mraa_result_t
mraa_intel_edison_uart_init_pre(int index)
{
if (miniboard == 0) {
mraa_gpio_write(tristate, 0);
mraa_gpio_context io0_output = mraa_gpio_init_raw(248);
mraa_gpio_context io0_pullup = mraa_gpio_init_raw(216);
mraa_gpio_context io1_output = mraa_gpio_init_raw(249);
mraa_gpio_context io1_pullup = mraa_gpio_init_raw(217);
mraa_gpio_dir(io0_output, MRAA_GPIO_OUT);
mraa_gpio_dir(io0_pullup, MRAA_GPIO_OUT);
mraa_gpio_dir(io1_output, MRAA_GPIO_OUT);
mraa_gpio_dir(io1_pullup, MRAA_GPIO_IN);
mraa_gpio_write(io0_output, 0);
mraa_gpio_write(io0_pullup, 0);
mraa_gpio_write(io1_output, 1);
mraa_gpio_close(io0_output);
mraa_gpio_close(io0_pullup);
mraa_gpio_close(io1_output);
mraa_gpio_close(io1_pullup);
}
mraa_result_t ret;
ret = mraa_intel_edison_pinmode_change(130,1); //IO0 RX
ret = mraa_intel_edison_pinmode_change(131,1); //IO1 TX
return ret;
}
void get_data(mraa_gpio_context gpio, int* readData) {
mraa_gpio_dir(gpio, MRAA_GPIO_OUT);
mraa_gpio_write(gpio, 1);
mraa_gpio_write(gpio, 0);
usleep(18000);
mraa_gpio_write(gpio, 1);
usleep(30);
mraa_gpio_dir(gpio, MRAA_GPIO_IN);
*readData = mraa_gpio_read(gpio);
usleep(80);
printf("first readData >>> %d\n", *readData);
*readData = mraa_gpio_read(gpio);
usleep(80);
printf("second readData >>> %d\n", *readData);
int i;
for (i = 0; i < 40; i++) {
*readData = mraa_gpio_read(gpio);
printf("[%d] >>> %d\n", i, *readData);
}
}
mraa_result_t
mraa_intel_edison_aio_init_pre(unsigned int aio)
{
if (aio > plat->aio_count) {
syslog(LOG_ERR, "edison: Invalid analog input channel");
return MRAA_ERROR_INVALID_RESOURCE;
}
int pin = 14 + aio;
mraa_gpio_context output_e;
output_e = mraa_gpio_init_raw(outputen[pin]);
if (mraa_gpio_dir(output_e, MRAA_GPIO_OUT) != MRAA_SUCCESS)
return MRAA_ERROR_INVALID_RESOURCE;
if (mraa_gpio_write(output_e, 0) != MRAA_SUCCESS)
return MRAA_ERROR_INVALID_RESOURCE;
mraa_gpio_close(output_e);
mraa_gpio_context pullup_pin;
pullup_pin = mraa_gpio_init_raw(pullup_map[pin]);
if (mraa_gpio_dir(pullup_pin, MRAA_GPIO_IN) != MRAA_SUCCESS)
return MRAA_ERROR_INVALID_RESOURCE;
mraa_gpio_close(pullup_pin);
return MRAA_SUCCESS;
}
mraa_result_t
mraa_intel_edison_uart_init_pre(int index)
{
if (index != 0) {
syslog(LOG_ERR, "edison: Failed to write to drive mode");
return MRAA_ERROR_INVALID_RESOURCE;
}
if (miniboard == 0) {
mraa_gpio_write(tristate, 0);
mraa_gpio_context io0_output = mraa_gpio_init_raw(248);
mraa_gpio_context io0_pullup = mraa_gpio_init_raw(216);
mraa_gpio_context io1_output = mraa_gpio_init_raw(249);
mraa_gpio_context io1_pullup = mraa_gpio_init_raw(217);
mraa_gpio_dir(io0_output, MRAA_GPIO_OUT);
mraa_gpio_dir(io0_pullup, MRAA_GPIO_OUT);
mraa_gpio_dir(io1_output, MRAA_GPIO_OUT);
mraa_gpio_dir(io1_pullup, MRAA_GPIO_IN);
mraa_gpio_write(io0_output, 0);
