Zoltan Hudak
mbed API for Raspberry Pi boards.
mbedPi
This is an attempt to implement a limited number of mbed APIs for Raspberry Pi single-board computers. The project was inspired by and based on the arduPi library developed for the Arduino by Cooking Hacks .
Specifications
- Chip: Broadcom BCM2836 SoC
- Core architecture: Quad-core ARM Cortex-A7
- CPU frequency: 900 MHz
- GPU: Dual Core VideoCore IV® Multimedia Co-Processor
- Memory: 1GB LPDDR2
- Operating System: Boots from Micro SD card, running a version of the Linux operating system
- Power: Micro USB socket 5V, 2A
Connectors
- Ethernet: 10/100 BaseT Ethernet socket
- Video Output: HDMI (rev 1.3 & 1.4)
- Audio Output: 3.5mm jack, HDMI
- USB: 4 x USB 2.0 Connector
- GPIO Connector: 40-pin 2.54 mm (100 mil) expansion header: 2x20 strip providing 27 GPIO pins as well as +3.3 V, +5 V and GND supply lines
- Camera Connector: 15-pin MIPI Camera Serial Interface (CSI-2)
- JTAG: Not populated
- Display Connector: Display Serial Interface (DSI) 15 way flat flex cable connector with two data lanes and a clock lane
- Memory Card Slot: Micro SDIO
GPIO connector pinout
Information
Only the labels printed in blue/white or green/white (i.e. p3, gpio2 ...) must be used in your code. The other labels are given as information (alternate-functions, power pins, ...).
Building programs for the Raspberry Pi with mbedPi
I use Qt Creator for development, however you can use any other IDE available on the Raspberry Pi (e.g. Geany) if you like. For a quick try:
- Install Qt and the Qt Creator onto your Raspberry Pi. Then create a new "Blinky" Plain non-Qt C++ Project as follows:
- Change the main code as below:
main.cpp
#include "mbedPi.h"
int main()
{
DigitalOut myled(p7);
while(1) {
myled = 1; // LED is ON
wait(0.2); // 200 ms
myled = 0; // LED is OFF
wait(1.0); // 1 sec
printf("Blink\r\n");
}
}
- Copy the mbedPi.zip file into your project's folder and unzip.
- Add the mbedPi.h and mbedPi.cpp files to your project by right clicking on the "Blinky" project and then clicking on the "Add Existing Files..." option in the local menu:
- Double click on Blinky.pro to open it for editing and add new libraries by inserting a new line as follows:
- Compile the project.
- Connect an LED through a 1k resistor to pin 7 and the ground on the Raspberry Pi GPIO connector.
- Run the binary as sudo (sudo ./Blinky) and you should see the LED blinking.
- Press Ctrl+c to stop running the application.
Diff: include/BCM2835.h
- Revision:
- 1:1f2d9982fa8c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/include/BCM2835.h Tue Dec 20 12:08:07 2022 +0000
@@ -0,0 +1,433 @@
+/* bcm2835.h
+
+ C and C++ support for Broadcom BCM 2835 as used in Raspberry Pi
+
+ Author: Mike McCauley
+ Copyright (C) 2011-2013 Mike McCauley
+ $Id: bcm2835.h,v 1.26 2020/01/11 05:07:13 mikem Exp mikem $
+ */
+
+#ifndef _BCM2835_H_
+#define _BCM2835_H_
+
+/*$off*/
+#include <errno.h>
+#include <fcntl.h>
+#include <netinet/in.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <sys/ipc.h>
+#include <sys/sem.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <sys/mman.h>
+#include <string.h>
+#include <time.h>
+#include <termios.h>
+#include <ctype.h>
+#include <sys/ioctl.h>
+#include <limits.h>
+#include <algorithm>
+#include <limits.h>
+#include <pthread.h>
+#include <poll.h>
+#include "PinNames.h"
+
+#define BCM2835_PERI_BASE 0x20000000
+#define BCM2835_PERI_SIZE 0x01000000
+
+#define BCM2835_ST_BASE 0x3000
+#define BCM2835_CLOCK_BASE 0x101000
+#define BCM2835_GPIO_PWM 0x20C000
+#define BCM2835_BSC1_BASE 0x804000
+#define BCM2835_SPI0_BASE 0x204000
+
+/* Defines for ST
+ GPIO register offsets from BCM2835_ST_BASE.
