int main(int argc, char *argv[]){
int gpio = atoi(argv[1]);
unsigned int i;
gpioExport(gpio);
gpioDirection(gpio, gpioDIRECTION_IN);
while(1){
printf("Read: %c\n", gpioRead(gpio));
for(i=0; i<9000000; ++i);
}
return 0;
}
Stm32p::Stm32p(QObject *parent) :
QObject(parent)
{
STM32 = new stm32Driver(STM32F401_ADDRESS);
sectorStartAddress << 0x08000000 << 0x08004000 << 0x08008000 << 0x0800C000 << 0x08010000 << 0x08020000 << 0x08040000 << 0x08060000;
sectorEndAddress << 0x08003FFF << 0x08007FFF << 0x0800BFFF << 0x0800FFFF << 0x0801FFFF << 0x0803FFFF << 0x0805FFFF << 0x0807FFFF;
sectorErased << false << false << false << false << false << false << false << false;
startAfterProgramming = false;
doneProgramming = false;
gpioExport();
}
// Initialize GPIO module
void MW_gpioInit(int32_T gpio, boolean_T direction, uint32_T internalResistor, const uint8_T *pinName)
{
GPIO_info *gpioInfoPtr;
gpioInfo = realloc(gpioInfo, (numGpio + 1) * sizeof(GPIO_info));
if (gpioInfo == NULL) {
fprintf(stderr, "Error allocating memory for GPIO pin %d.\n", gpio);
MW_gpioExit();
}
gpioInfoPtr = gpioInfo + numGpio;
//Fill in GPIO info structure for the GPIO module
#ifdef _DEBUG
printf("gpio = %d, direction = %d, internalRes = %d, pinName = %s\n",
gpio, direction, internalResistor, pinName);
#endif
gpioInfoPtr->gpio = gpio;
gpioInfoPtr->direction = direction;
gpioInfoPtr->internalResistor = internalResistor;
gpioInfoPtr->fd = -1;
strcpy(&(gpioInfoPtr->pinName[0]), pinName);
numGpio++;
// Set pin muxing and claim GPIO pin
if (setGpioPinMux(pinName, direction, internalResistor) < 0) {
fprintf(stderr, "Error setting PIN MUX.\n");
MW_gpioExit();
}
if (gpioExport(gpio) < 0) {
fprintf(stderr, "Error exporting GPIO pin.\n");
MW_gpioExit();
}
if (gpioSetDirection(gpio, direction) < 0) {
fprintf(stderr, "Error setting GPIO pin direction.\n");
MW_gpioExit();
}
gpioInfoPtr->fd = gpioOpen(gpio, direction);
if (gpioInfoPtr->fd < 0) {
fprintf(stderr, "Error opening GPIO.\n");
MW_gpioExit();
}
#ifdef _DEBUG
MW_dumpGpioInfo("INIT");
#endif
}
bool SysfsGPIO::configureGPIO(GPIO_Pin gpionr, QString direction)
{
//First check that the export file is there,
//if it is missing then the sysfs gpio "module" is not loaded.
QFile gpioExport("/sys/class/gpio/export");
if(!gpioExport.exists())
{
myErr() << "missing file: /sys/class/gpio/export";
return false;
}
//If value does not exist then export
QFile gpioDirection(QString("/sys/class/gpio/gpio%1/direction").arg(gpionr));
if(!gpioDirection.exists())
{
//myOut() << gpioDirection.fileName();
if (!gpioExport.open(QIODevice::WriteOnly | QIODevice::Text))
{
myErr() << gpioExport.fileName();
return false;
}
QTextStream out(&gpioExport);
out << gpionr << "\n";
gpioExport.close();
sleep(1);
}
{
if (!gpioDirection.open(QIODevice::WriteOnly | QIODevice::Text))
{
myErr() << gpioDirection.fileName();
return false;
}
QTextStream out(&gpioDirection);
out << direction << "\n";
gpioDirection.close();
}
return true;
}
// custom the robot behaviors
// init_robot_gpio
void init_robot_gpio(void)
{
gpioExport(OUT1);
gpioSetDirection(OUT1, outputPin);
gpioExport(OUT2);
gpioSetDirection(OUT2, outputPin);
gpioExport(OUT3);
gpioSetDirection(OUT3, outputPin);
gpioExport(OUT4);
gpioSetDirection(OUT4, outputPin);
gpioExport(ENGINE_LEFT);
gpioSetDirection(ENGINE_LEFT, outputPin);
gpioExport(ENGINE_RIGHT);
gpioSetDirection(ENGINE_RIGHT, outputPin);
}
static int
ili9341_init(ILI9341PyObject *self, PyObject *args, PyObject *kwds) {
int i;
int bus, chip_select, pin_dc, pin_reset;
char path[SPIDEV_MAXPATH];
