ │ ├── QuintEasing.java │ │ │ │ ├── SineEasing.java │ │ │ │ ├── CircularEasing.java │ │ │ │ ├── ExponentialEasing.java │ │ │ │ └── BounceEasing.java │ │ │ └── DaemonThreadFactory.java │ │ │ └── Signal.java │ └── test │ │ └── java │ │ └── org │ │ └── bulldog │ │ └── core │ │ ├── mocks │ │ ├── MockedPinFeature3.java │ │ ├── MockedPinFeature1.java │ │ ├── MockedPinFeature2.java │ │ ├── MockedBoard.java │ │ ├── MockedDigitalOutput.java │ │ ├── MockedPwm.java │ │ ├── MockedAnalogInput.java │ │ ├── MockedI2cBus.java │ │ ├── MockedSerialPort.java │ │ └── MockedDigitalInput.java │ │ ├── gpio │ │ ├── base │ │ │ ├── TestAbstractDigitalOutput.java │ │ │ └── TestAbstractDigitalInput.java │ │ └── util │ │ │ └── TestSoftPwm.java │ │ └── testsuite │ │ └── CompleteTestSuite.java ├── .checkstyle ├── .classpath └── .project ├── bulldog.build ├── .gitignore ├── build.bat ├── buildAndTest.bat ├── cloc.bat ├── .classpath ├── settings.gradle ├── .project ├── src │ └── main │ │ └── resources │ │ └── readme.txt └── gradle.properties ├── bulldog.devices ├── .gitignore ├── build.gradle ├── src │ ├── main │ │ └── java │ │ │ └── org │ │ │ └── bulldog │ │ │ └── devices │ │ │ ├── motor │ │ │ ├── BipolarStepper.java │ │ │ ├── AbstractStepper.java │ │ │ └── UnipolarStepper.java │ │ │ ├── lcd │ │ │ ├── LcdFont.java │ │ │ ├── HD44780Mode.java │ │ │ ├── Lcd.java │ │ │ └── LcdMode.java │ │ │ ├── switches │ │ │ ├── ButtonListener.java │ │ │ └── RotaryEncoderListener.java │ │ │ ├── actuators │ │ │ ├── movement │ │ │ │ ├── Move.java │ │ │ │ ├── DirectMove.java │ │ │ │ ├── Sweep.java │ │ │ │ └── LinearMove.java │ │ │ └── Actuator.java │ │ │ ├── servo │ │ │ ├── ServoListener.java │ │ │ ├── TowerProMicroSG90.java │ │ │ └── AdafruitServoDriver.java │ │ │ ├── pwmdriver │ │ │ ├── FrequencyLookupTable.java │ │ │ └── PCA9685Pwm.java │ │ │ └── portexpander │ │ │ └── PCF8574DigitalOutput.java │ └── test │ │ └── java │ │ └── org │ │ └── bulldog │ │ └── devices │ │ └── AppTest.java ├── .classpath └── .project ├── bulldog.examples ├── .gitignore ├── build.gradle ├── .project ├── .classpath └── src │ ├── test │ └── java │ │ └── org │ │ └── bulldog │ │ └── examples │ │ └── AppTest.java │ └── main │ └── java │ └── org │ └── bulldog │ └── examples │ ├── LedExample.java │ ├── I2cExample.java │ ├── PinIOGroupExample.java │ ├── ButtonExample.java │ └── DigitalOutputExample.java ├── bulldog.linux.native ├── .gitignore ├── .classpath ├── src │ └── main │ │ └── c │ │ ├── linux │ │ ├── bulldog │ │ │ ├── bulldog.h │ │ │ ├── bulldog.c │ │ │ ├── bulldogI2c.h │ │ │ ├── bulldogSpi.h │ │ │ ├── bulldogSerial.h │ │ │ └── bulldogI2c.c │ │ └── jni │ │ │ ├── org_bulldog_linux_jni_NativeTools.h │ │ │ └── org_bulldog_linux_jni_NativeSpi.h │ │ └── beagleboneblack │ │ ├── BBBIOlib │ │ ├── BBBiolib_PWMSS.h │ │ └── BBBiolib_ADCTSC.h │ │ └── jni │ │ ├── org_bulldog_beagleboneblack_jni_NativePwm.h │ │ └── org_bulldog_beagleboneblack_jni_NativePwm.c └── .project ├── bulldog.board.beagleboneblack ├── .gitignore ├── src │ ├── main │ │ ├── resources │ │ │ └── META-INF │ │ │ │ └── services │ │ │ │ └── org.bulldog.core.platform.BoardFactory │ │ └── java │ │ │ └── org │ │ │ └── bulldog │ │ │ └── beagleboneblack │ │ │ ├── BBBProperties.java │ │ │ ├── io │ │ │ ├── BBBSpiBus.java │ │ │ ├── BBBI2cPinFeature.java │ │ │ ├── BBBUartPinFeature.java │ │ │ └── BBBI2cBus.java │ │ │ ├── BeagleBoneBlackBoardFactory.java │ │ │ ├── gpio │ │ │ ├── BBBEmmc.java │ │ │ ├── BBBHdmi.java │ │ │ ├── BBBDigitalInput.java │ │ │ ├── BBBDigitalOutput.java │ │ │ └── BBBPwmManager.java │ │ │ ├── BeagleBonePin.java │ │ │ ├── jni │ │ │ ├── NativePwm.java │ │ │ └── NativeGpio.java │ │ │ ├── sysfs │ │ │ └── SysFsPwm.java │ │ │ └── devicetree │ │ │ ├── DeviceTreeCompiler.java │ │ │ └── resources │ │ │ └── pwm.dts.template │ └── test │ │ └── java │ │ └── org │ │ └── bulldog │ │ └── beagleboneblack │ │ └── AppTest.java ├── .project ├── .classpath └── build.gradle ├── bulldog.linux ├── build.gradle ├── src │ └── main │ │ └── java │ │ └── org │ │ └── bulldog │ │ └── linux │ │ ├── io │ │ ├── LinuxEpollListener.java │ │ └── mmap │ │ │ ├── ByteRegister.java │ │ │ ├── LongRegister.java │ │ │ ├── ShortRegister.java │ │ │ ├── IntRegister.java │ │ │ └── Register.java │ │ ├── jni │ │ ├── NativeI2c.java │ │ ├── NativeTools.java │ │ ├── NativeSpi.java │ │ ├── NativePollResult.java │ │ ├── NativeMmap.java │ │ ├── NativeSerial.java │ │ └── NativeEpoll.java │ │ ├── sysinfo │ │ └── CpuInfo.java │ │ ├── util │ │ ├── LinuxLibraryLoader.java │ │ └── Commands.java │ │ └── gpio │ │ └── LinuxDigitalOutput.java ├── .classpath └── .project ├── bulldog.board.cubieboard ├── src │ └── main │ │ ├── resources │ │ └── META-INF │ │ │ └── services │ │ │ └── org.bulldog.core.platform.BoardFactory │ │ └── java │ │ └── org │ │ └── bulldog │ │ └── cubieboard │ │ ├── CubieboardBoardFactory.java │ │ ├── gpio │ │ ├── CubieboardDigitalOutput.java │ │ ├── CubieboardSysFsPin.java │ │ └── CubieboardDigitalInput.java │ │ ├── CubieboardPin.java │ │ └── CubieboardNames.java ├── .project ├── build.gradle └── .classpath ├── bulldog.board.raspberrypi ├── src │ └── main │ │ ├── resources │ │ └── META-INF │ │ │ └── services │ │ │ └── org.bulldog.core.platform.BoardFactory │ │ └── java │ │ └── org │ │ └── bulldog │ │ └── raspberrypi │ │ ├── io │ │ ├── RaspberryPiSpiBus.java │ │ ├── RaspberryPiI2cPinFeature.java │ │ └── RaspberryPiI2cBus.java │ │ ├── RaspberryPiPin.java │ │ ├── RaspberryPiBoardFactory.java │ │ ├── gpio │ │ ├── RaspiDigitalInput.java │ │ ├── PwmFrequencyCalculator.java │ │ └── RaspiDigitalOutput.java │ │ └── RaspiNames.java ├── .project ├── build.gradle └── .classpath ├── dist └── Version-0.1.0 │ ├── bulldog.cubieboard │ ├── libbulldog-linux.so │ ├── bulldog.cubieboard.jar │ └── bulldog.cubieboard-0.1.0.zip │ ├── bulldog.raspberrypi │ ├── libbulldog-linux.so │ ├── bulldog.raspberrypi.jar │ ├── bulldog.raspberrypi-0.1.0.zip │ └── bulldog.raspberrypiWithSources-0.1.0.zip │ ├── bulldog.beagleboneblack.hardfp │ ├── libbulldog-linux.so │ ├── bulldog.beagleboneblack.hardfp.jar │ ├── bulldog.beagleboneblack.hardfp-0.1.0.zip │ └── bulldog.beagleboneblack.hardfpWithSources-0.1.0.zip │ ├── bulldog.beagleboneblack.softfp │ ├── libbulldog-linux.so │ ├── bulldog.beagleboneblack.softfp.jar │ ├── bulldog.beagleboneblack.softfp-0.1.0.zip │ └── bulldog.beagleboneblack.softfpWithSources-0.1.0.zip │ └── javadoc │ ├── org │ └── bulldog │ │ ├── devices │ │ ├── led │ │ │ └── package-frame.html │ │ ├── dac │ │ │ └── package-frame.html │ │ ├── actuators │ │ │ ├── package-frame.html │ │ │ └── movement │ │ │ │ └── package-frame.html │ │ ├── sensors │ │ │ └── package-frame.html │ │ ├── motor │ │ │ └── package-frame.html │ │ ├── pwmdriver │ │ │ └── package-frame.html │ │ ├── portexpander │ │ │ └── package-frame.html │ │ ├── servo │ │ │ └── package-frame.html │ │ ├── switches │ │ │ └── package-frame.html │ │ └── lcd │ │ │ └── package-frame.html │ │ ├── linux │ │ ├── sysinfo │ │ │ └── package-frame.html │ │ ├── sysfs │ │ │ └── package-frame.html │ │ ├── util │ │ │ └── package-frame.html │ │ ├── gpio │ │ │ └── package-frame.html │ │ ├── io │ │ │ ├── mmap │ │ │ │ └── package-frame.html │ │ │ └── package-frame.html │ │ └── jni │ │ │ └── package-frame.html │ │ ├── beagleboneblack │ │ ├── devicetree │ │ │ └── package-frame.html │ │ ├── sysfs │ │ │ └── package-frame.html │ │ ├── jni │ │ │ └── package-frame.html │ │ ├── package-frame.html │ │ ├── io │ │ │ └── package-frame.html │ │ └── gpio │ │ │ └── package-frame.html │ │ ├── core │ │ ├── util │ │ │ └── package-frame.html │ │ ├── package-frame.html │ │ ├── gpio │ │ │ ├── util │ │ │ │ └── package-frame.html │ │ │ └── base │ │ │ │ └── package-frame.html │ │ └── io │ │ │ ├── bus │ │ │ ├── package-frame.html │ │ │ └── spi │ │ │ │ └── package-frame.html │ │ │ ├── serial │ │ │ └── package-frame.html │ │ │ ├── package-frame.html │ │ │ └── uart │ │ │ └── package-frame.html │ │ └── raspberrypi │ │ ├── io │ │ └── package-frame.html │ │ ├── gpio │ │ └── package-frame.html │ │ └── package-frame.html │ └── package-list └── .gitignore /bulldog.core/build.gradle: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /bulldog.core/.gitignore: -------------------------------------------------------------------------------- 1 | /bin/ 2 | -------------------------------------------------------------------------------- /bulldog.build/.gitignore: -------------------------------------------------------------------------------- 1 | /bin/ 2 | -------------------------------------------------------------------------------- /bulldog.devices/.gitignore: -------------------------------------------------------------------------------- 1 | /bin/ 2 | -------------------------------------------------------------------------------- /bulldog.examples/.gitignore: -------------------------------------------------------------------------------- 1 | /bin/ 2 | -------------------------------------------------------------------------------- /bulldog.linux.native/.gitignore: -------------------------------------------------------------------------------- 1 | /bin/ 2 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/.gitignore: -------------------------------------------------------------------------------- 1 | /bin/ 2 | -------------------------------------------------------------------------------- /bulldog.linux/build.gradle: -------------------------------------------------------------------------------- 1 | dependencies { 2 | compile project(":bulldog.core") 3 | } -------------------------------------------------------------------------------- /bulldog.build/build.bat: -------------------------------------------------------------------------------- 1 | gradle -x test --daemon clean build distribution archiveDistributions -------------------------------------------------------------------------------- /bulldog.build/buildAndTest.bat: -------------------------------------------------------------------------------- 1 | gradle --daemon clean build distribution archiveDistributions -------------------------------------------------------------------------------- /bulldog.build/cloc.bat: -------------------------------------------------------------------------------- 1 | %~dp0../bulldog.tools/tools/cloc-1.60.exe ../ --exclude-dir ../bulldog.tools -------------------------------------------------------------------------------- /bulldog.devices/build.gradle: -------------------------------------------------------------------------------- 1 | dependencies { 2 | compile project(':bulldog.core') 3 | } 4 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/src/main/resources/META-INF/services/org.bulldog.core.platform.BoardFactory: -------------------------------------------------------------------------------- 1 | org.bulldog.cubieboard.CubieboardBoardFactory -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/resources/META-INF/services/org.bulldog.core.platform.BoardFactory: -------------------------------------------------------------------------------- 1 | org.bulldog.raspberrypi.RaspberryPiBoardFactory -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/Edge.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core; 2 | 3 | public enum Edge { 4 | Rising, 5 | Falling, 6 | Both 7 | } 8 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/Polarity.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core; 2 | 3 | public enum Polarity { 4 | Positive, 5 | Negative 6 | } 7 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/resources/META-INF/services/org.bulldog.core.platform.BoardFactory: -------------------------------------------------------------------------------- 1 | org.bulldog.beagleboneblack.BeagleBoneBlackBoardFactory -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/motor/BipolarStepper.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.motor; 2 | 3 | public class BipolarStepper { 4 | 5 | } 6 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.cubieboard/libbulldog-linux.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.cubieboard/libbulldog-linux.so -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/uart/UartSignalType.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.uart; 2 | 3 | public enum UartSignalType { 4 | RX, 5 | TX 6 | } 7 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/lcd/LcdFont.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.lcd; 2 | 3 | public enum LcdFont { 4 | Font_5x8, 5 | Font_8x10 6 | } 7 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.cubieboard/bulldog.cubieboard.jar: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.cubieboard/bulldog.cubieboard.jar -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.raspberrypi/libbulldog-linux.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.raspberrypi/libbulldog-linux.so -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/i2c/I2cSignalType.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.i2c; 2 | 3 | public enum I2cSignalType { 4 | SDA, 5 | SCL 6 | } 7 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/uart/UartRx.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.uart; 2 | 3 | 4 | public interface UartRx extends UartPinFeature { 5 | 6 | } 7 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/uart/UartTx.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.uart; 2 | 3 | 4 | public interface UartTx extends UartPinFeature { 5 | 6 | } 7 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/lcd/HD44780Mode.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.lcd; 2 | 3 | public enum HD44780Mode { 4 | FourBit, 5 | EightBit 6 | } 7 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.raspberrypi/bulldog.raspberrypi.jar: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.raspberrypi/bulldog.raspberrypi.jar -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/i2c/I2cScl.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.i2c; 2 | 3 | 4 | public interface I2cScl extends I2cPinFeature { 5 | 6 | } 7 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/i2c/I2cSda.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.i2c; 2 | 3 | 4 | public interface I2cSda extends I2cPinFeature { 5 | 6 | } 7 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/Parity.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core; 2 | 3 | public enum Parity { 4 | None, 5 | Odd, 6 | Even, 7 | Mark, 8 | Space 9 | } 10 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.cubieboard/bulldog.cubieboard-0.1.0.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.cubieboard/bulldog.cubieboard-0.1.0.zip -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | /bulldog.tools/ 2 | /.metadata/ 3 | target/ 4 | .settings/ 5 | .gradle/ 6 | Debug/ 7 | Release/ 8 | build/ 9 | bin/ 10 | bulldog.repository/ 11 | dist/**/sources/** 12 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.beagleboneblack.hardfp/libbulldog-linux.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.beagleboneblack.hardfp/libbulldog-linux.so -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.beagleboneblack.softfp/libbulldog-linux.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.beagleboneblack.softfp/libbulldog-linux.so -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.raspberrypi/bulldog.raspberrypi-0.1.0.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.raspberrypi/bulldog.raspberrypi-0.1.0.zip -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/spi/SpiSignalType.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.spi; 2 | 3 | public enum SpiSignalType { 4 | MOSI, 5 | MISO, 6 | SCLK, 7 | SS 8 | } 9 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.raspberrypi/bulldog.raspberrypiWithSources-0.1.0.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.raspberrypi/bulldog.raspberrypiWithSources-0.1.0.zip -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.beagleboneblack.hardfp/bulldog.beagleboneblack.hardfp.jar: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.beagleboneblack.hardfp/bulldog.beagleboneblack.hardfp.jar -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.beagleboneblack.softfp/bulldog.beagleboneblack.softfp.jar: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.beagleboneblack.softfp/bulldog.beagleboneblack.softfp.jar -------------------------------------------------------------------------------- /bulldog.build/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/event/ValueChangedListener.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.event; 2 | 3 | public interface ValueChangedListener { 4 | 5 | void valueChanged(T oldValue, T newValue); 6 | } 7 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.beagleboneblack.hardfp/bulldog.beagleboneblack.hardfp-0.1.0.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.beagleboneblack.hardfp/bulldog.beagleboneblack.hardfp-0.1.0.zip -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.beagleboneblack.softfp/bulldog.beagleboneblack.softfp-0.1.0.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.beagleboneblack.softfp/bulldog.beagleboneblack.softfp-0.1.0.zip -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/event/InterruptListener.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.event; 2 | 3 | public interface InterruptListener { 4 | 5 | void interruptRequest(InterruptEventArgs args); 6 | 7 | } 8 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/switches/ButtonListener.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.switches; 2 | 3 | public interface ButtonListener { 4 | 5 | void buttonPressed(); 6 | void buttonReleased(); 7 | 8 | } 9 | -------------------------------------------------------------------------------- /bulldog.linux.native/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/serial/SerialDataListener.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.serial; 2 | 3 | public interface SerialDataListener { 4 | 5 | void onSerialDataAvailable(SerialDataEventArgs args); 6 | 7 | } 8 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/platform/BoardFactory.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.platform; 2 | 3 | 4 | public interface BoardFactory { 5 | 6 | boolean isCompatibleWithPlatform(); 7 | Board createBoard(); 8 | 9 | } 10 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.beagleboneblack.hardfp/bulldog.beagleboneblack.hardfpWithSources-0.1.0.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.beagleboneblack.hardfp/bulldog.beagleboneblack.hardfpWithSources-0.1.0.zip -------------------------------------------------------------------------------- /dist/Version-0.1.0/bulldog.beagleboneblack.softfp/bulldog.beagleboneblack.softfpWithSources-0.1.0.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Datenheld/Bulldog/HEAD/dist/Version-0.1.0/bulldog.beagleboneblack.softfp/bulldog.beagleboneblack.softfpWithSources-0.1.0.zip -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/i2c/I2cPinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.i2c; 2 | 3 | import org.bulldog.core.gpio.PinFeature; 4 | 5 | public interface I2cPinFeature extends PinFeature { 6 | 7 | I2cBus getI2cBus(); 8 | } 9 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/uart/UartPinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.uart; 2 | 3 | import org.bulldog.core.gpio.PinFeature; 4 | 5 | public interface UartPinFeature extends PinFeature { 6 | 7 | public UartPort getPort(); 8 | } 9 | -------------------------------------------------------------------------------- /bulldog.build/settings.gradle: -------------------------------------------------------------------------------- 1 | includeFlat "bulldog.core", 2 | "bulldog.devices", 3 | "bulldog.examples", 4 | "bulldog.linux.native", 5 | "bulldog.linux", 6 | "bulldog.board.beagleboneblack", 7 | "bulldog.board.raspberrypi", 8 | "bulldog.board.cubieboard" -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/actuators/movement/Move.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.actuators.movement; 2 | 3 | import org.bulldog.devices.actuators.Actuator; 4 | 5 | 6 | public interface Move { 7 | 8 | void execute(Actuator actuator); 9 | } 10 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/easing/Easing.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util.easing; 2 | 3 | public interface Easing { 4 | 5 | float easeIn(float t, float d); 6 | float easeOut(float t, float d); 7 | float easeInOut(float t, float d); 8 | 9 | } 10 | -------------------------------------------------------------------------------- /bulldog.examples/build.gradle: -------------------------------------------------------------------------------- 1 | dependencies { 2 | compile project(":bulldog.core") 3 | compile project(":bulldog.devices") 4 | compile project(":bulldog.linux") 5 | compile project(":bulldog.board.beagleboneblack") 6 | compile project(":bulldog.board.raspberrypi") 7 | } 8 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/platform/IncompatiblePlatformException.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.platform; 2 | 3 | public class IncompatiblePlatformException extends RuntimeException { 4 | 5 | private static final long serialVersionUID = -7164560644328617567L; 6 | 7 | } 8 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/linux/bulldog/bulldog.h: -------------------------------------------------------------------------------- 1 | #ifndef BULLDOG_H 2 | #define BULLDOG_H 3 | 4 | 5 | #ifdef __cplusplus 6 | extern "C" { 7 | #endif 8 | 9 | extern void errorMessage(char* messageFormat, ...); 10 | 11 | #ifdef __cplusplus 12 | } 13 | #endif 14 | 15 | #endif 16 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/io/LinuxEpollListener.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.io; 2 | 3 | import org.bulldog.linux.jni.NativePollResult; 4 | 5 | public interface LinuxEpollListener { 6 | 7 | void processEpollResults(NativePollResult[] results); 8 | 9 | } 10 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedPinFeature3.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | 5 | public class MockedPinFeature3 extends MockedPinFeature2 { 6 | 7 | public MockedPinFeature3(Pin pin) { 8 | super(pin); 9 | } 10 | 11 | } 12 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/servo/ServoListener.