+ Offsets into the ST Peripheral block in bytes per 12.1 System Timer Registers
+ The System Timer peripheral provides four 32-bit timer channels and a single 64-bit free running counter.
+ BCM2835_ST_CLO is the System Timer Counter Lower bits register.
+ The system timer free-running counter lower register is a read-only register that returns the current value
+ of the lower 32-bits of the free running counter.
+ BCM2835_ST_CHI is the System Timer Counter Upper bits register.
+ The system timer free-running counter upper register is a read-only register that returns the current value
+ of the upper 32-bits of the free running counter.
+*/
+#define BCM2835_ST_CS 0x0000 /*!< System Timer Control/Status */
+#define BCM2835_ST_CLO 0x0004 /*!< System Timer Counter Lower 32 bits */
+#define BCM2835_ST_CHI 0x0008 /*!< System Timer Counter Upper 32 bits */
+
+// Defines for I2C
+// GPIO register offsets from BCM2835_BSC*_BASE.
+// Offsets into the BSC Peripheral block in bytes per 3.1 BSC Register Map
+#define BCM2835_BSC_C 0x0000 ///< BSC Master Control
+#define BCM2835_BSC_S 0x0004 ///< BSC Master Status
+#define BCM2835_BSC_DLEN 0x0008 ///< BSC Master Data Length
+#define BCM2835_BSC_A 0x000c ///< BSC Master Slave Address
+#define BCM2835_BSC_FIFO 0x0010 ///< BSC Master Data FIFO
+#define BCM2835_BSC_DIV 0x0014 ///< BSC Master Clock Divider
+#define BCM2835_BSC_DEL 0x0018 ///< BSC Master Data Delay
+#define BCM2835_BSC_CLKT 0x001c ///< BSC Master Clock Stretch Timeout
+
+// Register masks for BSC_C
+#define BCM2835_BSC_C_I2CEN 0x00008000 ///< I2C Enable, 0 = disabled, 1 = enabled
+#define BCM2835_BSC_C_INTR 0x00000400 ///< Interrupt on RX
+#define BCM2835_BSC_C_INTT 0x00000200 ///< Interrupt on TX
+#define BCM2835_BSC_C_INTD 0x00000100 ///< Interrupt on DONE
+#define BCM2835_BSC_C_ST 0x00000080 ///< Start transfer, 1 = Start a new transfer
+#define BCM2835_BSC_C_CLEAR_1 0x00000020 ///< Clear FIFO Clear
+#define BCM2835_BSC_C_CLEAR_2 0x00000010 ///< Clear FIFO Clear
+#define BCM2835_BSC_C_READ 0x00000001 ///< Read transfer
+
+// Register masks for BSC_S
+#define BCM2835_BSC_S_CLKT 0x00000200 ///< Clock stretch timeout
+#define BCM2835_BSC_S_ERR 0x00000100 ///< ACK error
+#define BCM2835_BSC_S_RXF 0x00000080 ///< RXF FIFO full, 0 = FIFO is not full, 1 = FIFO is full
+#define BCM2835_BSC_S_TXE 0x00000040 ///< TXE FIFO full, 0 = FIFO is not full, 1 = FIFO is full
+#define BCM2835_BSC_S_RXD 0x00000020 ///< RXD FIFO contains data
+#define BCM2835_BSC_S_TXD 0x00000010 ///< TXD FIFO can accept data
+#define BCM2835_BSC_S_RXR 0x00000008 ///< RXR FIFO needs reading (full)
+#define BCM2835_BSC_S_TXW 0x00000004 ///< TXW FIFO needs writing (full)
+#define BCM2835_BSC_S_DONE 0x00000002 ///< Transfer DONE
+#define BCM2835_BSC_S_TA 0x00000001 ///< Transfer Active
+#define BCM2835_BSC_FIFO_SIZE 16 ///< BSC FIFO size
+#define BCM2835_CORE_CLK_HZ 250000000 ///< 250 MHz
+
+ /// \brief bcm2835I2CClockDivider
+ /// Specifies the divider used to generate the I2C clock from the system clock.
