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i2c/spi: remove offensive terminology #1071

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Feb 13, 2024
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i2c/spi: remove offensive terminology #1071

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2 changes: 1 addition & 1 deletion drivers/i2c/i2c_connection_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ func getSyscallFuncImpl(
system.I2C_FUNC_SMBUS_WRITE_WORD_DATA
}
// set address
if (trap == system.Syscall_SYS_IOCTL) && (a2 == system.I2C_SLAVE) {
if (trap == system.Syscall_SYS_IOCTL) && (a2 == system.I2C_TARGET) {
if errorMask&0x02 == 0x02 {
return 0, 0, 1
}
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10 changes: 5 additions & 5 deletions examples/tinkerboard_mfcrc522gpio.go
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Expand Up @@ -19,17 +19,17 @@ import (
// Wiring
// PWR Tinkerboard: 1 (+3.3V, VCC), 2(+5V), 6, 9, 14, 20 (GND)
// GPIO-SPI Tinkerboard (same as SPI2): 23 (CLK), 19 (TXD), 21 (RXD), 24 (CSN0)
// MFRC522 plate: VCC, GND, SCK (CLK), MOSI (->TXD), MISO (->RXD), NSS/SDA (CSN0/CSN1?)
// MFRC522 plate: VCC, GND, SCK (CLK), SDO (->TXD), SDI (->RXD), NCS/SDA (CSN0/CSN1?)
const (
sclk = "23"
nss = "24"
mosi = "19"
miso = "21"
ncs = "24"
sdo = "19"
sdi = "21"
speedHz = 5000 // more than 15kHz is not possible with GPIO's, so we choose 5kHz
)

func main() {
a := tinkerboard.NewAdaptor(adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso))
a := tinkerboard.NewAdaptor(adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi))
d := spi.NewMFRC522Driver(a, spi.WithSpeed(speedHz))

wasCardDetected := false
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2 changes: 1 addition & 1 deletion examples/tinkerboard_mfcrc522spi.go
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Expand Up @@ -19,7 +19,7 @@ import (
// PWR Tinkerboard: 1 (+3.3V, VCC), 2(+5V), 6, 9, 14, 20 (GND)
// SPI0 Tinkerboard (not working with armbian): 11 (CLK), 13 (TXD), 15 (RXD), 29 (CSN0), 31 (CSN1, n.c.)
// SPI2 Tinkerboard: 23 (CLK), 19 (TXD), 21 (RXD), 24 (CSN0), 26 (CSN1, n.c.)
// MFRC522 plate: VCC, GND, SCK (CLK), MOSI (->TXD), MISO (->RXD), NSS/SDA (CSN0/CSN1?)
// MFRC522 plate: VCC, GND, SCK (CLK), SDO (->TXD), SDI (->RXD), NCS/SDA (CSN0/CSN1?)
func main() {
a := tinkerboard.NewAdaptor()
d := spi.NewMFRC522Driver(a, spi.WithBusNumber(2))
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4 changes: 2 additions & 2 deletions platforms/adaptors/digitalpinsadaptor.go
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Expand Up @@ -63,9 +63,9 @@ func WithGpiodAccess() func(DigitalPinsOptioner) {
}

// WithSpiGpioAccess can be used to switch the default SPI implementation to GPIO usage.
func WithSpiGpioAccess(sclkPin, nssPin, mosiPin, misoPin string) func(DigitalPinsOptioner) {
func WithSpiGpioAccess(sclkPin, ncsPin, sdoPin, sdiPin string) func(DigitalPinsOptioner) {
return func(o DigitalPinsOptioner) {
o.setDigitalPinsForSystemSpi(sclkPin, nssPin, mosiPin, misoPin)
o.setDigitalPinsForSystemSpi(sclkPin, ncsPin, sdoPin, sdiPin)
}
}

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6 changes: 3 additions & 3 deletions platforms/adaptors/digitalpinsadaptoroptions.go
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Expand Up @@ -13,7 +13,7 @@ import (
type DigitalPinsOptioner interface {
setDigitalPinInitializer(initializer digitalPinInitializer)
setDigitalPinsForSystemGpiod()
setDigitalPinsForSystemSpi(sclkPin, nssPin, mosiPin, misoPin string)
setDigitalPinsForSystemSpi(sclkPin, ncsPin, sdoPin, sdiPin string)
prepareDigitalPinsActiveLow(pin string, otherPins ...string)
prepareDigitalPinsPullDown(pin string, otherPins ...string)
prepareDigitalPinsPullUp(pin string, otherPins ...string)
Expand All @@ -37,8 +37,8 @@ func (a *DigitalPinsAdaptor) setDigitalPinsForSystemGpiod() {
system.WithDigitalPinGpiodAccess()(a.sys)
}

