numato board

Author: oliviamiller

components/board/mcp3008helper/mcp3008.go

@@ -60,8 +60,7 @@ func (mar *MCP3008AnalogReader) Read(ctx context.Context, extra map[string]inter
 	// garbage and might be non-zero.
 	val := 0x03FF & ((int(rx[1]) << 8) | int(rx[2]))
 
-
-	//TODO: wtf is the analog range for this 
+	//TODO: wtf is the analog range for this
 	return val, board.AnalogRange{}, nil
 }
 

components/board/numato/board.go

@@ -118,6 +118,8 @@ type numatoBoard struct {
 	sent    map[string]bool
 	sentMu  sync.Mutex
 	workers rdkutils.StoppableWorkers
+
+	productID int
 }
 
 func (b *numatoBoard) addToSent(msg string) {
@@ -355,6 +357,7 @@ type analog struct {
 	pin string
 }
 
+// analog Read returns the analog value with the range and step size in mV/bit.
 func (a *analog) Read(ctx context.Context, extra map[string]interface{}) (int, board.AnalogRange, error) {
 	res, err := a.b.doSendReceive(ctx, fmt.Sprintf("adc read %s", a.pin))
 	if err != nil {
@@ -364,8 +367,34 @@ func (a *analog) Read(ctx context.Context, extra map[string]interface{}) (int, b
 	if err != nil {
 		return 0, board.AnalogRange{}, err
 	}
-
-	return reading, board.AnalogRange{Min: 0, Max: 0, StepSize: 0}, nil
+	var max float32 = 0.0
+	var stepSize float32 = 0.0
+	switch a.b.productID {
+	case 0x805:
+		// 128 channel usb numato has 12 bit resolution
+		max = 3.3
+		stepSize = max / 4096
+	case 0x802:
+		// 32 channel usb numato has 10 bit resolution
+		max = 3.3
+		stepSize = max / 1024
+	case 0x800:
+		// 8 and 16 pin usb versions have the same product ID but different voltage ranges
+		// both have 10 bit resolution
+		if a.b.pins == 8 {
+			max = 5.0
+		} else if a.b.pins == 16 {
+			max = 3.3
+		}
+		stepSize = max / 1024
+	case 0xC05:
+		// 1 channel usb relay module numato - 10 bit resolution
+		max = 5.0
+		stepSize = max / 1024
+	default:
+	}
+	stepSize *= 1000
+	return reading, board.AnalogRange{Min: 0, Max: max, StepSize: stepSize}, nil
 }
 
 func (a *analog) Write(ctx context.Context, value int, extra map[string]interface{}) error {
@@ -390,10 +419,10 @@ func connect(ctx context.Context, name resource.Name, conf *Config, logger loggi
 		path = devs[0].Path
 	}
 
-	// Find the numato board product id
-	products := usb.Search(usb.NewSearchFilter("AppleUSBACMData", "usbmodem"), func(vendorID, productID int) bool {
-		return true
-	})
+	// Find the numato board's productid
+	var products []usb.Description
+	products = getSerialDevices()
+
 	var productID int
 	for _, product := range products {
 		if product.ID.Vendor != 0x2a19 {
@@ -402,6 +431,10 @@ func connect(ctx context.Context, name resource.Name, conf *Config, logger loggi
 		productID = product.ID.Product
 	}
 
+	if productID != 0x805|0x802|0x800|0x0C05 {
+		logger.Warnf("analog range and step size is not supported for numato with product id %d", productID)
+	}
+
 	options := goserial.OpenOptions{
 		PortName:        path,
 		BaudRate:        19200,
@@ -414,12 +447,12 @@ func connect(ctx context.Context, name resource.Name, conf *Config, logger loggi
 	if err != nil {
 		return nil, err
 	}
-
 	b := &numatoBoard{
-		Named:  name.AsNamed(),
-		pins:   pins,
-		port:   device,
-		logger: logger,
+		Named:     name.AsNamed(),
+		pins:      pins,
+		port:      device,
+		logger:    logger,
+		productID: productID,
 	}
 
 	b.analogs = map[string]*pinwrappers.AnalogSmoother{}
@@ -437,6 +470,5 @@ func connect(ctx context.Context, name resource.Name, conf *Config, logger loggi
 		return nil, multierr.Combine(b.Close(ctx), err)
 	}
 	b.logger.CDebugw(ctx, "numato startup", "version", ver)
-
 	return b, nil
 }

components/board/numato/darwin_utils.go

@@ -0,0 +1,11 @@
+//go:build darwin
+
+package numato
+
+import "go.viam.com/utils/usb"
+
+func getSerialDevices() []usb.Description {
+	return usb.Search(usb.NewSearchFilter("AppleUSBACMData", "usbmodem"), func(vendorID, productID int) bool {
+		return true
+	})
+}

components/board/numato/linux_utils.go

@@ -0,0 +1,11 @@
+//go:build linux
+
+package numato
+
+import "go.viam.com/utils/usb"
+
+func getSerialDevices() []usb.Description {
+	return usb.Search(usb.SearchFilter{}, func(vendorID, productID int) bool {
+		return true
+	})
+}

components/board/pinwrappers/analogs.go

@@ -26,6 +26,7 @@ type AnalogSmoother struct {
 	lastError         atomic.Pointer[errValue]
 	logger            logging.Logger
 	workers           utils.StoppableWorkers
+	analogRange       board.AnalogRange
 }
 
 // SmoothAnalogReader wraps the given reader in a smoother.
@@ -65,16 +66,14 @@ func (as *AnalogSmoother) Read(ctx context.Context, extra map[string]interface{}
 	avg := as.data.Average()
 	lastErr := as.lastError.Load()
 	if lastErr == nil {
-		///TODO: figure out range ??
-		return avg, board.AnalogRange{}, nil
+		return avg, as.analogRange, nil
 	}
 	//nolint:forcetypeassert
 	if lastErr.present {
-		return avg, board.AnalogRange{}, lastErr.err
+		return avg, as.analogRange, lastErr.err
 	}
 
-	//TODO: range here
-	return avg, board.AnalogRange{}, nil
+	return avg, as.analogRange, nil
 }
 
 // Start begins the smoothing routine that reads from the underlying
@@ -107,6 +106,11 @@ func (as *AnalogSmoother) Start() {
 	}
 
 	as.workers = utils.NewStoppableWorkers(func(ctx context.Context) {
+		// Store the analog reader range and step size
+		_, analogRange, err := as.Raw.Read(ctx, nil)
+		as.lastError.Store(&errValue{err != nil, err})
+		as.analogRange = analogRange
+
 		for {
 			select {
 			case <-ctx.Done():

components/board/server.go

@@ -148,8 +148,10 @@ func (s *serviceServer) ReadAnalogReader(
 	if err != nil {
 		return nil, err
 	}
-	return &pb.ReadAnalogReaderResponse{Value: int32(val),
-		MinRange: analogRange.Min, MaxRange: analogRange.Max, StepSize: analogRange.StepSize}, nil
+	return &pb.ReadAnalogReaderResponse{
+		Value:    int32(val),
+		MinRange: analogRange.Min, MaxRange: analogRange.Max, StepSize: analogRange.StepSize,
+	}, nil
 }
 
 // WriteAnalog writes the analog value to the analog writer pin of the underlying robot.