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.servo; 2 | 3 | public interface ServoListener { 4 | 5 | void angleChanged(Servo servo, double oldAngle, double newAngle); 6 | void moveCompleted(Servo servo, double oldAngle, double newAngle); 7 | 8 | } 9 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/linux/bulldog/bulldog.c: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include "bulldog.h" 4 | 5 | void errorMessage(char* messageFormat, ...) { 6 | va_list args; 7 | va_start(args, messageFormat); 8 | fprintf (stderr, messageFormat, args); 9 | va_end(args); 10 | } 11 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/uart/UartPort.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.uart; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.io.serial.SerialPort; 5 | 6 | public interface UartPort extends SerialPort { 7 | 8 | public Pin getRx(); 9 | public Pin getTx(); 10 | 11 | } 12 | -------------------------------------------------------------------------------- /bulldog.core/.checkstyle: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /bulldog.linux/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/Pwm.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio; 2 | 3 | 4 | public interface Pwm extends PinFeature { 5 | 6 | void enable(); 7 | void disable(); 8 | boolean isEnabled(); 9 | 10 | void setDuty(double duty); 11 | double getDuty(); 12 | 13 | void setFrequency(double frequency); 14 | double getFrequency(); 15 | } -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/switches/RotaryEncoderListener.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.switches; 2 | 3 | import org.bulldog.core.gpio.event.ValueChangedListener; 4 | 5 | 6 | public interface RotaryEncoderListener extends ValueChangedListener { 7 | 8 | void turnedClockwise(); 9 | void turnedCounterclockwise(); 10 | 11 | } 12 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/BBBProperties.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack; 2 | 3 | public class BBBProperties { 4 | public static final String DOGTAG = "beagleboneblack.dogtag"; 5 | public static final String HDMI_ENABLED = "beagleboneblack.hdmi.enabled"; 6 | public static final String EMMC_ENABLED = "beagleboneblack.emmc.enabled"; 7 | } 8 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/Bus.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.core.io.IOPort; 6 | 7 | public interface Bus extends IOPort { 8 | 9 | public void selectSlave(int address) throws IOException; 10 | public boolean isSlaveSelected(int address); 11 | public BusConnection createConnection(int address); 12 | } 13 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/spi/SpiMode.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.spi; 2 | 3 | public enum SpiMode { 4 | Mode0(0), 5 | Mode1(1), 6 | Mode2(2), 7 | Mode3(3); 8 | 9 | private int modeValue; 10 | 11 | private SpiMode(int modeValue) { 12 | this.modeValue = modeValue; 13 | } 14 | 15 | public int getNumericValue() { 16 | return modeValue; 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/platform/PinProvider.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.platform; 2 | 3 | import java.util.List; 4 | 5 | import org.bulldog.core.gpio.Pin; 6 | 7 | public interface PinProvider { 8 | 9 | List getPins(); 10 | Pin getPinByAlias(String alias); 11 | Pin getPin(int address); 12 | Pin getPin(String name); 13 | Pin getPin(String port, int indexOnPort); 14 | 15 | } 16 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/io/BBBSpiBus.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.io; 2 | 3 | import org.bulldog.core.platform.Board; 4 | import org.bulldog.linux.io.LinuxSpiBus; 5 | 6 | public class BBBSpiBus extends LinuxSpiBus { 7 | 8 | public BBBSpiBus(String name, String deviceFilePath, Board board) { 9 | super(name, deviceFilePath, board); 10 | } 11 | 12 | } 13 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/easing/LinearEasing.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util.easing; 2 | 3 | public class LinearEasing implements Easing { 4 | 5 | public float easeIn(float t, float d) { 6 | return t/d; 7 | } 8 | 9 | public float easeOut(float t, float d) { 10 | return t/d; 11 | } 12 | 13 | public float easeInOut(float t, float d) { 14 | return t/d; 15 | } 16 | 17 | } 18 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/PinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio; 2 | 3 | 4 | 5 | public interface PinFeature { 6 | 7 | String getName(); 8 | Pin getPin(); 9 | 10 | boolean isActivatedFeature(); 11 | void activate(); 12 | 13 | boolean isBlocking(); 14 | void blockPin(); 15 | void unblockPin(); 16 | 17 | boolean isSetup(); 18 | 19 | void setup(); 20 | void teardown(); 21 | } 22 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/io/RaspberryPiSpiBus.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi.io; 2 | 3 | import org.bulldog.core.platform.Board; 4 | import org.bulldog.linux.io.LinuxSpiBus; 5 | 6 | public class RaspberryPiSpiBus extends LinuxSpiBus { 7 | 8 | public RaspberryPiSpiBus(String name, String deviceFilePath, Board board) { 9 | super(name, deviceFilePath, board); 10 | } 11 | 12 | } 13 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/event/InterruptEventArgs.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.event; 2 | 3 | import org.bulldog.core.Edge; 4 | import org.bulldog.core.gpio.Pin; 5 | 6 | public class InterruptEventArgs { 7 | 8 | private Edge edge; 9 | 10 | public InterruptEventArgs(Pin pin, Edge edge) { 11 | this.edge = edge; 12 | } 13 | 14 | public Edge getEdge() { 15 | return edge; 16 | } 17 | 18 | } 19 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/pwmdriver/FrequencyLookupTable.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.pwmdriver; 2 | 3 | import java.util.HashMap; 4 | 5 | public class FrequencyLookupTable extends HashMap { 6 | 7 | /** 8 | * 9 | */ 10 | private static final long serialVersionUID = 4953943440394262798L; 11 | 12 | public FrequencyLookupTable() { 13 | this.put(50.0, 134); 14 | } 15 | 16 | } 17 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/event/FeatureActivationEventArgs.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.event; 2 | 3 | import org.bulldog.core.gpio.PinFeature; 4 | 5 | public class FeatureActivationEventArgs { 6 | 7 | private PinFeature feature; 8 | 9 | public FeatureActivationEventArgs(PinFeature feature) { 10 | this.feature = feature; 11 | } 12 | 13 | public PinFeature getPinFeature() { 14 | return this.feature; 15 | } 16 | 17 | } 18 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/event/FeatureActivationListener.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.event; 2 | 3 | public interface FeatureActivationListener { 4 | 5 | void featureActivating(Object o, FeatureActivationEventArgs args); 6 | void featureActivated(Object o, FeatureActivationEventArgs args); 7 | void featureDeactivating(Object o, FeatureActivationEventArgs args); 8 | void featureDeactivated(Object o, FeatureActivationEventArgs args); 9 | 10 | } 11 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/DaemonThreadFactory.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util; 2 | 3 | import java.util.concurrent.Executors; 4 | import java.util.concurrent.ThreadFactory; 5 | 6 | public class DaemonThreadFactory implements ThreadFactory { 7 | 8 | @Override 9 | public Thread newThread(Runnable runnable) { 10 | Thread thread = Executors.defaultThreadFactory().newThread(runnable); 11 | thread.setDaemon(true); 12 | return thread; 13 | } 14 | } 15 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.board.cubieboard 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | 15 | org.eclipse.jdt.core.javanature 16 | 17 | 18 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.board.raspberrypi 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | 15 | org.eclipse.jdt.core.javanature 16 | 17 | 18 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/jni/NativeI2c.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.jni; 2 | 3 | 4 | public class NativeI2c { 5 | 6 | public static native byte i2cRead(int fileDescriptor); 7 | public static native int i2cWrite(int fileDescriptor, byte data); 8 | public static native int i2cSelectSlave(int busFileDescriptor, int slaveAddress); 9 | public static native int i2cOpen(String devicePath); 10 | public static native int i2cClose(int fileDescriptor); 11 | 12 | } 13 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/easing/EasingOptions.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util.easing; 2 | 3 | public enum EasingOptions { 4 | EaseIn, 5 | EaseOut, 6 | EaseInOut; 7 | 8 | public float calculate(Easing easing, float t, float d) { 9 | if(this == EasingOptions.EaseIn) { 10 | return easing.easeIn(t, d); 11 | } else if(this == EasingOptions.EaseOut) { 12 | return easing.easeOut(t, d); 13 | } 14 | 15 | return easing.easeInOut(t, d); 16 | } 17 | } 18 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/src/main/java/org/bulldog/cubieboard/CubieboardBoardFactory.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.cubieboard; 2 | 3 | import org.bulldog.core.platform.Board; 4 | import org.bulldog.core.platform.BoardFactory; 5 | 6 | 7 | public class CubieboardBoardFactory implements BoardFactory { 8 | 9 | @Override 10 | public boolean isCompatibleWithPlatform() { 11 | return true; 12 | } 13 | 14 | @Override 15 | public Board createBoard() { 16 | return Cubieboard.getInstance(); 17 | } 18 | } -------------------------------------------------------------------------------- /bulldog.devices/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/linux/bulldog/bulldogI2c.h: -------------------------------------------------------------------------------- 1 | #ifndef BULLDOG_I2C_H 2 | #define BULLDOG_I2C_H 3 | 4 | 5 | #ifdef __cplusplus 6 | extern "C" { 7 | #endif 8 | 9 | extern unsigned char i2cRead(int fileDescriptor); 10 | extern int i2cWrite(int fileDescriptor, unsigned char data); 11 | extern int i2cSelectSlave(int fd, int slaveAddress); 12 | extern int i2cOpen(char* busDevice); 13 | extern int i2cClose(int fileDescriptor); 14 | 15 | #ifdef __cplusplus 16 | } 17 | #endif 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/easing/QuintEasing.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util.easing; 2 | 3 | public class QuintEasing implements Easing { 4 | 5 | public float easeIn (float t, float d) { 6 | return (t/=d)*t*t*t*t; 7 | } 8 | 9 | public float easeOut (float t, float d) { 10 | return ((t=t/d-1)*t*t*t*t + 1); 11 | } 12 | 13 | public float easeInOut (float t, float d) { 14 | if ((t/=d/2) < 1) { return 0.5f*t*t*t*t*t; } 15 | return 0.5f*((t-=2)*t*t*t*t + 2); 16 | } 17 | } 18 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/RaspberryPiPin.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | 5 | public class RaspberryPiPin extends Pin { 6 | 7 | private int gpioAddress; 8 | 9 | public RaspberryPiPin(String name, int address, String port, int indexOnPort, int gpioNumber) { 10 | super(name, address, port, indexOnPort); 11 | this.gpioAddress = gpioNumber; 12 | } 13 | 14 | public int getGpioNumber() { 15 | return gpioAddress; 16 | } 17 | } 18 | -------------------------------------------------------------------------------- /bulldog.core/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/build.gradle: -------------------------------------------------------------------------------- 1 | ext { 2 | distributions = [ new CubieboardDistribution() ] 3 | } 4 | 5 | class CubieboardDistribution { 6 | def distributionBaseName = 'bulldog.cubieboard' 7 | def distributionFiles = ['../bulldog.linux.native/build/binaries/bulldogSharedLibrary/cubieboard/libbulldog-linux.so'] 8 | } 9 | 10 | dependencies { 11 | compile project(':bulldog.core') 12 | compile project(':bulldog.linux') 13 | runtime fileTree(dir: project(':bulldog.linux.native').buildDir, include: '**/*.so') 14 | } -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/build.gradle: -------------------------------------------------------------------------------- 1 | ext { 2 | distributions = [ new RaspberryPiDistribution() ] 3 | } 4 | 5 | class RaspberryPiDistribution { 6 | def distributionBaseName = 'bulldog.raspberrypi' 7 | def distributionFiles = ['../bulldog.linux.native/build/binaries/bulldogSharedLibrary/raspberrypi/libbulldog-linux.so'] 8 | } 9 | 10 | dependencies { 11 | compile project(':bulldog.core') 12 | compile project(':bulldog.linux') 13 | runtime fileTree(dir: project(':bulldog.linux.native').buildDir, include: '**/*.so') 14 | } -------------------------------------------------------------------------------- /bulldog.build/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.build 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | 15 | org.springsource.ide.eclipse.gradle.core.nature 16 | org.eclipse.jdt.core.javanature 17 | 18 | 19 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/easing/SineEasing.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util.easing; 2 | 3 | public class SineEasing implements Easing { 4 | 5 | public float easeIn(float t, float d) { 6 | return -1.0f * (float) Math.cos(t / d * (Math.PI / 2)) + 1.0f; 7 | } 8 | 9 | public float easeOut(float t, float d) { 10 | return (float) Math.sin(t / d * (Math.PI / 2)); 11 | } 12 | 13 | public float easeInOut(float t, float d) { 14 | return -0.5f * ((float) Math.cos(Math.PI * t / d) - 1); 15 | } 16 | } 17 | -------------------------------------------------------------------------------- /bulldog.devices/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.devices 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | 15 | org.springsource.ide.eclipse.gradle.core.nature 16 | org.eclipse.jdt.core.javanature 17 | 18 | 19 | -------------------------------------------------------------------------------- /bulldog.examples/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.examples 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | 15 | org.springsource.ide.eclipse.gradle.core.nature 16 | org.eclipse.jdt.core.javanature 17 | 18 | 19 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/jni/NativeTools.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.jni; 2 | 3 | import java.io.FileDescriptor; 4 | 5 | public class NativeTools { 6 | 7 | public static final int OPEN_READ_ONLY = 0x00; 8 | public static final int OPEN_WRITE_ONLY = 0x01; 9 | public static final int OPEN_READ_WRITE = 0x02; 10 | 11 | public static native FileDescriptor getJavaDescriptor(int fileDescriptor); 12 | public static native int open(String filename, int flags); 13 | public static native int close(int fileDescriptor); 14 | 15 | } 16 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.board.beagleboneblack 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | 15 | org.springsource.ide.eclipse.gradle.core.nature 16 | org.eclipse.jdt.core.javanature 17 | 18 | 19 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedPinFeature1.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.base.AbstractPinFeature; 5 | 6 | public class MockedPinFeature1 extends AbstractPinFeature { 7 | 8 | public MockedPinFeature1(Pin pin) { 9 | super(pin); 10 | 11 | } 12 | 13 | @Override 14 | public String getName() { 15 | return "Mocked Feature"; 16 | } 17 | 18 | @Override 19 | protected void setupImpl() { 20 | } 21 | 22 | @Override 23 | protected void teardownImpl() { 24 | } 25 | } 26 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/lcd/Lcd.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.lcd; 2 | 3 | public interface Lcd { 4 | 5 | void setMode(LcdMode mode, LcdFont font); 6 | void write(String text); 7 | void writeAt(int row, int column, String text); 8 | void clear(); 9 | void blinkCursor(boolean blink); 10 | void showCursor(boolean show); 11 | void home(); 12 | void on(); 13 | void off(); 14 | void setCursorPosition(int line, int column); 15 | String readLine(int line); 16 | String read(int length); 17 | String read(int line, int column, int length); 18 | } 19 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedPinFeature2.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.base.AbstractPinFeature; 5 | 6 | public class MockedPinFeature2 extends AbstractPinFeature { 7 | 8 | public MockedPinFeature2(Pin pin) { 9 | super(pin); 10 | 11 | } 12 | 13 | @Override 14 | public String getName() { 15 | return "Mocked Feature"; 16 | } 17 | 18 | @Override 19 | protected void setupImpl() { 20 | } 21 | 22 | @Override 23 | protected void teardownImpl() { 24 | } 25 | } 26 | 27 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/spi/SpiMessage.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.spi; 2 | 3 | public class SpiMessage { 4 | 5 | private byte[] receivedBytes; 6 | private byte[] sentBytes; 7 | 8 | public byte[] getReceivedBytes() { 9 | return receivedBytes; 10 | } 11 | 12 | public void setReceivedBytes(byte[] receivedBytes) { 13 | this.receivedBytes = receivedBytes; 14 | } 15 | 16 | public byte[] getSentBytes() { 17 | return sentBytes; 18 | } 19 | 20 | public void setSentBytes(byte[] sentBytes) { 21 | this.sentBytes = sentBytes; 22 | } 23 | } 24 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/actuators/Actuator.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.actuators; 2 | 3 | import org.bulldog.devices.actuators.movement.Move; 4 | 5 | public interface Actuator { 6 | 7 | public void moveTo(double position); 8 | public void setPosition(double position); 9 | public double getPosition(); 10 | 11 | public void move(Move move); 12 | public void moveAsync(Move move); 13 | public void awaitMoveCompleted(); 14 | public boolean isMoving(); 15 | 16 | public int getMillisecondsPerUnit(); 17 | public int getRefreshIntervalMilliseconds(); 18 | } 19 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/RaspberryPiBoardFactory.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi; 2 | 3 | import org.bulldog.core.platform.Board; 4 | import org.bulldog.core.platform.BoardFactory; 5 | import org.bulldog.linux.util.LinuxLibraryLoader; 6 | 7 | 8 | public class RaspberryPiBoardFactory implements BoardFactory { 9 | 10 | @Override 11 | public boolean isCompatibleWithPlatform() { 12 | return true; 13 | } 14 | 15 | @Override 16 | public Board createBoard() { 17 | LinuxLibraryLoader.loadNativeLibrary(); 18 | return new RaspberryPi(); 19 | } 20 | 21 | } -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedBoard.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.platform.AbstractBoard; 5 | 6 | public class MockedBoard extends AbstractBoard { 7 | 8 | public MockedBoard() { 9 | for(int i = 0; i < 10; i++) { 10 | getPins().add(new Pin("P" + i, i, "A", i)); 11 | getI2cBuses().add(new MockedI2cBus("I2C" + i)); 12 | getSerialPorts().add(new MockedSerialPort("Serial" + i)); 13 | } 14 | } 15 | 16 | @Override 17 | public String getName() { 18 | return "MockedBoard"; 19 | } 20 | 21 | 22 | } 23 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedDigitalOutput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import org.bulldog.core.Signal; 4 | import org.bulldog.core.gpio.Pin; 5 | import org.bulldog.core.gpio.base.AbstractDigitalOutput; 6 | 7 | public class MockedDigitalOutput extends AbstractDigitalOutput { 8 | 9 | public MockedDigitalOutput(Pin pin) { 10 | super(pin); 11 | } 12 | 13 | @Override 14 | protected void setupImpl() { 15 | } 16 | 17 | @Override 18 | protected void teardownImpl() { 19 | } 20 | 21 | @Override 22 | protected void applySignalImpl(Signal signal) { 23 | } 24 | 25 | } 26 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/BeagleBoneBlackBoardFactory.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack; 2 | 3 | import org.bulldog.core.platform.Board; 4 | import org.bulldog.core.platform.BoardFactory; 5 | import org.bulldog.linux.util.LinuxLibraryLoader; 6 | 7 | public class BeagleBoneBlackBoardFactory implements BoardFactory { 8 | 9 | @Override 10 | public boolean isCompatibleWithPlatform() { 11 | return true; 12 | } 13 | 14 | @Override 15 | public Board createBoard() { 16 | LinuxLibraryLoader.loadNativeLibrary(); 17 | return new BeagleBoneBlack(); 18 | } 19 | 20 | } 21 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/linux/bulldog/bulldogSpi.h: -------------------------------------------------------------------------------- 1 | #ifndef BULLDOG_SPI_H 2 | #define BULLDOG_SPI_H 3 | 4 | #ifdef __cplusplus 5 | extern "C" { 6 | #endif 7 | 8 | extern int spiOpen(char* busDevice, int mode, int speed, int bitsPerWord, int lsbFirst); 9 | extern int spiConfig(int fileDescriptor, int mode, int speed, int bitsPerWord, int lsbFirst); 10 | extern int spiTransfer(int fileDescriptor, unsigned int* txBuffer, unsigned int* rxBuffer, int transferLength, int delay, int speed, int bitsPerWord); 11 | extern int spiClose(int fileDescriptor); 12 | 13 | #ifdef __cplusplus 14 | } 15 | #endif 16 | 17 | #endif 18 | 19 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/platform/Platform.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.platform; 2 | 3 | import java.util.Iterator; 4 | import java.util.ServiceLoader; 5 | 6 | public class Platform { 7 | 8 | public static Board createBoard() throws IncompatiblePlatformException { 9 | Iterator iter = ServiceLoader.load(BoardFactory.class).iterator(); 10 | while (iter.hasNext()) { 11 | BoardFactory detector = iter.next(); 12 | if(detector.isCompatibleWithPlatform()) { 13 | return detector.createBoard(); 14 | } 15 | } 16 | 17 | throw new IncompatiblePlatformException(); 18 | } 19 | } 20 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/servo/TowerProMicroSG90.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.servo; 2 | 3 | import org.bulldog.core.gpio.Pwm; 4 | 5 | public class TowerProMicroSG90 extends Servo { 6 | 7 | private static final double MIN_ANGLE_DEFAULT = 0.0225; 8 | private static final double MAX_ANGLE_DEFAULT = 0.1150; 9 | private static final double INITIAL_ANGLE_DEFAULT = 0.0; 10 | private static final int TIME_PER_DEGREE = (int)(0.1 / 60.0 * 1000); 11 | 12 | public TowerProMicroSG90(Pwm pwm) { 13 | super(pwm, INITIAL_ANGLE_DEFAULT, MIN_ANGLE_DEFAULT, MAX_ANGLE_DEFAULT, TIME_PER_DEGREE); 14 | } 15 | } 16 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/jni/NativeSpi.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.jni; 2 | 3 | import java.nio.ByteBuffer; 4 | 5 | public class NativeSpi { 6 | 7 | public static native int spiOpen(String filename, int mode, int speed, int bitsPerWord, boolean lsbFirst); 8 | public static native int spiConfig(int fileDescriptor, int mode, int speed, int bitsPerWord, boolean lsbFirst); 9 | public static native int spiClose(int fileDescriptor); 10 | public static native int spiTransfer(int fileDescriptor, ByteBuffer txBuffer, ByteBuffer rxBuffer, int transferLength, int delay, int speed, int bitsPerWord); 11 | 12 | } 13 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/serial/SerialDataEventArgs.