diff --git a/developpment/interfacer.cpp b/developpment/interfacer.cpp
index 49f33eb..1103570 100644
--- a/developpment/interfacer.cpp
+++ b/developpment/interfacer.cpp
@@ -45,7 +45,10 @@ int initPlatform()
{
lcd_init(&i2c);
Gpio gpio;
-
+ //gpio.setFunction(17,Gpio::gpio);
+ //gpio.setMode(17,Gpio::output);
+ //gpio.writePin(17,1);
+ //gpio.pinUninitiate(17);
return 0;
}
@@ -53,12 +56,21 @@ int initPlatform()
void pca9555_test()
{
uint8_t pinState = 0;
+ uint8_t bank = 0;
+ uint8_t pinNo = 0;
+ uint8_t inOut = 0;
+
Pca9555 gpioExpander(&i2c);
gpioExpander.setAllOut();
gpioExpander.setAllHigh();
usleep(1000000);
- gpioExpander.writePin(1,7,0);
- gpioExpander.setPin(0,3,1);
+ bank = 1;
+ pinNo = 7;
+ gpioExpander.writePin(bank,pinNo,0);
+ bank = 0;
+ pinNo = 3;
+ inOut = 1; //input
+ gpioExpander.setPin(bank,pinNo,inOut);
while(1)
{
@@ -89,7 +101,6 @@ void pca9685_test()
-
void pca9685_motor()
{
Pca9685 pwmGenarator(&i2c);
diff --git a/developpment/periferals/gpio/gpio.cpp b/developpment/periferals/gpio/gpio.cpp
index dbd24b2..c31eed3 100644
--- a/developpment/periferals/gpio/gpio.cpp
+++ b/developpment/periferals/gpio/gpio.cpp
@@ -1,88 +1,102 @@
#include "gpio.hpp"
#include "../../systems/systemCall.h"
-#include <stdint.h>
+#include <fstream>
+
+#define PIN_COUNT 26
-#define PIN_COUNT 27
class Gpio::gpioImpl
{
public:
uint8_t pinCount = PIN_COUNT;
-
+ char buffer[50];
uint8_t currentPin = 0;
+ int ck = 0;
- enum functionality
- {
- undefined,
- gpio,
- i2c,
- spi,
- pwm,
- pcm,
- uart,
- eeprom,
- clk
- };
- functionality pins[PIN_COUNT + 1];
+ pinDefinition pins[PIN_COUNT + 1];
gpioImpl()
{
- printf("implementation of Gpio Sucsessfull\n");
- pins[1] = eeprom;
- pins[2] = i2c;
- pins[3] = i2c;
- pins[4] = clk;
- pins[5] = gpio;
- pins[6] = gpio;
- pins[7] = spi;
- pins[8] = spi;
- pins[9] = spi;
- pins[10] = spi;
- pins[11] = spi;
- pins[12] = pwm;
- pins[13] = pwm;
- pins[14] = uart;
- pins[15] = uart;
- pins[16] = gpio;
- pins[17] = gpio;
- pins[18] = pcm;
- pins[19] = pcm;
- pins[20] = pcm;
- pins[21] = pcm;
- pins[22] = gpio;
- pins[23] = gpio;
- pins[24] = gpio;
- pins[25] = gpio;
- pins[26] = gpio;
- pins[27] = gpio;
+ checkCurrentPins();
+ }
+
+ void setFunction(uint8_t gpioNo, Gpio::pinFunction function)
+ {
+ pinInitiate(gpioNo);
- for(currentPin = 0; currentPin <= pinCount; currentPin ++)
+ switch(pins[gpioNo].function)
{
- printf("Pin %d %d\n",currentPin, pins[currentPin]);
+ case passive:
+ pins[gpioNo].function = function;
+ break;
+ case gpio:
+ pins[gpioNo].function = function;
+ break;
+ case i2c:
+ pins[gpioNo].function = function;
+ break;
+ case spi:
+ pins[gpioNo].function = function;
+ break;
+ case pwm:
+ pins[gpioNo].function = function;
+ break;
+ case pcm:
+ pins[gpioNo].function = function;
+ break;
+ case uart:
+ pins[gpioNo].function = function;
+ break;
+ case eeprom:
+ pins[gpioNo].function = function;
+ break;
+ case clk:
+ pins[gpioNo].function = function;
+ break;
}
-
-
}
-
+
void setMode(uint8_t gpioNo, Gpio::pinMode mode)
{
-
+ switch(mode)
+ {
+ case input:
+ sprintf(buffer, "echo \"in\" > /sys/class/gpio/gpio%d/direction",gpioNo);
+ pins[gpioNo].mode = mode;
