X86 support on genericlinux (#2340)

components/board/genericlinux/data.go

@@ -8,7 +8,8 @@ import (
 	"strings"
 
 	"github.com/pkg/errors"
-	"go.viam.com/utils"
+
+	rdkutils "go.viam.com/rdk/utils"
 )
 
 // adapted from https://github.com/NVIDIA/jetson-gpio (MIT License)
@@ -96,16 +97,10 @@ func GetGPIOBoardMappings(modelName string, boardInfoMappings map[string]BoardIn
 // getCompatiblePinDefs returns a list of pin definitions, from the first BoardInformation struct
 // that appears compatible with the machine we're running on.
 func getCompatiblePinDefs(modelName string, boardInfoMappings map[string]BoardInformation) ([]PinDefinition, error) {
-	const compatiblePath = "/proc/device-tree/compatible"
-
-	compatiblesRd, err := os.ReadFile(compatiblePath)
+	compatibles, err := rdkutils.GetDeviceInfo(modelName)
 	if err != nil {
-		if os.IsNotExist(err) {
-			return nil, noBoardError(modelName)
-		}
-		return nil, err
+		return nil, fmt.Errorf("error while getting hardware info %w", err)
 	}
-	compatibles := utils.NewStringSet(strings.Split(string(compatiblesRd), "\x00")...)
 
 	var pinDefs []PinDefinition
 	for _, info := range boardInfoMappings {

components/board/upboard/board.go

@@ -0,0 +1,33 @@
+// Package upboard implements an Intel based board.
+package upboard
+
+// This is experimental
+/*
+	Datasheet: https://github.com/up-board/up-community/wiki/Pinout_UP4000
+	Supported board: UP4000
+*/
+
+import (
+	"github.com/edaniels/golog"
+	"github.com/pkg/errors"
+	"periph.io/x/host/v3"
+
+	"go.viam.com/rdk/components/board/genericlinux"
+)
+
+const modelName = "upboard"
+
+func init() {
+	if _, err := host.Init(); err != nil {
+		golog.Global().Debugw("error initializing host", "error", err)
+	}
+
+	gpioMappings, err := genericlinux.GetGPIOBoardMappings(modelName, boardInfoMappings)
+	var noBoardErr genericlinux.NoBoardFoundError
+	if errors.As(err, &noBoardErr) {
+		golog.Global().Debugw("error getting up board GPIO board mapping", "error", err)
+	}
+
+	// Not using Periph io for GPIO
+	genericlinux.RegisterBoard(modelName, gpioMappings, false)
+}

