TinyGoͰIoTΛ࢝ΊΑ͏

͓લ୭Αʁ ϝΧτϩιϑτ԰ Pythonista -> Gopher झຯͰGoʹ޲͔ͳ͍෼໺ͷ։୓ Goྺ͸̒೥ऑ͘Β͍ αΠτ: ձࣾ: 144Lab(2017/07/01 ͔Β৽໊ࣾ) HN: @nobonobo http://golang.rdy.jp/

૊ΈࠐΈ։ൃͬͯʁ

૊ΈࠐΈͱݴͬͯ΋ʁ େผͯ͠ PC޲͚OSͷ্Ͱ૊ΈࠐΈ PC޲͚OSແ͠Ͱ૊ΈࠐΈ ʢ૊ΈࠐΈ޲͚OS·ͨ͸OSແ͠ʣ ͱ͍͏̎छྨ͕͋Γ·͢ɻ

PC޲͚OSͷ্Ͱ૊ΈࠐΈ PCʹ͍ۙখܕϘʔυʢRaspberryPiͳͲʣͰ Linux΍Windows10ͷ্ʹ ΞϓϦΛ࣮૷͢ΔελΠϧ ͕ૉ੖Β͍͠ ͨͩ͠ɺిݯ֬อ͕ඞਢ Ϟϊͷબ୒ࢶ͸࣮࣭̎୒ RaspberryPiܥ ߴՁͳϘʔυͷྨ https://gobot.io

PC޲͚OSແ͠Ͱ૊ΈࠐΈ Goͷෆಘҙ෼໺ Goͷཪํͷػೳηοτ͕OSʹґଘ goroutineͷεέδϡʔϥ΍GCͳͲ OSͷແ͍؀ڥʹҠ২͢Δίετ͕ߴ͍ ௿ϨΠϠͷI/Oࢧԉػೳ͕΋ͱ΋ͱແ͍ PCͱҧ͍෺ཧతʹଟ༷͗͢Δ؀ڥ

૊ΈࠐΈ։ൃͷੈք ιϑτ΢ΣΞͷ஌͕ࣝٻΊΒΕΔ ௿ϨΠϠʔͷ஌ࣝ΋ٻΊΒΕΔ ϋʔυ΢ΣΞͷ஌ࣝ΋গ͠ٻΊΒΕΔ ։ൃ؀ڥΛ੔͑Δͷʹίετ͕͔͔Δ ૊ΈࠐΈ is Hard!

ͦͯ͠ɾɾɾ C/C++͕σϑΝΫτελϯμʔυ C͚ͩͳΒ·ͩ͠΋C++͸πϥΠ ॲཧͷ࣮ମΛӅ͢ͷ্͕ख͗͢Δ ࠔ೉ͳґଘղܾ include஍ࠈͱIFDEF஍ࠈ ΦʔόʔϩʔυʹςϯϓϨʔτ ૊ΈࠐΈ is Hard!

C/C++ͷ୅ΘΓʹGoͳΒʁ ϦʔμϏϦςΟ࠷ߴʂ ΤϥʔΛపఈͯ͠νΣοΫ͢ΔจԽʂ undefined-behavierʹ೰·͞Εͳ͍ʂ ґଘղܾʹgo-get͕࢖͑Δʂ ૊ΈࠐΈ͕গ͠਎ۙʹͳΔ͔΋ʁʂ

ͱ͍͏Θ͚Ͱ TinyGoͰ͢Αʂʂ

ઌ݄ϗοςϯτϦೖΓ https://tech.144lab.com/entry/tinygo

λʔήοτྫ

micro:bit ରԠ։ൃπʔϧͷ਺͕τοϓΫϥε ϒϩοΫํࣜͰখֶੜ΋ϓϩάϥϛϯάOK ϒϩοΫʹ๞͖ͨΒJS,TS΁ ArduinoͰ΋PythonͰ΋Ruby,Jacvascript,LuaͳͲͳͲ ϓϩ޲͚SEGGER Embedded StudioͰ΋OK

circuit playground express ౥ࡌΪϛοΫ਺͕τοϓΫϥε ϑϧΧϥʔ֊ௐ͖ͭLED̍̌ݸ εϐʔΧʔʹϚΠΫ ޫྔηϯαɺԹ౓ɾ࣪౓ηϯα ̒࣠ʢՃ଎౓ɾ֯଎౓ʣηϯα IRϦϞίϯૹड৴ λονηϯγϯά UART/USB/SPI/I2C/etc...