+ /// Clock divided is based on nominal base clock rate of 250MHz
+typedef enum
+{
+ BCM2835_I2C_CLOCK_DIVIDER_2500 = 2500, ///< 2500 = 10us = 100 kHz
+ BCM2835_I2C_CLOCK_DIVIDER_626 = 626, ///< 622 = 2.504us = 399.3610 kHz
+ BCM2835_I2C_CLOCK_DIVIDER_150 = 150, ///< 150 = 60ns = 1.666 MHz (default at reset)
+ BCM2835_I2C_CLOCK_DIVIDER_148 = 148, ///< 148 = 59ns = 1.689 MHz
+} bcm2835I2CClockDivider;
+
+/// \brief bcm2835I2CReasonCodes
+/// Specifies the reason codes for the bcm2835_i2c_write and bcm2835_i2c_read functions.
+typedef enum
+{
+ BCM2835_I2C_REASON_OK = 0x00, ///< Success
+ BCM2835_I2C_REASON_ERROR_NACK = 0x01, ///< Received a NACK
+ BCM2835_I2C_REASON_ERROR_CLKT = 0x02, ///< Received Clock Stretch Timeout
+ BCM2835_I2C_REASON_ERROR_DATA = 0x04, ///< Not all data is sent / received
+} bcm2835I2CReasonCodes;
+
+typedef enum
+{
+ RPI_V2_GPIO_P1_03 = 2, ///< Version 2, Pin P1-03
+ RPI_V2_GPIO_P1_05 = 3, ///< Version 2, Pin P1-05
+} RPiGPIOPin;
+
+#define BSC0_C *(bsc0.addr + 0x00)
+#define BSC0_S *(bsc0.addr + 0x01)
+#define BSC0_DLEN *(bsc0.addr + 0x02)
+#define BSC0_A *(bsc0.addr + 0x03)
+#define BSC0_FIFO *(bsc0.addr + 0x04)
+
+#define BSC_C_I2CEN (1<< 15)
+#define BSC_C_INTR (1<< 10)
+#define BSC_C_INTT (1<< 9)
+#define BSC_C_INTD (1<< 8)
+#define BSC_C_ST (1<< 7)
+#define BSC_C_CLEAR (1<< 4)
+#define BSC_C_READ 1
+
+#define START_READ BSC_C_I2CEN|BSC_C_ST|BSC_C_CLEAR|BSC_C_READ
+#define START_WRITE BSC_C_I2CEN|BSC_C_ST
+
+#define BSC_S_CLKT (1<< 9)
+#define BSC_S_ERR (1<< 8)
+#define BSC_S_RXF (1<< 7)
+#define BSC_S_TXE (1<< 6)
+#define BSC_S_RXD (1<< 5)
+#define BSC_S_TXD (1<< 4)
+#define BSC_S_RXR (1<< 3)
+#define BSC_S_TXW (1<< 2)
+#define BSC_S_DONE (1<< 1)
+#define BSC_S_TA 1
+
+#define CLEAR_STATUS BSC_S_CLKT|BSC_S_ERR|BSC_S_DONE
+
+#define GPFSEL0 *(gpio.addr + 0)
+#define GPFSEL1 *(gpio.addr + 1)
+#define GPFSEL2 *(gpio.addr + 2)
+#define GPFSEL3 *(gpio.addr + 3)
+#define GPFSEL4 *(gpio.addr + 4)
+#define GPFSEL5 *(gpio.addr + 5)
+// Reserved @ word offset 6
+#define GPSET0 *(gpio.addr + 7)
+#define GPSET1 *(gpio.addr + 8)
+// Reserved @ word offset 9
+#define GPCLR0 *(gpio.addr + 10)
+#define GPCLR1 *(gpio.addr + 11)
+// Reserved @ word offset 12
+#define GPLEV0 *(gpio.addr + 13)
+#define GPLEV1 *(gpio.addr + 14)
+
+#define PAGESIZE 4096
+#define BLOCK_SIZE 4096
+
+/// Defines for SPI
+/// GPIO register offsets from BCM2835_SPI0_BASE.