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.serial; 2 | 3 | import org.bulldog.core.util.BulldogUtil; 4 | 5 | public class SerialDataEventArgs { 6 | 7 | private byte[] data; 8 | private SerialPort port; 9 | 10 | public SerialDataEventArgs(SerialPort port, byte[] data) { 11 | this.port = port; 12 | this.data = data; 13 | } 14 | 15 | public byte[] getData() { 16 | return data; 17 | } 18 | 19 | public SerialPort getPort() { 20 | return port; 21 | } 22 | 23 | public String getDataAsString() { 24 | return BulldogUtil.bytesToString(getData()); 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/gpio/RaspiDigitalInput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi.gpio; 2 | 3 | import org.bulldog.core.Signal; 4 | import org.bulldog.core.gpio.Pin; 5 | import org.bulldog.linux.gpio.LinuxDigitalInput; 6 | import org.bulldog.linux.io.LinuxEpollListener; 7 | 8 | public class RaspiDigitalInput extends LinuxDigitalInput implements LinuxEpollListener { 9 | 10 | public RaspiDigitalInput(Pin pin) { 11 | super(pin); 12 | } 13 | 14 | public Signal read() { 15 | return getSysFsPin().getValue(); 16 | } 17 | 18 | public void setup() { 19 | super.setup(); 20 | } 21 | 22 | } 23 | 24 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/easing/CircularEasing.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util.easing; 2 | 3 | public class CircularEasing implements Easing { 4 | 5 | public float easeIn(float t, float d) { 6 | return -1.0f * ((float) Math.sqrt(1 - (t /= d) * t) - 1); 7 | } 8 | 9 | public float easeOut(float t, float d) { 10 | return (float) Math.sqrt(1 - (t = t / d - 1) * t); 11 | } 12 | 13 | public float easeInOut(float t, float d) { 14 | if ((t /= d / 2) < 1) { 15 | return -0.5f * ((float) Math.sqrt(1.0f - t * t) - 1); 16 | } 17 | 18 | return 0.5f * ((float) Math.sqrt(1 - (t -= 2) * t) + 1); 19 | } 20 | 21 | } 22 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/src/main/java/org/bulldog/cubieboard/gpio/CubieboardDigitalOutput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.cubieboard.gpio; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.cubieboard.CubieboardPin; 5 | import org.bulldog.linux.gpio.LinuxDigitalOutput; 6 | import org.bulldog.linux.sysfs.SysFsPin; 7 | 8 | public class CubieboardDigitalOutput extends LinuxDigitalOutput { 9 | 10 | public CubieboardDigitalOutput(Pin pin) { 11 | super(pin); 12 | } 13 | 14 | @Override 15 | protected SysFsPin createSysFsPin(Pin pin) { 16 | return new CubieboardSysFsPin(pin.getAddress(), ((CubieboardPin)pin).getFsName(), false); 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/servo/AdafruitServoDriver.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.servo; 2 | 3 | import org.bulldog.core.io.bus.i2c.I2cBus; 4 | import org.bulldog.core.io.bus.i2c.I2cConnection; 5 | import org.bulldog.devices.pwmdriver.PCA9685; 6 | 7 | public class AdafruitServoDriver extends PCA9685 { 8 | 9 | private static final String NAME = "ADAFRUIT 16-CHANNEL 12-BIT PWM/SERVO DRIVER - I2C INTERFACE"; 10 | 11 | public AdafruitServoDriver(I2cConnection connection) { 12 | super(connection); 13 | setName(NAME); 14 | } 15 | 16 | public AdafruitServoDriver(I2cBus bus, int address) { 17 | this(bus.createI2cConnection(address)); 18 | } 19 | } 20 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/src/main/java/org/bulldog/cubieboard/CubieboardPin.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.cubieboard; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | 5 | public class CubieboardPin extends Pin { 6 | 7 | private String fsName; 8 | private boolean interrupt; 9 | 10 | public CubieboardPin(String name, int address, String port, int indexOnPort, String fsName, boolean interrupt) { 11 | super(name, address, port, indexOnPort); 12 | this.fsName = fsName; 13 | this.interrupt = interrupt; 14 | } 15 | 16 | public String getFsName() { 17 | return fsName; 18 | } 19 | 20 | public boolean isInterrupt() { 21 | return interrupt; 22 | } 23 | } 24 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/spi/SpiDevice.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.spi; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.core.io.bus.BusDevice; 6 | 7 | public class SpiDevice extends BusDevice { 8 | 9 | public SpiDevice(SpiConnection connection) { 10 | super(connection); 11 | } 12 | 13 | public SpiDevice(SpiBus bus, int address) { 14 | this(bus.createSpiConnection(address)); 15 | } 16 | 17 | public SpiMessage transfer(byte[] bytes) throws IOException { 18 | return getBusConnection().transfer(bytes); 19 | } 20 | 21 | public SpiConnection getBusConnection() { 22 | return (SpiConnection)super.getBusConnection(); 23 | } 24 | 25 | } 26 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/i2c/AbstractI2cPinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.i2c; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.base.AbstractPinFeature; 5 | 6 | public abstract class AbstractI2cPinFeature extends AbstractPinFeature implements I2cSda, I2cScl { 7 | 8 | private static final String NAME = "I2C %s on Pin %s"; 9 | private I2cSignalType signalType; 10 | 11 | public AbstractI2cPinFeature(Pin pin, I2cSignalType signalType) { 12 | super(pin); 13 | this.signalType = signalType; 14 | } 15 | 16 | @Override 17 | public String getName() { 18 | return String.format(NAME, signalType, getPin().getName()); 19 | } 20 | 21 | } 22 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/serial/SerialPort.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.serial; 2 | 3 | import org.bulldog.core.Parity; 4 | import org.bulldog.core.io.IOPort; 5 | 6 | public interface SerialPort extends IOPort { 7 | 8 | int getBaudRate(); 9 | void setBaudRate(int baudRate); 10 | 11 | Parity getParity(); 12 | void setParity(Parity parity); 13 | 14 | int getDataBits(); 15 | void setDataBits(int dataBits); 16 | 17 | int getStopBits(); 18 | void setStopBits(int stopBits); 19 | 20 | void setBlocking(boolean blocking); 21 | boolean getBlocking(); 22 | 23 | void addListener(SerialDataListener listener); 24 | void removeListener(SerialDataListener listener); 25 | } 26 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/i2c/I2cBus.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.i2c; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.core.gpio.Pin; 6 | import org.bulldog.core.io.bus.Bus; 7 | 8 | public interface I2cBus extends Bus { 9 | 10 | Pin getSDA(); 11 | Pin getSCL(); 12 | int getFrequency(); 13 | 14 | void writeByteToRegister(int register, int b) throws IOException; 15 | void writeBytesToRegister(int register, byte[] bytes) throws IOException; 16 | 17 | byte readByteFromRegister(int register) throws IOException; 18 | int readBytesFromRegister(int register, byte[] buffer) throws IOException; 19 | 20 | I2cConnection createI2cConnection(int address); 21 | } 22 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/easing/ExponentialEasing.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util.easing; 2 | 3 | public class ExponentialEasing implements Easing { 4 | 5 | public float easeIn(float t, float d) { 6 | return (t==0) ? 0.0f : (float)Math.pow(2, 10 * (t/d - 1)); 7 | } 8 | 9 | public float easeOut(float t, float d) { 10 | return (t==d) ? 1.0f : (-(float)Math.pow(2, -10 * t/d) + 1); 11 | } 12 | 13 | public float easeInOut(float t, float d) { 14 | if (t==0) { return 0.0f; } 15 | if (t==d) { return 1.0f; } 16 | if ((t/=d/2) < 1) { return 0.5f * (float)Math.pow(2, 10 * (t - 1)); } 17 | 18 | return 0.5f * (-(float)Math.pow(2, -10 * (t-1)) + 2); 19 | } 20 | 21 | } 22 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/actuators/movement/DirectMove.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.actuators.movement; 2 | 3 | import org.bulldog.core.util.BulldogUtil; 4 | import org.bulldog.devices.actuators.Actuator; 5 | 6 | public class DirectMove implements Move { 7 | 8 | private double toPosition = 0.0f; 9 | 10 | public DirectMove(double toPosition) { 11 | this.toPosition = toPosition; 12 | } 13 | 14 | @Override 15 | public void execute(Actuator actuator) { 16 | double startPosition = actuator.getPosition(); 17 | actuator.setPosition(toPosition); 18 | int sleepyTime = (int)Math.abs(toPosition - startPosition) * actuator.getMillisecondsPerUnit(); 19 | BulldogUtil.sleepMs(sleepyTime); 20 | } 21 | } 22 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/jni/NativePollResult.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.jni; 2 | 3 | import org.bulldog.core.util.BulldogUtil; 4 | 5 | public class NativePollResult { 6 | 7 | private int events; 8 | private int fd; 9 | private byte[] data; 10 | 11 | public NativePollResult(int fd, int events, byte[] data) { 12 | this.fd = fd; 13 | this.events = events; 14 | this.data = data; 15 | } 16 | 17 | public int getEvents() { 18 | return events; 19 | } 20 | 21 | public int getFileDescriptor() { 22 | return fd; 23 | } 24 | 25 | public byte[] getData() { 26 | return data; 27 | } 28 | 29 | public String getDataAsString() { 30 | return BulldogUtil.bytesToString(getData()); 31 | } 32 | } 33 | 34 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/gpio/BBBEmmc.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.gpio; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.base.AbstractPinFeature; 5 | 6 | public class BBBEmmc extends AbstractPinFeature { 7 | 8 | private static final String NAME_FORMAT = "EMMC on Pin %s - (you need to disable this feature at boot time)"; 9 | 10 | public BBBEmmc(Pin pin) { 11 | super(pin); 12 | } 13 | 14 | @Override 15 | public String getName() { 16 | return String.format(NAME_FORMAT, getPin().getName()); 17 | } 18 | 19 | @Override 20 | protected void setupImpl() { 21 | blockPin(); 22 | } 23 | 24 | @Override 25 | protected void teardownImpl() { 26 | } 27 | 28 | } 29 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/gpio/BBBHdmi.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.gpio; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.base.AbstractPinFeature; 5 | 6 | public class BBBHdmi extends AbstractPinFeature { 7 | 8 | private static final String NAME_FORMAT = "HDMI on Pin %s - (you need to disable this feature at boot time)"; 9 | 10 | public BBBHdmi(Pin pin) { 11 | super(pin); 12 | } 13 | 14 | @Override 15 | public String getName() { 16 | return String.format(NAME_FORMAT, getPin().getName()); 17 | } 18 | 19 | @Override 20 | protected void setupImpl() { 21 | blockPin(); 22 | } 23 | 24 | @Override 25 | protected void teardownImpl() { 26 | } 27 | 28 | } 29 | -------------------------------------------------------------------------------- /bulldog.core/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.core 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | edu.umd.cs.findbugs.plugin.eclipse.findbugsBuilder 15 | 16 | 17 | 18 | 19 | 20 | org.springsource.ide.eclipse.gradle.core.nature 21 | org.eclipse.jdt.core.javanature 22 | edu.umd.cs.findbugs.plugin.eclipse.findbugsNature 23 | 24 | 25 | -------------------------------------------------------------------------------- /bulldog.linux/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.linux 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | edu.umd.cs.findbugs.plugin.eclipse.findbugsBuilder 15 | 16 | 17 | 18 | 19 | 20 | org.springsource.ide.eclipse.gradle.core.nature 21 | org.eclipse.jdt.core.javanature 22 | edu.umd.cs.findbugs.plugin.eclipse.findbugsNature 23 | 24 | 25 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/uart/AbstractUartPinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.uart; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.base.AbstractPinFeature; 5 | 6 | public abstract class AbstractUartPinFeature extends AbstractPinFeature implements UartRx, UartTx { 7 | 8 | private static final String NAME = "UART %s on Pin %s"; 9 | private UartSignalType signalType; 10 | 11 | public AbstractUartPinFeature(Pin pin, UartSignalType signalType) { 12 | super(pin); 13 | this.signalType = signalType; 14 | } 15 | 16 | @Override 17 | public String getName() { 18 | return String.format(NAME, signalType, getPin().getName()); 19 | } 20 | 21 | public UartSignalType getSignalType() { 22 | return signalType; 23 | } 24 | } 25 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/beagleboneblack/BBBIOlib/BBBiolib_PWMSS.h: -------------------------------------------------------------------------------- 1 | #ifndef BBBIO_PWMSS_H 2 | #define BBBIO_PWMSS_H 3 | /* ---------------------------------------------------------------------------- */ 4 | #define BBBIO_PWMSS_COUNT 3 5 | #define BBBIO_PWMSS0 0 6 | #define BBBIO_PWMSS1 1 7 | #define BBBIO_PWMSS2 2 8 | 9 | /* ---------------------------------------------------------------------------- */ 10 | int BBBIO_PWMSS_Setting(unsigned int PWMID , float HZ ,float dutyA ,float dutyB); 11 | int BBBIO_PWM_Init(); 12 | void BBBIO_PWM_Release(); 13 | int BBBIO_PWMSS_Status(unsigned int PWMID); 14 | void BBBIO_ehrPWM_Enable(unsigned int PWMSS_ID); 15 | void BBBIO_ehrPWM_Disable(unsigned int PWMSS_ID); 16 | /* ---------------------------------------------------------------------------- */ 17 | #endif 18 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/build.gradle: -------------------------------------------------------------------------------- 1 | ext { 2 | distributions = [ new SoftFpDistribution(), new HardFpDistribution() ] 3 | } 4 | 5 | class SoftFpDistribution { 6 | def distributionBaseName = 'bulldog.beagleboneblack.softfp' 7 | def distributionFiles = ['../bulldog.linux.native/build/binaries/bulldogSharedLibrary/beagleboneblackSoftFp/libbulldog-linux.so'] 8 | } 9 | 10 | class HardFpDistribution { 11 | def distributionBaseName = 'bulldog.beagleboneblack.hardfp' 12 | def distributionFiles = ['../bulldog.linux.native/build/binaries/bulldogSharedLibrary/beagleboneblackHardFp/libbulldog-linux.so'] 13 | } 14 | 15 | dependencies { 16 | compile project(':bulldog.core') 17 | compile project(':bulldog.linux') 18 | runtime fileTree(dir: project(':bulldog.linux.native').buildDir, include: '**/*.so') 19 | } -------------------------------------------------------------------------------- /bulldog.board.cubieboard/src/main/java/org/bulldog/cubieboard/gpio/CubieboardSysFsPin.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.cubieboard.gpio; 2 | 3 | import org.bulldog.linux.sysfs.SysFsPin; 4 | 5 | public class CubieboardSysFsPin extends SysFsPin { 6 | private static final String directory = "/sys/class/gpio"; 7 | 8 | private String fsName; 9 | private boolean interrupt; 10 | 11 | public CubieboardSysFsPin(int pin, String fsName, boolean interrupt) { 12 | super(pin); 13 | this.fsName = fsName; 14 | this.interrupt = interrupt; 15 | } 16 | 17 | @Override 18 | public String getPinDirectory() { 19 | return directory + "/gpio" + fsName + "/"; 20 | } 21 | 22 | @Override 23 | public void setEdge(String edge) { 24 | if (interrupt) 25 | super.setEdge(edge); 26 | } 27 | } 28 | -------------------------------------------------------------------------------- /bulldog.examples/.classpath: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/io/RaspberryPiI2cPinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi.io; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.io.bus.i2c.AbstractI2cPinFeature; 5 | import org.bulldog.core.io.bus.i2c.I2cBus; 6 | import org.bulldog.core.io.bus.i2c.I2cSignalType; 7 | 8 | public class RaspberryPiI2cPinFeature extends AbstractI2cPinFeature { 9 | 10 | public RaspberryPiI2cPinFeature(I2cBus bus, Pin pin, I2cSignalType signalType) { 11 | super(pin, signalType); 12 | } 13 | 14 | 15 | @Override 16 | public boolean isBlocking() { 17 | return false; 18 | } 19 | 20 | @Override 21 | protected void setupImpl() { 22 | } 23 | 24 | @Override 25 | protected void teardownImpl() { 26 | } 27 | 28 | @Override 29 | public I2cBus getI2cBus() { 30 | return null; 31 | } 32 | 33 | 34 | } 35 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/PinIOOutputStream.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io; 2 | 3 | import java.io.IOException; 4 | import java.io.OutputStream; 5 | 6 | import org.bulldog.core.Signal; 7 | import org.bulldog.core.gpio.DigitalOutput; 8 | import org.bulldog.core.util.BitMagic; 9 | 10 | public class PinIOOutputStream extends OutputStream { 11 | 12 | private PinIOGroup group; 13 | 14 | public PinIOOutputStream(PinIOGroup group) { 15 | this.group = group; 16 | } 17 | 18 | @Override 19 | public void write(int b) throws IOException { 20 | group.startEnable(); 21 | 22 | for(int i = 0; i < group.getDataPins().length; i++) { 23 | DigitalOutput out = group.getDataPins()[i]; 24 | Signal signal = Signal.fromNumericValue(BitMagic.getBit(b, i)); 25 | out.applySignal(signal); 26 | } 27 | 28 | group.endEnable(); 29 | } 30 | 31 | } 32 | -------------------------------------------------------------------------------- /bulldog.devices/src/test/java/org/bulldog/devices/AppTest.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices; 2 | 3 | import junit.framework.Test; 4 | import junit.framework.TestCase; 5 | import junit.framework.TestSuite; 6 | 7 | /** 8 | * Unit test for simple App. 9 | */ 10 | public class AppTest 11 | extends TestCase 12 | { 13 | /** 14 | * Create the test case 15 | * 16 | * @param testName name of the test case 17 | */ 18 | public AppTest( String testName ) 19 | { 20 | super( testName ); 21 | } 22 | 23 | /** 24 | * @return the suite of tests being tested 25 | */ 26 | public static Test suite() 27 | { 28 | return new TestSuite( AppTest.class ); 29 | } 30 | 31 | /** 32 | * Rigourous Test :-) 33 | */ 34 | public void testApp() 35 | { 36 | assertTrue( true ); 37 | } 38 | } 39 | -------------------------------------------------------------------------------- /bulldog.examples/src/test/java/org/bulldog/examples/AppTest.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.examples; 2 | 3 | import junit.framework.Test; 4 | import junit.framework.TestCase; 5 | import junit.framework.TestSuite; 6 | 7 | /** 8 | * Unit test for simple App. 9 | */ 10 | public class AppTest 11 | extends TestCase 12 | { 13 | /** 14 | * Create the test case 15 | * 16 | * @param testName name of the test case 17 | */ 18 | public AppTest( String testName ) 19 | { 20 | super( testName ); 21 | } 22 | 23 | /** 24 | * @return the suite of tests being tested 25 | */ 26 | public static Test suite() 27 | { 28 | return new TestSuite( AppTest.class ); 29 | } 30 | 31 | /** 32 | * Rigourous Test :-) 33 | */ 34 | public void testApp() 35 | { 36 | assertTrue( true ); 37 | } 38 | } 39 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/sysinfo/CpuInfo.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.sysinfo; 2 | 3 | import java.util.HashMap; 4 | 5 | import org.bulldog.linux.util.Commands; 6 | 7 | public class CpuInfo { 8 | 9 | private static final String CPU_REVISION = "CPU revision"; 10 | 11 | private static HashMap properties = new HashMap(); 12 | 13 | static { 14 | String cpuInfo = Commands.cat("/proc/cpuinfo"); 15 | String[] infos = cpuInfo.split("\n"); 16 | for(String info : infos) { 17 | String[] tokens = info.split(":"); 18 | if(tokens.length >= 2) { 19 | System.out.println(tokens[0].trim() + " : " + tokens[1].trim()); 20 | properties.put(tokens[0].trim(), tokens[1].trim()); 21 | } 22 | } 23 | } 24 | 25 | public static String getCPURevision() { 26 | return properties.get(CPU_REVISION); 27 | } 28 | 29 | } 30 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/io/BBBI2cPinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.io; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.io.bus.i2c.AbstractI2cPinFeature; 5 | import org.bulldog.core.io.bus.i2c.I2cBus; 6 | import org.bulldog.core.io.bus.i2c.I2cSignalType; 7 | 8 | public class BBBI2cPinFeature extends AbstractI2cPinFeature { 9 | 10 | public BBBI2cPinFeature(I2cBus bus, Pin pin, I2cSignalType signalType) { 11 | super(pin, signalType); 12 | // TODO Auto-generated constructor stub 13 | } 14 | 15 | @Override 16 | public boolean isBlocking() { 17 | return false; 18 | } 19 | 20 | @Override 21 | protected void setupImpl() { 22 | } 23 | 24 | @Override 25 | protected void teardownImpl() { 26 | } 27 | 28 | @Override 29 | public I2cBus getI2cBus() { 30 | return null; 31 | } 32 | 33 | } 34 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/io/BBBUartPinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.io; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.io.uart.AbstractUartPinFeature; 5 | import org.bulldog.core.io.uart.UartPort; 6 | import org.bulldog.core.io.uart.UartSignalType; 7 | 8 | public class BBBUartPinFeature extends AbstractUartPinFeature { 9 | 10 | private BBBUartPort port; 11 | 12 | public BBBUartPinFeature(BBBUartPort port, Pin pin, UartSignalType signalType) { 13 | super(pin, signalType); 14 | this.port = port; 15 | } 16 | 17 | @Override 18 | protected void setupImpl() { 19 | port.setup(); 20 | blockPin(); 21 | } 22 | 23 | @Override 24 | protected void teardownImpl() { 25 | port.teardown(); 26 | } 27 | 28 | @Override 29 | public UartPort getPort() { 30 | return port; 31 | } 32 | 33 | } 34 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/io/RaspberryPiI2cBus.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi.io; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.io.bus.i2c.I2cSignalType; 5 | import org.bulldog.linux.io.LinuxI2cBus; 6 | 7 | public class RaspberryPiI2cBus extends LinuxI2cBus { 8 | 9 | private Pin sdaPin; 10 | private Pin sclPin; 11 | 12 | public RaspberryPiI2cBus(String name, String deviceFilePath, Pin sdaPin, Pin sclPin) { 13 | super(name, deviceFilePath); 14 | this.sdaPin = sdaPin; 15 | this.sclPin = sclPin; 16 | sdaPin.addFeature(new RaspberryPiI2cPinFeature(this, sdaPin, I2cSignalType.SDA)); 17 | sclPin.addFeature(new RaspberryPiI2cPinFeature(this, sclPin, I2cSignalType.SCL)); 18 | } 19 | 20 | public Pin getSCL() { 21 | return sclPin; 22 | } 23 | 24 | public Pin getSDA() { 25 | return sdaPin; 26 | } 27 | } 28 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/led/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.led 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.led

