zero: introduce adaptor for Radxa Zero (#1128)

examples/zero_analog.go

@@ -0,0 +1,60 @@
+//go:build example
+// +build example
+
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+	"log"
+	"time"
+
+	"gobot.io/x/gobot/v2"
+	"gobot.io/x/gobot/v2/drivers/aio"
+	"gobot.io/x/gobot/v2/platforms/radxa/zero"
+)
+
+// Wiring:
+// PWR            : 1, 17 (+3.3V, VCC), 2, 4 (+5V), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
+// ADC (max. 1.8V): header pin 15 is input for channel 1, pin 26 is input for channel 2
+func main() {
+	const (
+		inPin0         = "15_mean"
+		inPin1         = "26"
+		inVoltageScale = 0.439453125 // see README.md of the platform
+	)
+
+	scaler := aio.AnalogSensorLinearScaler(0, 4095, 0, 1.8)
+
+	adaptor := zero.NewAdaptor()
+	ana0 := aio.NewAnalogSensorDriver(adaptor, inPin0, aio.WithSensorScaler(scaler))
+	ana1 := aio.NewAnalogSensorDriver(adaptor, inPin1)
+
+	work := func() {
+		gobot.Every(500*time.Millisecond, func() {
+			v0, err := ana0.Read()
+			if err != nil {
+				log.Println(err)
+			}
+
+			v1, err := ana1.Read()
+			if err != nil {
+				log.Println(err)
+			}
+
+			fmt.Printf("%s: %1.3f V, %s: %2.0f (%4.0f mV)\n", inPin0, v0, inPin1, v1, v1*inVoltageScale)
+		})
+	}
+
+	robot := gobot.NewRobot("adcBot",
+		[]gobot.Connection{adaptor},
+		[]gobot.Device{ana0, ana1},
+		work,
+	)
+
+	if err := robot.Start(); err != nil {
+		panic(err)
+	}
+}

examples/zero_direct_pin.go

@@ -0,0 +1,80 @@
+//go:build example
+// +build example
+
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+	"time"
+
+	"gobot.io/x/gobot/v2"
+	"gobot.io/x/gobot/v2/drivers/gpio"
+	"gobot.io/x/gobot/v2/platforms/adaptors"
+	"gobot.io/x/gobot/v2/platforms/radxa/zero"
+)
+
+// Wiring
+// PWR   : 1, 17 (+3.3V, VCC), 2, 4 (+5V), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
+// GPIO  : header pin 24 is input, pin 32 used as normal output, pin 36 used as inverted output
+// Button: the input pin is wired with a button to GND, the internal pull up resistor is used
+// LED's: the output pins are wired to the cathode of the LED, the anode is wired with a resistor (70-130Ohm for 20mA)
+// to VCC
+// Expected behavior: always one LED is on, the other in opposite state, if button is pressed the state changes
+func main() {
+	const (
+		inPinNum          = "24"
+		outPinNum         = "32"
+		outPinInvertedNum = "36"
+	)
+	// note: WithGpiosOpenDrain() is optional, if using WithGpiosOpenSource() the LED's will not light up
+	board := zero.NewAdaptor(adaptors.WithGpiosActiveLow(outPinInvertedNum),
+		adaptors.WithGpiosOpenDrain(outPinNum, outPinInvertedNum), adaptors.WithGpiosPullUp(inPinNum))
+
+	inPin := gpio.NewDirectPinDriver(board, inPinNum)
+	outPin := gpio.NewDirectPinDriver(board, outPinNum)
+	outPinInverted := gpio.NewDirectPinDriver(board, outPinInvertedNum)
+
+	work := func() {
+		level := byte(1)
+
+		gobot.Every(500*time.Millisecond, func() {
+			read, err := inPin.DigitalRead()
+			fmt.Printf("pin %s state is %d\n", inPinNum, read)
+			if err != nil {
+				fmt.Println(err)
+				if level == 1 {
+					level = 0
+				} else {
+					level = 1
+				}
+			} else {
+				level = byte(read)
+			}
+
+			err = outPin.DigitalWrite(level)
+			fmt.Printf("pin %s is now %d\n", outPinNum, level)
+			if err != nil {
+				fmt.Println(err)
+			}
+
+			err = outPinInverted.DigitalWrite(level)
+			fmt.Printf("pin %s is now not %d\n", outPinInvertedNum, level)
+			if err != nil {
+				fmt.Println(err)
+			}
+		})
+	}
+
+	robot := gobot.NewRobot("pinBot",
+		[]gobot.Connection{board},
+		[]gobot.Device{inPin, outPin, outPinInverted},
+		work,
+	)
+
+	if err := robot.Start(); err != nil {
+		panic(err)
+	}
+}