+/// Offsets into the SPI Peripheral block in bytes per 10.5 SPI Register Map
+#define BCM2835_SPI0_CS 0x0000 ///< SPI Master Control and Status
+#define BCM2835_SPI0_FIFO 0x0004 ///< SPI Master TX and RX FIFOs
+#define BCM2835_SPI0_CLK 0x0008 ///< SPI Master Clock Divider
+#define BCM2835_SPI0_DLEN 0x000c ///< SPI Master Data Length
+#define BCM2835_SPI0_LTOH 0x0010 ///< SPI LOSSI mode TOH
+#define BCM2835_SPI0_DC 0x0014 ///< SPI DMA DREQ Controls
+
+// Register masks for SPI0_CS
+#define BCM2835_SPI0_CS_LEN_LONG 0x02000000 ///< Enable Long data word in Lossi mode if DMA_LEN is set
+#define BCM2835_SPI0_CS_DMA_LEN 0x01000000 ///< Enable DMA mode in Lossi mode
+#define BCM2835_SPI0_CS_CSPOL2 0x00800000 ///< Chip Select 2 Polarity
+#define BCM2835_SPI0_CS_CSPOL1 0x00400000 ///< Chip Select 1 Polarity
+#define BCM2835_SPI0_CS_CSPOL0 0x00200000 ///< Chip Select 0 Polarity
+#define BCM2835_SPI0_CS_RXF 0x00100000 ///< RXF - RX FIFO Full
+#define BCM2835_SPI0_CS_RXR 0x00080000 ///< RXR RX FIFO needs Reading ( full)
+#define BCM2835_SPI0_CS_TXD 0x00040000 ///< TXD TX FIFO can accept Data
+#define BCM2835_SPI0_CS_RXD 0x00020000 ///< RXD RX FIFO contains Data
+#define BCM2835_SPI0_CS_DONE 0x00010000 ///< Done transfer Done
+#define BCM2835_SPI0_CS_TE_EN 0x00008000 ///< Unused
+#define BCM2835_SPI0_CS_LMONO 0x00004000 ///< Unused
+#define BCM2835_SPI0_CS_LEN 0x00002000 ///< LEN LoSSI enable
+#define BCM2835_SPI0_CS_REN 0x00001000 ///< REN Read Enable
+#define BCM2835_SPI0_CS_ADCS 0x00000800 ///< ADCS Automatically Deassert Chip Select
+#define BCM2835_SPI0_CS_INTR 0x00000400 ///< INTR Interrupt on RXR
+#define BCM2835_SPI0_CS_INTD 0x00000200 ///< INTD Interrupt on Done
+#define BCM2835_SPI0_CS_DMAEN 0x00000100 ///< DMAEN DMA Enable
+#define BCM2835_SPI0_CS_TA 0x00000080 ///< Transfer Active
+#define BCM2835_SPI0_CS_CSPOL 0x00000040 ///< Chip Select Polarity
+#define BCM2835_SPI0_CS_CLEAR 0x00000030 ///< Clear FIFO Clear RX and TX
+#define BCM2835_SPI0_CS_CLEAR_RX 0x00000020 ///< Clear FIFO Clear RX
+#define BCM2835_SPI0_CS_CLEAR_TX 0x00000010 ///< Clear FIFO Clear TX
+#define BCM2835_SPI0_CS_CPOL 0x00000008 ///< Clock Polarity
+#define BCM2835_SPI0_CS_CPHA 0x00000004 ///< Clock Phase
+#define BCM2835_SPI0_CS_CS 0x00000003 ///< Chip Select
+
+#define BCM2835_GPFSEL0 0x0000 ///< GPIO Function Select 0
+
+#define BCM2835_GPEDS0 0x0040 ///< GPIO Pin Event Detect Status 0
+#define BCM2835_GPREN0 0x004c ///< GPIO Pin Rising Edge Detect Enable 0
+#define BCM2835_GPFEN0 0x0048 ///< GPIO Pin Falling Edge Detect Enable 0