func (a *DigitalPinsAdaptor) setDigitalPinsForSystemSpi(sclkPin, nssPin, mosiPin, misoPin string) {
system.WithSpiGpioAccess(a, sclkPin, nssPin, mosiPin, misoPin)(a.sys)
func (a *DigitalPinsAdaptor) setDigitalPinsForSystemSpi(sclkPin, ncsPin, sdoPin, sdiPin string) {
system.WithSpiGpioAccess(a, sclkPin, ncsPin, sdoPin, sdiPin)(a.sys)
}

func (a *DigitalPinsAdaptor) prepareDigitalPinsActiveLow(id string, otherIDs ...string) {
Expand Down
2 changes: 1 addition & 1 deletion platforms/beaglebone/beaglebone_adaptor.go
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Expand Up @@ -60,7 +60,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
//
// Optional parameters for PWM, see [adaptors.NewPWMPinsAdaptor]
func NewAdaptor(opts ...interface{}) *Adaptor {
Expand Down
2 changes: 1 addition & 1 deletion platforms/beaglebone/pocketbeagle_adaptor.go
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Expand Up @@ -16,7 +16,7 @@ type PocketBeagleAdaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
//
// Optional parameters for PWM, see [adaptors.NewPWMPinsAdaptor]
func NewPocketBeagleAdaptor(opts ...interface{}) *PocketBeagleAdaptor {
Expand Down
2 changes: 1 addition & 1 deletion platforms/chip/chip_adaptor.go
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Expand Up @@ -41,7 +41,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
//
// Optional parameters for PWM, see [adaptors.NewPWMPinsAdaptor]
func NewAdaptor(opts ...interface{}) *Adaptor {
Expand Down
4 changes: 2 additions & 2 deletions platforms/digispark/littleWire.h
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Expand Up @@ -339,7 +339,7 @@ void spi_init(littleWire* lwHandle);
void spi_sendMessage(littleWire* lwHandle, unsigned char * sendBuffer, unsigned char * inputBuffer, unsigned char length ,unsigned char mode);

/**
* Send one byte SPI message over MOSI pin. Slightly slower than the actual one.
* Send one byte SPI message over SDO pin. Slightly slower than the actual one.
* \n There isn't any chip select control involved. Useful for debug console app
*
* @param lwHandle littleWire device pointer
Expand Down Expand Up @@ -376,7 +376,7 @@ void i2c_init(littleWire* lwHandle);
* Start the i2c communication
*
* @param lwHandle littleWire device pointer
* @param address 7 bit slave address.
* @param address 7 bit target address.
* @param direction ( \b READ or \b WRITE )
* @return 1 if received ACK
*/
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2 changes: 1 addition & 1 deletion platforms/dragonboard/dragonboard_adaptor.go
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Expand Up @@ -49,7 +49,7 @@ var fixedPins = map[string]int{
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
func NewAdaptor(opts ...func(adaptors.DigitalPinsOptioner)) *Adaptor {
sys := system.NewAccesser()
c := &Adaptor{
Expand Down
6 changes: 3 additions & 3 deletions platforms/intel-iot/curie/imu_driver.go
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Expand Up @@ -86,13 +86,13 @@ func (imu *IMUDriver) Start() error {
// Halt stops the IMUDriver
func (imu *IMUDriver) Halt() error { return nil }

// Name returns the IMUDriver's name
// Name returns the IMUDrivers name
func (imu *IMUDriver) Name() string { return imu.name }

// SetName sets the IMUDriver'ss name
// SetName sets the IMUDrivers name
func (imu *IMUDriver) SetName(n string) { imu.name = n }

// Connection returns the IMUDriver's Connection
// Connection returns the IMUDrivers Connection
func (imu *IMUDriver) Connection() gobot.Connection { return imu.connection }