components/board/upboard/data.go

@@ -0,0 +1,56 @@
+package upboard
+
+// This is experimental.
+
+import "go.viam.com/rdk/components/board/genericlinux"
+
+const upboard = "up_4000"
+
+var boardInfoMappings = map[string]genericlinux.BoardInformation{
+	upboard: {
+		[]genericlinux.PinDefinition{
+			/*
+				pinout for up4000: https://github.com/up-board/up-community/wiki/Pinout_UP4000
+				GPIOChipRelativeIDs: {ngpio : base-linux_gpio_number}
+				GPIOChipSysFSDir: path to the directory of a chip. Can be found from the output of gpiodetect
+			*/
+			// GPIO pin definition
+			{map[int]int{78: 73}, map[int]string{}, "INT3452:01", 29, 0, "GPIO10", "", "", -1},
+			{map[int]int{77: 46}, map[int]string{}, "INT3452:01", 31, 0, "BCM26", "", "", -1},
+			{map[int]int{77: 48}, map[int]string{}, "INT3452:01", 18, 0, "BCM24", "", "", -1},
+			{map[int]int{77: 45}, map[int]string{}, "INT3452:01", 22, 0, "BCM25", "", "", -1},
+			{map[int]int{77: 46}, map[int]string{}, "INT3452:01", 37, 0, "BCM26", "", "", -1},
+			{map[int]int{47: 17}, map[int]string{}, "INT3452:02", 35, 0, "BCM19", "", "", -1},
+			{map[int]int{77: 75}, map[int]string{}, "INT3452:01", 13, 0, "BMC27", "", "", -1},
+
+			// ttyS4 UART
+			{map[int]int{78: 43}, map[int]string{}, "INT3452:00", 8, 0, "BCM14_TXD", "", "", -1},
+			{map[int]int{78: 42}, map[int]string{}, "INT3452:00", 10, 0, "BCM15_RXD", "", "", -1},
+			{map[int]int{78: 44}, map[int]string{}, "INT3452:00", 11, 0, "BCM17", "", "", -1},
+			{map[int]int{78: 45}, map[int]string{}, "INT3452:00", 36, 0, "BMC16", "", "", -1},
+
+			// I2c
+			{map[int]int{78: 28}, map[int]string{}, "INT3452:00", 3, 0, "BCM2_SDA", "", "", -1},
+			{map[int]int{78: 29}, map[int]string{}, "INT3452:00", 5, 0, "BVM3_SCL", "", "", -1},
+			{map[int]int{78: 31}, map[int]string{}, "INT3452:00", 28, 0, "BMC1_ID_SCL", "", "", -1},
+
+			// pwm
+			{map[int]int{78: 35}, map[int]string{}, "INT3452:00", 33, 0, "BMC13_PWM1", "", "0000:00:1a.0", 0},
+			{map[int]int{78: 34}, map[int]string{}, "INT3452:00", 32, 0, "BCM12_PWM0", "", "0000:00:1a.0", 1},
+			{map[int]int{78: 37}, map[int]string{}, "INT3452:00", 16, 0, "BCM23", "", "0000:00:1a.0", 3},
+
+			{map[int]int{77: 76}, map[int]string{}, "INT3452:01", 7, 0, "BCM4", "", "", -1},
+			{map[int]int{77: 65}, map[int]string{}, "INT3452:01", 19, 0, "BCM10_MOSI", "", "", -1},
+			{map[int]int{77: 64}, map[int]string{}, "INT3452:01", 21, 0, "BCM9_MISO", "", "", -1},
+			{map[int]int{77: 61}, map[int]string{}, "INT3452:01", 23, 0, "BCM11_SCLK", "", "", -1},
+			{map[int]int{78: 30}, map[int]string{}, "INT3452:00", 27, 0, "BCM0_ID_SD", "", "", -1},
+			{map[int]int{47: 16}, map[int]string{}, "INT3452:02", 12, 0, "BCM15_RXD", "", "", -1},
+			{map[int]int{77: 62}, map[int]string{}, "INT3452:01", 24, 0, "BCM8_CE0", "", "", -1},
+			{map[int]int{77: 63}, map[int]string{}, "INT3452:01", 26, 0, "BCM7_CE1", "", "", -1},
+			{map[int]int{47: 18}, map[int]string{}, "INT3452:02", 38, 0, "BCM20", "", "", -1},
+			{map[int]int{47: 19}, map[int]string{}, "INT3452:02", 40, 0, "BCM21", "", "", -1},
+			{map[int]int{77: 74}, map[int]string{}, "INT3452:01", 15, 0, "BCM22", "", "", -1},
+		},
+		[]string{"UP-APL03"},
+	},
+}

utils/hardware_info.go

@@ -0,0 +1,61 @@
+package utils
+
+import (
+	"bytes"
+	"fmt"
+	"os"
+	"runtime"
+	"strings"
+
+	"go.viam.com/utils"
+)
+
+// GetDeviceInfo returns the device information in stringset.
+func GetDeviceInfo(modelName string) (utils.StringSet, error) {
+	arch := runtime.GOARCH
+
+	switch {
+	case strings.HasPrefix(arch, "amd"):
+		return stringSetFromX86(modelName)
+	case strings.HasPrefix(arch, "arm"):
+		return stringSetFromARM(modelName)
+	default:
+		return nil, noBoardError(modelName)
+	}
+}
+
+// A helper function for ARM architecture to process contents of the
+// device path and returns the compatible device information.
+func stringSetFromARM(modelName string) (utils.StringSet, error) {
+	const path = "/proc/device-tree/compatible"
+	compatiblesRd, err := os.ReadFile(path)
+	if err != nil {
+		if os.IsNotExist(err) {
+			return nil, noBoardError(modelName)
+		}
+		return nil, err
+	}
+
+	return utils.NewStringSet(strings.Split(string(compatiblesRd), "\x00")...), nil
+}
+
+// A helper function for AMD architecture to process contents of the
+// device path and returns the compatible device information.
+func stringSetFromX86(modelName string) (utils.StringSet, error) {
+	const path = "/sys/devices/virtual/dmi/id/board_name"
+	compatiblesRd, err := os.ReadFile(path)
+	if err != nil {
+		if os.IsNotExist(err) {
+			return nil, noBoardError(modelName)
+		}
+		return nil, err
+	}
+
+	compatiblesRd = bytes.TrimSpace(compatiblesRd)
+
+	return utils.NewStringSet(string(compatiblesRd)), nil
+}
+
+func noBoardError(modelName string) error {
+	return fmt.Errorf("could not determine %q model", modelName)
+}