+ system(buffer);
+ pinPrintInfo(gpioNo);
+ break;
+ case output:
+ sprintf(buffer, "echo \"out\" > /sys/class/gpio/gpio%d/direction",gpioNo);
+ pins[gpioNo].mode = mode;
+ system(buffer);
+ pinPrintInfo(gpioNo);
+ break;
+ case analog:
+ std::cout << "No analog pins are awailable for raspberry" << std::endl;
+ break;
+ case alternate:
+ default :
+ throwError(notValidMode);
+ break;
+
+ }
}
-
+
void setOutputState(uint8_t gpioNo, Gpio::pinState state)
- {
-
+ {
+ std::cout << "This version of the code doesn't allow pin output Stage configuration for the raspberry" << std::endl;
}
void setPullUpDonw(uint8_t gpioNo, Gpio::pinPullUpDown resistance)
{
-
+ std::cout << "This version of the code doesn't allow Pull up or Pull donw configurations for the raspberry" << std::endl;
}
void setSpeed(uint8_t gpioNo, Gpio::pinSpeed speed)
{
-
+ std::cout << "This version of the code doesn't allow pin speed changes for the raspberry" << std::endl;
}
void config(uint8_t gpioNo, Gpio::pinMode mode, Gpio::pinState state, Gpio::pinPullUpDown resistance, Gpio::pinSpeed speed)
@@ -98,7 +112,20 @@ class Gpio::gpioImpl
void writePin(uint8_t gpioNo, uint8_t value)
{
-
+ if(value == 0)
+ {
+ sprintf(buffer, "echo \"%d\" > /sys/class/gpio/gpio%d/value",value,gpioNo);
+ system(buffer);
+ }
+ else if (value == 1)
+ {
+ sprintf(buffer, "echo \"%d\" > /sys/class/gpio/gpio%d/value",value,gpioNo);
+ system(buffer);
+ }
+ else
+ {
+ throwError(notValidOut);
+ }
}
@@ -113,19 +140,186 @@ class Gpio::gpioImpl
}
- void pinBlock(uint8_t gpioNo)
+ void pinInitiate(uint8_t gpioNo)
{
-
+ if(gpioNo < PIN_COUNT)
+ {
+ sprintf(buffer,"[ -d /sys/class/gpio/gpio%d ]",gpioNo); // retunrs null if directory exists
+ ck = system(buffer);
+ if( ck != 0)
+ {
+ sprintf(buffer, "echo \"%d\" > /sys/class/gpio/export",gpioNo);
+ ck = system(buffer);
+ }
+ else
+ {
+ std::cout << "Pin already initiated";
+ pinPrintInfo(gpioNo);
+ }
+ }
+ else
+ {
+ throwError(pinOutOfRange);
+ }
}
- void pinUnblock(uint8_t gpioNo)
+ void pinUninitiate(uint8_t gpioNo)
{
-
+ if(gpioNo < PIN_COUNT)
+ {
+ sprintf(buffer,"[ -d /sys/class/gpio/gpio%d ]",gpioNo); // retunrs null if directory exists
+ ck = system(buffer);
+ if( ck == 0)
+ {
+ sprintf(buffer, "echo \"%d\" > /sys/class/gpio/unexport",gpioNo);
+ system(buffer);
+ }
+ else
+ {
+ throwError(pinNotDeclared);
+ }
+ }
+ else
+ {
+ throwError(pinOutOfRange);
+ }
}
- void throwError(Gpio::errors errNo)
+ void checkCurrentPins()
+ {
+ uint8_t i = 0;
+ for( i = 0; i < PIN_COUNT; i++)
+ {
+ sprintf(buffer,"[ -d /sys/class/gpio/gpio%d ]",i); // retunrs null if directory exists
+ ck = system(buffer);
+ if( ck == 0)
+ {
+ std::cout << "Pin: "<< unsigned(i) << " Exists ";
+ }
+ }
+ }
+
+ void pinPrintInfo(uint8_t gpioNo)
{
+ std::cout << "Pin No: " << unsigned(gpioNo);
+ switch(pins[gpioNo].mode)
+ {
+
+ case undefined:
+ std::cout << "| Mode: Undefined\t";
+ break;
+ case input:
+ std::cout << "| Mode: Input\t";
+ break;
+ case output:
+ std::cout << "| Mode: Output\t";
+ break;
+ case analog:
+ std::cout << "| Mode: Analog\t";
+ break;
+ case alternate:
+ std::cout << "| Mode: Alternate\t";
+ break;
+
+ }