static char *kwlist[] = {"bus", "chip_select", "dc", "reset", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwds, "iiii", kwlist, &bus, &chip_select, &pin_dc, &pin_reset))
return -1;
if (snprintf(path, SPIDEV_MAXPATH, "/dev/spidev%d.%d", bus, chip_select) >= SPIDEV_MAXPATH) {
return -1;
}
if ((self->fd = open(path, O_RDWR)) < 0) {
return -1;
}
// setup CS and RST pins
self->pin_dc = pin_dc;
self->pin_reset = pin_reset;
gpioExport(self->pin_dc);
gpioSetDirection(self->pin_dc, OUTPUT);
self->fd_dc = gpioOpenSet(self->pin_dc);
gpioExport(self->pin_reset);
gpioSetDirection(self->pin_reset, OUTPUT);
self->fd_reset = gpioOpenSet(self->pin_reset);
self->width = ILI9341_TFTWIDTH;
self->height = ILI9341_TFTHEIGHT;
self->color = 0xffff;
self->bg_color = 0;
self->cursor_x = 0;
self->cursor_y = 0;
self->font = System5x7;
self->char_spacing = 1;
TFT_DC_HIGH;
TFT_RST_LOW;
for(i=0; i<0x7FFFFF; i++);
TFT_RST_HIGH;
TFT_sendCMD(self, 0xEF);
TFT_sendDATA(self, 0x03);
TFT_sendDATA(self, 0x80);
TFT_sendDATA(self, 0x02);
TFT_sendCMD(self, 0xCB);
TFT_sendDATA(self, 0x39);
TFT_sendDATA(self, 0x2C);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x34);
TFT_sendDATA(self, 0x02);
TFT_sendCMD(self, 0xCF);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0xC1);
TFT_sendDATA(self, 0x30);
TFT_sendCMD(self, 0xE8);
TFT_sendDATA(self, 0x85);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x78);
TFT_sendCMD(self, 0xEA);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x00);
TFT_sendCMD(self, 0xED);
TFT_sendDATA(self, 0x64);
TFT_sendDATA(self, 0x03);
TFT_sendDATA(self, 0x12);
TFT_sendDATA(self, 0x81);
TFT_sendCMD(self, 0xF7);
TFT_sendDATA(self, 0x20);
TFT_sendCMD(self, ILI9341_PWCTR1); //Power control
TFT_sendDATA(self, 0x23); //VRH[5:0]
TFT_sendCMD(self, ILI9341_PWCTR2); //Power control
TFT_sendDATA(self, 0x10); //SAP[2:0];BT[3:0]
TFT_sendCMD(self, ILI9341_VMCTR1); //VCM control
TFT_sendDATA(self, 0x3e); //Contrast
TFT_sendDATA(self, 0x28);
TFT_sendCMD(self, ILI9341_VMCTR2); //VCM control2
TFT_sendDATA(self, 0x86); //--
TFT_sendCMD(self, ILI9341_MADCTL); // Memory Access Control
TFT_sendDATA(self, MADCTL_MX | MADCTL_BGR);
TFT_sendCMD(self, ILI9341_PIXFMT);
TFT_sendDATA(self, 0x55);
TFT_sendCMD(self, ILI9341_FRMCTR1);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x18);
TFT_sendCMD(self, ILI9341_DFUNCTR); // Display Function Control
TFT_sendDATA(self, 0x08);
TFT_sendDATA(self, 0x82);
TFT_sendDATA(self, 0x27);
TFT_sendCMD(self, 0xF2); // 3Gamma Function Disable
TFT_sendDATA(self, 0x00);
TFT_sendCMD(self, ILI9341_GAMMASET); //Gamma curve selected
TFT_sendDATA(self, 0x01);
TFT_sendCMD(self, ILI9341_GMCTRP1); //Set Gamma
TFT_sendDATA(self, 0x0F);
TFT_sendDATA(self, 0x31);
TFT_sendDATA(self, 0x2B);
TFT_sendDATA(self, 0x0C);
TFT_sendDATA(self, 0x0E);
TFT_sendDATA(self, 0x08);
TFT_sendDATA(self, 0x4E);
TFT_sendDATA(self, 0xF1);
TFT_sendDATA(self, 0x37);
TFT_sendDATA(self, 0x07);
TFT_sendDATA(self, 0x10);
TFT_sendDATA(self, 0x03);
TFT_sendDATA(self, 0x0E);
TFT_sendDATA(self, 0x09);
TFT_sendDATA(self, 0x00);
TFT_sendCMD(self, ILI9341_GMCTRN1); //Set Gamma
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x0E);
TFT_sendDATA(self, 0x14);
TFT_sendDATA(self, 0x03);
TFT_sendDATA(self, 0x11);
TFT_sendDATA(self, 0x07);
TFT_sendDATA(self, 0x31);
TFT_sendDATA(self, 0xC1);
TFT_sendDATA(self, 0x48);
TFT_sendDATA(self, 0x08);
TFT_sendDATA(self, 0x0F);
TFT_sendDATA(self, 0x0C);
TFT_sendDATA(self, 0x31);
TFT_sendDATA(self, 0x36);
TFT_sendDATA(self, 0x0F);
TFT_sendCMD(self, ILI9341_SLPOUT); //Exit Sleep
for(i=0; i<0x7FFFFF; i++);
TFT_sendCMD(self, ILI9341_DISPON); //Display on
TFT_sendCMD(self, 0x2c);
return 0;
}