+#define BCM2835_GPHEN0 0x0064 ///< GPIO Pin High Detect Enable 0
+#define BCM2835_GPLEN0 0x0070 ///< GPIO Pin Low Detect Enable 0
+
+/* Defines for PWM, word offsets (ie 4 byte multiples) */
+#define BCM2835_PWM_CONTROL 0
+#define BCM2835_PWM_STATUS 1
+#define BCM2835_PWM_DMAC 2
+#define BCM2835_PWM0_RANGE 4
+#define BCM2835_PWM0_DATA 5
+#define BCM2835_PWM_FIF1 6
+#define BCM2835_PWM1_RANGE 8
+#define BCM2835_PWM1_DATA 9
+
+/* Defines for PWM Clock, word offsets (ie 4 byte multiples) */
+#define BCM2835_PWMCLK_CNTL 40
+#define BCM2835_PWMCLK_DIV 41
+#define BCM2835_PWM_PASSWRD (0x5A << 24) /*!< Password to enable setting PWM clock */
+
+#define BCM2835_PWM1_MS_MODE 0x8000 /*!< Run in Mark/Space mode */
+#define BCM2835_PWM1_USEFIFO 0x2000 /*!< Data from FIFO */
+#define BCM2835_PWM1_REVPOLAR 0x1000 /*!< Reverse polarity */
+#define BCM2835_PWM1_OFFSTATE 0x0800 /*!< Ouput Off state */
+#define BCM2835_PWM1_REPEATFF 0x0400 /*!< Repeat last value if FIFO empty */
+#define BCM2835_PWM1_SERIAL 0x0200 /*!< Run in serial mode */
+#define BCM2835_PWM1_ENABLE 0x0100 /*!< Channel Enable */
+
+#define BCM2835_PWM0_MS_MODE 0x0080 /*!< Run in Mark/Space mode */
+#define BCM2835_PWM_CLEAR_FIFO 0x0040 /*!< Clear FIFO */
+#define BCM2835_PWM0_USEFIFO 0x0020 /*!< Data from FIFO */
+#define BCM2835_PWM0_REVPOLAR 0x0010 /*!< Reverse polarity */
+#define BCM2835_PWM0_OFFSTATE 0x0008 /*!< Ouput Off state */
+#define BCM2835_PWM0_REPEATFF 0x0004 /*!< Repeat last value if FIFO empty */
+#define BCM2835_PWM0_SERIAL 0x0002 /*!< Run in serial mode */
+#define BCM2835_PWM0_ENABLE 0x0001 /*!< Channel Enable */
+
+#define PWM_CHANNEL 0
+
+/// \brief bcm2835SPIBitOrder
+/// Specifies the SPI data bit ordering
+typedef enum
+{
+ LSBFIRST = 0, ///< LSB First
+ MSBFIRST = 1///< MSB First
+} bcm2835SPIBitOrder;
+
+/// \brief bcm2835SPIMode
+/// Specify the SPI data mode
+typedef enum
+{
+ SPI_MODE0 = 0, ///< CPOL = 0, CPHA = 0
+ SPI_MODE1 = 1, ///< CPOL = 0, CPHA = 1
+ SPI_MODE2 = 2, ///< CPOL = 1, CPHA = 0
+ SPI_MODE3 = 3, ///< CPOL = 1, CPHA = 1
+} bcm2835SPIMode;
+
+/// \brief bcm2835SPIChipSelect
+/// Specify the SPI chip select pin(s)
+typedef enum
+{
+ SPI_CS0 = 0, ///< Chip Select 0
+ SPI_CS1 = 1, ///< Chip Select 1
+ SPI_CS2 = 2, ///< Chip Select 2 (ie pins CS1 and CS2 are asserted)
+ SPI_CS_NONE = 3, ///< No CS, control it yourself
+} bcm2835SPIChipSelect;
+
+/// \brief bcm2835SPIClockDivider
+/// Specifies the divider used to generate the SPI clock from the system clock.
+/// Figures below give the divider, clock period and clock frequency.