+
+ switch(pins[gpioNo].state)
+ {
+
+ case floating:
+ std::cout << "| State: Floating ";
+ break;
+ case pushPull:
+ std::cout << "| State: Push-Pull ";
+ break;
+ case openDrain:
+ std::cout << "| State: Open Drain ";
+ break;
+
+ }
+
+ switch(pins[gpioNo].pud)
+ {
+
+ case none:
+ std::cout << "| Pud: None ";
+ break;
+ case pullUp:
+ std::cout << "| Pud: Pull-up ";
+ break;
+ case pullDown:
+ std::cout << "| Pud: Pull-down ";
+ break;
+
+ }
+
+ switch(pins[gpioNo].speed)
+ {
+
+ case slow:
+ std::cout << "| Speed: Slow ";
+ break;
+ case normal:
+ std::cout << "| Speed: Normal ";
+ break;
+ case fast:
+ std::cout << "| Speed: Fast ";
+ break;
+ case veryFast:
+ std::cout << "| Speed: Very Fast ";
+ break;
+
+ }
+ switch(pins[gpioNo].interrupt)
+ {
+
+ case disabled:
+ std::cout << "| Interrupt: No ";
+ break;
+ case enabled:
+ std::cout << "| Interrupt: Yes ";
+ break;
+
+ }
+
+ switch(pins[gpioNo].function)
+ {
+ case passive:
+ std::cout << "| Function: NONE";
+ break;
+ case gpio:
+ std::cout << "| Function: GPIO";
+ break;
+ case i2c:
+ std::cout << "| Function: I2C";
+ break;
+ case spi:
+ std::cout << "| Function: SPI";
+ break;
+ case pwm:
+ std::cout << "| Function: PWM";
+ break;
+ case pcm:
+ std::cout << "| Function: PCM";
+ break;
+ case uart:
+ std::cout << "| Function: UART";
+ break;
+ case eeprom:
+ std::cout << "| Function: EEPROM";
+ break;
+ case clk:
+ std::cout << "| Function: CLK";
+ break;
+
+ }
+ std::cout << "|" << std::endl;
+ }
+
+ void throwError(Gpio::errors errNo)
+ {
+ std::cout << "Error >>GPIO.C<< No >>"<< errNo <<"<<"<< std::endl;
}
};
@@ -133,6 +327,10 @@ class Gpio::gpioImpl
Gpio::Gpio():gpioPimpl(new gpioImpl()){}
Gpio::~Gpio(){}
+void Gpio::setFunction(uint8_t gpioNo, Gpio::pinFunction function)
+{
+ return gpioPimpl->setFunction(gpioNo, function);
+}
void Gpio::setMode(uint8_t gpioNo, Gpio::pinMode mode)
{
@@ -179,14 +377,24 @@ void Gpio::writeRange(uint8_t start, uint8_t stop, uint16_t value)
return gpioPimpl->writeRange(start,stop,value);
}
-void Gpio::pinBlock(uint8_t gpioNo)
+void Gpio::pinInitiate(uint8_t gpioNo)
+{
+ return gpioPimpl->pinInitiate(gpioNo);
+}
+
+void Gpio::pinUninitiate(uint8_t gpioNo)
+{
+ return gpioPimpl->pinUninitiate(gpioNo);
+}
+
+void Gpio::checkCurrentPins()
{
- return gpioPimpl->pinBlock(gpioNo);
+ return gpioPimpl->checkCurrentPins();
}
-void Gpio::pinUnblock(uint8_t gpioNo)
+void Gpio::pinPrintInfo(uint8_t gpioNo)
{
- return gpioPimpl->pinUnblock(gpioNo);
+ return gpioPimpl->pinPrintInfo(gpioNo);
}
void Gpio::throwError(Gpio::errors error)
diff --git a/developpment/periferals/gpio/gpio.hpp b/developpment/periferals/gpio/gpio.hpp
index 33e3255..78c53ab 100644
--- a/developpment/periferals/gpio/gpio.hpp
+++ b/developpment/periferals/gpio/gpio.hpp
@@ -13,21 +13,23 @@ class Gpio
public:
enum pinMode
{
+ undefined,
input,
- output
+ output,
+ analog,
+ alternate
};
enum pinState
{
- pushPull,
- openDrain,
floating,
- analog
+ pushPull,
+ openDrain
};
enum pinPullUpDown
{
- none,
+ none,
pullUp,
pullDown
};
@@ -39,9 +41,42 @@ class Gpio
fast,
veryFast
};
+
+ enum pinInterrupt
+ {
+ disabled,
+ enabled
+ };
+
