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.
source/Peripheral.cpp@2:131555dc6fb7, 21 months ago (annotated)
- Committer:
- hudakz
- Date:
- Tue Dec 20 12:16:18 2022 +0000
- Revision:
- 2:131555dc6fb7
- Parent:
- 1:1f2d9982fa8c
Mbed API for Raspberry Pi boards equipped with BCM2836 SoC.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 1:1f2d9982fa8c | 1 | //#include "mbed.h" |
hudakz | 1:1f2d9982fa8c | 2 | #include "BCM2835.h" |
hudakz | 1:1f2d9982fa8c | 3 | #include "Thread.h" |
hudakz | 1:1f2d9982fa8c | 4 | #include "ThisThread.h" |
hudakz | 1:1f2d9982fa8c | 5 | #include "Peripheral.h" |
hudakz | 1:1f2d9982fa8c | 6 | |
hudakz | 1:1f2d9982fa8c | 7 | struct bcm2835_peripheral bsc_rev1 = { BCM2835_PERI_BASE + 0X205000, 0, 0, 0 }; |
hudakz | 1:1f2d9982fa8c | 8 | struct bcm2835_peripheral bsc_rev2 = { BCM2835_PERI_BASE + 0X804000, 0, 0, 0 }; |
hudakz | 1:1f2d9982fa8c | 9 | struct bcm2835_peripheral bsc0; |
hudakz | 1:1f2d9982fa8c | 10 | struct bcm2835_peripheral gpio = { BCM2835_PERI_BASE + 0x200000, 0, 0, 0 }; |
hudakz | 1:1f2d9982fa8c | 11 | |
hudakz | 1:1f2d9982fa8c | 12 | timeval start_program, end_point; |
hudakz | 1:1f2d9982fa8c | 13 | |
hudakz | 1:1f2d9982fa8c | 14 | off_t bcm2835_peripherals_base = BCM2835_PERI_BASE; |
hudakz | 1:1f2d9982fa8c | 15 | size_t bcm2835_peripherals_size = BCM2835_PERI_SIZE; |
hudakz | 1:1f2d9982fa8c | 16 | volatile uint32_t* bcm2835_peripherals; |
hudakz | 1:1f2d9982fa8c | 17 | volatile uint32_t* bcm2835_pwm = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 18 | volatile uint32_t* bcm2835_clk = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 19 | volatile uint32_t* bcm2835_bsc1 = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 20 | volatile uint32_t* bcm2835_spi0 = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 21 | volatile uint32_t* bcm2835_st = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 22 | |
hudakz | 1:1f2d9982fa8c | 23 | |
hudakz | 1:1f2d9982fa8c | 24 | //Constructor |
hudakz | 1:1f2d9982fa8c | 25 | Peripheral::Peripheral() |
hudakz | 1:1f2d9982fa8c | 26 | { |
hudakz | 1:1f2d9982fa8c | 27 | REV = getBoardRev(); |
hudakz | 1:1f2d9982fa8c | 28 | if (map_peripheral(&gpio) == -1) { |
hudakz | 1:1f2d9982fa8c | 29 | printf("Failed to map the physical GPIO registers into the virtual memory space.\n"); |
hudakz | 1:1f2d9982fa8c | 30 | } |
hudakz | 1:1f2d9982fa8c | 31 | |
hudakz | 1:1f2d9982fa8c | 32 | memfd = -1; |
hudakz | 1:1f2d9982fa8c | 33 | |
hudakz | 1:1f2d9982fa8c | 34 | // Open the master /dev/memory device |
hudakz | 1:1f2d9982fa8c | 35 | if ((memfd = open("/dev/mem", O_RDWR | O_SYNC)) < 0) { |
hudakz | 1:1f2d9982fa8c | 36 | fprintf(stderr, "bcm2835_init: Unable to open /dev/mem: %s\n", strerror(errno)); |
hudakz | 1:1f2d9982fa8c | 37 | exit(1); |
hudakz | 1:1f2d9982fa8c | 38 | } |