12 |
13 |

Classes

14 |
    15 |
  • Led
    • 16 |
17 |
18 | 19 | 20 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/BeagleBonePin.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | 5 | public class BeagleBonePin extends Pin { 6 | 7 | private int bank; 8 | private int pinIndex; 9 | private String am335xName; 10 | 11 | public BeagleBonePin(String name, String am335xName, int bank, int pinIndex, String port, int indexOnPort) { 12 | super(name, 32 * bank + pinIndex, port, indexOnPort); 13 | this.am335xName = am335xName; 14 | } 15 | 16 | public int getBank() { 17 | return bank; 18 | } 19 | 20 | public int getPinIndex() { 21 | return pinIndex; 22 | } 23 | 24 | public int getPortNumeric() { 25 | int portNumber = Integer.parseInt(getPort().substring(1)); 26 | return portNumber; 27 | } 28 | 29 | public String getAm335xName() { 30 | return am335xName; 31 | } 32 | 33 | } 34 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/dac/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.dac 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.dac

12 |
13 |

Classes

14 | 17 |
18 | 19 | 20 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/test/java/org/bulldog/beagleboneblack/AppTest.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack; 2 | 3 | import junit.framework.Test; 4 | import junit.framework.TestCase; 5 | import junit.framework.TestSuite; 6 | 7 | /** 8 | * Unit test for simple App. 9 | */ 10 | public class AppTest 11 | extends TestCase 12 | { 13 | /** 14 | * Create the test case 15 | * 16 | * @param testName name of the test case 17 | */ 18 | public AppTest( String testName ) 19 | { 20 | super( testName ); 21 | } 22 | 23 | /** 24 | * @return the suite of tests being tested 25 | */ 26 | public static Test suite() 27 | { 28 | return new TestSuite( AppTest.class ); 29 | } 30 | 31 | /** 32 | * Rigourous Test :-) 33 | */ 34 | public void testApp() 35 | { 36 | assertTrue( true ); 37 | } 38 | } 39 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/linux/sysinfo/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.linux.sysinfo 7 | 8 | 9 | 10 | 11 |

org.bulldog.linux.sysinfo

12 |
13 |

Classes

14 | 17 |
18 | 19 | 20 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/util/easing/BounceEasing.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.util.easing; 2 | 3 | public class BounceEasing implements Easing { 4 | 5 | public float easeIn(float t, float d) { 6 | return 1.0f - easeOut(d - t, d); 7 | } 8 | 9 | public float easeOut(float t, float d) { 10 | if ((t /= d) < (1 / 2.75f)) { 11 | return 1.0f * (7.5625f * t * t); 12 | } else if (t < (2 / 2.75f)) { 13 | return 1.0f * (7.5625f * (t -= (1.5f / 2.75f)) * t + .75f); 14 | } else if (t < (2.5 / 2.75)) { 15 | return 1.0f * (7.5625f * (t -= (2.25f / 2.75f)) * t + .9375f); 16 | } else { 17 | return 1.0f * (7.5625f * (t -= (2.625f / 2.75f)) * t + .984375f); 18 | } 19 | } 20 | 21 | public float easeInOut(float t, float d) { 22 | if (t < d / 2) { 23 | return easeIn(t * 2, d) * 0.5f; 24 | } else { 25 | return easeOut(t * 2 - d, d) * .5f + 0.5f; 26 | } 27 | } 28 | 29 | } 30 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/PinIOInputStream.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io; 2 | 3 | import java.io.IOException; 4 | import java.io.InputStream; 5 | 6 | import org.bulldog.core.Signal; 7 | import org.bulldog.core.gpio.DigitalInput; 8 | import org.bulldog.core.util.BitMagic; 9 | 10 | public class PinIOInputStream extends InputStream { 11 | 12 | private PinIOGroup group; 13 | 14 | public PinIOInputStream(PinIOGroup group) { 15 | this.group = group; 16 | } 17 | 18 | @Override 19 | public int read() throws IOException { 20 | 21 | group.startEnable(); 22 | 23 | int value = 0; 24 | for(int i = 0; i < group.getDataPins().length; i++) { 25 | DigitalInput in = group.getDataPins()[i]; 26 | Signal signal = in.read(); 27 | value = BitMagic.setBit(value, i, signal.getNumericValue()); 28 | } 29 | 30 | group.endEnable(); 31 | 32 | return value; 33 | } 34 | 35 | 36 | } 37 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/util/LinuxLibraryLoader.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.util; 2 | 3 | import java.io.File; 4 | import java.security.CodeSource; 5 | 6 | public class LinuxLibraryLoader { 7 | 8 | public static void loadNativeLibrary() { 9 | String codeDirectory = getJarFileDirectory(); 10 | File file = new File(codeDirectory + "/libbulldog-linux.so"); 11 | if(file.exists()) { 12 | System.load(file.getAbsolutePath()); 13 | } else { 14 | System.loadLibrary("bulldog-linux"); 15 | } 16 | } 17 | 18 | private static String getJarFileDirectory() { 19 | try { 20 | CodeSource codeSource = LinuxLibraryLoader.class.getProtectionDomain().getCodeSource(); 21 | File jarFile = new File(codeSource.getLocation().toURI().getPath()); 22 | String jarDir = jarFile.getParentFile().getPath(); 23 | return jarDir; 24 | } catch(Exception ex) { 25 | return null; 26 | } 27 | } 28 | 29 | } 30 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/io/mmap/ByteRegister.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.io.mmap; 2 | 3 | import org.bulldog.core.util.BitMagic; 4 | 5 | public class ByteRegister extends Register { 6 | 7 | public ByteRegister(MemoryMap map, long address) { 8 | super(map, address, Byte.class); 9 | } 10 | 11 | @Override 12 | public void setValue(Byte value) { 13 | getMemoryMap().setByteValue(getAddress(), value); 14 | } 15 | 16 | @Override 17 | public Byte getValue() { 18 | return getMemoryMap().getByteValueAt(getAddress()); 19 | } 20 | 21 | @Override 22 | public void setBit(int index) { 23 | setValue(BitMagic.setBit(getValue(), index, 1)); 24 | } 25 | 26 | @Override 27 | public void clearBit(int index) { 28 | setValue(BitMagic.setBit(getValue(), index, 0)); 29 | } 30 | 31 | @Override 32 | public void toggleBit(int index) { 33 | setValue(BitMagic.toggleBit(getValue(), index)); 34 | } 35 | 36 | } 37 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/io/mmap/LongRegister.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.io.mmap; 2 | 3 | import org.bulldog.core.util.BitMagic; 4 | 5 | public class LongRegister extends Register { 6 | 7 | public LongRegister(MemoryMap map, long address) { 8 | super(map, address, Long.class); 9 | } 10 | 11 | @Override 12 | public void setValue(Long value) { 13 | getMemoryMap().setLongValue(getAddress(), value); 14 | } 15 | 16 | @Override 17 | public Long getValue() { 18 | return getMemoryMap().getLongValueAt(getAddress()); 19 | } 20 | 21 | @Override 22 | public void setBit(int index) { 23 | setValue(BitMagic.setBit(getValue(), index, 1)); 24 | } 25 | 26 | @Override 27 | public void clearBit(int index) { 28 | setValue(BitMagic.setBit(getValue(), index, 0)); 29 | } 30 | 31 | @Override 32 | public void toggleBit(int index) { 33 | setValue(BitMagic.toggleBit(getValue(), index)); 34 | } 35 | } 36 | 37 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/io/mmap/ShortRegister.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.io.mmap; 2 | 3 | import org.bulldog.core.util.BitMagic; 4 | 5 | public class ShortRegister extends Register { 6 | 7 | public ShortRegister(MemoryMap map, long address) { 8 | super(map, address, Short.class); 9 | } 10 | 11 | @Override 12 | public void setValue(Short value) { 13 | getMemoryMap().setShortValue(getAddress(), value); 14 | } 15 | 16 | @Override 17 | public Short getValue() { 18 | return getMemoryMap().getShortValueAt(getAddress()); 19 | } 20 | 21 | @Override 22 | public void setBit(int index) { 23 | setValue(BitMagic.setBit(getValue(), index, 1)); 24 | } 25 | 26 | @Override 27 | public void clearBit(int index) { 28 | setValue(BitMagic.setBit(getValue(), index, 0)); 29 | } 30 | 31 | @Override 32 | public void toggleBit(int index) { 33 | setValue(BitMagic.toggleBit(getValue(), index)); 34 | } 35 | } 36 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/actuators/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.actuators 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.actuators

12 |
13 |

Interfaces

14 | 17 |
18 | 19 | 20 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/gpio/BBBDigitalInput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.gpio; 2 | 3 | import org.bulldog.beagleboneblack.BeagleBonePin; 4 | import org.bulldog.beagleboneblack.jni.NativeGpio; 5 | import org.bulldog.core.Signal; 6 | import org.bulldog.core.gpio.Pin; 7 | import org.bulldog.linux.gpio.LinuxDigitalInput; 8 | 9 | public class BBBDigitalInput extends LinuxDigitalInput { 10 | 11 | public BBBDigitalInput(Pin pin) { 12 | super(pin); 13 | } 14 | 15 | public Signal read() { 16 | BeagleBonePin bbbPin = (BeagleBonePin)getPin(); 17 | return Signal.fromNumericValue(NativeGpio.digitalRead(bbbPin.getPortNumeric(), bbbPin.getIndexOnPort())); 18 | } 19 | 20 | public void setup() { 21 | super.setup(); 22 | BeagleBonePin bbbPin = (BeagleBonePin)getPin(); 23 | NativeGpio.pinMode(bbbPin.getPortNumeric(), bbbPin.getIndexOnPort(), NativeGpio.DIRECTION_IN); 24 | } 25 | 26 | } 27 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/io/mmap/IntRegister.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.io.mmap; 2 | 3 | import org.bulldog.core.util.BitMagic; 4 | 5 | public class IntRegister extends Register { 6 | 7 | public IntRegister(MemoryMap map, long address) { 8 | super(map, address, Integer.class); 9 | } 10 | 11 | @Override 12 | public void setValue(Integer value) { 13 | getMemoryMap().setIntValue(getAddress(), value); 14 | } 15 | 16 | @Override 17 | public Integer getValue() { 18 | return getMemoryMap().getIntValueAt(getAddress()); 19 | } 20 | 21 | @Override 22 | public void setBit(int index) { 23 | setValue(BitMagic.setBit(getValue(), index, 1)); 24 | } 25 | 26 | @Override 27 | public void clearBit(int index) { 28 | setValue(BitMagic.setBit(getValue(), index, 0)); 29 | } 30 | 31 | @Override 32 | public void toggleBit(int index) { 33 | setValue(BitMagic.toggleBit(getValue(), index)); 34 | } 35 | 36 | } 37 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/sensors/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.sensors 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.sensors

12 |
13 |

Classes

14 | 17 |
18 | 19 | 20 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/IOPort.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io; 2 | 3 | import java.io.IOException; 4 | import java.io.InputStream; 5 | import java.io.OutputStream; 6 | 7 | public interface IOPort { 8 | 9 | public String getName(); 10 | public String getAlias(); 11 | public void setAlias(String alias); 12 | 13 | public void open() throws IOException; 14 | public boolean isOpen(); 15 | public void close() throws IOException; 16 | 17 | public void writeByte(int b) throws IOException; 18 | public void writeBytes(byte[] bytes) throws IOException; 19 | public void writeString(String string) throws IOException; 20 | 21 | public byte readByte() throws IOException; 22 | public int readBytes(byte[] buffer) throws IOException; 23 | public String readString() throws IOException; 24 | 25 | public OutputStream getOutputStream() throws IOException; 26 | public InputStream getInputStream() throws IOException; 27 | 28 | 29 | } 30 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/pwmdriver/PCA9685Pwm.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.pwmdriver; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.base.AbstractPwm; 5 | 6 | public class PCA9685Pwm extends AbstractPwm { 7 | 8 | private PCA9685 driver; 9 | 10 | public PCA9685Pwm(Pin pin, PCA9685 driver) { 11 | super(pin); 12 | this.driver = driver; 13 | } 14 | 15 | @Override 16 | protected void setupImpl() { 17 | } 18 | 19 | @Override 20 | protected void teardownImpl() { 21 | } 22 | 23 | @Override 24 | protected void setPwmImpl(double frequency, double duty) { 25 | driver.setFrequency(frequency); 26 | driver.setDuty(getPin().getAddress(), duty); 27 | } 28 | 29 | @Override 30 | protected void enableImpl() { 31 | driver.enableChannel(getPin().getAddress()); 32 | } 33 | 34 | @Override 35 | protected void disableImpl() { 36 | driver.enableChannel(getPin().getAddress()); 37 | } 38 | 39 | } 40 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/src/main/java/org/bulldog/cubieboard/CubieboardNames.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.cubieboard; 2 | 3 | public class CubieboardNames { 4 | 5 | // PB 6 | public static final String PB18 = "PB18"; 7 | 8 | // PG 9 | public static final String PG0 = "PG0"; 10 | public static final String PG1 = "PG1"; 11 | public static final String PG2 = "PG2"; 12 | // public static final String PG3 = "PG3"; 13 | public static final String PG4 = "PG4"; 14 | public static final String PG5 = "PG5"; 15 | public static final String PG6 = "PG6"; 16 | public static final String PG7 = "PG7"; 17 | public static final String PG8 = "PG8"; 18 | public static final String PG9 = "PG9"; 19 | public static final String PG10 = "PG10"; 20 | public static final String PG11 = "PG10"; 21 | 22 | // PH 23 | public static final String PH14 = "PH14"; 24 | public static final String PH15 = "PH15"; 25 | public static final String PH20 = "PH20"; 26 | } 27 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/actuators/movement/Sweep.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.actuators.movement; 2 | 3 | import org.bulldog.devices.actuators.Actuator; 4 | 5 | 6 | public class Sweep implements Move { 7 | 8 | private int durationMilliseconds; 9 | 10 | public Sweep(int durationMilliseconds) { 11 | this.durationMilliseconds = durationMilliseconds; 12 | } 13 | 14 | @Override 15 | public void execute(Actuator actuator) { 16 | double currentPosition = actuator.getPosition(); 17 | double totalDistance = (180.0 - currentPosition) + 180.0; 18 | 19 | double timeFactorFirstMove = (180.0 - currentPosition) / totalDistance; 20 | double timeFactorSecondMove = 1.0 - timeFactorFirstMove; 21 | 22 | new LinearMove(180.0, (int)Math.round(durationMilliseconds * timeFactorFirstMove)).execute(actuator); 23 | new LinearMove(0.0, (int)Math.round(durationMilliseconds * timeFactorSecondMove)).execute(actuator); 24 | } 25 | 26 | } 27 | -------------------------------------------------------------------------------- /bulldog.build/src/main/resources/readme.txt: -------------------------------------------------------------------------------- 1 | ____ _ 2 | | _ \ ___ __ _ __| |_ __ ___ ___ 3 | | |_) / _ \/ _` |/ _` | '_ ` _ \ / _ \ 4 | | _ < __/ (_| | (_| | | | | | | __/ 5 | |_| \_\___|\__,_|\__,_|_| |_| |_|\___| 6 | 7 | 8 | 9 | Contents of this archive: 10 | 11 | * bulldog..jar 12 | the libbulldog jar for your board 13 | 14 | * libbulldog-linux.so 15 | the native binary for your linux distribution (libbulldog-linux.so) 16 | 17 | * license.txt 18 | licensing information for this software 19 | 20 | * readme.txt 21 | this file 22 | 23 | 24 | Installation: 25 | 26 | Just copy the native library and the jar to the place you want them to be. 27 | They must be in the same directory. Then, just use the jar in your project 28 | like you would use any other jar. -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/io/BBBI2cBus.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.io; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.io.bus.i2c.I2cSignalType; 5 | import org.bulldog.linux.io.LinuxI2cBus; 6 | 7 | public class BBBI2cBus extends LinuxI2cBus { 8 | 9 | private Pin sdaPin; 10 | private Pin sclPin; 11 | private int frequency; 12 | 13 | public BBBI2cBus(String name, String deviceFilePath, Pin sdaPin, Pin sclPin, int frequency) { 14 | super(name, deviceFilePath); 15 | this.sdaPin = sdaPin; 16 | this.sclPin = sclPin; 17 | sdaPin.addFeature(new BBBI2cPinFeature(this, sdaPin, I2cSignalType.SDA)); 18 | sclPin.addFeature(new BBBI2cPinFeature(this, sclPin, I2cSignalType.SCL)); 19 | } 20 | 21 | public Pin getSCL() { 22 | return sclPin; 23 | } 24 | 25 | public Pin getSDA() { 26 | return sdaPin; 27 | } 28 | 29 | @Override 30 | public int getFrequency() { 31 | return frequency; 32 | } 33 | } 34 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/jni/NativePwm.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.jni; 2 | 3 | public class NativePwm { 4 | 5 | public static native int setup(); 6 | public static native void teardown(); 7 | public static native int setPwm(int pwmId, float frequency, float dutyA, float dutyB); 8 | public static native void enable(int pwmId); 9 | public static native void disable(int pwmId); 10 | 11 | private static boolean isInitialized = false; 12 | 13 | static { 14 | initialize(); 15 | } 16 | 17 | public static void initialize() { 18 | if (isInitialized) { 19 | return; 20 | } 21 | setup(); 22 | isInitialized = true; 23 | Runtime.getRuntime().addShutdownHook(new Thread() { 24 | @Override 25 | public void run() { 26 | deinitialize(); 27 | } 28 | }); 29 | } 30 | 31 | public static void deinitialize() { 32 | if (isInitialized) { 33 | teardown(); 34 | isInitialized = false; 35 | } 36 | } 37 | } 38 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/beagleboneblack/devicetree/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.beagleboneblack.devicetree 7 | 8 | 9 | 10 | 11 |

org.bulldog.beagleboneblack.devicetree

12 |
13 |

Classes

14 | 17 |
18 | 19 | 20 | -------------------------------------------------------------------------------- /bulldog.build/gradle.properties: -------------------------------------------------------------------------------- 1 | #org.gradle.java.home = C:/Program Files (x86)/Java/jdk1.7.0_40 2 | org.gradle.java.home = C:/Program Files/Java/jdk1.7.0_55 3 | org.gradle.jvmargs = -XX:MaxPermSize=128m 4 | 5 | systemProp.org.bulldog.gcc.arm.root = ../bulldog.tools/toolchains/linaro/bin 6 | systemProp.org.bulldog.gcc.arm.ccompiler = arm-linux-gnueabihf-gcc.exe 7 | systemProp.org.bulldog.gcc.arm.cppcompiler= arm-linux-gnueabihf-g++.exe 8 | systemProp.org.bulldog.gcc.arm.linker = arm-linux-gnueabihf-ld.exe 9 | systemProp.org.bulldog.gcc.arm.assembler = arm-linux-gnueabihf-as.exe 10 | systemProp.org.bulldog.gcc.arm.archiver = arm-linux-gnueabihf-ar.exe 11 | systemProp.org.bulldog.gcc.arm.includes = ../bulldog.tools/toolchains/linaro/arm-linux-gnueabihf/libc/usr/include 12 | systemProp.org.bulldog.jdk.arm.includes = ../bulldog.tools/jdk/jdk1.7.0_55_arm_softfp/include/ 13 | systemProp.org.bulldog.jdk.arm.includes.linux = ../bulldog.tools/jdk/jdk1.7.0_55_arm_softfp/include/linux/ -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/linux/sysfs/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.linux.sysfs 7 | 8 | 9 | 10 | 11 |

org.bulldog.linux.sysfs

12 |
13 |

Classes

14 | 18 |
19 | 20 | 21 | -------------------------------------------------------------------------------- /bulldog.examples/src/main/java/org/bulldog/examples/LedExample.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.examples; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.beagleboneblack.BBBNames; 6 | import org.bulldog.core.gpio.Pwm; 7 | import org.bulldog.core.platform.Board; 8 | import org.bulldog.core.platform.Platform; 9 | import org.bulldog.core.util.BulldogUtil; 10 | import org.bulldog.devices.led.Led; 11 | 12 | public class LedExample { 13 | 14 | public static void main(String... args) throws IOException { 15 | 16 | //Get your platform 17 | final Board board = Platform.createBoard(); 18 | 19 | //Get a PWM 20 | Pwm pwm = board.getPin(BBBNames.PWM_P8_13).as(Pwm.class); 21 | 22 | //Construct the LED with it 23 | Led led = new Led(pwm); 24 | 25 | led.setBrightness(1.0); 26 | BulldogUtil.sleepMs(1000); 27 | 28 | led.setBrightness(0.5); 29 | BulldogUtil.sleepMs(1000); 30 | 31 | for(int i = 0; i < 5; i++) { 32 | led.fadeIn(1000); 33 | led.fadeOut(1000); 34 | } 35 | } 36 | } 37 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/linux/util/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.linux.util 7 | 8 | 9 | 10 | 11 |