mraa_gpio_write(io0_pullup, 0);
mraa_gpio_write(io1_output, 1);
mraa_gpio_close(io0_output);
mraa_gpio_close(io0_pullup);
mraa_gpio_close(io1_output);
mraa_gpio_close(io1_pullup);
}
mraa_result_t ret;
ret = mraa_intel_edison_pinmode_change(130, 1); // IO0 RX
ret = mraa_intel_edison_pinmode_change(131, 1); // IO1 TX
return ret;
}
mraa_result_t
mraa_intel_galileo_gen2_uart_init_pre(int index)
{
mraa_gpio_context io0_output = mraa_gpio_init_raw(32);
if (io0_output == NULL) {
return MRAA_ERROR_INVALID_RESOURCE;
}
mraa_gpio_context io1_output = mraa_gpio_init_raw(28);
if (io1_output == NULL) {
mraa_gpio_close(io0_output);
return MRAA_ERROR_INVALID_RESOURCE;
}
int status = 0;
status += mraa_gpio_dir(io0_output, MRAA_GPIO_OUT);
status += mraa_gpio_dir(io1_output, MRAA_GPIO_OUT);
status += mraa_gpio_write(io0_output, 1);
status += mraa_gpio_write(io1_output, 0);
mraa_gpio_close(io0_output);
mraa_gpio_close(io1_output);
if (status > 0) {
return MRAA_ERROR_UNSPECIFIED;
}
return MRAA_SUCCESS;
}
ad8232_context ad8232_init(int lo_plus, int lo_minus, int output,
float a_ref) {
ad8232_context dev =
(ad8232_context) malloc(sizeof(struct _ad8232_context));
if(dev == NULL){
printf("Unable to assign memory to the Heart Rate Monitor structure");
return NULL;
}
dev->aio = mraa_aio_init(output);
dev->gpio_lo_plus = mraa_gpio_init(lo_plus);
dev->gpio_lo_minus = mraa_gpio_init(lo_minus);
if (dev->aio == NULL || dev->gpio_lo_minus == NULL ||
dev->gpio_lo_plus == NULL){
printf("The pins did not initialize correctly");
return NULL;
}
if (mraa_gpio_dir(dev->gpio_lo_minus, MRAA_GPIO_IN) != MRAA_SUCCESS ||
mraa_gpio_dir(dev->gpio_lo_plus, MRAA_GPIO_IN) != MRAA_SUCCESS){
printf("Couldn't set the direction for the GPIO pins");
return NULL;
}
dev->a_res = (1 << mraa_aio_get_bit(dev->aio));
return dev;
}
mraa_result_t
mraa_intel_edison_pwm_init_pre(int pin)
{
if (miniboard == 1) {
return mraa_intel_edison_pinmode_change(plat->pins[pin].gpio.pinmap, 1);
}
if (pin < 0 || pin > 19)
return MRAA_ERROR_INVALID_RESOURCE;
if (!plat->pins[pin].capabilites.pwm)
return MRAA_ERROR_INVALID_RESOURCE;
mraa_gpio_context output_e;
output_e = mraa_gpio_init_raw(outputen[pin]);
if (mraa_gpio_dir(output_e, MRAA_GPIO_OUT) != MRAA_SUCCESS)
return MRAA_ERROR_INVALID_RESOURCE;
if (mraa_gpio_write(output_e, 1) != MRAA_SUCCESS)
return MRAA_ERROR_INVALID_RESOURCE;
mraa_gpio_close(output_e);
mraa_gpio_context pullup_pin;
pullup_pin = mraa_gpio_init_raw(pullup_map[pin]);
if (mraa_gpio_dir(pullup_pin, MRAA_GPIO_IN) != MRAA_SUCCESS)
return MRAA_ERROR_INVALID_RESOURCE;
mraa_gpio_close(pullup_pin);
mraa_intel_edison_pinmode_change(plat->pins[pin].gpio.pinmap, 1);
return MRAA_SUCCESS;
}
mraa_result_t
mraa_intel_galileo_gen2_i2c_init_pre(unsigned int bus)
{