࣮ࡍʹ͍ΖΜͳίʔυΛ ίϯύΠϧͯ͜͠ΕΒͰ ಈ͔ͯ͠Έ·͠ΐ͏ʂ

TinyGoͷ࢖͍ํ dockerϕʔε͕ࠓ͸ΦεεϝͰ͢ɻ ʢdevϒϥϯνϏϧυ͸େม ˍ ߴස౓Ͱґଘ͸มߋ͞Ε Δʣ $ docker run -it --rm tinygo/tinygo tinygo version tinygo version 0.4.1 linux/amd64

ͨ·ʹΞοϓσʔτͯ͠Έ·͠ΐ͏ $ docker pull tinygo/tinygo:latest latest: Pulling from tinygo/tinygo Digest: sha256:821ad71e7d9b3fe46a84a5818e52d3d3596e0d8f3855f8407b917a37371b2b23 Status: Image is up to date for tinygo/tinygo:latest

sample̍ ͍ΘΏΔLνΧʢ૊ΈࠐΈͰͷHelloWorldʣ package main import ( "machine" "time" ) func main() { led := machine.GPIO{machine.LED} led.Configure(machine.GPIOConfig{Mode: machine.GPIO_OUTPUT}) for { led.Low() time.Sleep(time.Millisecond * 500) led.High() time.Sleep(time.Millisecond * 500) } }

Ϗϧυ output.uf2 --Drag&Drop--> CIRCUITPYσόΠε ͜Ε͚ͩͰλʔήοτʹॻ͖ࠐ·ΕΔ $ go mod init github.com/nobonobo/examples/sample1 $ PACKAGE_PATH = github.com/nobonobo/examples/sample1 $ PROJECT_PATH = /go/src/$PACKAGE_PATH $ docker run -it --rm $PWD:$PROJECT_PATH -w $PROJECT_PATH \ tinygo/tinygo tinygo build -target=circuitplay-express -o output.uf2 .

TinyGoͷఏڙόε࣮૷(1) ڞ௨Ͱఏڙ͢Δόε GPIO(൚༻ೖग़ྗϐϯ) ADCʢΞφϩάܭଌʣ PWMʢαʔϘɺύϫʔίϯτϩʔϧ޲͚ʣ UARTʢPCͱͷ࿈ܞ༻ʣ SPIʢখ͞ͳσόΠεͱͷ࿈ܞ༻ʣ I2Cʢখ͞ͳσόΠεͱͷ࿈ܞ༻ʣ

TinyGoͷఏڙόε࣮૷(2) Ұ෦ͷλʔήοτ DACʢΞφϩάిѹൃੜʣ

ΞʔΩςΫνϟผͷఏڙػೳ ϨδελΞΫηε ΠϯϥΠϯΞηϯϒϥ λΠϚʔɺUARTϋϯυϦϯά ΄ͱΜͲͷλʔήοτͰ ʮprintlnʯͰ γϦΞϧϙʔτʹσόοάϩάΛग़ྗͰ͖Δɻ

पลσόΠεผυϥΠόʔ Device Name Interface Type SPI I2C I2C I2C GPIO UART I2C I2C I2C GPIO https://github.com/tinygo-org/drivers APA102 RGB LED BH1750 ambient light sensor BlinkM RGB LED BMP180 barometer "Easystepper" stepper motor controller ESP8266/ESP32 AT Command set for WiFi/TCP/UDP MAG3110 magnetometer MMA8653 accelerometer MPU6050 accelerometer/gyroscope WS2812 RGB LED

֎෦ύοέʔδͱdocker ґଘ͢ΔύοέʔδΛ௥Ճ͍ͨ͠ʂʂ ͋ΕʁdockerϕʔεͩͱͲ͏͢Δʁʂ ͦ͜Ͱgo modͰ͢Α $ export GO111MODULE=on $ go mod github.com/..../sample1 $ go get github.com/tinygo-org/drivers/ws2812 $ go mod vendor

͢Δͱʁ vendor/ github.com/ tinygo-org/ drivers/ ws2812/ main.go ͖ͬࣔͨ͞͠dockerίϚϯυͰίϯςφ಺͔Β ws2812ύοέʔδ͕ࢀরՄೳʹͳΔɻ

LEDετϦοϓυϥΠόΛ࡞Δ package main import ( "device/arm" "image/color" "machine" "github.com/tinygo-org/drivers/ws2812" ) // NeopixelDriver represents a connection to a NeoPixel type NeopixelDriver struct { pin machine.GPIO device ws2812.Device pixelCount int pixels []color.RGBA } // NewNeopixelDriver returns a new NeopixelDriver

ͦͯ͠ಈ͔ͯ͠ΈΔ package main import ( "image/color" "machine" "time" ) const NUM_PIXELS = 10 func main() { neo := NewNeopixelDriver(machine.GPIO{machine.NEOPIXELS}, NUM_PIXELS) n := 0 var pows = []uint8{255, 127, 63, 31, 15, 7, 3, 1, 0, 0} for { for i := 0; i < NUM_PIXELS; i++ { pow := pows[NUM_PIXELS-1-i] neo.SetPixel((n+i)%NUM_PIXELS, color.RGBA{R: pow, G: pow, B: pow}) }