org.bulldog.linux.util

12 |
13 |

Classes

14 | 18 |
19 | 20 | 21 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/platform/Board.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.platform; 2 | 3 | import java.util.List; 4 | import java.util.Properties; 5 | 6 | import org.bulldog.core.io.IOPort; 7 | import org.bulldog.core.io.bus.i2c.I2cBus; 8 | import org.bulldog.core.io.bus.spi.SpiBus; 9 | import org.bulldog.core.io.serial.SerialPort; 10 | 11 | public interface Board extends PinProvider { 12 | 13 | String getName(); 14 | 15 | List getI2cBuses(); 16 | I2cBus getI2cBus(String name); 17 | 18 | List getSpiBuses(); 19 | SpiBus getSpiBus(String name); 20 | 21 | List getSerialPorts(); 22 | SerialPort getSerialPort(String name); 23 | 24 | List getAllIOPorts(); 25 | IOPort getIOPortByAlias(String alias); 26 | IOPort getIOPortByName(String name); 27 | 28 | Properties getProperties(); 29 | void setProperty(String propertyName, String value); 30 | String getProperty(String propertyName); 31 | boolean hasProperty(String propertyName); 32 | 33 | void shutdown(); 34 | } 35 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/linux/gpio/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.linux.gpio 7 | 8 | 9 | 10 | 11 |

org.bulldog.linux.gpio

12 |
13 |

Classes

14 | 18 |
19 | 20 | 21 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/util/Commands.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.util; 2 | 3 | import java.io.IOException; 4 | import java.io.InputStream; 5 | 6 | public class Commands { 7 | 8 | public static String cat(String filename) { 9 | return shellExecute("cat", filename); 10 | } 11 | 12 | public static String shellExecute(String command, String... args) { 13 | ProcessBuilder cmd; 14 | String result = ""; 15 | 16 | try { 17 | String[] processInfo = new String[args.length + 1]; 18 | processInfo[0] = command; 19 | for(int i = 0; i < args.length; i++) { 20 | processInfo[i + 1] = args[i]; 21 | } 22 | cmd = new ProcessBuilder(processInfo); 23 | 24 | Process process = cmd.start(); 25 | InputStream in = process.getInputStream(); 26 | byte[] re = new byte[1024]; 27 | while (in.read(re) != -1) { 28 | result = result + new String(re); 29 | } 30 | in.close(); 31 | } catch (IOException ex) { 32 | throw new RuntimeException(ex); 33 | } 34 | 35 | return result; 36 | } 37 | } 38 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/beagleboneblack/sysfs/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.beagleboneblack.sysfs 7 | 8 | 9 | 10 | 11 |

org.bulldog.beagleboneblack.sysfs

12 |
13 |

Classes

14 | 18 |
19 | 20 | 21 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/gpio/BBBDigitalOutput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.gpio; 2 | 3 | import org.bulldog.beagleboneblack.BeagleBonePin; 4 | import org.bulldog.beagleboneblack.jni.NativeGpio; 5 | import org.bulldog.core.Signal; 6 | import org.bulldog.core.gpio.Pin; 7 | import org.bulldog.core.gpio.base.AbstractDigitalOutput; 8 | 9 | public class BBBDigitalOutput extends AbstractDigitalOutput { 10 | 11 | public BBBDigitalOutput(Pin pin) { 12 | super(pin); 13 | } 14 | 15 | protected void setupImpl() { 16 | BeagleBonePin bbbPin = (BeagleBonePin)getPin(); 17 | NativeGpio.pinMode(bbbPin.getPortNumeric(), bbbPin.getIndexOnPort(), NativeGpio.DIRECTION_OUT); 18 | applySignal(getAppliedSignal()); 19 | } 20 | 21 | protected void teardownImpl() { 22 | } 23 | 24 | @Override 25 | protected void applySignalImpl(Signal signal) { 26 | BeagleBonePin bbbPin = (BeagleBonePin)getPin(); 27 | NativeGpio.digitalWrite(bbbPin.getPortNumeric(), bbbPin.getIndexOnPort(), signal == Signal.High ? NativeGpio.HIGH : NativeGpio.LOW); 28 | } 29 | 30 | } 31 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/portexpander/PCF8574DigitalOutput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.portexpander; 2 | 3 | import org.bulldog.core.Signal; 4 | import org.bulldog.core.gpio.Pin; 5 | import org.bulldog.core.gpio.base.AbstractDigitalOutput; 6 | import org.bulldog.core.util.BitMagic; 7 | 8 | public class PCF8574DigitalOutput extends AbstractDigitalOutput { 9 | 10 | private PCF8574 expander; 11 | 12 | public PCF8574DigitalOutput(Pin pin, PCF8574 expander) { 13 | super(pin); 14 | this.expander = expander; 15 | } 16 | 17 | @Override 18 | protected void setupImpl() { 19 | } 20 | 21 | @Override 22 | protected void teardownImpl() { 23 | } 24 | 25 | @Override 26 | protected void applySignalImpl(Signal signal) { 27 | byte state = expander.getState(); 28 | byte newState = BitMagic.setBit(state, getPin().getAddress(), signal.getNumericValue()); 29 | expander.writeState(newState); 30 | } 31 | 32 | @Override 33 | public Signal getAppliedSignal() { 34 | return Signal.fromNumericValue(BitMagic.getBit(expander.getState(), getPin().getAddress())); 35 | } 36 | 37 | } 38 | -------------------------------------------------------------------------------- /bulldog.examples/src/main/java/org/bulldog/examples/I2cExample.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.examples; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.beagleboneblack.BBBNames; 6 | import org.bulldog.core.io.bus.i2c.I2cBus; 7 | import org.bulldog.core.platform.Board; 8 | import org.bulldog.core.platform.Platform; 9 | import org.bulldog.core.util.BulldogUtil; 10 | import org.bulldog.devices.sensors.BH1750LightIntensitySensor; 11 | 12 | public class I2cExample { 13 | 14 | public static void main(String... args) throws IOException { 15 | 16 | //Get your platform 17 | final Board board = Platform.createBoard(); 18 | 19 | I2cBus bus = board.getI2cBus(BBBNames.I2C_1); 20 | 21 | //Let's assume we have got a device on address xx 22 | BH1750LightIntensitySensor sensor = new BH1750LightIntensitySensor(bus, 0x23); 23 | sensor.initMode(BH1750LightIntensitySensor.MODE_HIGH_RES_05_LX_CONTINUOUS); 24 | 25 | while(true) { 26 | double luminosity = sensor.readLuminanceNormalized(); 27 | System.out.println(luminosity + "[lx normalized]"); 28 | BulldogUtil.sleepMs(100); 29 | } 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/util/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core.util 7 | 8 | 9 | 10 | 11 |

org.bulldog.core.util

12 |
13 |

Classes

14 | 19 |
20 | 21 | 22 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/gpio/PwmFrequencyCalculator.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi.gpio; 2 | 3 | public class PwmFrequencyCalculator { 4 | 5 | private static final double CLOCK_FREQUENCY = 19200000.0; 6 | 7 | public static int calculateDivisorRegister(double targetFrequency) { 8 | 9 | int minDivF = 1024; 10 | int currentDivreg = 0; 11 | 12 | for (int i = 1; i < 4096; i++) { 13 | boolean error = false; 14 | double frequency = targetFrequency * i; 15 | 16 | double divisor = CLOCK_FREQUENCY / frequency; 17 | int DIVI = (int) Math.floor(divisor); 18 | int DIVF = (int) Math.floor((divisor - DIVI) * 1024); 19 | int divreg = (0x5a << 24) | ((int) DIVI << 12) | (DIVF); 20 | 21 | if (Double.isNaN(DIVF) || Double.isInfinite(DIVI) || DIVI < 1 || DIVI > 4095) { 22 | error = true; 23 | } 24 | 25 | if(DIVF < minDivF && error == false) { 26 | currentDivreg = divreg; 27 | minDivF = DIVF; 28 | } 29 | 30 | if (DIVF == 0 && error == false) { 31 | return divreg; 32 | } 33 | 34 | } 35 | 36 | return currentDivreg; 37 | 38 | } 39 | 40 | } 41 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core 7 | 8 | 9 | 10 | 11 |

org.bulldog.core

12 |
13 |

Enums

14 | 20 |
21 | 22 | 23 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/gpio/base/TestAbstractDigitalOutput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.base; 2 | 3 | import junit.framework.TestCase; 4 | 5 | import org.bulldog.core.gpio.DigitalOutput; 6 | import org.bulldog.core.gpio.Pin; 7 | import org.bulldog.core.mocks.MockedDigitalOutput; 8 | import org.junit.Before; 9 | import org.junit.Test; 10 | 11 | public class TestAbstractDigitalOutput { 12 | 13 | private Pin pin; 14 | private GpioTester gpioTester; 15 | 16 | @Before 17 | public void setup() { 18 | pin = new Pin("Testpin", 0, "A", 0); 19 | MockedDigitalOutput output = new MockedDigitalOutput(pin); 20 | pin.addFeature(output); 21 | gpioTester = new GpioTester(); 22 | } 23 | 24 | @Test 25 | public void testOutput() { 26 | gpioTester.testOutput(pin.as(DigitalOutput.class)); 27 | } 28 | 29 | @Test 30 | public void testName() { 31 | DigitalOutput output = pin.as(DigitalOutput.class); 32 | String name = output.getName(); 33 | TestCase.assertNotNull(name); 34 | } 35 | 36 | @Test 37 | public void testBlinking() { 38 | gpioTester.testBlinking(pin.as(DigitalOutput.class)); 39 | } 40 | 41 | 42 | } 43 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/gpio/util/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core.gpio.util 7 | 8 | 9 | 10 | 11 |

org.bulldog.core.gpio.util

12 |
13 |

Classes

14 | 19 |
20 | 21 | 22 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/gpio/LinuxDigitalOutput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.gpio; 2 | 3 | import org.bulldog.core.Signal; 4 | import org.bulldog.core.gpio.Pin; 5 | import org.bulldog.core.gpio.base.AbstractDigitalOutput; 6 | import org.bulldog.linux.sysfs.SysFsPin; 7 | 8 | public class LinuxDigitalOutput extends AbstractDigitalOutput { 9 | 10 | private SysFsPin sysFsPin; 11 | 12 | public LinuxDigitalOutput(Pin pin) { 13 | super(pin); 14 | sysFsPin = createSysFsPin(pin); 15 | } 16 | 17 | protected SysFsPin createSysFsPin(Pin pin) { 18 | return new SysFsPin(pin.getAddress()); 19 | } 20 | 21 | @Override 22 | protected void setupImpl() { 23 | exportPinIfNecessary(); 24 | } 25 | 26 | @Override 27 | protected void teardownImpl() { 28 | unexportPin(); 29 | } 30 | 31 | protected void exportPinIfNecessary() { 32 | sysFsPin.exportIfNecessary(); 33 | sysFsPin.setDirection("out"); 34 | } 35 | 36 | protected void unexportPin() { 37 | sysFsPin.unexport(); 38 | } 39 | 40 | @Override 41 | protected void applySignalImpl(Signal signal) { 42 | sysFsPin.setValue(signal); 43 | } 44 | 45 | } 46 | -------------------------------------------------------------------------------- /bulldog.linux.native/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | bulldog.linux.native 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.jdt.core.javabuilder 10 | 11 | 12 | 13 | 14 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 15 | clean,full,incremental, 16 | 17 | 18 | 19 | 20 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 21 | full,incremental, 22 | 23 | 24 | 25 | 26 | 27 | org.springsource.ide.eclipse.gradle.core.nature 28 | org.eclipse.jdt.core.javanature 29 | org.eclipse.cdt.core.cnature 30 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 31 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 32 | 33 | 34 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/i2c/I2cConnection.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.i2c; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.core.io.bus.BusConnection; 6 | 7 | public class I2cConnection extends BusConnection { 8 | 9 | public I2cConnection(I2cBus bus, int address) { 10 | super(bus, address); 11 | } 12 | 13 | public byte readByteFromRegister(int register) throws IOException { 14 | writeByte((byte)register); 15 | return readByte(); 16 | } 17 | 18 | public int readBytesFromRegister(int register, byte[] buffer) throws IOException { 19 | writeByte((byte)register); 20 | return readBytes(buffer); 21 | } 22 | 23 | public void writeByteToRegister(int register, int data) throws IOException { 24 | writeBytes(new byte[] { (byte)register, (byte)data }); 25 | } 26 | 27 | public void writeBytesToRegister(int register, byte[] data) throws IOException { 28 | byte[] bytesToWrite = new byte[data.length + 1]; 29 | bytesToWrite[0] = (byte)register; 30 | System.arraycopy(data, 0, bytesToWrite, 1, data.length); 31 | } 32 | 33 | public I2cBus getBus() { 34 | return (I2cBus)super.getBus(); 35 | } 36 | } 37 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/jni/NativeMmap.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.jni; 2 | 3 | public class NativeMmap { 4 | 5 | public static final int NONE = 0x00; 6 | public static final int READ = 0x01; 7 | public static final int WRITE = 0x02; 8 | public static final int EXEC = 0x04; 9 | 10 | public static final int SHARED = 0x01; 11 | public static final int PRIVATE = 0x02; 12 | 13 | public static native long createMap(long address, long length, int protection, int flags, int fileDescriptor, long offset); 14 | public static native int deleteMap(long address, long length); 15 | 16 | public static native void setLongValueAt(long address, long value); 17 | public static native long getLongValueAt(long address); 18 | 19 | public static native void setIntValueAt(long address, int value); 20 | public static native int getIntValueAt(long address); 21 | 22 | public static native void setShortValueAt(long address, short value); 23 | public static native short getShortValueAt(long address); 24 | 25 | public static native void setByteValueAt(long address, byte value); 26 | public static native byte getByteValueAt(long address); 27 | } 28 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/motor/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.motor 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.motor

12 |
13 |

Classes

14 | 19 |
20 | 21 | 22 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/sysfs/SysFsPwm.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.sysfs; 2 | 3 | import org.bulldog.core.Polarity; 4 | 5 | 6 | public class SysFsPwm { 7 | 8 | private BBBSysFs sysfsUtil = new BBBSysFs(); 9 | private String directory = null; 10 | private int slot = -1; 11 | 12 | public SysFsPwm(String path, int slot) { 13 | this.directory = path; 14 | this.slot = slot; 15 | } 16 | 17 | public void setPeriod(long period) { 18 | sysfsUtil.echo(directory + "/period", String.valueOf(period)); 19 | } 20 | 21 | public void setDuty(long duty) { 22 | sysfsUtil.echo(directory + "/duty", String.valueOf(duty)); 23 | } 24 | 25 | public void setPolarity(Polarity polarity) { 26 | sysfsUtil.echo(directory + "/polarity", polarity == Polarity.Negative ? "0" : "1"); 27 | } 28 | 29 | public void enable() { 30 | sysfsUtil.echo(directory + "/run", "1"); 31 | } 32 | 33 | public void disable() { 34 | sysfsUtil.echo(directory + "/run", "0"); 35 | } 36 | 37 | public int getSlot() { 38 | return slot; 39 | } 40 | 41 | public String getDirectory() { 42 | return directory; 43 | } 44 | 45 | } 46 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/jni/NativeSerial.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.jni; 2 | 3 | import java.nio.ByteBuffer; 4 | 5 | public class NativeSerial { 6 | 7 | public static final int SERIAL_BLOCK = 1; 8 | public static final int SERIAL_NO_BLOCK = 0; 9 | public static final int SERIAL_DEFAULT_TIMEOUT = 5; 10 | public static final int PARENB = 0000400; 11 | public static final int PARODD = 0001000; 12 | public static final int CMSPAR = 010000000000; 13 | 14 | public static native int serialOpen(String devicePath, int baud); 15 | public static native int serialOpen(String devicePath, int parity, int baud, boolean blocking, int readTimeout, int numDataBits, int numStopBits); 16 | public static native int serialClose(int fileDescriptor); 17 | public static native byte serialRead(int fileDescriptor); 18 | public static native int serialReadBuffer(int fileDescriptor, ByteBuffer buffer, int bufferSize); 19 | public static native int serialDataAvailable(int fileDescriptor); 20 | public static native int serialWrite(int fileDescriptor, byte data); 21 | public static native int serialWriteBuffer(int fileDescriptor, ByteBuffer buffer, int bufferSize); 22 | } 23 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/beagleboneblack/jni/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.beagleboneblack.jni 7 | 8 | 9 | 10 | 11 |

org.bulldog.beagleboneblack.jni

12 |
13 |

Classes

14 | 19 |
20 | 21 | 22 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/linux/jni/org_bulldog_linux_jni_NativeTools.h: -------------------------------------------------------------------------------- 1 | /* DO NOT EDIT THIS FILE - it is machine generated */ 2 | #include 3 | /* Header for class org_bulldog_linux_jni_NativeTools */ 4 | 5 | #ifndef _Included_org_bulldog_linux_jni_NativeTools 6 | #define _Included_org_bulldog_linux_jni_NativeTools 7 | #ifdef __cplusplus 8 | extern "C" { 9 | #endif 10 | 11 | /* 12 | * Class: org_bulldog_linux_jni_NativeTools 13 | * Method: getJavaDescriptor 14 | * Signature: (I)[Ljava/io/FileDescriptor 15 | */ 16 | JNIEXPORT jobject JNICALL Java_org_bulldog_linux_jni_NativeTools_getJavaDescriptor 17 | (JNIEnv *, jclass, jint); 18 | 19 | /* 20 | * Class: org_bulldog_linux_jni_NativeTools 21 | * Method: open 22 | * Signature: (Ljava/lang/String;I)I 23 | */ 24 | JNIEXPORT jint JNICALL Java_org_bulldog_linux_jni_NativeTools_open 25 | (JNIEnv *, jclass, jstring, jint); 26 | 27 | /* 28 | * Class: org_bulldog_linux_jni_NativeTools 29 | * Method: close 30 | * Signature: (I)I 31 | */ 32 | JNIEXPORT jint JNICALL Java_org_bulldog_linux_jni_NativeTools_close 33 | (JNIEnv *, jclass, jint); 34 | 35 | #ifdef __cplusplus 36 | } 37 | #endif 38 | #endif 39 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/pwmdriver/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.pwmdriver 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.pwmdriver

12 |
13 |

Classes

14 | 19 |
20 | 21 | 22 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/motor/AbstractStepper.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.motor; 2 | 3 | import java.util.concurrent.ExecutorService; 4 | import java.util.concurrent.Executors; 5 | import java.util.concurrent.Future; 6 | 7 | import org.bulldog.devices.actuators.movement.Move; 8 | import org.bulldog.devices.actuators.Actuator; 9 | 10 | public abstract class AbstractStepper implements Actuator { 11 | 12 | private ExecutorService executor = Executors.newSingleThreadExecutor(); 13 | private Future currentMove = null; 14 | 15 | 16 | public abstract void forward(); 17 | public abstract void backward(); 18 | public abstract void stop(); 19 | 20 | public void move(Move move) { 21 | move.execute(this); 22 | } 23 | 24 | public void moveAsync(final Move move) { 25 | currentMove = executor.submit(new Runnable() { 26 | 27 | @Override 28 | public void run() { 29 | move(move); 30 | } 31 | 32 | }); 33 | } 34 | 35 | public void awaitMoveCompleted() { 36 | if(currentMove != null) { 37 | try { 38 | currentMove.get(); 39 | } catch (Exception e) { 40 | throw new RuntimeException(e); 41 | } 42 | } 43 | } 44 | 45 | } 46 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/linux/bulldog/bulldogSerial.h: -------------------------------------------------------------------------------- 1 | #ifndef BULLDOG_SERIAL_H 2 | #define BULLDOG_SERIAL_H 3 | 4 | #ifdef __cplusplus 5 | extern "C" { 6 | #endif 7 | 8 | #define SERIAL_BLOCK 1 9 | #define SERIAL_NO_BLOCK 0 10 | #define SERIAL_DEFAULT_TIMEOUT 5 11 | #define SERIAL_DEFAULT_STOP_BITS 1 12 | #define SERIAL_DEFAULT_DATA_BITS 8 13 | 14 | extern int serialOpen(char* portname, int baud, int parity, int blocking, int readTimeout, int numDataBits, int numStopBits); 15 | extern int serialOpenSimple(char* portname, int baud); 16 | extern int serialClose(int fd); 17 | 18 | extern int serialWriteCharacter(int fileDescriptor, unsigned char data); 19 | extern int serialWriteBuffer(int fileDescriptor, char* data); 20 | 21 | extern int serialReadBuffer(int fileDescriptor, char* buffer, int bufferSize); 22 | extern unsigned char serialReadCharacter(int fileDescriptor); 23 | extern int serialDataAvailable(int fd); 24 | 25 | extern int serialSetAttributes(int fd, int speed, int parity, int readTimeout, int numDataBits, int numStopBits); 26 | extern void serialSetBlocking(int fd, int block, int readTimeout); 27 | 28 | #ifdef __cplusplus 29 | } 30 | #endif 31 | 32 | #endif 33 | 34 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/raspberrypi/io/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.raspberrypi.io 7 | 8 | 9 | 10 | 11 |

org.bulldog.raspberrypi.io

12 |
13 |

Classes

14 | 19 |
20 | 21 | 22 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/i2c/I2cDevice.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.i2c; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.core.io.bus.BusDevice; 6 | 7 | public class I2cDevice extends BusDevice { 8 | 9 | public I2cDevice(I2cConnection connection) { 10 | super(connection); 11 | } 12 | 13 | public I2cDevice(I2cBus bus, int address) { 14 | this(bus.createI2cConnection(address)); 15 | } 16 | 17 | public byte readByteFromRegister(int register) throws IOException { 18 | return getBusConnection().readByteFromRegister(register); 19 | } 20 | 21 | public int readBytesFromRegister(int register, byte[] buffer) throws IOException { 22 | return getBusConnection().readBytesFromRegister(register, buffer); 23 | } 24 | 25 | public void writeByteToRegister(int register, int data) throws IOException { 26 | getBusConnection().writeByteToRegister(register, data); 27 | } 28 | 29 | public void writeBytesToRegister(int register, byte[] data) throws IOException { 30 | getBusConnection().writeBytesToRegister(register, data); 31 | } 32 | 33 | public I2cConnection getBusConnection() { 34 | return (I2cConnection)super.getBusConnection(); 35 | } 36 | } 37 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/io/bus/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core.io.bus 7 | 8 | 9 | 10 | 11 |

org.bulldog.core.io.bus

12 |
13 |

Interfaces

14 |
    15 |
  • Bus
    • 16 |
17 |

Classes

18 | 22 |
23 | 24 | 25 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/portexpander/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.portexpander 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.portexpander

