基于gobot框架在BBB Debian运行的GoLang程序
为了让GoLang与BBB搭配使用，我们借助了gobot机器上框架（查阅“参考资料”里的链接），在BBB Debian系统上运行go程序来控制硬件，下面是我们的整个入门配置和测试记录（在PC Ubuntu系统下进行）：
1.获取gobot源码
go get -d -u github.com/hybridgroup/gobot/... && go install github.com/hybridgroup/gobot/platforms/beaglebone
这里需要注意和碰到需处理的问题：
a.需翻墙，同步代码过程会自动同步依赖库源码，有些需要VPN翻墙才能使用；
b.同步源码过程中会碰到exec: "hg": executable file not found in $PATH 提示，此里需执行sudo apt-get install mercurial命令。
同步代码后，会在$GOPATH目录下的src和pkg两个目录下存在相关的源码文件。
2.交叉编译BBB的GOBOT
a.配置ARM交叉编译的GO环境
cd $GOROOT
GOOS=linux GOARCH=arm ./make.bash --no-clean
b.创建BBB上的测试程序及在BBB上验证
创建beaglebone_blink.go文件，文件内容如下：
package main
import (
"time"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/beaglebone"
"github.com/hybridgroup/gobot/platforms/gpio"
)
func main() {
gbot := gobot.NewGobot()
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
led := gpio.NewLedDriver(beagleboneAdaptor, "led", "usr1")
work := func() {
gobot.Every(1*time.Second, func() {
led.Toggle()
})
}
robot := gobot.NewRobot("blinkBot",
[]gobot.Connection{beagleboneAdaptor},
[]gobot.Device{led},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
编译上面的测试代码：
GOARM=7 GOARCH=arm GOOS=linux go build beaglebone_blink.go
此时会在当前目录下生成beaglebone_blink文件，使用file命令可查看到该文件属性：
xinu@slam:~/golang/examples$ file beaglebone_blink
beaglebone_blink: ELF 32-bit LSB executable, ARM, EABI5 version 1 (SYSV), statically linked, not stripped
将生成的可执行文件复制到BBB板卡存储器里，再执行./beaglebone_blink，有如下提示：
debian@arm:~$ sudo ./beaglebone_blink_usr_led
We trust you have received the usual lecture from the local System
Administrator. It usually boils down to these three things:
#1) Respect the privacy of others.
#2) Think before you type.
#3) With great power comes great responsibility.
[sudo] password for debian:
此时输入用户名debian对应的密码temppwd后会有如下输出：
sudo: unable to mkdir /var/lib/sudo/lectured: Read-only file system
sudo: unable to mkdir /var/lib/sudo/ts: Read-only file system
2014/07/03 18:47:46 Initializing[ 91.044375] bone-capemgr bone_capemgr.9: part_number 'cape-bone-iio', version 'N/A'
Robot blinkBot ...
2014/07/03 18:47:46 Initial[ 91.056612] bone-capemgr bone_capemgr.9: slot #7: generic override
izing connection[ 91.063936] bone-capemgr bone_capemgr.9: bone: Using override eeprom data at slot 7
s...
2014/07/03[ 91.073430] bone-capemgr bone_capemgr.9: slot #7: 'Override Board Name,00A0,Override Manuf,cape-bone-iio'
18:47:46 Initializing connection beaglebone ...
2014/07/03 18:47:46 Initializi[ 91.090829] bone-capemgr bone_capemgr.9: slot #7: Requesting part number/version based 'cape-bone-iio-00A0.dtbo
ng devices...
2014/07/03 18:47:46 Initializing device led ...
[ 91.107718] bone-capemgr bone_capemgr.9: slot #7: Requesting firmware 'cape-bone-iio-00A0.dtbo' for board-name 'Override Board Name', versio'
2014/07/03 18:47:46 Starting Robot blinkBot ...
2014/07/03 18:4[ 91.127401] bone-capemgr bone_capemgr.9: slot #7: dtbo 'cape-bone-iio-00A0.dtbo' loaded; converting to live tree
7:46 Starting connections...
2014/07/03 18:47:46 Starting conne[ 91.143345] bone-capemgr bone_capemgr.9: slot #7: #1 overlays
ction beaglebone...
[ 91.165958] bone-iio-helper helper.15: ready
[ 91.180178] bone-capemgr bone_capemgr.9: slot #7: Applied #1 overlays.
[ 91.207658] bone-capemgr bone_capemgr.9: part_number 'am33xx_pwm', version 'N/A'
[ 91.227405] bone-capemgr bone_capemgr.9: slot #8: generic override
[ 91.234152] bone-capemgr bone_capemgr.9: bone: Using override eeprom data at slot 8
[ 91.242381] bone-capemgr bone_capemgr.9: slot #8: 'Override Board Name,00A0,Override Manuf,am33xx_pwm'
[ 91.262871] bone-capemgr bone_capemgr.9: slot #8: Requesting part number/version based 'am33xx_pwm-00A0.dtbo
[ 91.277644] bone-capemgr bone_capemgr.9: slot #8: Requesting firmware 'am33xx_pwm-00A0.dtbo' for board-name 'Override Board Name', version ''
[ 91.294162] bone-capemgr bone_capemgr.9: slot #8: dtbo 'am33xx_pwm-00A0.dtbo' loaded; converting to live tree
[ 91.308409] bone-capemgr bone_capemgr.9: slot #8: #8 overlays
[ 91.324218] ehrpwm 48300200.ehrpwm: unable to select pin group
[ 91.345215] ecap 48300100.ecap: unable to select pin group
[ 91.366683] ehrpwm 48302200.ehrpwm: unable to select pin group
[ 91.392535] ehrpwm 48304200.ehrpwm: unable to select pin group
[ 91.407299] ecap 48304100.ecap: unable to select pin group
[ 91.421773] bone-capemgr bone_capemgr.9: slot #8: Applied #8 overlays.
2014/07/03 18:47:46 Starting devices...
2014/07/03 18:47:46 Starting device led on pin usr1...
2014/07/03 18:47:46 Starting work...
此时，我们的BBB上面的usr1灯就会以1秒为周期的亮灭闪烁。
3.参考网址
http://gobot.io/documentation/platforms/beaglebone/