+ enum pinFunction
+ {
+ passive,
+ gpio,
+ i2c,
+ spi,
+ pwm,
+ pcm,
+ uart,
+ eeprom,
+ clk
+ };
+
+ struct pinDefinition
+ {
+ uint8_t no;
+ pinMode mode;
+ pinState state;
+ pinPullUpDown pud;
+ pinSpeed speed;
+ pinInterrupt interrupt;
+ pinFunction function;
+ };
enum errors
{
+ notValidMode,
+ notValidOut,
+ pinOutOfRange,
pinNotDeclared,
pinNotReachable,
pinNoPullUpDown,
@@ -55,6 +90,7 @@ class Gpio
Gpio();
~Gpio();
+ void setFunction(uint8_t gpioNo, Gpio::pinFunction function);
void setMode(uint8_t gpioNo, pinMode mode);
void setOutputState(uint8_t gpioNo, pinState state);
void setPullUpDonw(uint8_t gpioNo, pinPullUpDown resistance);
@@ -67,8 +103,11 @@ class Gpio
uint16_t readRange(uint8_t start, uint8_t stop);
void writeRange(uint8_t start, uint8_t stop, uint16_t value);
- void pinBlock(uint8_t gpioNo);
- void pinUnblock(uint8_t gpioNo);
+ void pinInitiate(uint8_t gpioNo);
+ void pinUninitiate(uint8_t gpioNo);
+
+ void checkCurrentPins();
+ void pinPrintInfo(uint8_t gpioNo);
private:
void throwError(errors errNo);
diff --git a/developpment/periferals/gpio/rpiPinMap.hpp b/developpment/periferals/gpio/rpiPinMap.hpp
new file mode 100644
index 0000000..b5cbb4a
--- /dev/null
+++ b/developpment/periferals/gpio/rpiPinMap.hpp
@@ -0,0 +1,216 @@
+
+pins[0].no = 27;
+pins[0].mode = alternate;
+pins[0].state = floating;
+pins[0].pud = none;
+pins[0].speed = normal;
+pins[0].interrupt = disabled;
+pins[0].function = eeprom;
+
+pins[1].no = 28;
+pins[1].mode = alternate;
+pins[1].state = openDrain;
+pins[1].pud = pullUp;
+pins[1].speed = normal;
+pins[1].interrupt = disabled;
+pins[1].function = i2c;
+
+pins[2].no = 3;
+pins[2].mode = alternate;
+pins[2].state = openDrain;
+pins[2].pud = pullUp;
+pins[2].speed = normal;
+pins[2].interrupt = disabled;
+pins[2].function = i2c;
+
+pins[3].no = 5;
+pins[3].mode = alternate;
+pins[3].state = openDrain;
+pins[3].pud = none;
+pins[3].speed = fast;
+pins[3].interrupt = disabled;
+pins[3].function = clk;
+
+pins[4].no = 7;
+pins[4].mode = output;
+pins[4].state = pushPull;
+pins[4].pud = none;
+pins[4].speed = normal;
+pins[4].interrupt = disabled;
+pins[4].function = gpio;
+
+pins[5].no = 29;
+pins[5].mode = output;
+pins[5].state = pushPull;
+pins[5].pud = none;
+pins[5].speed = normal;
+pins[5].interrupt = disabled;
+pins[5].function = gpio;
+
+pins[6].no = 31;
+pins[6].mode = alternate;
+pins[6].state = openDrain;
+pins[6].pud = none;
+pins[6].speed = normal;
+pins[6].interrupt = disabled;
+pins[6].function = spi;
+
+pins[7].no = 26;
+pins[7].mode = alternate;
+pins[7].state = openDrain;
+pins[7].pud = none;
+pins[7].speed = normal;
+pins[7].interrupt = disabled;
+pins[7].function = spi;
+
+pins[8].no = 24;
+pins[8].mode = alternate;
+pins[8].state = openDrain;
+pins[8].pud = none;
+pins[8].speed = normal;
+pins[8].interrupt = disabled;
+pins[8].function = spi;
+
+pins[9].no = 21;
+pins[9].mode = alternate;
+pins[9].state = openDrain;
+pins[9].pud = none;
+pins[9].speed = normal;
+pins[9].interrupt = disabled;
+pins[9].function = spi;
+
+pins[10].no = 19;
+pins[10].mode = alternate;
+pins[10].state = openDrain;
+pins[10].pud = none;
+pins[10].speed = normal;