12 |
13 |

Classes

14 | 19 |
20 | 21 | 22 | -------------------------------------------------------------------------------- /bulldog.examples/src/main/java/org/bulldog/examples/PinIOGroupExample.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.examples; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.beagleboneblack.BBBNames; 6 | import org.bulldog.core.gpio.DigitalIO; 7 | import org.bulldog.core.io.PinIOGroup; 8 | import org.bulldog.core.platform.Board; 9 | import org.bulldog.core.platform.Platform; 10 | import org.bulldog.core.util.BulldogUtil; 11 | 12 | public class PinIOGroupExample { 13 | 14 | public static void main(String[] args) throws IOException 15 | { 16 | //Grab the platform the application is running on 17 | Board board = Platform.createBoard(); 18 | 19 | PinIOGroup ioGroup = new PinIOGroup(board.getPin(BBBNames.P8_15).as(DigitalIO.class), 20 | 100, 21 | board.getPin(BBBNames.P8_11).as(DigitalIO.class), 22 | board.getPin(BBBNames.P8_12).as(DigitalIO.class), 23 | board.getPin(BBBNames.P8_13).as(DigitalIO.class), 24 | board.getPin(BBBNames.P8_14).as(DigitalIO.class) 25 | 26 | ); 27 | 28 | while(true) { 29 | for(int i = 0; i < 16; i++) { 30 | ioGroup.writeByte(i); 31 | } 32 | BulldogUtil.sleepMs(100); 33 | } 34 | } 35 | 36 | } 37 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/actuators/movement/LinearMove.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.actuators.movement; 2 | 3 | import org.bulldog.core.util.BulldogUtil; 4 | import org.bulldog.devices.actuators.Actuator; 5 | 6 | public class LinearMove implements Move { 7 | 8 | private double toPosition; 9 | private int milliseconds; 10 | 11 | public LinearMove(double toPosition, int milliseconds) { 12 | this.milliseconds = milliseconds; 13 | this.toPosition = toPosition; 14 | } 15 | 16 | @Override 17 | public void execute(Actuator actuator) { 18 | if(milliseconds <= 0) { 19 | new DirectMove(toPosition).execute(actuator); 20 | } else { 21 | double startPosition = actuator.getPosition(); 22 | double delta = Math.abs(startPosition - toPosition); 23 | int amountSteps = (int)(milliseconds / actuator.getRefreshIntervalMilliseconds()); 24 | double stepSize = delta / amountSteps; 25 | for(int i = 0; i < amountSteps; i++) { 26 | if(startPosition < toPosition) { 27 | actuator.setPosition(actuator.getPosition() + stepSize); 28 | } else { 29 | actuator.setPosition(actuator.getPosition()- stepSize); 30 | } 31 | BulldogUtil.sleepMs(actuator.getRefreshIntervalMilliseconds()); 32 | } 33 | } 34 | } 35 | 36 | } 37 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/gpio/RaspiDigitalOutput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi.gpio; 2 | 3 | import org.bulldog.core.Signal; 4 | import org.bulldog.core.gpio.Pin; 5 | import org.bulldog.core.gpio.base.AbstractDigitalOutput; 6 | import org.bulldog.raspberrypi.BCM2835; 7 | import org.bulldog.raspberrypi.RaspberryPiPin; 8 | 9 | public class RaspiDigitalOutput extends AbstractDigitalOutput { 10 | 11 | public RaspiDigitalOutput(Pin pin) { 12 | super(pin); 13 | } 14 | 15 | @Override 16 | protected void setupImpl() { 17 | RaspberryPiPin pin = (RaspberryPiPin)getPin(); 18 | BCM2835.configureAsInput(pin.getGpioNumber()); 19 | BCM2835.configureAsOutput(pin.getGpioNumber()); 20 | } 21 | 22 | 23 | @Override 24 | protected void teardownImpl() { 25 | 26 | } 27 | 28 | @Override 29 | protected void applySignalImpl(Signal signal) { 30 | int value = 1 << getRaspberryPiPin().getGpioNumber(); 31 | if(signal == Signal.High) { 32 | BCM2835.getGpioMemory().setIntValue(BCM2835.GPIO_SET, value); 33 | } else { 34 | BCM2835.getGpioMemory().setIntValue(BCM2835.GPIO_CLEAR, value); 35 | } 36 | } 37 | 38 | private RaspberryPiPin getRaspberryPiPin() { 39 | RaspberryPiPin pin = (RaspberryPiPin)getPin(); 40 | return pin; 41 | } 42 | } 43 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/io/serial/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core.io.serial 7 | 8 | 9 | 10 | 11 |

org.bulldog.core.io.serial

12 |
13 |

Interfaces

14 | 18 |

Classes

19 | 22 |
23 | 24 | 25 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedPwm.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.base.AbstractPwm; 5 | 6 | public class MockedPwm extends AbstractPwm { 7 | 8 | private boolean enableImplCalled = false; 9 | private boolean disableImplCalled = false; 10 | private boolean pwmImplCalled = false; 11 | 12 | public MockedPwm(Pin pin) { 13 | super(pin); 14 | } 15 | 16 | @Override 17 | protected void setupImpl() { 18 | } 19 | 20 | @Override 21 | protected void teardownImpl() { 22 | } 23 | 24 | @Override 25 | protected void setPwmImpl(double frequency, double duty) { 26 | pwmImplCalled = true; 27 | } 28 | 29 | public boolean pwmImplCalled() { 30 | return pwmImplCalled; 31 | } 32 | 33 | @Override 34 | protected void enableImpl() { 35 | enableImplCalled = true; 36 | } 37 | 38 | public boolean enableImplCalled() { 39 | return enableImplCalled; 40 | } 41 | 42 | @Override 43 | protected void disableImpl() { 44 | disableImplCalled = true; 45 | } 46 | 47 | public boolean disableImplCalled() { 48 | return disableImplCalled; 49 | } 50 | 51 | public void reset() { 52 | disableImplCalled = false; 53 | enableImplCalled = false; 54 | pwmImplCalled = false; 55 | } 56 | 57 | 58 | 59 | } 60 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/io/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core.io 7 | 8 | 9 | 10 | 11 |

org.bulldog.core.io

12 |
13 |

Interfaces

14 | 17 |

Classes

18 | 23 |
24 | 25 | 26 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/raspberrypi/gpio/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.raspberrypi.gpio 7 | 8 | 9 | 10 | 11 |

org.bulldog.raspberrypi.gpio

12 |
13 |

Classes

14 | 20 |
21 | 22 | 23 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/package-list: -------------------------------------------------------------------------------- 1 | org.bulldog.beagleboneblack 2 | org.bulldog.beagleboneblack.devicetree 3 | org.bulldog.beagleboneblack.gpio 4 | org.bulldog.beagleboneblack.io 5 | org.bulldog.beagleboneblack.jni 6 | org.bulldog.beagleboneblack.sysfs 7 | org.bulldog.core 8 | org.bulldog.core.gpio 9 | org.bulldog.core.gpio.base 10 | org.bulldog.core.gpio.event 11 | org.bulldog.core.gpio.util 12 | org.bulldog.core.io 13 | org.bulldog.core.io.bus 14 | org.bulldog.core.io.bus.i2c 15 | org.bulldog.core.io.bus.spi 16 | org.bulldog.core.io.serial 17 | org.bulldog.core.io.uart 18 | org.bulldog.core.platform 19 | org.bulldog.core.util 20 | org.bulldog.core.util.easing 21 | org.bulldog.devices.actuators 22 | org.bulldog.devices.actuators.movement 23 | org.bulldog.devices.dac 24 | org.bulldog.devices.lcd 25 | org.bulldog.devices.led 26 | org.bulldog.devices.motor 27 | org.bulldog.devices.portexpander 28 | org.bulldog.devices.pwmdriver 29 | org.bulldog.devices.sensors 30 | org.bulldog.devices.servo 31 | org.bulldog.devices.switches 32 | org.bulldog.examples 33 | org.bulldog.linux.gpio 34 | org.bulldog.linux.io 35 | org.bulldog.linux.io.mmap 36 | org.bulldog.linux.jni 37 | org.bulldog.linux.sysfs 38 | org.bulldog.linux.sysinfo 39 | org.bulldog.linux.util 40 | org.bulldog.raspberrypi 41 | org.bulldog.raspberrypi.gpio 42 | org.bulldog.raspberrypi.io 43 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/jni/NativeEpoll.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.jni; 2 | 3 | public class NativeEpoll { 4 | 5 | public static final int EPOLLIN = 0x001; 6 | public static final int EPOLLPRI = 0x002; 7 | public static final int EPOLLOUT = 0x004; 8 | public static final int EPOLLRDNORM = 0x040; 9 | public static final int EPOLLRDBAND = 0x080; 10 | public static final int EPOLLWRNORM = 0x100; 11 | public static final int EPOLLWRBAND = 0x200; 12 | public static final int EPOLLMSG = 0x400; 13 | public static final int EPOLLERR = 0x008; 14 | public static final int EPOLLHUP = 0x010; 15 | public static final int EPOLLRDHUP = 0x2000; 16 | public static final int EPOLLWAKEUP = 1 << 29; 17 | public static final int EPOLLONESHOT = 1 << 30; 18 | public static final int EPOLLET = 1 << 31; 19 | public static final int EPOLL_CTL_ADD = 1; 20 | public static final int EPOLL_CTL_DEL = 2; 21 | public static final int EPOLL_CTL_MOD = 3; 22 | 23 | public static native int epollCreate(); 24 | public static native int addFile(int epfd, int opcode, String filename, int events); 25 | public static native int removeFile(int epfd, int fd); 26 | public static native NativePollResult[] waitForInterrupt(int epfd); 27 | public static native void stopWait(int epfd); 28 | public static native void shutdown(int epfd); 29 | } 30 | 31 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/servo/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.servo 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.servo

12 |
13 |

Interfaces

14 | 17 |

Classes

18 | 23 |
24 | 25 | 26 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/raspberrypi/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.raspberrypi 7 | 8 | 9 | 10 | 11 |

org.bulldog.raspberrypi

12 |
13 |

Classes

14 | 21 |
22 | 23 | 24 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedAnalogInput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import java.util.concurrent.Future; 4 | 5 | import org.bulldog.core.gpio.Pin; 6 | import org.bulldog.core.gpio.base.AbstractAnalogInput; 7 | 8 | public class MockedAnalogInput extends AbstractAnalogInput { 9 | 10 | private double value; 11 | private double[] samples; 12 | 13 | public MockedAnalogInput(Pin pin) { 14 | super(pin); 15 | } 16 | 17 | public void setValueToRead(double value) { 18 | this.value = value; 19 | } 20 | 21 | public void setSamples(double[] samples) { 22 | this.samples = samples; 23 | } 24 | 25 | @Override 26 | public double read() { 27 | return value; 28 | } 29 | 30 | @Override 31 | public double[] sample(int amountSamples) { 32 | return samples; 33 | } 34 | 35 | @Override 36 | public double[] sample(int amountSamples, float frequency) { 37 | return samples; 38 | } 39 | 40 | @Override 41 | public Future sampleAsync(int amountSamples) { 42 | // TODO Auto-generated method stub 43 | return null; 44 | } 45 | 46 | @Override 47 | public Future sampleAsync(int amountSamples, float frequency) { 48 | // TODO Auto-generated method stub 49 | return null; 50 | } 51 | 52 | @Override 53 | protected void setupImpl() { 54 | } 55 | 56 | @Override 57 | protected void teardownImpl() { 58 | } 59 | 60 | } 61 | -------------------------------------------------------------------------------- /bulldog.board.raspberrypi/src/main/java/org/bulldog/raspberrypi/RaspiNames.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.raspberrypi; 2 | 3 | public class RaspiNames { 4 | 5 | public static final String P1_3 = "P1_3"; 6 | public static final String P1_5 = "P1_5"; 7 | public static final String P1_7 = "P1_7"; 8 | public static final String P1_8 = "P1_8"; 9 | public static final String P1_10 = "P1_10"; 10 | public static final String P1_11 = "P1_11"; 11 | public static final String P1_12 = "P1_12"; 12 | public static final String P1_13 = "P1_13"; 13 | public static final String P1_15 = "P1_15"; 14 | public static final String P1_16 = "P1_16"; 15 | public static final String P1_18 = "P1_18"; 16 | public static final String P1_19 = "P1_19"; 17 | public static final String P1_21 = "P1_21"; 18 | public static final String P1_22 = "P1_22"; 19 | public static final String P1_23 = "P1_23"; 20 | public static final String P1_24 = "P1_24"; 21 | public static final String P1_26 = "P1_26"; 22 | 23 | public static final String P5_3 = "P5_3"; 24 | public static final String P5_4 = "P5_4"; 25 | public static final String P5_5 = "P5_5"; 26 | public static final String P5_6 = "P5_6"; 27 | 28 | public static final String PWM_PIN = P1_12; 29 | 30 | public static final String I2C_0 = "I2C_0"; 31 | public static final String SPI_0_CS0 = "SPI_0_0"; 32 | public static final String SPI_0_CS1 = "SPI_0_1"; 33 | 34 | } 35 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/gpio/base/TestAbstractDigitalInput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.base; 2 | 3 | import junit.framework.TestCase; 4 | 5 | import org.bulldog.core.gpio.DigitalInput; 6 | import org.bulldog.core.gpio.Pin; 7 | import org.bulldog.core.mocks.MockedDigitalInput; 8 | import org.junit.Before; 9 | import org.junit.Test; 10 | 11 | public class TestAbstractDigitalInput { 12 | 13 | private Pin pin; 14 | private MockedDigitalInput mock; 15 | private GpioTester gpioTester; 16 | 17 | @Before 18 | public void setup() { 19 | pin = new Pin("Testpin", 0, "A", 0); 20 | mock = new MockedDigitalInput(pin); 21 | pin.addFeature(mock); 22 | gpioTester = new GpioTester(); 23 | } 24 | 25 | @Test 26 | public void testRead() { 27 | gpioTester.testRead(pin.as(DigitalInput.class), mock); 28 | } 29 | 30 | @Test 31 | public void testReadDebounced() { 32 | gpioTester.testReadDebounced(pin.as(DigitalInput.class), mock); 33 | } 34 | 35 | @Test 36 | public void testInterruptTrigger() { 37 | gpioTester.testInterruptTrigger(pin.as(DigitalInput.class)); 38 | } 39 | 40 | @Test 41 | public void testInterrupts() { 42 | gpioTester.testInterrupts(pin.as(DigitalInput.class)); 43 | } 44 | 45 | @Test 46 | public void testName() { 47 | DigitalInput input = pin.as(DigitalInput.class); 48 | TestCase.assertNotNull(input.getName()); 49 | } 50 | 51 | } 52 | -------------------------------------------------------------------------------- /bulldog.examples/src/main/java/org/bulldog/examples/ButtonExample.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.examples; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.beagleboneblack.BBBNames; 6 | import org.bulldog.core.Signal; 7 | import org.bulldog.core.gpio.DigitalInput; 8 | import org.bulldog.core.platform.Board; 9 | import org.bulldog.core.platform.Platform; 10 | import org.bulldog.core.util.BulldogUtil; 11 | import org.bulldog.devices.switches.Button; 12 | import org.bulldog.devices.switches.ButtonListener; 13 | 14 | public class ButtonExample { 15 | 16 | public static void main(String[] args) throws IOException 17 | { 18 | //Grab the platform the application is running on 19 | Board board = Platform.createBoard(); 20 | 21 | //Set up a digital input 22 | DigitalInput buttonSignal = board.getPin(BBBNames.P8_12).as(DigitalInput.class); 23 | 24 | //Create the button with this DigitalInput 25 | Button button = new Button(buttonSignal, Signal.Low); 26 | 27 | //Add a button listener 28 | button.addListener(new ButtonListener() { 29 | 30 | public void buttonPressed() { 31 | System.out.println("PRESSED"); 32 | } 33 | 34 | public void buttonReleased() { 35 | System.out.println("RELEASED"); 36 | } 37 | 38 | }); 39 | 40 | while(true) { 41 | BulldogUtil.sleepMs(50); 42 | } 43 | 44 | } 45 | } 46 | -------------------------------------------------------------------------------- /bulldog.board.cubieboard/src/main/java/org/bulldog/cubieboard/gpio/CubieboardDigitalInput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.cubieboard.gpio; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.event.InterruptListener; 5 | import org.bulldog.cubieboard.CubieboardPin; 6 | import org.bulldog.linux.gpio.LinuxDigitalInput; 7 | import org.bulldog.linux.io.LinuxEpollListener; 8 | import org.bulldog.linux.sysfs.SysFsPin; 9 | 10 | public class CubieboardDigitalInput extends LinuxDigitalInput implements LinuxEpollListener { 11 | 12 | public CubieboardDigitalInput(Pin pin) { 13 | super(pin); 14 | } 15 | 16 | @Override 17 | protected SysFsPin createSysFsPin(Pin pin) { 18 | return new CubieboardSysFsPin(pin.getAddress(), ((CubieboardPin)pin).getFsName(), ((CubieboardPin)pin).isInterrupt()); 19 | } 20 | 21 | @Override 22 | public void addInterruptListener(InterruptListener listener) { 23 | checkInterruptsAllowed(); 24 | super.addInterruptListener(listener); 25 | } 26 | 27 | @Override 28 | public void enableInterrupts() { 29 | checkInterruptsAllowed(); 30 | super.enableInterrupts(); 31 | } 32 | 33 | private void checkInterruptsAllowed() { 34 | if (!((CubieboardPin)getPin()).isInterrupt()) 35 | throw new RuntimeException("Pin " + getName() + " is not connected to interrupt controller"); 36 | } 37 | } 38 | 39 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/jni/NativeGpio.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.jni; 2 | 3 | public class NativeGpio { 4 | 5 | public static final int DIRECTION_OUT = 1; 6 | public static final int DIRECTION_IN = 0; 7 | 8 | public static final int HIGH = 1; 9 | public static final int LOW = 0; 10 | 11 | public static native boolean setup(); 12 | public static native boolean teardown(); 13 | public static native void pinMode(int port, int pin, int direction); 14 | public static native int digitalRead(int port, int pin); 15 | public static native void digitalWrite(int port, int pin, int state); 16 | public static native void enableGpio(); 17 | //public static native int debouncePin(int port, int pin, int ms); 18 | 19 | private static boolean isInitialized = false; 20 | 21 | static { 22 | initialize(); 23 | } 24 | 25 | public static int getBank(int pin) { 26 | return (int) (pin / 32); 27 | } 28 | 29 | public static void initialize() { 30 | if (isInitialized) { 31 | return; 32 | } 33 | setup(); 34 | enableGpio(); 35 | isInitialized = true; 36 | Runtime.getRuntime().addShutdownHook(new Thread() { 37 | @Override 38 | public void run() { 39 | deinitialize(); 40 | } 41 | }); 42 | 43 | } 44 | 45 | public static void deinitialize() { 46 | if (isInitialized) { 47 | teardown(); 48 | isInitialized = false; 49 | } 50 | } 51 | } 52 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/beagleboneblack/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.beagleboneblack 7 | 8 | 9 | 10 | 11 |

org.bulldog.beagleboneblack

12 |
13 |

Classes

14 | 21 |
22 | 23 | 24 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/switches/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.switches 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.switches