hudakz | 1:1f2d9982fa8c | 39 | |
hudakz | 1:1f2d9982fa8c | 40 | bcm2835_peripherals = mapmem("gpio", bcm2835_peripherals_size, memfd, bcm2835_peripherals_base); |
hudakz | 1:1f2d9982fa8c | 41 | if (bcm2835_peripherals == MAP_FAILED) |
hudakz | 1:1f2d9982fa8c | 42 | exit(1); |
hudakz | 1:1f2d9982fa8c | 43 | |
hudakz | 1:1f2d9982fa8c | 44 | /* Now compute the base addresses of various peripherals, |
hudakz | 1:1f2d9982fa8c | 45 | // which are at fixed offsets within the mapped peripherals block |
hudakz | 1:1f2d9982fa8c | 46 | // Caution: bcm2835_peripherals is uint32_t*, so divide offsets by 4 |
hudakz | 1:1f2d9982fa8c | 47 | */ |
hudakz | 1:1f2d9982fa8c | 48 | bcm2835_pwm = bcm2835_peripherals + BCM2835_GPIO_PWM/4; |
hudakz | 1:1f2d9982fa8c | 49 | bcm2835_clk = bcm2835_peripherals + BCM2835_CLOCK_BASE/4; |
hudakz | 1:1f2d9982fa8c | 50 | bcm2835_spi0 = bcm2835_peripherals + BCM2835_SPI0_BASE/4; |
hudakz | 1:1f2d9982fa8c | 51 | bcm2835_bsc1 = bcm2835_peripherals + BCM2835_BSC1_BASE/4; /* I2C */ |
hudakz | 1:1f2d9982fa8c | 52 | bcm2835_st = bcm2835_peripherals + BCM2835_ST_BASE/4; |
hudakz | 1:1f2d9982fa8c | 53 | |
hudakz | 1:1f2d9982fa8c | 54 | // start timer |
hudakz | 1:1f2d9982fa8c | 55 | gettimeofday(&start_program, NULL); |
hudakz | 1:1f2d9982fa8c | 56 | } |
hudakz | 1:1f2d9982fa8c | 57 | |
hudakz | 1:1f2d9982fa8c | 58 | //Destructor |
hudakz | 1:1f2d9982fa8c | 59 | Peripheral::~Peripheral() |
hudakz | 1:1f2d9982fa8c | 60 | { |
hudakz | 1:1f2d9982fa8c | 61 | unmap_peripheral(&gpio); |
hudakz | 1:1f2d9982fa8c | 62 | |
hudakz | 1:1f2d9982fa8c | 63 | bcm2835_pwm = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 64 | bcm2835_clk = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 65 | bcm2835_spi0 = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 66 | bcm2835_bsc1 = (uint32_t *)MAP_FAILED; |
hudakz | 1:1f2d9982fa8c | 67 | } |
hudakz | 1:1f2d9982fa8c | 68 | |
hudakz | 1:1f2d9982fa8c | 69 | /******************* |
hudakz | 1:1f2d9982fa8c | 70 | * Private methods * |
hudakz | 1:1f2d9982fa8c | 71 | *******************/ |
hudakz | 1:1f2d9982fa8c | 72 | |
hudakz | 1:1f2d9982fa8c | 73 | // Exposes the physical address defined in the passed structure using mmap on /dev/mem |
hudakz | 1:1f2d9982fa8c | 74 | int Peripheral::map_peripheral(struct bcm2835_peripheral* p) |
hudakz | 1:1f2d9982fa8c | 75 | { |
hudakz | 1:1f2d9982fa8c | 76 | // Open /dev/mem |
hudakz | 1:1f2d9982fa8c | 77 | |
hudakz | 1:1f2d9982fa8c | 78 | if ((p->mem_fd = open("/dev/mem", O_RDWR | O_SYNC)) < 0) { |
hudakz | 1:1f2d9982fa8c | 79 | printf("Failed to open /dev/mem, try checking permissions.\n"); |
hudakz | 1:1f2d9982fa8c | 80 | return -1; |
hudakz | 1:1f2d9982fa8c | 81 | } |
hudakz | 1:1f2d9982fa8c | 82 | |
hudakz | 1:1f2d9982fa8c | 83 | p->map = mmap |
hudakz | 1:1f2d9982fa8c | 84 | ( |