mraa_gpio_context io18 = mraa_gpio_init_raw(57);
int status = 0;
if (io18 == NULL) {
return MRAA_ERROR_UNSPECIFIED;
}
status += mraa_gpio_dir(io18, MRAA_GPIO_IN);
status += mraa_gpio_mode(io18, MRAA_GPIO_HIZ);
mraa_gpio_close(io18);
mraa_gpio_context io19 = mraa_gpio_init_raw(59);
if (io19 == NULL) {
return MRAA_ERROR_UNSPECIFIED;
}
status += mraa_gpio_dir(io19, MRAA_GPIO_IN);
status += mraa_gpio_mode(io19, MRAA_GPIO_HIZ);
mraa_gpio_close(io19);
if (status > 0) {
return MRAA_ERROR_UNSPECIFIED;
}
return MRAA_SUCCESS;
}
int
main(int argc, char** argv)
{
mraa_platform_t platform = mraa_get_platform_type();
mraa_gpio_context gpio, gpio_in = NULL;
const char* board_name = mraa_get_platform_name();
int ledstate = 0;
switch (platform) {
case MRAA_INTEL_GALILEO_GEN1:
gpio = mraa_gpio_init_raw(3);
break;
case MRAA_INTEL_MINNOWBOARD_MAX:
// there is no onboard LED that we can flash on the minnowboard max
// but on the calamari lure pin 21 is an LED. If you don't have the
// lure put an LED on pin 21
gpio = mraa_gpio_init(21);
break;
case MRAA_INTEL_JOULE_EXPANSION:
gpio = mraa_gpio_init(101);
break;
default:
gpio = mraa_gpio_init(13);
}
fprintf(stdout, "Welcome to libmraa\n Version: %s\n Running on %s\n", mraa_get_version(), board_name);
if (gpio == NULL) {
fprintf(stdout, "Could not initilaize gpio\n");
return 1;
}
// on platforms with physical button use gpio_in
if (platform == MRAA_INTEL_MINNOWBOARD_MAX) {
gpio_in = mraa_gpio_init(14);
if (gpio_in != NULL) {
mraa_gpio_dir(gpio_in, MRAA_GPIO_IN);
// S1 on minnowboardmax's calamari lure maps to pin 14, SW1 != S1
fprintf(stdout, "Press and hold S1 to stop, Press SW1 to shutdown!\n");
}
}
mraa_gpio_dir(gpio, MRAA_GPIO_OUT);
for (;;) {
if (gpio_in != NULL && mraa_gpio_read(gpio_in) == 0) {
return 0;
}
ledstate = !ledstate;
mraa_gpio_write(gpio, !ledstate);
sleep(1);
}
return 0;
}
mraa_result_t
mraa_intel_edison_gpio_mode_replace(mraa_gpio_context dev, mraa_gpio_mode_t mode)
{
if (dev->value_fp != -1) {
if (close(dev->value_fp) != 0) {
return MRAA_ERROR_INVALID_RESOURCE;
}
dev->value_fp = -1;
}
mraa_gpio_context pullup_e;
pullup_e = mraa_gpio_init_raw(pullup_map[dev->phy_pin]);
if (pullup_e == NULL) {
return MRAA_ERROR_INVALID_RESOURCE;
}
if (mraa_gpio_dir(pullup_e, MRAA_GPIO_IN) != MRAA_SUCCESS) {
syslog(LOG_ERR, "edison: Failed to set gpio mode-pullup");
mraa_gpio_close(pullup_e);
return MRAA_ERROR_INVALID_RESOURCE;
}
int value = -1;
switch (mode) {
case MRAA_GPIO_STRONG:
break;
case MRAA_GPIO_PULLUP:
value = 1;
break;
case MRAA_GPIO_PULLDOWN:
value = 0;
break;
case MRAA_GPIO_HIZ:
return MRAA_SUCCESS;
break;
default:
return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
}
if (value != -1) {
if (mraa_gpio_dir(pullup_e, MRAA_GPIO_OUT) != MRAA_SUCCESS) {
