add I2C and SPI tools for hardware interaction (#140)
* add I2C and SPI tools for hardware interaction - Implemented I2CTool for I2C bus interaction, including device scanning, reading, and writing. - Implemented SPITool for SPI bus communication, supporting device listing, data transfer, and reading. - Added platform-specific implementations for Linux and stubs for non-Linux platforms. - Updated agent loop to register new I2C and SPI tools. - Created documentation for hardware skills, including usage examples and pinmux setup instructions. * Remove build constraints for Linux from I2C and SPI tool files.
This commit is contained in:
karan
196
pkg/tools/spi_linux.go
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196
pkg/tools/spi_linux.go
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@@ -0,0 +1,196 @@
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package tools
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import (
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"encoding/json"
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"fmt"
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"runtime"
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"syscall"
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"unsafe"
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)
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// SPI ioctl constants from Linux kernel headers.
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// Calculated from _IOW('k', nr, size) macro:
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//
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// direction(1)<<30 | size<<16 | type(0x6B)<<8 | nr
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const (
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spiIocWrMode = 0x40016B01 // _IOW('k', 1, __u8)
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spiIocWrBitsPerWord = 0x40016B03 // _IOW('k', 3, __u8)
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spiIocWrMaxSpeedHz = 0x40046B04 // _IOW('k', 4, __u32)
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spiIocMessage1 = 0x40206B00 // _IOW('k', 0, struct spi_ioc_transfer) — 32 bytes
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)
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// spiTransfer matches Linux kernel struct spi_ioc_transfer (32 bytes on all architectures).
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type spiTransfer struct {
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txBuf uint64
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rxBuf uint64
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length uint32
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speedHz uint32
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delayUsecs uint16
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bitsPerWord uint8
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csChange uint8
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txNbits uint8
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rxNbits uint8
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wordDelay uint8
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pad uint8
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}
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// configureSPI opens an SPI device and sets mode, bits per word, and speed
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func configureSPI(devPath string, mode uint8, bits uint8, speed uint32) (int, *ToolResult) {
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fd, err := syscall.Open(devPath, syscall.O_RDWR, 0)
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if err != nil {
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return -1, ErrorResult(fmt.Sprintf("failed to open %s: %v (check permissions and spidev module)", devPath, err))
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}
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// Set SPI mode
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_, _, errno := syscall.Syscall(syscall.SYS_IOCTL, uintptr(fd), spiIocWrMode, uintptr(unsafe.Pointer(&mode)))
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if errno != 0 {
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syscall.Close(fd)
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return -1, ErrorResult(fmt.Sprintf("failed to set SPI mode %d: %v", mode, errno))
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}
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// Set bits per word
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_, _, errno = syscall.Syscall(syscall.SYS_IOCTL, uintptr(fd), spiIocWrBitsPerWord, uintptr(unsafe.Pointer(&bits)))
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if errno != 0 {
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syscall.Close(fd)
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return -1, ErrorResult(fmt.Sprintf("failed to set bits per word %d: %v", bits, errno))
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}
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// Set max speed
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_, _, errno = syscall.Syscall(syscall.SYS_IOCTL, uintptr(fd), spiIocWrMaxSpeedHz, uintptr(unsafe.Pointer(&speed)))
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if errno != 0 {
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syscall.Close(fd)
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return -1, ErrorResult(fmt.Sprintf("failed to set SPI speed %d Hz: %v", speed, errno))
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}
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return fd, nil
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}
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// transfer performs a full-duplex SPI transfer
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func (t *SPITool) transfer(args map[string]interface{}) *ToolResult {
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confirm, _ := args["confirm"].(bool)
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if !confirm {
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return ErrorResult("transfer operations require confirm: true. Please confirm with the user before sending data to SPI devices.")