12 |
13 |

Interfaces

14 | 18 |

Classes

19 | 23 |
24 | 25 | 26 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/beagleboneblack/io/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.beagleboneblack.io 7 | 8 | 9 | 10 | 11 |

org.bulldog.beagleboneblack.io

12 |
13 |

Classes

14 | 21 |
22 | 23 | 24 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/devicetree/DeviceTreeCompiler.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.devicetree; 2 | 3 | import java.io.File; 4 | import java.io.FileOutputStream; 5 | import java.io.IOException; 6 | import java.io.PrintWriter; 7 | 8 | public class DeviceTreeCompiler { 9 | 10 | private static final String FIRMWARE_PATH = "/lib/firmware/"; 11 | private static final String OBJECT_FILE_PATTERN = "%s%s.dtbo"; 12 | private static final String DEFINITION_FILE_PATTERN = "%s%s.dts"; 13 | private static final String COMPILER_CALL = "dtc -O dtb -o %s -b 0 -@ %s"; 14 | 15 | public static void compileOverlay(String overlay, String deviceName) throws IOException, InterruptedException { 16 | String objectFile = String.format(OBJECT_FILE_PATTERN, FIRMWARE_PATH, deviceName); 17 | String overlayFile = String.format(DEFINITION_FILE_PATTERN, FIRMWARE_PATH, deviceName); 18 | 19 | File file = new File(overlayFile); 20 | FileOutputStream outputStream = new FileOutputStream(file); 21 | PrintWriter writer = new PrintWriter(outputStream); 22 | writer.write(overlay); 23 | writer.close(); 24 | 25 | Process compile = Runtime.getRuntime().exec(String.format(COMPILER_CALL, objectFile, overlayFile)); 26 | int code = compile.waitFor(); 27 | if(code > 0) { 28 | throw new RuntimeException("Device Tree Overlay compilation failed: " + overlayFile + " could not be compiled"); 29 | } 30 | } 31 | 32 | } 33 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/devicetree/resources/pwm.dts.template: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (C) 2013 CircuitCo 3 | * Copyright (C) 2013 Texas Instruments 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License version 2 as 7 | * published by the Free Software Foundation. 8 | */ 9 | /dts-v1/; 10 | /plugin/; 11 | 12 | / { 13 | compatible = "ti,beaglebone", "ti,beaglebone-black"; 14 | 15 | /* identification */ 16 | part-number = "bd_pwm_${pin_name}"; 17 | version = "${version}"; 18 | 19 | /* state the resources this cape uses */ 20 | exclusive-use = 21 | /* the pin header uses */ 22 | "${pin_name_dotted}", 23 | /* the hardware IP uses */ 24 | "${pwm_name}${qualifier}"; 25 | 26 | fragment@0 { 27 | target = <&am33xx_pinmux>; 28 | __overlay__ { 29 | pwm_${pin_name}: pinmux_pwm_${pin_name}_pins { 30 | pinctrl-single,pins = <${pin_address} ${mux_mode}>; 31 | }; 32 | }; 33 | }; 34 | 35 | fragment@1 { 36 | target = <&ocp>; 37 | __overlay__ { 38 | pwm_test_${pin_name} { 39 | compatible = "pwm_test"; 40 | pwms = <&${pwm_name} ${channel} ${period} ${polarity}>; 41 | pwm-names = "PWM_${pin_name}"; 42 | pinctrl-names = "default"; 43 | pinctrl-0 = <&pwm_${pin_name}>; 44 | enabled = <0>; 45 | duty = <0>; 46 | status = "okay"; 47 | }; 48 | }; 49 | }; 50 | }; 51 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/base/AbstractPinFeature.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.base; 2 | 3 | import org.bulldog.core.gpio.Pin; 4 | import org.bulldog.core.gpio.PinFeature; 5 | 6 | public abstract class AbstractPinFeature implements PinFeature { 7 | 8 | private Pin pin; 9 | private boolean isSetup = false; 10 | 11 | public AbstractPinFeature(Pin pin) { 12 | this.pin = pin; 13 | } 14 | 15 | public Pin getPin() { 16 | return pin; 17 | } 18 | 19 | public boolean isActivatedFeature() { 20 | return this.getPin().getActiveFeature() == this; 21 | } 22 | 23 | public void activate() { 24 | getPin().activateFeature(getClass()); 25 | } 26 | 27 | public void blockPin() { 28 | pin.block(this); 29 | } 30 | 31 | public boolean isBlocking() { 32 | return pin.getBlocker() == this; 33 | } 34 | 35 | public void unblockPin() { 36 | getPin().unblock(this); 37 | } 38 | 39 | protected abstract void setupImpl(); 40 | protected abstract void teardownImpl(); 41 | 42 | public void setup() { 43 | setupImpl(); 44 | isSetup = true; 45 | } 46 | 47 | public void teardown() { 48 | teardownImpl(); 49 | isSetup = false; 50 | } 51 | 52 | public boolean isSetup() { 53 | return isSetup; 54 | } 55 | 56 | @Override 57 | public String toString() { 58 | String string = this.getName(); 59 | if(string == null) { 60 | string = super.toString(); 61 | } 62 | 63 | return string; 64 | } 65 | } 66 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedI2cBus.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.core.gpio.Pin; 6 | import org.bulldog.core.io.bus.i2c.I2cBus; 7 | import org.bulldog.core.io.bus.i2c.I2cConnection; 8 | 9 | public class MockedI2cBus extends MockedBus implements I2cBus { 10 | 11 | public MockedI2cBus(String name) { 12 | super(name); 13 | } 14 | 15 | public Pin getSDA() { 16 | return null; 17 | } 18 | 19 | public Pin getSCL() { 20 | return null; 21 | } 22 | 23 | @Override 24 | public int getFrequency() { 25 | return 0; 26 | } 27 | 28 | @Override 29 | public void writeByteToRegister(int register, int b) throws IOException { 30 | // TODO Auto-generated method stub 31 | 32 | } 33 | 34 | @Override 35 | public void writeBytesToRegister(int register, byte[] bytes) 36 | throws IOException { 37 | // TODO Auto-generated method stub 38 | 39 | } 40 | 41 | @Override 42 | public byte readByteFromRegister(int register) throws IOException { 43 | // TODO Auto-generated method stub 44 | return 0; 45 | } 46 | 47 | @Override 48 | public int readBytesFromRegister(int register, byte[] buffer) 49 | throws IOException { 50 | // TODO Auto-generated method stub 51 | return 0; 52 | } 53 | 54 | @Override 55 | public I2cConnection createI2cConnection(int address) { 56 | // TODO Auto-generated method stub 57 | return null; 58 | } 59 | 60 | } 61 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedSerialPort.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import org.bulldog.core.Parity; 4 | import org.bulldog.core.io.serial.SerialDataListener; 5 | import org.bulldog.core.io.serial.SerialPort; 6 | 7 | public class MockedSerialPort extends MockedIOPort implements SerialPort { 8 | 9 | public MockedSerialPort(String name) { 10 | super(name); 11 | } 12 | 13 | @Override 14 | public int getBaudRate() { 15 | return 0; 16 | } 17 | 18 | @Override 19 | public void setBaudRate(int baudRate) { 20 | } 21 | 22 | @Override 23 | public Parity getParity() { 24 | return null; 25 | } 26 | 27 | @Override 28 | public void setParity(Parity parity) { 29 | } 30 | 31 | @Override 32 | public void setBlocking(boolean blocking) { 33 | } 34 | 35 | @Override 36 | public boolean getBlocking() { 37 | return false; 38 | } 39 | 40 | @Override 41 | public void addListener(SerialDataListener listener) { 42 | } 43 | 44 | @Override 45 | public void removeListener(SerialDataListener listener) { 46 | } 47 | 48 | @Override 49 | public int getDataBits() { 50 | return 0; 51 | } 52 | 53 | @Override 54 | public void setDataBits(int dataBits) { 55 | } 56 | 57 | @Override 58 | public int getStopBits() { 59 | // TODO Auto-generated method stub 60 | return 0; 61 | } 62 | 63 | @Override 64 | public void setStopBits(int stopBits) { 65 | // TODO Auto-generated method stub 66 | 67 | } 68 | 69 | } 70 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/lcd/LcdMode.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.lcd; 2 | 3 | public enum LcdMode { 4 | 5 | Display1x8 (1, 8, 0x00, 0x07), 6 | Display1x16(1, 16, 0x00, 0x0F), 7 | Display1x20(1, 20, 0x00, 0x13), 8 | Display1x40(1, 40, 0x00, 0x27), 9 | Display2x8 (2, 8, 0x00, 0x07, 0x40, 0x47), 10 | Display2x12(2, 12, 0x00, 0x0b, 0x40, 0x4b), 11 | Display2x16(2, 16, 0x00, 0x0f, 0x40, 0x4f), 12 | Display2x20(2, 20, 0x00, 0x13, 0x40, 0x53), 13 | Display2x24(2, 24, 0x00, 0x17, 0x40, 0x57), 14 | Display2x40(2, 40, 0x00, 0x27, 0x40, 0x67), 15 | Display4x16(4, 16, 0x00, 0x0F, 0x40, 0x4f, 0x10, 0x1f, 0x50, 0x5f), 16 | Display4x20(4, 20, 0x00, 0x13, 0x40, 0x53, 0x14, 0x27, 0x54, 0x67); 17 | 18 | 19 | private int[] memoryOffsets; 20 | private int rows; 21 | private int columns; 22 | 23 | private LcdMode(int rows, int cols, int... memoryOffsets) { 24 | this.memoryOffsets = memoryOffsets; 25 | this.rows = rows; 26 | this.columns = cols; 27 | } 28 | 29 | public int getRows() { 30 | return rows; 31 | } 32 | 33 | public int getColumns() { 34 | return columns; 35 | } 36 | 37 | public int getMemoryOffset(int row, int column) { 38 | if(column >= getColumns()) { 39 | throw new RuntimeException("Illegal column value specified"); 40 | } 41 | 42 | if(row >= getRows()) { 43 | throw new RuntimeException("Illegal row value specified"); 44 | } 45 | 46 | return memoryOffsets[row*2] + column; 47 | } 48 | } 49 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/linux/jni/org_bulldog_linux_jni_NativeSpi.h: -------------------------------------------------------------------------------- 1 | /* DO NOT EDIT THIS FILE - it is machine generated */ 2 | #include 3 | /* Header for class org_bulldog_linux_jni_NativeSpi */ 4 | 5 | #ifndef _Included_org_bulldog_linux_jni_NativeSpi 6 | #define _Included_org_bulldog_linux_jni_NativeSpi 7 | #ifdef __cplusplus 8 | extern "C" { 9 | #endif 10 | /* 11 | * Class: org_bulldog_linux_jni_NativeSpi 12 | * Method: spiOpen 13 | * Signature: (Ljava/lang/String;III)I 14 | */ 15 | JNIEXPORT jint JNICALL Java_org_bulldog_linux_jni_NativeSpi_spiOpen 16 | (JNIEnv *, jclass, jstring, jint, jint, jint, jboolean); 17 | 18 | 19 | /* 20 | * Class: org_bulldog_linux_jni_NativeSpi 21 | * Method: spiOpen 22 | * Signature: (Ljava/lang/String;III)I 23 | */ 24 | JNIEXPORT jint JNICALL Java_org_bulldog_linux_jni_NativeSpi_spiConfig 25 | (JNIEnv *, jclass, jint, jint, jint, jint, jboolean); 26 | 27 | /* 28 | * Class: org_bulldog_linux_jni_NativeSpi 29 | * Method: spiClose 30 | * Signature: (I)I 31 | */ 32 | JNIEXPORT jint JNICALL Java_org_bulldog_linux_jni_NativeSpi_spiClose 33 | (JNIEnv *, jclass, jint); 34 | 35 | /* 36 | * Class: org_bulldog_linux_jni_NativeSpi 37 | * Method: spiTransfer 38 | * Signature: (IJJIIII)I 39 | */ 40 | JNIEXPORT jint JNICALL Java_org_bulldog_linux_jni_NativeSpi_spiTransfer 41 | (JNIEnv *, jclass, jint, jobject, jobject, jint, jint, jint, jint); 42 | 43 | #ifdef __cplusplus 44 | } 45 | #endif 46 | #endif 47 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/io/bus/spi/SpiBus.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.io.bus.spi; 2 | 3 | import java.io.IOException; 4 | import java.util.List; 5 | 6 | import org.bulldog.core.gpio.DigitalOutput; 7 | import org.bulldog.core.gpio.Pin; 8 | import org.bulldog.core.io.bus.Bus; 9 | 10 | 11 | public interface SpiBus extends Bus { 12 | 13 | Pin getMISO(); 14 | Pin getMOSI(); 15 | Pin getSCLK(); 16 | List getSlaveSelectPins(); 17 | 18 | int getSpeedInHz(); 19 | void setSpeedInHz(int hz); 20 | 21 | void setBitsPerWord(int bpw); 22 | int getBitsPerWord(); 23 | 24 | void setDelayMicroseconds(int delay); 25 | int getDelayMicroseconds(); 26 | 27 | void setMode(SpiMode mode); 28 | SpiMode getMode(); 29 | 30 | void useLeastSignificantBitFirst(); 31 | void useMostSignificantBitFirst(); 32 | boolean isLSBUsed(); 33 | boolean isMSBUsed(); 34 | 35 | void selectSlave(DigitalOutput chipSelect); 36 | void selectSlaves(DigitalOutput... chipSelects); 37 | void selectSlaves(Integer... chipSelectAddresses); 38 | 39 | SpiConnection createSpiConnection(); 40 | SpiConnection createSpiConnection(int chipSelectAddress); 41 | SpiConnection createSpiConnection(DigitalOutput chipSelect); 42 | SpiConnection createSpiConnection(DigitalOutput... chipSelects); 43 | SpiConnection createSpiConnection(int...chipSelectAddress); 44 | 45 | void broadcast(byte[] bytes, DigitalOutput... chipSelects) throws IOException; 46 | SpiMessage transfer(byte[] buffer); 47 | } 48 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/linux/io/mmap/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.linux.io.mmap 7 | 8 | 9 | 10 | 11 |

org.bulldog.linux.io.mmap

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Classes

14 | 22 |
23 | 24 | 25 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/linux/bulldog/bulldogI2c.c: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include "bulldogI2c.h" 10 | #include "bulldog.h" 11 | 12 | unsigned char i2cRead(int fileDescriptor) { 13 | char buffer; 14 | if(read(fileDescriptor, &buffer, 1) < 0) { 15 | errorMessage("read failed: %s", strerror(errno)); 16 | } 17 | return buffer; 18 | } 19 | 20 | int i2cWrite(int fileDescriptor, unsigned char data) { 21 | int bytesWritten = write(fileDescriptor, &data, 1); 22 | if(bytesWritten < 0) { 23 | errorMessage("error %d writing byte via i2c: %s", errno, strerror(errno)); 24 | } 25 | return bytesWritten; 26 | } 27 | 28 | int i2cWriteBuffer(int fileDescriptor, char* data) { 29 | int bytesWritten = write(fileDescriptor, data, strlen(data)); 30 | if(bytesWritten < 0) { 31 | errorMessage("error %d writing byte via i2c: %s", errno, strerror(errno)); 32 | } 33 | return bytesWritten; 34 | } 35 | 36 | int i2cSelectSlave(int fd, int slaveAddress) { 37 | if (ioctl (fd, I2C_SLAVE, slaveAddress) < 0) { 38 | return -1 ; 39 | } 40 | 41 | return fd; 42 | } 43 | 44 | int i2cOpen(char* busDevice) { 45 | int fd; 46 | if ((fd = open (busDevice, O_RDWR)) < 0) { 47 | errorMessage("open failed: %s", strerror(errno)); 48 | return -1 ; 49 | } 50 | 51 | return fd; 52 | } 53 | 54 | int i2cClose(int fileDescriptor) { 55 | return close(fileDescriptor); 56 | } 57 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/actuators/movement/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.actuators.movement 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.actuators.movement

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13 |

Interfaces

14 | 17 |

Classes

18 | 24 |
25 | 26 | 27 | -------------------------------------------------------------------------------- /bulldog.linux/src/main/java/org/bulldog/linux/io/mmap/Register.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.linux.io.mmap; 2 | 3 | public abstract class Register { 4 | 5 | private MemoryMap map; 6 | private long address; 7 | private Class clazz; 8 | 9 | public Register(MemoryMap map, long address, Class clazz) { 10 | this.map = map; 11 | this.address = address; 12 | this.clazz = clazz; 13 | } 14 | 15 | public abstract void setValue(T value); 16 | public abstract T getValue(); 17 | public abstract void setBit(int index); 18 | public abstract void clearBit(int index); 19 | public abstract void toggleBit(int index); 20 | 21 | public Class getContentClass() { 22 | return clazz; 23 | } 24 | 25 | public MemoryMap getMemoryMap() { 26 | return map; 27 | } 28 | 29 | public long getAddress() { 30 | return address; 31 | } 32 | 33 | @SuppressWarnings("unchecked") 34 | public void xor(T val) { 35 | long currentValue = getValue().longValue(); 36 | currentValue ^= val.longValue(); 37 | this.setValue((T) val.getClass().cast(currentValue)); 38 | } 39 | 40 | @SuppressWarnings("unchecked") 41 | public void or(T val) { 42 | long currentValue = getValue().longValue(); 43 | currentValue |= val.longValue(); 44 | this.setValue((T) val.getClass().cast(currentValue)); 45 | } 46 | 47 | @SuppressWarnings("unchecked") 48 | public void and(T val) { 49 | long currentValue = getValue().longValue(); 50 | currentValue &= val.longValue(); 51 | this.setValue((T) val.getClass().cast(currentValue)); 52 | } 53 | 54 | 55 | } 56 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/linux/jni/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.linux.jni 7 | 8 | 9 | 10 | 11 |

org.bulldog.linux.jni

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13 |

Classes

14 | 23 |
24 | 25 | 26 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/testsuite/CompleteTestSuite.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.testsuite; 2 | 3 | import org.bulldog.core.TestSignal; 4 | import org.bulldog.core.bus.TestBusConnection; 5 | import org.bulldog.core.gpio.base.TestAbstractAnalogInput; 6 | import org.bulldog.core.gpio.base.TestAbstractDigitalInput; 7 | import org.bulldog.core.gpio.base.TestAbstractDigitalOutput; 8 | import org.bulldog.core.gpio.base.TestAbstractPinFeature; 9 | import org.bulldog.core.gpio.base.TestAbstractPwm; 10 | import org.bulldog.core.gpio.base.TestDigitalIOFeature; 11 | import org.bulldog.core.gpio.base.TestPin; 12 | import org.bulldog.core.gpio.util.TestSoftPwm; 13 | import org.bulldog.core.platform.TestAbstractBoard; 14 | import org.bulldog.core.platform.TestAbstractPinProvider; 15 | import org.bulldog.core.util.TestBitMagic; 16 | import org.bulldog.core.util.TestBulldogUtil; 17 | import org.junit.runner.RunWith; 18 | import org.junit.runners.Suite; 19 | import org.junit.runners.Suite.SuiteClasses; 20 | 21 | @RunWith(Suite.class) 22 | @SuiteClasses({ 23 | TestAbstractPinProvider.class, 24 | TestAbstractBoard.class, 25 | TestPin.class, 26 | TestAbstractPinFeature.class, 27 | TestAbstractDigitalOutput.class, 28 | TestAbstractDigitalInput.class, 29 | TestDigitalIOFeature.class, 30 | TestAbstractAnalogInput.class, 31 | TestAbstractPwm.class, 32 | TestSignal.class, 33 | TestSoftPwm.class, 34 | TestBusConnection.class, 35 | TestBulldogUtil.class, 36 | TestBitMagic.class 37 | }) 38 | public class CompleteTestSuite { 39 | 40 | } -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/linux/io/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.linux.io 7 | 8 | 9 | 10 | 11 |

org.bulldog.linux.io

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13 |

Interfaces

14 | 17 |

Classes

18 | 25 |
26 | 27 | 28 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/gpio/base/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core.gpio.base 7 | 8 | 9 | 10 | 11 |

org.bulldog.core.gpio.base

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13 |

Classes

14 | 22 |
23 | 24 | 25 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/mocks/MockedDigitalInput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.mocks; 2 | 3 | import org.bulldog.core.Signal; 4 | import org.bulldog.core.gpio.Pin; 5 | import org.bulldog.core.gpio.base.AbstractDigitalInput; 6 | 7 | public class MockedDigitalInput extends AbstractDigitalInput { 8 | 9 | private volatile Signal appliedSignal; 10 | 11 | public MockedDigitalInput(Pin pin) { 12 | super(pin); 13 | appliedSignal = Signal.Low; 14 | } 15 | 16 | public void setSignalToRead(Signal signal) { 17 | this.appliedSignal = signal; 18 | } 19 | 20 | public void bounceSignal(final Signal signal, final long bounceTimeMs) { 21 | Thread thread = new Thread(new Runnable() { 22 | 23 | @Override 24 | public void run() { 25 | long delta = 0; 26 | long start = System.currentTimeMillis(); 27 | Signal nextSignal = signal; 28 | while(delta < bounceTimeMs) { 29 | setSignalToRead( nextSignal == Signal.High ? Signal.Low : Signal.High); 30 | delta = System.currentTimeMillis() - start; 31 | } 32 | 33 | setSignalToRead(signal); 34 | } 35 | 36 | }); 37 | 38 | thread.setPriority(Thread.MAX_PRIORITY); 39 | thread.start(); 40 | } 41 | 42 | @Override 43 | public Signal read() { 44 | return appliedSignal; 45 | } 46 | 47 | @Override 48 | protected void setupImpl() { 49 | } 50 | 51 | @Override 52 | protected void teardownImpl() { 53 | } 54 | 55 | 56 | @Override 57 | protected void enableInterruptsImpl() { 58 | } 59 | 60 | @Override 61 | protected void disableInterruptsImpl() { 62 | } 63 | 64 | 65 | } 66 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/devices/lcd/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.devices.lcd 7 | 8 | 9 | 10 | 11 |