syslog(LOG_ERR, "edison: Error setting pullup");
mraa_gpio_close(pullup_e);
return MRAA_ERROR_INVALID_RESOURCE;
}
if (mraa_gpio_write(pullup_e, value) != MRAA_SUCCESS) {
syslog(LOG_ERR, "edison: Error setting pullup");
mraa_gpio_close(pullup_e);
return MRAA_ERROR_INVALID_RESOURCE;
}
}
return mraa_gpio_close(pullup_e);
}
void MPU9250_GPIO_Init()
{
S0 = mraa_gpio_init(32);
S1 = mraa_gpio_init(33);
S2 = mraa_gpio_init(46);
S3 = mraa_gpio_init(47);
mraa_gpio_dir(S0, MRAA_GPIO_OUT);
mraa_gpio_dir(S1, MRAA_GPIO_OUT);
mraa_gpio_dir(S2, MRAA_GPIO_OUT);
mraa_gpio_dir(S3, MRAA_GPIO_OUT);
}
int main(int argc, char **argv)
{
int i, j, output, outputArray[n_reads], i_reads, tmp;
mraa_gpio_context clk = mraa_gpio_init(4);
mraa_gpio_context dat = mraa_gpio_init(2);
mraa_gpio_dir(clk, MRAA_GPIO_OUT);
mraa_gpio_dir(dat, MRAA_GPIO_IN);
mraa_gpio_use_mmaped(clk, 1);
i_reads = n_reads;
while (i_reads > 0) {
while(mraa_gpio_read(dat)) {}
output = 0;
for(i = 0; i < 24; i++) {
mraa_gpio_write(clk, 1);
fuckDelay(2000);
output |= (mraa_gpio_read(dat)<< (23-i));
mraa_gpio_write(clk, 0);
fuckDelay(2000);
}
mraa_gpio_write(clk, 1);
fuckDelay(2000);
mraa_gpio_write(clk, 0);
if(output < 16777215) {
//fprintf(stdout, "%d\n", output);
outputArray[i_reads-1] = output;
i_reads--; // decrement only if the valid read
}
}
//sorting the array
for(i = 1; i < n_reads; i++){
j = i;
while ((j > 0) && (outputArray[j-1]>outputArray[j])) {
tmp = outputArray[j];
outputArray[j] = outputArray[j-1];
outputArray[j-1] = tmp;
j--;
}
}
fprintf(stdout, "%d\n", outputArray[5]);
}
FskErr mraaDigitalSetDirection(FskPinDigital pin, FskPinsDigitalDirection direction)
{
mraaDigital md = (mraaDigital)pin;
mraa_result_t result = MRAA_SUCCESS;
md->direction = direction;
if (kFskPinDigitalDirectionOut == direction)
result = mraa_gpio_dir(md->context, MRAA_GPIO_OUT);
else if (kFskPinDigitalDirectionIn == direction)
result = mraa_gpio_dir(md->context, MRAA_GPIO_IN);
return (MRAA_SUCCESS == result) ? kFskErrNone : kFskErrOperationFailed;
}
int
main(int argc, char **argv)
{
mraa_platform_t platform = mraa_get_platform_type();
mraa_gpio_context gpio, gpio_in = NULL;
char* board_name = mraa_get_platform_name();
int ledstate = 0;
switch (platform) {
case MRAA_INTEL_GALILEO_GEN1:
gpio = mraa_gpio_init_raw(3);
break;
case MRAA_INTEL_MINNOWBOARD_MAX:
gpio = mraa_gpio_init(21);
break;
default:
gpio = mraa_gpio_init(13);
}
fprintf(stdout, "Welcome to libmraa\n Version: %s\n Running on %s\n",
mraa_get_version(), board_name);
if (gpio == NULL) {
fprintf(stdout, "Could not initilaize gpio\n");
return 1;
}
// on platforms with physical button use gpio_in
if (platform == MRAA_INTEL_MINNOWBOARD_MAX) {
gpio_in = mraa_gpio_init(14);
if (gpio_in != NULL) {
mraa_gpio_dir(gpio_in, MRAA_GPIO_IN);