+typedef enum
+{
+ SPI_CLOCK_DIV65536 = 0, ///< 65536 = 256us = 4kHz
+ SPI_CLOCK_DIV32768 = 32768, ///< 32768 = 126us = 8kHz
+ SPI_CLOCK_DIV16384 = 16384, ///< 16384 = 64us = 15.625kHz
+ SPI_CLOCK_DIV8192 = 8192, ///< 8192 = 32us = 31.25kHz
+ SPI_CLOCK_DIV4096 = 4096, ///< 4096 = 16us = 62.5kHz
+ SPI_CLOCK_DIV2048 = 2048, ///< 2048 = 8us = 125kHz
+ SPI_CLOCK_DIV1024 = 1024, ///< 1024 = 4us = 250kHz
+ SPI_CLOCK_DIV512 = 512, ///< 512 = 2us = 500kHz
+ SPI_CLOCK_DIV256 = 256, ///< 256 = 1us = 1MHz
+ SPI_CLOCK_DIV128 = 128, ///< 128 = 500ns = = 2MHz
+ SPI_CLOCK_DIV64 = 64, ///< 64 = 250ns = 4MHz
+ SPI_CLOCK_DIV32 = 32, ///< 32 = 125ns = 8MHz
+ SPI_CLOCK_DIV16 = 16, ///< 16 = 50ns = 20MHz
+ SPI_CLOCK_DIV8 = 8, ///< 8 = 25ns = 40MHz
+ SPI_CLOCK_DIV4 = 4, ///< 4 = 12.5ns 80MHz
+ SPI_CLOCK_DIV2 = 2, ///< 2 = 6.25ns = 160MHz
+ SPI_CLOCK_DIV1 = 1, ///< 0 = 256us = 4kHz
+} bcm2835SPIClockDivider;
+
+/*! \brief bcm2835PWMClockDivider
+ Specifies the divider used to generate the PWM clock from the system clock.
+ Figures below give the divider, clock period and clock frequency.
+ Clock divided is based on nominal PWM base clock rate of 19.2MHz
+ The frequencies shown for each divider have been confirmed by measurement
+*/
+typedef enum
+{
+ BCM2835_PWM_CLOCK_DIVIDER_4096 = 4096, /*!< 4096 = 4.6875kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_2048 = 2048, /*!< 2048 = 9.375kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_1024 = 1024, /*!< 1024 = 18.75kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_512 = 512, /*!< 512 = 37.5kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_256 = 256, /*!< 256 = 75kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_128 = 128, /*!< 128 = 150kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_64 = 64, /*!< 64 = 300kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_32 = 32, /*!< 32 = 600.0kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_16 = 16, /*!< 16 = 1.2MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_8 = 8, /*!< 8 = 2.4MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_4 = 4, /*!< 4 = 4.8MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_2 = 2, /*!< 2 = 9.6MHz, fastest you can get */
+ BCM2835_PWM_CLOCK_DIVIDER_1 = 1 /*!< 1 = 4.6875kHz, same as divider 4096 */
+} bcm2835PWMClockDivider;
+
+/*! \brief bcm2835PWMClockDivider
+ Specifies the divider used to generate the PWM clock from the system clock.
+ Figures below give the divider, clock period and clock frequency.
