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zero: introduce adaptor for Radxa Zero (hybridgroup#1128)
1 parent c986109 commit cda3dbc

10 files changed

+870
-12
lines changed

‎examples/zero_analog.go

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

‎examples/zero_direct_pin.go

+80
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,80 @@
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//go:build example
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// +build example
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//
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// Do not build by default.
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package main
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import (
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"fmt"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/gpio"
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"gobot.io/x/gobot/v2/platforms/adaptors"
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"gobot.io/x/gobot/v2/platforms/radxa/zero"
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)
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// Wiring
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// PWR : 1, 17 (+3.3V, VCC), 2, 4 (+5V), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
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// GPIO : header pin 24 is input, pin 32 used as normal output, pin 36 used as inverted output
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// Button: the input pin is wired with a button to GND, the internal pull up resistor is used
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// LED's: the output pins are wired to the cathode of the LED, the anode is wired with a resistor (70-130Ohm for 20mA)
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// to VCC
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// Expected behavior: always one LED is on, the other in opposite state, if button is pressed the state changes
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func main() {
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const (
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inPinNum = "24"
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outPinNum = "32"
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outPinInvertedNum = "36"
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)
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// note: WithGpiosOpenDrain() is optional, if using WithGpiosOpenSource() the LED's will not light up
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board := zero.NewAdaptor(adaptors.WithGpiosActiveLow(outPinInvertedNum),
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adaptors.WithGpiosOpenDrain(outPinNum, outPinInvertedNum), adaptors.WithGpiosPullUp(inPinNum))
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inPin := gpio.NewDirectPinDriver(board, inPinNum)
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outPin := gpio.NewDirectPinDriver(board, outPinNum)
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outPinInverted := gpio.NewDirectPinDriver(board, outPinInvertedNum)
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work := func() {
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level := byte(1)
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gobot.Every(500*time.Millisecond, func() {
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read, err := inPin.DigitalRead()
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fmt.Printf("pin %s state is %d\n", inPinNum, read)
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if err != nil {
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fmt.Println(err)
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if level == 1 {
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level = 0
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} else {
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level = 1
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}
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} else {
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level = byte(read)
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}
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err = outPin.DigitalWrite(level)
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fmt.Printf("pin %s is now %d\n", outPinNum, level)
59+
if err != nil {
60+
fmt.Println(err)
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}
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err = outPinInverted.DigitalWrite(level)
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fmt.Printf("pin %s is now not %d\n", outPinInvertedNum, level)
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if err != nil {
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fmt.Println(err)
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}
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})
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}
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robot := gobot.NewRobot("pinBot",
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[]gobot.Connection{board},
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[]gobot.Device{inPin, outPin, outPinInverted},
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work,
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)
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if err := robot.Start(); err != nil {
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panic(err)
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}
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}

‎examples/tinkerboard_servo.go ‎examples/zero_servo.go

+8-7
Original file line numberDiff line numberDiff line change
@@ -13,25 +13,26 @@ import (
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/gpio"
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"gobot.io/x/gobot/v2/platforms/adaptors"
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"gobot.io/x/gobot/v2/platforms/asus/tinkerboard"
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"gobot.io/x/gobot/v2/platforms/radxa/zero"
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)
1818

1919
// Wiring
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// PWR Tinkerboard: 1 (+3.3V, VCC), 2(+5V), 6, 9, 14, 20 (GND)
21-
// PWM Tinkerboard: header pin 33 (PWM2) or pin 32 (PWM3)
20+
// PWR: 1, 17 (+3.3V, VCC), 2, 4 (+5V), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
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// PWM: header pin 18 (PWM_C), 40 (PWMAO_A)
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// Servo SG90: red (+5V), brown (GND), orange (PWM)
2223
func main() {
2324
const (
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pwmPin = "32"
25+
pwmPin = "18"
2526
wait = 3 * time.Second
2627

2728
fiftyHzNanos = 20 * 1000 * 1000 // 50Hz = 0.02 sec = 20 ms
2829
)
2930
// usually a frequency of 50Hz is used for servos, most servos have 0.5 ms..2.5 ms for 0-180°,
3031
// however the mapping can be changed with options:
31-
adaptor := tinkerboard.NewAdaptor(
32+
adaptor := zero.NewAdaptor(
3233
adaptors.WithPWMDefaultPeriodForPin(pwmPin, fiftyHzNanos),
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adaptors.WithPWMServoDutyCycleRangeForPin(pwmPin, time.Millisecond, 2*time.Millisecond),
34-
adaptors.WithPWMServoAngleRangeForPin(pwmPin, 0, 270),
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adaptors.WithPWMServoDutyCycleRangeForPin(pwmPin, 500*time.Microsecond, 2500*time.Microsecond),
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adaptors.WithPWMServoAngleRangeForPin(pwmPin, 0, 180),
3536
)
3637
servo := gpio.NewServoDriver(adaptor, pwmPin)
3738

‎examples/tinkerboard_yl40.go ‎examples/zero_yl40.go

+5-5
Original file line numberDiff line numberDiff line change
@@ -13,19 +13,19 @@ import (
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1414
"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/i2c"
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"gobot.io/x/gobot/v2/platforms/asus/tinkerboard"
16+
"gobot.io/x/gobot/v2/platforms/radxa/zero"
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)
1818

1919
func main() {
2020
// Wiring
21-
// PWR Tinkerboard: 1 (+3.3V, VCC), 6, 9, 14, 20 (GND)
22-
// I2C1 Tinkerboard: 3 (SDA), 5 (SCL)
21+
// PWR : 1, 17 (+3.3V, VCC), 6, 9, 14, 20, 25, 30, 34, 39 (GND)
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// I2C3: 3 (SDA), 5 (SCL), I2C1: 24/16 (SDA), 23/13 (SCL), I2C4: 7 (SDA), 11 (SCL)
2323
// YL-40 module: wire AOUT --> AIN2 for this example
2424
//
2525
// Note: temperature measurement is often buggy, because sensor is not properly grounded
2626
// fix it by soldering a small bridge to the adjacent ground pin of brightness sensor
27-
board := tinkerboard.NewAdaptor()
28-
yl := i2c.NewYL40Driver(board, i2c.WithBus(1))
27+
board := zero.NewAdaptor()
28+
yl := i2c.NewYL40Driver(board, i2c.WithBus(3))
2929

3030
work := func() {
3131
// the LED light is visible above ~1.7V

‎platforms/radxa/zero/LICENSE

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

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