fprintf(stdout, "Press and hold S1 to stop\n");
}
}
mraa_gpio_dir(gpio, MRAA_GPIO_OUT);
for (;;) {
if (gpio_in != NULL && mraa_gpio_read(gpio_in) == 0) {
return 0;
}
ledstate = !ledstate;
mraa_gpio_write(gpio, !ledstate);
sleep(1);
}
return 0;
}
mraa_result_t
mraa_intel_galileo_gen2_uart_init_pre(int index)
{
mraa_gpio_context io0_output = mraa_gpio_init_raw(32);
mraa_gpio_context io1_output = mraa_gpio_init_raw(28);
mraa_gpio_dir(io0_output, MRAA_GPIO_OUT);
mraa_gpio_dir(io1_output, MRAA_GPIO_OUT);
mraa_gpio_write(io0_output, 1);
mraa_gpio_write(io1_output, 0);
mraa_gpio_close(io0_output);
mraa_gpio_close(io1_output);
return MRAA_SUCCESS;
}
mraa_result_t
mraa_setup_mux_mapped(mraa_pin_t meta)
{
int mi;
for (mi = 0; mi < meta.mux_total; mi++) {
mraa_gpio_context mux_i;
mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
if (mux_i == NULL) {
return MRAA_ERROR_INVALID_HANDLE;
}
// this function will sometimes fail, however this is not critical as
// long as the write succeeds - Test case galileo gen2 pin2
mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
mraa_gpio_owner(mux_i, 0);
if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS) {
mraa_gpio_close(mux_i);
return MRAA_ERROR_INVALID_RESOURCE;
}
mraa_gpio_close(mux_i);
}
return MRAA_SUCCESS;
}
mraa_result_t
mraa_intel_galileo_g1_pwm_init_pre(int pin)
{
// Gen1 galileo has no kernel muxing for GPIOs/PWM so ends up with leakage
// on the PWM pins from the GPIO pins if not set to output high
if (plat->pins[pin].capabilities.gpio == 1) {
mraa_gpio_context mux_i;
mux_i = mraa_gpio_init_raw(plat->pins[pin].gpio.pinmap);
if (mux_i == NULL) {
syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_init", pin);
return MRAA_ERROR_INVALID_RESOURCE;
}
if (mraa_gpio_dir(mux_i, MRAA_GPIO_OUT) != MRAA_SUCCESS) {
syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_dir", pin);
return MRAA_ERROR_INVALID_RESOURCE;
}
if (mraa_gpio_write(mux_i, 1) != MRAA_SUCCESS) {
syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_write", pin);
return MRAA_ERROR_INVALID_RESOURCE;
}
if (mraa_gpio_close(mux_i) != MRAA_SUCCESS) {
syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_close", pin);
return MRAA_ERROR_INVALID_RESOURCE;
}
}
return MRAA_SUCCESS;
}
upm_result_t kx122_install_isr(const kx122_context dev, mraa_gpio_edge_t edge,KX122_INTERRUPT_PIN_T intp, int pin, void (*isr)(void *), void *arg)
{
assert(dev != NULL);
mraa_gpio_context isr_gpio = NULL;
if (!(isr_gpio = mraa_gpio_init(pin))){
printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
mraa_gpio_dir(isr_gpio, MRAA_GPIO_IN);
if (mraa_gpio_isr(isr_gpio, edge, isr, arg)){
mraa_gpio_close(isr_gpio);
printf("%s: mraa_gpio_isr() failed.\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
if(intp == INT1){