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}
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dev, speed, mode, bits, errMsg := parseSPIArgs(args)
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if errMsg != "" {
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return ErrorResult(errMsg)
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}
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dataRaw, ok := args["data"].([]interface{})
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if !ok || len(dataRaw) == 0 {
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return ErrorResult("data is required for transfer (array of byte values 0-255)")
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}
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if len(dataRaw) > 4096 {
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return ErrorResult("data too long: maximum 4096 bytes per SPI transfer")
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}
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txBuf := make([]byte, len(dataRaw))
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for i, v := range dataRaw {
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f, ok := v.(float64)
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if !ok {
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return ErrorResult(fmt.Sprintf("data[%d] is not a valid byte value", i))
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}
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b := int(f)
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if b < 0 || b > 255 {
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return ErrorResult(fmt.Sprintf("data[%d] = %d is out of byte range (0-255)", i, b))
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}
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txBuf[i] = byte(b)
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}
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devPath := fmt.Sprintf("/dev/spidev%s", dev)
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fd, errResult := configureSPI(devPath, mode, bits, speed)
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if errResult != nil {
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return errResult
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}
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defer syscall.Close(fd)
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rxBuf := make([]byte, len(txBuf))
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xfer := spiTransfer{
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txBuf: uint64(uintptr(unsafe.Pointer(&txBuf[0]))),
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rxBuf: uint64(uintptr(unsafe.Pointer(&rxBuf[0]))),
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length: uint32(len(txBuf)),
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speedHz: speed,
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bitsPerWord: bits,
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}
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_, _, errno := syscall.Syscall(syscall.SYS_IOCTL, uintptr(fd), spiIocMessage1, uintptr(unsafe.Pointer(&xfer)))
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runtime.KeepAlive(txBuf)
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runtime.KeepAlive(rxBuf)
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if errno != 0 {
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return ErrorResult(fmt.Sprintf("SPI transfer failed: %v", errno))
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}
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// Format received bytes
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hexBytes := make([]string, len(rxBuf))
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intBytes := make([]int, len(rxBuf))
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for i, b := range rxBuf {
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hexBytes[i] = fmt.Sprintf("0x%02x", b)
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intBytes[i] = int(b)
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}
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result, _ := json.MarshalIndent(map[string]interface{}{
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"device": devPath,
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"sent": len(txBuf),
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"received": intBytes,
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"hex": hexBytes,
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}, "", " ")
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return SilentResult(string(result))
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}
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// readDevice reads bytes from SPI by sending zeros (read-only, no confirm needed)
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func (t *SPITool) readDevice(args map[string]interface{}) *ToolResult {
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dev, speed, mode, bits, errMsg := parseSPIArgs(args)
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if errMsg != "" {
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return ErrorResult(errMsg)
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}
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length := 0
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if l, ok := args["length"].(float64); ok {
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length = int(l)
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}
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if length < 1 || length > 4096 {
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return ErrorResult("length is required for read (1-4096)")
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}
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devPath := fmt.Sprintf("/dev/spidev%s", dev)
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fd, errResult := configureSPI(devPath, mode, bits, speed)
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if errResult != nil {
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return errResult
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}
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defer syscall.Close(fd)
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txBuf := make([]byte, length) // zeros
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rxBuf := make([]byte, length)
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xfer := spiTransfer{
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txBuf: uint64(uintptr(unsafe.Pointer(&txBuf[0]))),
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rxBuf: uint64(uintptr(unsafe.Pointer(&rxBuf[0]))),
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length: uint32(length),
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speedHz: speed,
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bitsPerWord: bits,
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}
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_, _, errno := syscall.Syscall(syscall.SYS_IOCTL, uintptr(fd), spiIocMessage1, uintptr(unsafe.Pointer(&xfer)))
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runtime.KeepAlive(txBuf)
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runtime.KeepAlive(rxBuf)
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if errno != 0 {
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return ErrorResult(fmt.Sprintf("SPI read failed: %v", errno))
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}
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hexBytes := make([]string, len(rxBuf))
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intBytes := make([]int, len(rxBuf))
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for i, b := range rxBuf {
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hexBytes[i] = fmt.Sprintf("0x%02x", b)
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intBytes[i] = int(b)
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}
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result, _ := json.MarshalIndent(map[string]interface{}{
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"device": devPath,
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"bytes": intBytes,
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"hex": hexBytes,
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"length": len(rxBuf),
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}, "", " ")
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return SilentResult(string(result))
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}
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