hudakz | 1:1f2d9982fa8c | 85 | NULL, |
hudakz | 1:1f2d9982fa8c | 86 | BLOCK_SIZE, |
hudakz | 1:1f2d9982fa8c | 87 | PROT_READ | PROT_WRITE, |
hudakz | 1:1f2d9982fa8c | 88 | MAP_SHARED, |
hudakz | 1:1f2d9982fa8c | 89 | p->mem_fd, // File descriptor to physical memory virtual file '/dev/mem' |
hudakz | 1:1f2d9982fa8c | 90 | p->addr_p // Address in physical map that we want this memory block to expose |
hudakz | 1:1f2d9982fa8c | 91 | ); |
hudakz | 1:1f2d9982fa8c | 92 | |
hudakz | 1:1f2d9982fa8c | 93 | if (p->map == MAP_FAILED) { |
hudakz | 1:1f2d9982fa8c | 94 | perror("mmap"); |
hudakz | 1:1f2d9982fa8c | 95 | return -1; |
hudakz | 1:1f2d9982fa8c | 96 | } |
hudakz | 1:1f2d9982fa8c | 97 | |
hudakz | 1:1f2d9982fa8c | 98 | p->addr = (volatile unsigned int*)p->map; |
hudakz | 1:1f2d9982fa8c | 99 | |
hudakz | 1:1f2d9982fa8c | 100 | return 0; |
hudakz | 1:1f2d9982fa8c | 101 | } |
hudakz | 1:1f2d9982fa8c | 102 | |
hudakz | 1:1f2d9982fa8c | 103 | /** |
hudakz | 1:1f2d9982fa8c | 104 | * @brief |
hudakz | 1:1f2d9982fa8c | 105 | * @note |
hudakz | 1:1f2d9982fa8c | 106 | * @param |
hudakz | 1:1f2d9982fa8c | 107 | * @retval |
hudakz | 1:1f2d9982fa8c | 108 | */ |
hudakz | 1:1f2d9982fa8c | 109 | void Peripheral::unmap_peripheral(struct bcm2835_peripheral* p) |
hudakz | 1:1f2d9982fa8c | 110 | { |
hudakz | 1:1f2d9982fa8c | 111 | munmap(p->map, BLOCK_SIZE); |
hudakz | 1:1f2d9982fa8c | 112 | unistd::close(p->mem_fd); |
hudakz | 1:1f2d9982fa8c | 113 | } |
hudakz | 1:1f2d9982fa8c | 114 | |
hudakz | 1:1f2d9982fa8c | 115 | // |
hudakz | 1:1f2d9982fa8c | 116 | // Low level convenience functions |
hudakz | 1:1f2d9982fa8c | 117 | // |
hudakz | 1:1f2d9982fa8c | 118 | |
hudakz | 1:1f2d9982fa8c | 119 | /** |
hudakz | 1:1f2d9982fa8c | 120 | * @brief |
hudakz | 1:1f2d9982fa8c | 121 | * @note |
hudakz | 1:1f2d9982fa8c | 122 | * @param |
hudakz | 1:1f2d9982fa8c | 123 | * @retval |
hudakz | 1:1f2d9982fa8c | 124 | */ |
hudakz | 1:1f2d9982fa8c | 125 | uint32_t* mapmem(const char* msg, size_t size, int fd, off_t off) |
hudakz | 1:1f2d9982fa8c | 126 | { |
hudakz | 1:1f2d9982fa8c | 127 | uint32_t* map = (uint32_t*)mmap(NULL, size, (PROT_READ | PROT_WRITE), MAP_SHARED, fd, off); |
hudakz | 1:1f2d9982fa8c | 128 | if (MAP_FAILED == map) |
hudakz | 1:1f2d9982fa8c | 129 | fprintf(stderr, "bcm2835_init: %s mmap failed: %s\n", msg, strerror(errno)); |
hudakz | 1:1f2d9982fa8c | 130 | return map; |
hudakz | 1:1f2d9982fa8c | 131 | } |
hudakz | 1:1f2d9982fa8c | 132 | |
hudakz | 1:1f2d9982fa8c | 133 | // safe read from peripheral |
hudakz | 1:1f2d9982fa8c | 134 | uint32_t bcm2835_peri_read(volatile uint32_t* paddr) |
hudakz | 1:1f2d9982fa8c | 135 | { |
hudakz | 1:1f2d9982fa8c | 136 | uint32_t ret = *paddr; |
hudakz | 1:1f2d9982fa8c | 137 | ret = *paddr; |
hudakz | 1:1f2d9982fa8c | 138 | return ret; |