// ReadAccelerometer calls the Curie's built-in accelerometer. The result will
Expand Down
2 changes: 1 addition & 1 deletion platforms/intel-iot/joule/joule_adaptor.go
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Expand Up @@ -33,7 +33,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
//
// Optional parameters for PWM, see [adaptors.NewPWMPinsAdaptor]
func NewAdaptor(opts ...interface{}) *Adaptor {
Expand Down
2 changes: 1 addition & 1 deletion platforms/jetson/jetson_adaptor.go
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Expand Up @@ -41,7 +41,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
//
// Optional parameters for PWM, see [adaptors.NewPWMPinsAdaptor]
func NewAdaptor(opts ...interface{}) *Adaptor {
Expand Down
4 changes: 2 additions & 2 deletions platforms/mavlink/common/common.go
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Expand Up @@ -451,7 +451,7 @@ const (
MAV_CMD_DO_PARACHUTE = 208 // Mission command to trigger a parachute | action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.) | Empty | Empty | Empty | Empty | Empty | Empty |
MAV_CMD_DO_INVERTED_FLIGHT = 210 // Change to/from inverted flight | inverted (0=normal, 1=inverted) | Empty | Empty | Empty | Empty | Empty | Empty |
MAV_CMD_DO_MOUNT_CONTROL_QUAT = 220 // Mission command to control a camera or antenna mount, using a quaternion as reference. | q1 - quaternion param #1, w (1 in null-rotation) | q2 - quaternion param #2, x (0 in null-rotation) | q3 - quaternion param #3, y (0 in null-rotation) | q4 - quaternion param #4, z (0 in null-rotation) | Empty | Empty | Empty |
MAV_CMD_DO_GUIDED_MASTER = 221 // set id of master controller | System ID | Component ID | Empty | Empty | Empty | Empty | Empty |
MAV_CMD_DO_GUIDED_CONTROLLER = 221 // set id of the controller | System ID | Component ID | Empty | Empty | Empty | Empty | Empty |
MAV_CMD_DO_GUIDED_LIMITS = 222 // set limits for external control | timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout | absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit | absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit | horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit | Empty | Empty | Empty |
MAV_CMD_DO_LAST = 240 // NOP - This command is only used to mark the upper limit of the DO commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty |
MAV_CMD_PREFLIGHT_CALIBRATION = 241 // Trigger calibration. This command will be only accepted if in pre-flight mode. | Gyro calibration: 0: no, 1: yes | Magnetometer calibration: 0: no, 1: yes | Ground pressure: 0: no, 1: yes | Radio calibration: 0: no, 1: yes | Accelerometer calibration: 0: no, 1: yes | Compass/Motor interference calibration: 0: no, 1: yes | Empty |
Expand Down Expand Up @@ -879,7 +879,7 @@ func (m *SysStatus) Decode(buf []byte) {
//
// MAVLINK_MSG_ID_SYSTEM_TIME_CRC 137
type SystemTime struct {
TIME_UNIX_USEC uint64 // Timestamp of the master clock in microseconds since UNIX epoch.
TIME_UNIX_USEC uint64 // Timestamp of the primary reference clock in microseconds since UNIX epoch.
TIME_BOOT_MS uint32 // Timestamp of the component clock since boot time in milliseconds.
}