examples/tinkerboard_servo.go → examples/zero_servo.go

@@ -13,25 +13,26 @@ import (
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/gpio"
 	"gobot.io/x/gobot/v2/platforms/adaptors"
-	"gobot.io/x/gobot/v2/platforms/asus/tinkerboard"
+	"gobot.io/x/gobot/v2/platforms/radxa/zero"
 )
 
 // Wiring
-// PWR Tinkerboard: 1 (+3.3V, VCC), 2(+5V), 6, 9, 14, 20 (GND)
-// PWM Tinkerboard: header pin 33 (PWM2) or pin 32 (PWM3)
+// PWR: 1, 17 (+3.3V, VCC), 2, 4 (+5V), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
+// PWM: header pin 18 (PWM_C), 40 (PWMAO_A)
+// Servo SG90: red (+5V), brown (GND), orange (PWM)
 func main() {
 	const (
-		pwmPin = "32"
+		pwmPin = "18"
 		wait   = 3 * time.Second
 
 		fiftyHzNanos = 20 * 1000 * 1000 // 50Hz = 0.02 sec = 20 ms
 	)
 	// usually a frequency of 50Hz is used for servos, most servos have 0.5 ms..2.5 ms for 0-180°,
 	// however the mapping can be changed with options:
-	adaptor := tinkerboard.NewAdaptor(
+	adaptor := zero.NewAdaptor(
 		adaptors.WithPWMDefaultPeriodForPin(pwmPin, fiftyHzNanos),
-		adaptors.WithPWMServoDutyCycleRangeForPin(pwmPin, time.Millisecond, 2*time.Millisecond),
-		adaptors.WithPWMServoAngleRangeForPin(pwmPin, 0, 270),
+		adaptors.WithPWMServoDutyCycleRangeForPin(pwmPin, 500*time.Microsecond, 2500*time.Microsecond),
+		adaptors.WithPWMServoAngleRangeForPin(pwmPin, 0, 180),
 	)
 	servo := gpio.NewServoDriver(adaptor, pwmPin)
 

examples/tinkerboard_yl40.go → examples/zero_yl40.go

@@ -13,19 +13,19 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/i2c"
-	"gobot.io/x/gobot/v2/platforms/asus/tinkerboard"
+	"gobot.io/x/gobot/v2/platforms/radxa/zero"
 )
 
 func main() {
 	// Wiring
-	// PWR  Tinkerboard: 1 (+3.3V, VCC), 6, 9, 14, 20 (GND)
-	// I2C1 Tinkerboard: 3 (SDA), 5 (SCL)
+	// PWR : 1, 17 (+3.3V, VCC), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
+	// I2C3: 3 (SDA), 5 (SCL), I2C1: 24/16 (SDA), 23/13 (SCL), I2C4: 7 (SDA), 11 (SCL)
 	// YL-40 module: wire AOUT --> AIN2 for this example
 	//
 	// Note: temperature measurement is often buggy, because sensor is not properly grounded
 	//       fix it by soldering a small bridge to the adjacent ground pin of brightness sensor
-	board := tinkerboard.NewAdaptor()
-	yl := i2c.NewYL40Driver(board, i2c.WithBus(1))
+	board := zero.NewAdaptor()
+	yl := i2c.NewYL40Driver(board, i2c.WithBus(3))
 
 	work := func() {
 		// the LED light is visible above ~1.7V

platforms/radxa/zero/LICENSE

@@ -0,0 +1,13 @@
+Copyright (c) 2025 The Hybrid Group
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+   http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.