hudakz | 1:1f2d9982fa8c | 139 | } |
hudakz | 1:1f2d9982fa8c | 140 | |
hudakz | 1:1f2d9982fa8c | 141 | // read from peripheral without the read barrier |
hudakz | 1:1f2d9982fa8c | 142 | uint32_t bcm2835_peri_read_nb(volatile uint32_t* paddr) |
hudakz | 1:1f2d9982fa8c | 143 | { |
hudakz | 1:1f2d9982fa8c | 144 | return *paddr; |
hudakz | 1:1f2d9982fa8c | 145 | } |
hudakz | 1:1f2d9982fa8c | 146 | |
hudakz | 1:1f2d9982fa8c | 147 | // safe write to peripheral |
hudakz | 1:1f2d9982fa8c | 148 | void bcm2835_peri_write(volatile uint32_t* paddr, uint32_t value) |
hudakz | 1:1f2d9982fa8c | 149 | { |
hudakz | 1:1f2d9982fa8c | 150 | *paddr = value; |
hudakz | 1:1f2d9982fa8c | 151 | *paddr = value; |
hudakz | 1:1f2d9982fa8c | 152 | } |
hudakz | 1:1f2d9982fa8c | 153 | |
hudakz | 1:1f2d9982fa8c | 154 | // write to peripheral without the write barrier |
hudakz | 1:1f2d9982fa8c | 155 | void bcm2835_peri_write_nb(volatile uint32_t* paddr, uint32_t value) |
hudakz | 1:1f2d9982fa8c | 156 | { |
hudakz | 1:1f2d9982fa8c | 157 | *paddr = value; |
hudakz | 1:1f2d9982fa8c | 158 | } |
hudakz | 1:1f2d9982fa8c | 159 | |
hudakz | 1:1f2d9982fa8c | 160 | // Set/clear only the bits in value covered by the mask |
hudakz | 1:1f2d9982fa8c | 161 | void bcm2835_peri_set_bits(volatile uint32_t* paddr, uint32_t value, uint32_t mask) |
hudakz | 1:1f2d9982fa8c | 162 | { |
hudakz | 1:1f2d9982fa8c | 163 | uint32_t v = bcm2835_peri_read(paddr); |
hudakz | 1:1f2d9982fa8c | 164 | v = (v &~mask) | (value & mask); |
hudakz | 1:1f2d9982fa8c | 165 | bcm2835_peri_write(paddr, v); |
hudakz | 1:1f2d9982fa8c | 166 | } |
hudakz | 1:1f2d9982fa8c | 167 | |
hudakz | 1:1f2d9982fa8c | 168 | /** |
hudakz | 1:1f2d9982fa8c | 169 | * @brief |
hudakz | 1:1f2d9982fa8c | 170 | * @note |
hudakz | 1:1f2d9982fa8c | 171 | * @param |
hudakz | 1:1f2d9982fa8c | 172 | * @retval |
hudakz | 1:1f2d9982fa8c | 173 | */ |
hudakz | 1:1f2d9982fa8c | 174 | int getBoardRev() |
hudakz | 1:1f2d9982fa8c | 175 | { |
hudakz | 1:1f2d9982fa8c | 176 | FILE* cpu_info; |
hudakz | 1:1f2d9982fa8c | 177 | char line[120]; |
hudakz | 1:1f2d9982fa8c | 178 | char* c, finalChar; |
hudakz | 1:1f2d9982fa8c | 179 | //static int rev = 0; |
hudakz | 1:1f2d9982fa8c | 180 | |
hudakz | 1:1f2d9982fa8c | 181 | if (REV != 0) |
hudakz | 1:1f2d9982fa8c | 182 | return REV; |
hudakz | 1:1f2d9982fa8c | 183 | |
hudakz | 1:1f2d9982fa8c | 184 | if ((cpu_info = fopen("/proc/cpuinfo", "r")) == NULL) { |
hudakz | 1:1f2d9982fa8c | 185 | fprintf(stderr, "Unable to open /proc/cpuinfo. Cannot determine board reivision.\n"); |
hudakz | 1:1f2d9982fa8c | 186 | exit(1); |
hudakz | 1:1f2d9982fa8c | 187 | } |
hudakz | 1:1f2d9982fa8c | 188 | |
hudakz | 1:1f2d9982fa8c | 189 | while (fgets(line, 120, cpu_info) != NULL) { |
hudakz | 1:1f2d9982fa8c | 190 | if (strncmp(line, "Revision", 8) == 0) |