dev->gpio1 = isr_gpio;
}
else{
dev->gpio2 = isr_gpio;
}
return UPM_SUCCESS;
}
mraa_result_t
mraa_intel_galileo_gen2_dir_pre(mraa_gpio_context dev, mraa_gpio_dir_t dir)
{
if (dev->phy_pin >= 0) {
int pin = dev->phy_pin;
if (plat->pins[pin].gpio.complex_cap.complex_pin != 1)
return MRAA_SUCCESS;
if (plat->pins[pin].gpio.complex_cap.output_en == 1) {
if (!agpioOutputen[pin]) {
agpioOutputen[pin] = mraa_gpio_init_raw(plat->pins[pin].gpio.output_enable);
if (agpioOutputen[pin] == NULL) {
return MRAA_ERROR_INVALID_RESOURCE;
}
if (mraa_gpio_dir(agpioOutputen[pin], MRAA_GPIO_OUT) != MRAA_SUCCESS) {
return MRAA_ERROR_INVALID_RESOURCE;
}
}
int output_val = 1;
if (dir == MRAA_GPIO_OUT) {
output_val = 0;
}
if (mraa_gpio_write(agpioOutputen[pin], output_val) != MRAA_SUCCESS) {
return MRAA_ERROR_INVALID_RESOURCE;
}
}
}
return MRAA_SUCCESS;
}
mraa_result_t
mraa_intel_edison_gpio_dir_pre(mraa_gpio_context dev, mraa_gpio_dir_t dir)
{
if (dev->phy_pin >= 0) {
if (mraa_gpio_write(tristate, 0) != MRAA_SUCCESS) {
// call can sometimes fail, this does not actually mean much except
// that the kernel drivers don't always behave very well
syslog(LOG_NOTICE, "edison: Failed to write to tristate");
}
int pin = dev->phy_pin;
if (!agpioOutputen[pin]) {
agpioOutputen[pin] = mraa_gpio_init_raw(outputen[pin]);
if (agpioOutputen[pin] == NULL) {
return MRAA_ERROR_INVALID_RESOURCE;
}
if (mraa_gpio_dir(agpioOutputen[pin], MRAA_GPIO_OUT) != MRAA_SUCCESS) {
return MRAA_ERROR_INVALID_RESOURCE;
}
}
int output_val = 0;
if (dir == MRAA_GPIO_OUT) {
output_val = 1;
}
if (mraa_gpio_write(agpioOutputen[pin], output_val) != MRAA_SUCCESS) {
return MRAA_ERROR_INVALID_RESOURCE;
}
}
return MRAA_SUCCESS;
}
mraa_gpio_context setupISRO( int pinNumber, void (*isrHandler)(void *) ) {
mraa_gpio_context isro = mraa_gpio_init( pinNumber );
if ( ! isro ) {
printf( " Failed initing isro\n" );
mraa_result_print( MRAA_ERROR_UNSPECIFIED );
return 0;
// } else {
// printf( " Inited isro on pin: %d\n", pinNumber );
}
response = mraa_gpio_dir( isro, MRAA_GPIO_IN );
if (response != MRAA_SUCCESS) {
// printf( " Failed setting isro pin direction\n" );
mraa_result_print((mraa_result_t) response);
return 0;
}
// printf( " Setup isro pin direction to IN\n" );
mraa_result_t result = mraa_gpio_isr( isro, MRAA_GPIO_EDGE_BOTH, isrHandler, isro);
if ( result != MRAA_SUCCESS ) {
// printf( " Setup isro interrupt service routine failed with result: %d\n", result );
return 0;
}
// printf( " Setup isro interrupt service routine\n" );
// Init to test pin level
// lastTime = getTimeCheck();
// isr1( NULL ); // Check level
return isro;
}
int
main(int argc, char **argv)
{
mraa_platform_t platform = mraa_get_platform_type();
mraa_gpio_context gpio;