Expand Down
2 changes: 1 addition & 1 deletion platforms/nanopi/nanopi_adaptor.go
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Expand Up @@ -63,7 +63,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs (still used by default)
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
// adaptors.WithGpiosActiveLow(pin's): invert the pin behavior
// adaptors.WithGpiosPullUp/Down(pin's): sets the internal pull resistor
// adaptors.WithGpiosOpenDrain/Source(pin's): sets the output behavior
Expand Down
4 changes: 2 additions & 2 deletions platforms/nanopi/nanopineo_pin_map.go
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Expand Up @@ -8,8 +8,8 @@ var neoGpioPins = map[string]gpioPinDefinition{
"13": {sysfs: 2, cdev: cdevPin{chip: 0, line: 2}}, // UART2_RTS/GPIOA2
"15": {sysfs: 3, cdev: cdevPin{chip: 0, line: 3}}, // UART2_CTS/GPIOA3
"12": {sysfs: 6, cdev: cdevPin{chip: 0, line: 6}}, // GPIOA6
"19": {sysfs: 64, cdev: cdevPin{chip: 0, line: 64}}, // SPI0_MOSI/GPIOC0
"21": {sysfs: 65, cdev: cdevPin{chip: 0, line: 65}}, // SPI0_MISO/GPIOC1
"19": {sysfs: 64, cdev: cdevPin{chip: 0, line: 64}}, // SPI0_SDO/GPIOC0
"21": {sysfs: 65, cdev: cdevPin{chip: 0, line: 65}}, // SPI0_SDI/GPIOC1
"23": {sysfs: 66, cdev: cdevPin{chip: 0, line: 66}}, // SPI0_CLK/GPIOC2
"24": {sysfs: 67, cdev: cdevPin{chip: 0, line: 67}}, // SPI0_CS/GPIOC3
"8": {sysfs: 198, cdev: cdevPin{chip: 0, line: 198}}, // UART1_TX/GPIOG6
Expand Down
2 changes: 1 addition & 1 deletion platforms/raspi/raspi_adaptor.go
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Expand Up @@ -48,7 +48,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs (still used by default)
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
// adaptors.WithGpiosActiveLow(pin's): invert the pin behavior
// adaptors.WithGpiosPullUp/Down(pin's): sets the internal pull resistor
// adaptors.WithGpiosOpenDrain/Source(pin's): sets the output behavior
Expand Down
2 changes: 1 addition & 1 deletion platforms/rockpi/rockpi_adaptor.go
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Expand Up @@ -42,7 +42,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of the default sysfs (NOT work on RockPi4C+!)
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
// adaptors.WithGpiosActiveLow(pin's): invert the pin behavior
func NewAdaptor(opts ...func(adaptors.DigitalPinsOptioner)) *Adaptor {
sys := system.NewAccesser()
Expand Down
2 changes: 1 addition & 1 deletion platforms/tinkerboard/adaptor.go
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Expand Up @@ -61,7 +61,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs (still used by default)
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
// adaptors.WithGpiosActiveLow(pin's): invert the pin behavior
// adaptors.WithGpiosPullUp/Down(pin's): sets the internal pull resistor
//
Expand Down
2 changes: 1 addition & 1 deletion platforms/upboard/up2/adaptor.go
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Expand Up @@ -55,7 +55,7 @@ type Adaptor struct {
// Optional parameters:
//
// adaptors.WithGpiodAccess(): use character device gpiod driver instead of sysfs
// adaptors.WithSpiGpioAccess(sclk, nss, mosi, miso): use GPIO's instead of /dev/spidev#.#
// adaptors.WithSpiGpioAccess(sclk, ncs, sdo, sdi): use GPIO's instead of /dev/spidev#.#
//
// Optional parameters for PWM, see [adaptors.NewPWMPinsAdaptor]
func NewAdaptor(opts ...interface{}) *Adaptor {
Expand Down
4 changes: 2 additions & 2 deletions system/GPIO.md
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Expand Up @@ -66,8 +66,8 @@ gpiochip0 - 54 lines:
...
line 7: "SPI_CE1_N" unused input active-high
line 8: "SPI_CE0_N" unused input active-high
line 9: "SPI_MISO" unused input active-high
line 10: "SPI_MOSI" unused input active-high
line 9: "SPI_SDI" unused input active-high
line 10: "SPI_SDO" unused input active-high
line 11: "SPI_SCLK" unused input active-high
...
line 14: "TXD0" unused input active-high
Expand Down
2 changes: 1 addition & 1 deletion system/I2C.md
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Expand Up @@ -23,7 +23,7 @@ In general there are different ioctl features for I2C
> Some calls are branched by kernels [i2c-dev.c:i2cdev_ioctl()](https://elixir.bootlin.com/linux/latest/source/drivers/i2c/i2c-dev.c#L392)
> to the next listed calls.

Set the device address `ioctl(file, I2C_SLAVE, long addr)`. The call set the address directly to the character device.
Set the device address `ioctl(file, I2C_TARGET, long addr)`. The call set the address directly to the character device.

Query the supported functions `ioctl(file, I2C_FUNCS, unsigned long *funcs)`. The call is converted to in-kernel function
[i2c.h:i2c_get_functionality()](https://elixir.bootlin.com/linux/latest/source/include/linux/i2c.h#L902)
Expand Down
8 changes: 4 additions & 4 deletions system/i2c_device.go
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Expand Up @@ -16,9 +16,9 @@ const (
const (
// From /usr/include/linux/i2c-dev.h:
// ioctl signals
I2C_SLAVE = 0x0703
I2C_FUNCS = 0x0705
I2C_SMBUS = 0x0720
I2C_TARGET = 0x0703
I2C_FUNCS = 0x0705
I2C_SMBUS = 0x0720
// Read/write markers
I2C_SMBUS_READ = 1
I2C_SMBUS_WRITE = 0
Expand Down Expand Up @@ -371,7 +371,7 @@ func (d *i2cDevice) setAddress(address int) error {
return nil
}

if err := d.syscallIoctl(I2C_SLAVE, nil, address, "Setting address"); err != nil {
if err := d.syscallIoctl(I2C_TARGET, nil, address, "Setting address"); err != nil {
return err
}
d.lastAddress = address
Expand Down
2 changes: 1 addition & 1 deletion system/i2c_device_test.go
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Expand Up @@ -34,7 +34,7 @@ func getSyscallFuncImpl(
I2C_FUNC_SMBUS_WRITE_WORD_DATA
}
// set address
if (trap == Syscall_SYS_IOCTL) && (a2 == I2C_SLAVE) {
if (trap == Syscall_SYS_IOCTL) && (a2 == I2C_TARGET) {
if errorMask&0x02 == 0x02 {
return 0, 0, 1
}
Expand Down
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