+ Clock divided is based on nominal PWM base clock rate of 19.2MHz
+ The frequencies shown for each divider have been confirmed by measurement
+*/
+typedef enum
+{
+ BCM2835_PWM_PERIOD_212_US = 4096, /*!< 213.33 us = 4.6875kHz */
+ BCM2835_PWM_PERIOD_107_US = 2048, /*!< 106.66 us = 9.375kHz */
+ BCM2835_PWM_PERIOD_53_US = 1024, /*!< 53.33 us = 18.75kHz */
+ BCM2835_PWM_PERIOD_27_US = 512, /*!< 26.66 us = 37.5kHz */
+ BCM2835_PWM_PERIOD_13_US = 256, /*!< 13.33 us = 75kHz */
+ BCM2835_PWM_PERIOD_6_6_US = 128, /*!< 6.66 us = 150kHz */
+ BCM2835_PWM_PERIOD_3_3_US = 64, /*!< 3.33 us = 300kHz */
+ BCM2835_PWM_PERIOD_1_7_US = 32, /*!< 1.66 us = 600.0kHz */
+ BCM2835_PWM_PERIOD_833_NS = 16, /*!< 833.33 ns = 1.2MHz */
+ BCM2835_PWM_PERIOD_417_NS = 8, /*!< 416.66 ns = 2.4MHz */
+ BCM2835_PWM_PERIOD_208_NS = 4, /*!< 208.33 ns = 4.8MHz */
+ BCM2835_PWM_PERIOD_104_NS = 2, /*!< 104.16 ns = 9.6MHz, */
+} bcm2835_PWM_PulsePeriod;
+
+typedef enum
+{
+ BCM2835_GPIO_FSEL_INPT = 0b000, ///< Input
+ BCM2835_GPIO_FSEL_OUTP = 0b001, ///< Output
+ BCM2835_GPIO_FSEL_ALT0 = 0b100, ///< Alternate function 0
+ BCM2835_GPIO_FSEL_ALT1 = 0b101, ///< Alternate function 1
+ BCM2835_GPIO_FSEL_ALT2 = 0b110, ///< Alternate function 2
+ BCM2835_GPIO_FSEL_ALT3 = 0b111, ///< Alternate function 3
+ BCM2835_GPIO_FSEL_ALT4 = 0b011, ///< Alternate function 4
+ BCM2835_GPIO_FSEL_ALT5 = 0b010, ///< Alternate function 5
+ BCM2835_GPIO_FSEL_MASK = 0b111 ///< Function select bits mask
+} bcm2835FunctionSelect;
+
+namespace unistd {
+ //All functions of unistd.h must be called like this: unistd::the_function()
+ #include <unistd.h>
+}
+
+enum Representation{
+ BIN,
+ OCT,
+ DEC,
+ HEX,
+ BYTE
+};
+
+typedef enum {
+ LOW = 0,
+ HIGH = 1,
+ RISING = 2,
+ FALLING = 3,
+ BOTH = 4
+} Digivalue;
+//
+/*$on*/
+//
+typedef bool boolean;
+typedef unsigned char byte;
+
+struct bcm2835_peripheral
+{
+ unsigned long addr_p;
+ int mem_fd;
+ void* map;
+ volatile unsigned int* addr;
+};
+
+
+
+/* Helper functions */
+int getBoardRev();
+uint32_t* mapmem(const char* msg, size_t size, int fd, off_t off);
+void setBoardRev(int rev);
+pthread_t* getThreadIdFromPin(int pin);
+void* threadFunction(void* args);
+uint32_t bcm2835_peri_read(volatile uint32_t* paddr);
+uint32_t bcm2835_peri_read_nb(volatile uint32_t* paddr);
+void bcm2835_peri_write(volatile uint32_t* paddr, uint32_t value);
+void bcm2835_peri_write_nb(volatile uint32_t* paddr, uint32_t value);
+void bcm2835_peri_set_bits(volatile uint32_t* paddr, uint32_t value, uint32_t mask);
+void bcm2835_gpio_fsel(uint8_t pin, uint8_t mode);
+uint64_t bcm2835_systimer_read(void);
+void bcm2835_delay (unsigned int millis);
+void bcm2835_pwm_set_clock(uint32_t divisor);
+void bcm2835_pwm_set_mode(uint8_t channel, uint8_t markspace, uint8_t enabled);
+void bcm2835_pwm_set_range(uint8_t channel, uint32_t range);
+void bcm2835_pwm_set_data(uint8_t channel, uint32_t data);
+void gpio_dir(PinName pin, PinDirection direction);
+void gpio_mode(PinName pin, PinMode mode);
+void gpio_write(PinName pin, int value);
+int gpio_read(PinName pin);
+uint8_t shiftIn(PinName dPin, PinName cPin, bcm2835SPIBitOrder order);
+void shiftOut(PinName dPin, PinName cPin, bcm2835SPIBitOrder order, uint8_t val);
+void attachInterrupt(PinName p, void (*f) (), Digivalue m);
+void detachInterrupt(PinName p);
+
+typedef void (*FunctionPointer) ();
+
+static int REV = 0;
+
+#endif // _BCM2835_H_
+