+pins[10].interrupt = disabled;
+pins[10].function = spi;
+
+pins[11].no = 23;
+pins[11].mode = alternate;
+pins[11].state = openDrain;
+pins[11].pud = none;
+pins[11].speed = normal;
+pins[11].interrupt = disabled;
+pins[11].function = pwm;
+
+pins[12].no = 32;
+pins[12].mode = alternate;
+pins[12].state = openDrain;
+pins[12].pud = none;
+pins[12].speed = normal;
+pins[12].interrupt = disabled;
+pins[12].function = pwm;
+
+pins[13].no = 33;
+pins[13].mode = alternate;
+pins[13].state = openDrain;
+pins[13].pud = none;
+pins[13].speed = normal;
+pins[13].interrupt = disabled;
+pins[13].function = uart;
+
+pins[14].no = 8;
+pins[14].mode = alternate;
+pins[14].state = openDrain;
+pins[14].pud = none;
+pins[14].speed = normal;
+pins[14].interrupt = disabled;
+pins[14].function = uart;
+
+pins[15].no = 10;
+pins[15].mode = output;
+pins[15].state = pushPull;
+pins[15].pud = none;
+pins[15].speed = normal;
+pins[15].interrupt = disabled;
+pins[15].function = gpio;
+
+pins[16].no = 36;
+pins[16].mode = output;
+pins[16].state = pushPull;
+pins[16].pud = none;
+pins[16].speed = normal;
+pins[16].interrupt = disabled;
+pins[16].function = gpio;
+
+pins[17].no = 11;
+pins[17].mode = alternate;
+pins[17].state = openDrain;
+pins[17].pud = none;
+pins[17].speed = normal;
+pins[17].interrupt = disabled;
+pins[17].function = pcm;
+
+pins[18].no = 12;
+pins[18].mode = alternate;
+pins[18].state = openDrain;
+pins[18].pud = none;
+pins[18].speed = normal;
+pins[18].interrupt = disabled;
+pins[18].function = pcm;
+
+pins[19].no = 35;
+pins[19].mode = alternate;
+pins[19].state = openDrain;
+pins[19].pud = none;
+pins[19].speed = normal;
+pins[19].interrupt = disabled;
+pins[19].function = pcm;
+
+pins[20].no = 38;
+pins[20].mode = alternate;
+pins[20].state = openDrain;
+pins[20].pud = none;
+pins[20].speed = normal;
+pins[20].interrupt = disabled;
+pins[20].function = pcm;
+
+pins[21].no = 40;
+pins[21].mode = output;
+pins[21].state = pushPull;
+pins[21].pud = none;
+pins[21].speed = normal;
+pins[21].interrupt = disabled;
+pins[21].function = gpio;
+
+pins[22].no = 15;
+pins[22].mode = output;
+pins[22].state = pushPull;
+pins[22].pud = none;
+pins[22].speed = normal;
+pins[22].interrupt = disabled;
+pins[22].function = gpio;
+
+pins[23].no = 16;
+pins[23].mode = output;
+pins[23].state = pushPull;
+pins[23].pud = none;
+pins[23].speed = normal;
+pins[23].interrupt = disabled;
+pins[23].function = gpio;
+
+pins[24].no = 18;
+pins[24].mode = output;
+pins[24].state = pushPull;
+pins[24].pud = none;
+pins[24].speed = normal;
+pins[24].interrupt = disabled;
+pins[24].function = gpio;
+
+pins[25].no = 22;
+pins[25].mode = output;
+pins[25].state = pushPull;
+pins[25].pud = none;
+pins[25].speed = normal;
+pins[25].interrupt = disabled;
+pins[25].function = gpio;
+
+pins[26].no = 37;
+pins[26].mode = output;
+pins[26].state = pushPull;
+pins[26].pud = none;
+pins[26].speed = normal;
+pins[26].interrupt = disabled;
+pins[26].function = gpio;
diff --git a/developpment/runtest b/developpment/runtest
index 781a2c3..0ddd734 100755
Binary files a/developpment/runtest and b/developpment/runtest differ