char board_name[] = "Some weird devboard that isn't recognised...";
int ledstate = 0;
switch (platform) {
case MRAA_INTEL_GALILEO_GEN1:
strcpy(board_name, "Intel Galileo Gen1");
gpio = mraa_gpio_init_raw(3);
break;
case MRAA_INTEL_GALILEO_GEN2:
strcpy(board_name, "Intel Galileo Gen2");
default:
gpio = mraa_gpio_init(13);
}
fprintf(stdout, "Welcome to libmraa\n Version: %s\n Running on %s\n",
mraa_get_version(), board_name);
mraa_gpio_dir(gpio, MRAA_GPIO_OUT);
for (;;) {
ledstate = !ledstate;
mraa_gpio_write(gpio, !ledstate);
sleep(1);
}
return 0;
}
mraa_pin_t*
mraa_setup_pwm(int pin)
{
if (plat == NULL)
return NULL;
if (plat->pins[pin].capabilites.pwm != 1)
return NULL;
if (plat->pins[pin].capabilites.gpio == 1) {
mraa_gpio_context mux_i;
mux_i = mraa_gpio_init_raw(plat->pins[pin].gpio.pinmap);
if (mux_i == NULL)
return NULL;
if (mraa_gpio_dir(mux_i, MRAA_GPIO_OUT) != MRAA_SUCCESS)
return NULL;
// Current REV D quirk. //TODO GEN 2
if (mraa_gpio_write(mux_i, 1) != MRAA_SUCCESS)
return NULL;
if (mraa_gpio_close(mux_i) != MRAA_SUCCESS)
return NULL;
}
if (plat->pins[pin].pwm.mux_total > 0)
if (mraa_setup_mux_mapped(plat->pins[pin].pwm) != MRAA_SUCCESS)
return NULL;
mraa_pin_t *ret;
ret = (mraa_pin_t*) malloc(sizeof(mraa_pin_t));
ret->pinmap = plat->pins[pin].pwm.pinmap;
ret->parent_id = plat->pins[pin].pwm.parent_id;
return ret;
}
int main(int argc, char** argv)
{
mraa_gpio_context ir_gpio = NULL;
//set ir io as input
ir_gpio = mraa_gpio_init(7);
if (ir_gpio == NULL) {
fprintf(stdout, "Could not initilaize ir_gpio\n");
return 1;
}
mraa_gpio_dir(ir_gpio, MRAA_GPIO_IN);
//create take photo thread
pthread_t t;
pthread_create(&t,NULL,take_photo_thread,NULL);
//pthread_join(t,NULL);
//main loop
for (;;) {
if( ir_state != mraa_gpio_read(ir_gpio)) {
ir_state = !ir_state;
printf("%d\n",ir_state);
sleep(1);
}
}
return 0;
}
led_context led_init(int pin){
// make sure MRAA is initialized
int mraa_rv;
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
{
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
return NULL;
}
led_context dev =
(led_context)malloc(sizeof(struct _led_context));
if (!dev)
return NULL;
dev->name = NULL;
dev->gpioled = NULL;
dev->led_pin = pin;
dev->gpio = mraa_gpio_init(dev->led_pin);
if (mraa_gpio_dir(dev->gpio, MRAA_GPIO_OUT) != MRAA_SUCCESS) {
printf("%s: Unable to set pin %d as output.\n", __FUNCTION__, pin);
free(dev);
return NULL;
}
return dev;
}
ppd42ns_context ppd42ns_init(int pin)
{
ppd42ns_context dev =
(ppd42ns_context)malloc(sizeof(struct _ppd42ns_context));
if (!dev)
return NULL;
dev->gpio = NULL;
// make sure MRAA is initialized
int mraa_rv;
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
{
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
ppd42ns_close(dev);
return NULL;
}
// MRAA contexts...