DEMO ໨͕ʔɾɾ໨͕ʔʂʂ

໌Δ͞ʹԠͯ͡LEDΛ౮͢ package main import ( "image/color" "machine" "time" ) const NUM_PIXELS = 10 func main() { machine.InitADC() sensor := machine.ADC{machine.A8} sensor.Configure() neo := NewNeopixelDriver(machine.GPIO{machine.NEOPIXELS}, NUM_PIXELS) for { for i := 0; i < NUM_PIXELS; i++ { pow := uint8(sensor.Get() / 256) neo.SetPixel(i, color.RGBA{R: pow, G: pow, B: pow})

DEMO

GoͬΆ͘ॻ͘ package main import ( "image/color" "machine" "time" ) const NUM_PIXELS = 10

Ϙλϯ؂ࢹؔ਺ func observer(event chan int) { btnA := machine.GPIO{machine.BUTTONA} btnA.Configure(machine.GPIOConfig{Mode: machine.GPIO_INPUT_PULLDOWN}) btnB := machine.GPIO{machine.BUTTONB} btnB.Configure(machine.GPIOConfig{Mode: machine.GPIO_INPUT_PULLDOWN}) next := make([]bool, 2) prev := make([]bool, 2) prev[0], prev[1] = btnA.Get(), btnB.Get() for { time.Sleep(20 * time.Millisecond) next[0], next[1] = btnA.Get(), btnB.Get() for i := range next { if !prev[i] && next[i] { event <- i } } prev[0], prev[1] = next[0], next[1] } }

ϨϯμϦϯάؔ਺ func renderer(ch chan *NeopixelDriver) { for { v := <-ch v.Show() } }

mainؔ਺ func main() { events := make(chan int) go observer(events) // Ϙλϯ؂ࢹλεΫىಈ ɹneo := NewNeopixelDriver(machine.GPIO{machine.NEOPIXELS}, NUM_PIXELS) ch := make(chan *NeopixelDriver) go renderer(ch) // ϨϯμϥʔλεΫىಈ prev, next := 0, 0 neo.SetPixel(prev, color.RGBA{R: 10, G: 10, B: 10}) ch <- neo // ϨϯμϦϯάΛൃՐ for { select { case v := <-events: switch v { case 0: println("buttonA pressed") next++ if next >= NUM_PIXELS {

DEMO

·ͱΊ ฒߦॲཧ͕௒ॻ͖΍͍͢ʂ ݱঢ়ͷ௿ϨΠϠ֦ுखஈ ΠϯϥΠΞηϯϒϥ SVCall CGOαϙʔτ΍ߴϨϕϧαϙʔτ͕ෆ଍ TinyGoͷϏϧυͰ͸go-mod͸·ͩ࢖͑ͳ͍ ͕ɺdockerͱͷซ༻ͰͳΜͱ͔ͳΔ

ࠓޙͷൃల

׆ൃͳ׆ಈ BLEϥΠϒϥϦରԠ CGOαϙʔτ Ճ଎౓ηϯαͳͲͷυϥΠόʔ ESPγϦʔζͷαϙʔτ

ݱঢ়ͷωοτػೳ ҎԼͷΞΠςϜΛ࢖͏͜ͱͰ࣮ݱՄೳ ESP8266 or ESP32 ͱ͍͏֨҆Wi-Fiػೳ෇͖ϚΠίϯ driversʹ͋Δ ࠓճͷλʔήοτΛESPϞδϡʔϧͱUARTͱ͍͏̎৴߸ Λͭͳ͙ TCP/UDP௨৴͕ՄೳʹͳΔ ESP8266/ESP32 AT Command set for WiFi/TCP/UDP

ࠓޙͷωοτ઀ଓ LINE ThingsͷΑ͏ʹࠓ΍୭΋͕࣋ͭεϚϗΛ BLEtoΠϯλʔωοτͷϋϒʹͪ͠Ό͏ΞΠσΟΞ΋ LoRaɺNB-IoTϞδϡʔϧ΋΅ͪ΅ͪೖखՄೳʹͳΓͭͭ ͋Γ·͢

WebAssemblyग़ྗ ຊՈΑΓ΋ޮ཰తͳ੒ՌΛग़ͤΔ syscall/jsαϙʔτͳͲ΋࢝·ͬͯΔ

IoT։ൃ͸ͲΜͲΜ਎ۙʹ ͳ͖ͬͯͯ·͢Αʂ

͓ΘΓ