org.bulldog.devices.lcd

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Interfaces

14 |
    15 |
  • Lcd
    • 16 |
17 |

Classes

18 | 22 |

Enums

23 | 28 |
29 | 30 | 31 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/Signal.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core; 2 | 3 | import org.bulldog.core.util.BulldogUtil; 4 | 5 | public enum Signal { 6 | High(1, true), 7 | Low(0, false); 8 | 9 | private int numericValue; 10 | private boolean booleanValue; 11 | 12 | Signal(int numericValue, boolean booleanValue) { 13 | this.numericValue = numericValue; 14 | this.booleanValue = booleanValue; 15 | } 16 | 17 | public int getNumericValue() { 18 | return numericValue; 19 | } 20 | 21 | public boolean getBooleanValue() { 22 | return booleanValue; 23 | } 24 | 25 | public static Signal fromNumericValue(int value) { 26 | if(value == 0) { return Signal.Low; } 27 | return Signal.High; 28 | } 29 | 30 | public static Signal fromBooleanValue(boolean value) { 31 | if(value) { return Signal.High; } 32 | return Signal.Low; 33 | } 34 | 35 | public static Signal fromString(String value) { 36 | if(value == null) { throw new IllegalArgumentException("value cannot be null!"); }; 37 | 38 | String interpretedValue = value.trim().toLowerCase(); 39 | 40 | if(BulldogUtil.isStringNumeric(interpretedValue)) { 41 | if(Double.parseDouble(interpretedValue) == 0) { return Signal.Low; } 42 | return Signal.High; 43 | } else { 44 | if(interpretedValue.equals("low")) { return Signal.Low; } 45 | else if(interpretedValue.equals("high")) { return Signal.High; }; 46 | 47 | throw new IllegalArgumentException(interpretedValue + " is not a valid value for a signal"); 48 | } 49 | } 50 | 51 | public Signal inverse() { 52 | return this == Signal.High ? Signal.Low : Signal.High; 53 | } 54 | } 55 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/PinBlockedException.java: -------------------------------------------------------------------------------- 1 | /* 2 | * (C) Copyright 2014 libbulldog (http://libbulldog.org/) and others. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | * 16 | */ 17 | package org.bulldog.core.gpio; 18 | 19 | // TODO: Auto-generated Javadoc 20 | /** 21 | * The Class PinBlockedException. 22 | */ 23 | public class PinBlockedException extends RuntimeException { 24 | 25 | /** The Constant serialVersionUID. */ 26 | private static final long serialVersionUID = 6737984685844582750L; 27 | 28 | /** The blocker. */ 29 | private PinFeature blocker; 30 | 31 | /** 32 | * Instantiates a new pin blocked exception. 33 | * 34 | * @param blocker the blocker 35 | */ 36 | public PinBlockedException(PinFeature blocker) { 37 | super(String.format("Pin %s is currently blocked by %s", blocker.getPin().getName(), blocker.getName())); 38 | this.blocker = blocker; 39 | } 40 | 41 | /** 42 | * Gets the blocker. 43 | * 44 | * @return the blocker 45 | */ 46 | public PinFeature getBlocker() { 47 | return blocker; 48 | } 49 | 50 | } 51 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/event/ThresholdListener.java: -------------------------------------------------------------------------------- 1 | /* 2 | * (C) Copyright 2014 libbulldog (http://libbulldog.org/) and others. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | * 16 | */ 17 | package org.bulldog.core.gpio.event; 18 | 19 | /** 20 | * The listener interface for receiving threshold events. 21 | * The class that is interested in processing a threshold 22 | * event implements this interface, and the object created 23 | * with that class is registered with a component using the 24 | * component's {@code addThresholdListener} method. When 25 | * the threshold event occurs, that object's appropriate 26 | * method is invoked. 27 | * 28 | */ 29 | public interface ThresholdListener { 30 | 31 | /** 32 | * Callback method that is triggered when the threshold is reached. 33 | */ 34 | void thresholdReached(); 35 | 36 | /** 37 | * Checks if the threshold is reached. 38 | * 39 | * @param thresholdValue the threshold value 40 | * @return true, if is threshold reached - false otherwise 41 | */ 42 | boolean isThresholdReached(double thresholdValue); 43 | 44 | } 45 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/io/bus/spi/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core.io.bus.spi 7 | 8 | 9 | 10 | 11 |

org.bulldog.core.io.bus.spi

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Interfaces

14 | 17 |

Classes

18 | 23 |

Enums

24 | 28 |
29 | 30 | 31 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/beagleboneblack/gpio/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.beagleboneblack.gpio 7 | 8 | 9 | 10 | 11 |

org.bulldog.beagleboneblack.gpio

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Classes

14 | 23 |
24 | 25 | 26 | -------------------------------------------------------------------------------- /dist/Version-0.1.0/javadoc/org/bulldog/core/io/uart/package-frame.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | org.bulldog.core.io.uart 7 | 8 | 9 | 10 | 11 |

org.bulldog.core.io.uart

12 |
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Interfaces

14 | 20 |

Classes

21 | 24 |

Enums

25 | 28 |
29 | 30 | 31 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/platform/AbstractPinProvider.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.platform; 2 | 3 | import java.util.ArrayList; 4 | import java.util.List; 5 | 6 | import org.bulldog.core.gpio.Pin; 7 | 8 | public class AbstractPinProvider implements PinProvider { 9 | 10 | private List pins = new ArrayList(); 11 | 12 | public List getPins() { 13 | return pins; 14 | } 15 | 16 | public Pin getPin(int address) { 17 | for(Pin pin : getPins()) { 18 | if(pin.getAddress() == address) { 19 | return pin; 20 | } 21 | } 22 | 23 | return null; 24 | } 25 | 26 | public Pin getPin(String port, int index) { 27 | if(port == null) { throw new IllegalArgumentException("Null may not be passed as a name for a port."); } 28 | if(index < 0) { throw new IllegalArgumentException("Index cannot be smaller than 0"); } 29 | 30 | for(Pin pin : getPins()) { 31 | if(port.equals(pin.getPort()) && index == pin.getIndexOnPort()) { 32 | return pin; 33 | } 34 | } 35 | 36 | return null; 37 | } 38 | 39 | public Pin getPin(String name) { 40 | if(name == null) { throw new IllegalArgumentException("Null may not be passed as a name for a pin."); } 41 | 42 | for(Pin pin : getPins()) { 43 | if(name.equals(pin.getName())) { 44 | return pin; 45 | } 46 | } 47 | 48 | return null; 49 | } 50 | 51 | public Pin getPinByAlias(String alias) { 52 | if(alias == null) { throw new IllegalArgumentException("Null may not be passed as an alias name for a pin."); } 53 | 54 | for(Pin pin : getPins()) { 55 | if(alias.equals(pin.getAlias())) { 56 | return pin; 57 | } 58 | } 59 | 60 | return null; 61 | } 62 | 63 | 64 | } 65 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/beagleboneblack/jni/org_bulldog_beagleboneblack_jni_NativePwm.h: -------------------------------------------------------------------------------- 1 | /* DO NOT EDIT THIS FILE - it is machine generated */ 2 | #include 3 | /* Header for class org_bulldog_beagleboneblack_jni_NativePwm */ 4 | 5 | #ifndef _Included_org_bulldog_beagleboneblack_jni_NativePwm 6 | #define _Included_org_bulldog_beagleboneblack_jni_NativePwm 7 | #ifdef __cplusplus 8 | extern "C" { 9 | #endif 10 | /* 11 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 12 | * Method: setup 13 | * Signature: ()I 14 | */ 15 | JNIEXPORT jint JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_setup 16 | (JNIEnv *, jclass); 17 | 18 | /* 19 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 20 | * Method: teardown 21 | * Signature: ()I 22 | */ 23 | JNIEXPORT void JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_teardown 24 | (JNIEnv *, jclass); 25 | 26 | /* 27 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 28 | * Method: setPwm 29 | * Signature: (IFFF)I 30 | */ 31 | JNIEXPORT jint JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_setPwm 32 | (JNIEnv *, jclass, jint, jfloat, jfloat, jfloat); 33 | 34 | /* 35 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 36 | * Method: enable 37 | * Signature: (I)V 38 | */ 39 | JNIEXPORT void JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_enable 40 | (JNIEnv *, jclass, jint); 41 | 42 | /* 43 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 44 | * Method: disable 45 | * Signature: (I)V 46 | */ 47 | JNIEXPORT void JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_disable 48 | (JNIEnv *, jclass, jint); 49 | 50 | #ifdef __cplusplus 51 | } 52 | #endif 53 | #endif 54 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/beagleboneblack/BBBIOlib/BBBiolib_ADCTSC.h: -------------------------------------------------------------------------------- 1 | #ifndef BBBIO_ADCTSC_H 2 | #define BBBIO_ADCTSC_H 3 | /*-------------------------------------------------------------------------- */ 4 | #define BBBIO_ADC_AIN0 0 5 | #define BBBIO_ADC_AIN1 1 6 | #define BBBIO_ADC_AIN2 2 7 | #define BBBIO_ADC_AIN3 3 8 | #define BBBIO_ADC_AIN4 4 9 | #define BBBIO_ADC_AIN5 5 10 | #define BBBIO_ADC_AIN6 6 11 | 12 | 13 | /* step config control operator*/ 14 | #define BBBIO_ADC_STEP_MODE_SW_ONE_SHOOT 0x0 15 | #define BBBIO_ADC_STEP_MODE_SW_CONTINUOUS 0x1 16 | #define BBBIO_ADC_STEP_MODE_HW_ONE_SHOOT 0x2 17 | #define BBBIO_ADC_STEP_MODE_HW_CONTINUOUS 0x3 18 | 19 | #define BBBIO_ADC_STEP_AVG_1 0x0 20 | #define BBBIO_ADC_STEP_AVG_2 0x1 21 | #define BBBIO_ADC_STEP_AVG_4 0x2 22 | #define BBBIO_ADC_STEP_AVG_8 0x3 23 | #define BBBIO_ADC_STEP_AVG_16 0x4 24 | 25 | #define BBBIO_ADC_WORK_MODE_BUSY_POLLING 0x1 26 | #define BBBIO_ADC_WORK_MODE_TIMER_INT 0x2 27 | 28 | /* ------------------------------------------------------------------------- */ 29 | int BBBIO_ADCTSC_Init(); 30 | void BBBIO_ADCTSC_step_work(); 31 | 32 | unsigned int BBBIO_ADCTSC_work(unsigned int fetch_size); 33 | int BBBIO_ADCTSC_channel_ctrl(unsigned int chn_ID, int mode, int open_dly, int sample_dly, int sample_avg, unsigned int *buf, unsigned int buf_size); 34 | void BBBIO_ADCTSC_module_ctrl(unsigned int work_type, unsigned int clkdiv); 35 | #define BBBIO_ADCTSC_channel_enable(A) BBBIO_ADCTSC_channel_status(A,1) 36 | #define BBBIO_ADCTSC_channel_disable(A) BBBIO_ADCTSC_channel_status(A,0) 37 | 38 | void BBBIO_ADCTSC_channel_status(int chn_ID ,int enable); 39 | /* ------------------------------------------------------------------------- */ 40 | #endif 41 | -------------------------------------------------------------------------------- /bulldog.devices/src/main/java/org/bulldog/devices/motor/UnipolarStepper.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.devices.motor; 2 | 3 | import org.bulldog.core.gpio.DigitalOutput; 4 | 5 | import org.bulldog.core.io.PinIOGroup; 6 | 7 | public class UnipolarStepper extends AbstractStepper { 8 | 9 | private byte[] steps = new byte[] { 0b0101, 0b0110, 0b1010, 0b1001 }; 10 | private double position; 11 | 12 | public UnipolarStepper(DigitalOutput out1, DigitalOutput out2, DigitalOutput out3, DigitalOutput out4) { 13 | 14 | } 15 | 16 | public UnipolarStepper(PinIOGroup group) { 17 | 18 | } 19 | 20 | @Override 21 | public void moveTo(double position) { 22 | // TODO Auto-generated method stub 23 | 24 | } 25 | 26 | @Override 27 | public void setPosition(double position) { 28 | // TODO Auto-generated method stub 29 | 30 | } 31 | 32 | public void step() { 33 | } 34 | 35 | @Override 36 | public double getPosition() { 37 | // TODO Auto-generated method stub 38 | return 0; 39 | } 40 | 41 | @Override 42 | public int getMillisecondsPerUnit() { 43 | // TODO Auto-generated method stub 44 | return 0; 45 | } 46 | 47 | @Override 48 | public int getRefreshIntervalMilliseconds() { 49 | // TODO Auto-generated method stub 50 | return 0; 51 | } 52 | 53 | @Override 54 | public void forward() { 55 | // TODO Auto-generated method stub 56 | 57 | } 58 | 59 | @Override 60 | public void backward() { 61 | // TODO Auto-generated method stub 62 | 63 | } 64 | 65 | @Override 66 | public void stop() { 67 | // TODO Auto-generated method stub 68 | 69 | } 70 | 71 | @Override 72 | public boolean isMoving() { 73 | // TODO Auto-generated method stub 74 | return false; 75 | } 76 | 77 | } 78 | -------------------------------------------------------------------------------- /bulldog.board.beagleboneblack/src/main/java/org/bulldog/beagleboneblack/gpio/BBBPwmManager.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.beagleboneblack.gpio; 2 | 3 | import java.util.ArrayList; 4 | import java.util.HashSet; 5 | import java.util.List; 6 | import java.util.Set; 7 | 8 | public class BBBPwmManager { 9 | 10 | private Set activePwms = new HashSet(); 11 | 12 | public boolean canActivatePwmOnPin(BBBPwm pwm) { 13 | if(pwm == null) { 14 | throw new IllegalArgumentException("pwm must not be null!"); 15 | } 16 | BBBPwm activePwm = getActivePin(pwm); 17 | return activePwm == null && !(pwm == activePwm); 18 | } 19 | 20 | public BBBPwm getActivePin(BBBPwm pwm) { 21 | List activeSiblings = findPwmByGroup(pwm.getPwmGroup()); 22 | for(BBBPwm siblingPwm : activeSiblings) { 23 | if(siblingPwm.getQualifier().equals(pwm.getQualifier())) { 24 | return siblingPwm; 25 | } 26 | } 27 | 28 | return null; 29 | } 30 | 31 | public BBBPwm getActiveSibling(BBBPwm pwm) { 32 | List activeSiblings = findPwmByGroup(pwm.getPwmGroup()); 33 | for(BBBPwm siblingPwm : activeSiblings) { 34 | if(!siblingPwm.getQualifier().equals(pwm.getQualifier())) { 35 | return siblingPwm; 36 | } 37 | } 38 | 39 | return null; 40 | } 41 | 42 | public void addActivePwm(BBBPwm pwm) { 43 | activePwms.add(pwm); 44 | } 45 | 46 | public void removeActivePwm(BBBPwm pwm) { 47 | activePwms.remove(pwm); 48 | } 49 | 50 | private List findPwmByGroup(String group) { 51 | List pwms = new ArrayList(); 52 | for(BBBPwm pwm : activePwms) { 53 | if(pwm.getPwmGroup().equals(group)) { 54 | pwms.add(pwm); 55 | } 56 | } 57 | 58 | return pwms; 59 | } 60 | } 61 | -------------------------------------------------------------------------------- /bulldog.core/src/main/java/org/bulldog/core/gpio/base/AbstractAnalogInput.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.base; 2 | 3 | import java.util.concurrent.Executors; 4 | import java.util.concurrent.ScheduledExecutorService; 5 | import java.util.concurrent.ScheduledFuture; 6 | import java.util.concurrent.TimeUnit; 7 | 8 | import org.bulldog.core.gpio.AnalogInput; 9 | import org.bulldog.core.gpio.Pin; 10 | import org.bulldog.core.gpio.event.ThresholdListener; 11 | 12 | 13 | public abstract class AbstractAnalogInput extends AbstractPinFeature implements AnalogInput { 14 | 15 | private static final String NAME_FORMAT = "Analog Input on Pin %s"; 16 | 17 | private ScheduledFuture future; 18 | private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1); 19 | 20 | public AbstractAnalogInput(Pin pin) { 21 | super(pin); 22 | } 23 | 24 | public String getName() { 25 | return String.format(NAME_FORMAT, getPin().getName()); 26 | } 27 | 28 | public void startMonitor(int periodMicroSeconds, final ThresholdListener listener) { 29 | if(listener == null) { 30 | throw new IllegalArgumentException("listener cannot be null"); 31 | } 32 | 33 | blockPin(); 34 | future = scheduler.scheduleAtFixedRate(new Runnable() { 35 | public void run() { 36 | double[] samples = sample(10); 37 | for(int i = 0; i < samples.length; i++) { 38 | if(listener.isThresholdReached(samples[i])) { 39 | listener.thresholdReached(); 40 | } 41 | } 42 | } 43 | }, 44 | 0, 45 | periodMicroSeconds, 46 | TimeUnit.MICROSECONDS); 47 | } 48 | 49 | public void stopMonitor() { 50 | if(future == null) { return; } 51 | future.cancel(true); 52 | unblockPin(); 53 | } 54 | } 55 | -------------------------------------------------------------------------------- /bulldog.core/src/test/java/org/bulldog/core/gpio/util/TestSoftPwm.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.core.gpio.util; 2 | 3 | import junit.framework.TestCase; 4 | 5 | import org.bulldog.core.Signal; 6 | import org.bulldog.core.gpio.DigitalOutput; 7 | import org.bulldog.core.gpio.Pin; 8 | import org.bulldog.core.mocks.MockedDigitalOutput; 9 | import org.bulldog.core.util.BulldogUtil; 10 | import org.junit.Before; 11 | import org.junit.Test; 12 | 13 | public class TestSoftPwm { 14 | 15 | private Pin pin; 16 | 17 | @Before 18 | public void setup() { 19 | pin = new Pin("Testpin", 0, "A", 0); 20 | MockedDigitalOutput output = new MockedDigitalOutput(pin); 21 | pin.addFeature(output); 22 | } 23 | 24 | @Test 25 | public void testSoftPwm() { 26 | DigitalOutput output = pin.as(DigitalOutput.class); 27 | SoftPwm pwm = new SoftPwm(output); 28 | pwm.setDuty(0.2); 29 | pwm.setFrequency(10.0); 30 | pwm.enable(); 31 | 32 | BulldogUtil.sleepMs(100); 33 | //Measure 100 times for one second. 34 | //20 readings should be high; 35 | int highCount = 0; 36 | int lowCount = 0; 37 | for(int i = 0; i < 100; i++) { 38 | Signal signal = output.getAppliedSignal(); 39 | if(signal == Signal.High) { 40 | highCount++; 41 | } else { 42 | lowCount++; 43 | } 44 | BulldogUtil.sleepMs(1); 45 | } 46 | 47 | TestCase.assertEquals(80, lowCount); 48 | TestCase.assertEquals(20, highCount); 49 | 50 | pwm.disable(); 51 | pwm.disable(); //should have no effect 52 | BulldogUtil.sleepMs(50); 53 | 54 | Signal signal = output.getAppliedSignal(); 55 | for(int i = 0; i < 100; i++) { 56 | TestCase.assertEquals(signal, output.getAppliedSignal()); 57 | BulldogUtil.sleepMs(1); 58 | } 59 | 60 | } 61 | 62 | 63 | } 64 | -------------------------------------------------------------------------------- /bulldog.examples/src/main/java/org/bulldog/examples/DigitalOutputExample.java: -------------------------------------------------------------------------------- 1 | package org.bulldog.examples; 2 | 3 | import java.io.IOException; 4 | 5 | import org.bulldog.beagleboneblack.BBBNames; 6 | import org.bulldog.core.Signal; 7 | import org.bulldog.core.gpio.DigitalOutput; 8 | import org.bulldog.core.platform.Board; 9 | import org.bulldog.core.platform.Platform; 10 | import org.bulldog.core.util.BulldogUtil; 11 | 12 | public class DigitalOutputExample { 13 | 14 | public static void main(String[] args) throws IOException 15 | { 16 | //Detect the board we are running on 17 | Board board = Platform.createBoard(); 18 | 19 | //Set up a digital output 20 | DigitalOutput output = board.getPin(BBBNames.P8_12).as(DigitalOutput.class); 21 | 22 | //Set a high signal on the output 23 | output.write(Signal.High); 24 | 25 | //Toggle it 26 | output.toggle(); 27 | BulldogUtil.sleepMs(500); 28 | 29 | //Set it high 30 | output.high(); 31 | BulldogUtil.sleepMs(500); 32 | 33 | //Set it low 34 | output.low(); 35 | BulldogUtil.sleepMs(500); 36 | 37 | //Yet another way of applying a signal 38 | output.applySignal(Signal.High); 39 | BulldogUtil.sleepMs(500); 40 | 41 | //Let it blink 3 times 42 | output.blinkTimes(500, 3); 43 | output.awaitBlinkingStopped(); 44 | 45 | //Let it blink 5 seconds, 10 times a second 46 | output.startBlinking(100, 5000); 47 | output.awaitBlinkingStopped(); 48 | 49 | //Let it blink 5 times a second indefinitely 50 | output.startBlinking(200); 51 | 52 | while(true) { 53 | BulldogUtil.sleepMs(50); 54 | } 55 | 56 | } 57 | 58 | } 59 | -------------------------------------------------------------------------------- /bulldog.linux.native/src/main/c/beagleboneblack/jni/org_bulldog_beagleboneblack_jni_NativePwm.c: -------------------------------------------------------------------------------- 1 | /* DO NOT EDIT THIS FILE - it is machine generated */ 2 | #include 3 | #include "../BBBIOlib/BBBiolib_PWMSS.h" 4 | 5 | /* 6 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 7 | * Method: setup 8 | * Signature: ()I 9 | */ 10 | JNIEXPORT jint JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_setup 11 | (JNIEnv * env, jclass clazz) { 12 | return BBBIO_PWM_Init(); 13 | } 14 | 15 | /* 16 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 17 | * Method: teardown 18 | * Signature: ()I 19 | */ 20 | JNIEXPORT void JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_teardown 21 | (JNIEnv * env, jclass clazz) { 22 | BBBIO_PWM_Release(); 23 | } 24 | 25 | /* 26 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 27 | * Method: setPwm 28 | * Signature: (IFFF)I 29 | */ 30 | JNIEXPORT jint JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_setPwm 31 | (JNIEnv * env, jclass clazz, jint pwmId, jfloat frequency, jfloat dutyA, jfloat dutyB) { 32 | return BBBIO_PWMSS_Setting(pwmId , frequency , dutyA ,dutyB); 33 | } 34 | 35 | /* 36 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 37 | * Method: enable 38 | * Signature: (I)V 39 | */ 40 | JNIEXPORT void JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_enable 41 | (JNIEnv * env, jclass clazz, jint pwmId) { 42 | BBBIO_ehrPWM_Enable(pwmId); 43 | } 44 | 45 | /* 46 | * Class: org_bulldog_beagleboneblack_jni_NativePwm 47 | * Method: disable 48 | * Signature: (I)V 49 | */ 50 | JNIEXPORT void JNICALL Java_org_bulldog_beagleboneblack_jni_NativePwm_disable 51 | (JNIEnv * env, jclass clazz, jint pwmId) { 52 | BBBIO_ehrPWM_Disable(pwmId); 53 | } 54 | --------------------------------------------------------------------------------