if ( !(dev->gpio = mraa_gpio_init(pin)) )
{
printf("%s: mraa_gpio_init() failed\n",
__FUNCTION__);
ppd42ns_close(dev);
return NULL;
}
mraa_gpio_dir(dev->gpio, MRAA_GPIO_IN);
return dev;
}
upm_result_t bno055_install_isr(const bno055_context dev,
int gpio, mraa_gpio_edge_t level,
void (*isr)(void *), void *arg)
{
assert(dev != NULL);
// delete any existing ISR and GPIO context
bno055_uninstall_isr(dev);
// create gpio context
if (!(dev->gpio = mraa_gpio_init(gpio)))
{
printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
mraa_gpio_dir(dev->gpio, MRAA_GPIO_IN);
if (mraa_gpio_isr(dev->gpio, level, isr, arg))
{
mraa_gpio_close(dev->gpio);
dev->gpio = NULL;
printf("%s: mraa_gpio_isr() failed.\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
int main(int argc, char* argv[]) {
int i, pin;
if (argc != 2) {
printf("Input GPIO number...");
exit(1);
}
pin = atoi(argv[1]);
printf("GPIO >>> %d\n", pin);
mraa_gpio_context gpio;
gpio = mraa_gpio_init(pin);
mraa_gpio_dir(gpio, MRAA_GPIO_OUT);
while (1) {
mraa_gpio_write(gpio, 0);
printf("Off\n");
sleep(1);
mraa_gpio_write(gpio, 1);
printf("On\n");
sleep(1);
}
mraa_gpio_close(gpio);
return 0;
}
tb6612::tb6612():
_dcA(0.0), _dcB(0.0)
{
// _pwmA is pwm channel 0, on pin 20 in mraa
_pwmA = mraa_pwm_init(20);
mraa_pwm_period_us(_pwmA, 1000);
mraa_pwm_enable(_pwmA, 1);
// _pwmB is pwm channel 1, on pin 14 in mraa
_pwmB = mraa_pwm_init(14);
mraa_pwm_period_us(_pwmB, 1000);
mraa_pwm_enable(_pwmB, 1);
mraa_pwm_write(_pwmA, 0.01);
mraa_pwm_write(_pwmB, 0.01);
mraa_pwm_write(_pwmA, 0.0);
mraa_pwm_write(_pwmB, 0.0);
// _A1 and _A2 are on GPIO48 and GPIO47, respectively, which are pins 33 and
// 46 in mraa, respectively.
_A1 = mraa_gpio_init(33);
_A2 = mraa_gpio_init(46);
mraa_gpio_dir(_A1, MRAA_GPIO_OUT);
mraa_gpio_mode(_A1, MRAA_GPIO_STRONG);
mraa_gpio_write(_A1, 1);
mraa_gpio_dir(_A2, MRAA_GPIO_OUT);
mraa_gpio_mode(_A2, MRAA_GPIO_STRONG);
mraa_gpio_write(_A2, 1);
// _B1 and _B2 are on GPIO15 and GPIO14, respectively, which are pins 48 and
// 36, respectively
_B1 = mraa_gpio_init(48);
_B2 = mraa_gpio_init(36);
mraa_gpio_dir(_B1, MRAA_GPIO_OUT);
mraa_gpio_mode(_B1, MRAA_GPIO_STRONG);
mraa_gpio_write(_B1, 1);
mraa_gpio_dir(_B2, MRAA_GPIO_OUT);
mraa_gpio_mode(_B2, MRAA_GPIO_STRONG);
mraa_gpio_write(_B2, 1);
// _standbyPin is on GPIO49, which is pin 47 in mraa
_standbyPin = mraa_gpio_init(47);
mraa_gpio_dir(_standbyPin, MRAA_GPIO_OUT);
mraa_gpio_mode(_standbyPin, MRAA_GPIO_STRONG);
mraa_gpio_write(_standbyPin, 1);
}
int main() {
mraa_gpio_context trig[5], echo[5];
int i;
for (i=0;i<5;i++)
{
trig[i]=NULL;
echo[i]=NULL;
}
trig[0] = mraa_gpio_init(32);
echo[0] = mraa_gpio_init(46);
trig[1] = mraa_gpio_init(31);
echo[1] = mraa_gpio_init(45);
trig[2] = mraa_gpio_init(33);
echo[2] = mraa_gpio_init(47);
trig[3] = mraa_gpio_init(25);
echo[3] = mraa_gpio_init(13);
trig[4] = mraa_gpio_init(21);
echo[4] = mraa_gpio_init(00);
for (i=0;i<5;i++)
{
if (trig[i] == NULL || echo[i] == NULL)
{
fprintf(stderr, "Initialize failed");
return 1;
}
mraa_gpio_dir(trig[i], MRAA_GPIO_OUT);
mraa_gpio_dir(echo[i], MRAA_GPIO_IN);
}
printf("\n");
while (1)
{
for (i=0;i<5;i++)
{
printf(":");
fflush(stdout);
double result = get_distance(trig[i], echo[i]);
printf("%.2f\t", result);
}
printf("\n");
usleep(1000);
}
}