hudakz | 1:1f2d9982fa8c | 191 | break; |
hudakz | 1:1f2d9982fa8c | 192 | } |
hudakz | 1:1f2d9982fa8c | 193 | |
hudakz | 1:1f2d9982fa8c | 194 | fclose(cpu_info); |
hudakz | 1:1f2d9982fa8c | 195 | |
hudakz | 1:1f2d9982fa8c | 196 | if (line == NULL) { |
hudakz | 1:1f2d9982fa8c | 197 | fprintf(stderr, "Unable to determine board revision from /proc/cpuinfo.\n"); |
hudakz | 1:1f2d9982fa8c | 198 | exit(1); |
hudakz | 1:1f2d9982fa8c | 199 | } |
hudakz | 1:1f2d9982fa8c | 200 | |
hudakz | 1:1f2d9982fa8c | 201 | for (c = line; *c; ++c) |
hudakz | 1:1f2d9982fa8c | 202 | if (isdigit(*c)) |
hudakz | 1:1f2d9982fa8c | 203 | break; |
hudakz | 1:1f2d9982fa8c | 204 | |
hudakz | 1:1f2d9982fa8c | 205 | if (!isdigit(*c)) { |
hudakz | 1:1f2d9982fa8c | 206 | fprintf(stderr, "Unable to determine board revision from /proc/cpuinfo\n"); |
hudakz | 1:1f2d9982fa8c | 207 | fprintf(stderr, " (Info not found in: %s\n", line); |
hudakz | 1:1f2d9982fa8c | 208 | exit(1); |
hudakz | 1:1f2d9982fa8c | 209 | } |
hudakz | 1:1f2d9982fa8c | 210 | |
hudakz | 1:1f2d9982fa8c | 211 | finalChar = c[strlen(c) - 2]; |
hudakz | 1:1f2d9982fa8c | 212 | |
hudakz | 1:1f2d9982fa8c | 213 | if ((finalChar == '2') || (finalChar == '3')) { |
hudakz | 1:1f2d9982fa8c | 214 | bsc0 = bsc_rev1; |
hudakz | 1:1f2d9982fa8c | 215 | return 1; |
hudakz | 1:1f2d9982fa8c | 216 | } |
hudakz | 1:1f2d9982fa8c | 217 | else { |
hudakz | 1:1f2d9982fa8c | 218 | bsc0 = bsc_rev2; |
hudakz | 1:1f2d9982fa8c | 219 | return 2; |
hudakz | 1:1f2d9982fa8c | 220 | } |
hudakz | 1:1f2d9982fa8c | 221 | } |
hudakz | 1:1f2d9982fa8c | 222 | |
hudakz | 1:1f2d9982fa8c | 223 | /** |
hudakz | 1:1f2d9982fa8c | 224 | * @brief |
hudakz | 1:1f2d9982fa8c | 225 | * @note |
hudakz | 1:1f2d9982fa8c | 226 | * @param |
hudakz | 1:1f2d9982fa8c | 227 | * @retval |
hudakz | 1:1f2d9982fa8c | 228 | */ |
hudakz | 1:1f2d9982fa8c | 229 | void attachInterrupt(PinName p, void (*f) (), Digivalue m) |
hudakz | 1:1f2d9982fa8c | 230 | { |
hudakz | 1:1f2d9982fa8c | 231 | int GPIOPin = p; |
hudakz | 1:1f2d9982fa8c | 232 | pthread_t* threadId = getThreadIdFromPin(p); |
hudakz | 1:1f2d9982fa8c | 233 | struct ThreadArg* threadArgs = (ThreadArg*)malloc(sizeof(ThreadArg)); |
hudakz | 1:1f2d9982fa8c | 234 | threadArgs->func = f; |
hudakz | 1:1f2d9982fa8c | 235 | threadArgs->pin = GPIOPin; |
hudakz | 1:1f2d9982fa8c | 236 | |
hudakz | 1:1f2d9982fa8c | 237 | //Export pin for interrupt |
hudakz | 1:1f2d9982fa8c | 238 | FILE* fp = fopen("/sys/class/gpio/export", "w"); |
hudakz | 1:1f2d9982fa8c | 239 | if (fp == NULL) { |
hudakz | 1:1f2d9982fa8c | 240 | fprintf(stderr, "Unable to export pin %d for interrupt\n", p); |
hudakz | 1:1f2d9982fa8c | 241 | exit(1); |
hudakz | 1:1f2d9982fa8c | 242 | } |
hudakz | 1:1f2d9982fa8c | 243 | else { |
hudakz | 1:1f2d9982fa8c | 244 | fprintf(fp, "%d", GPIOPin); |
hudakz | 1:1f2d9982fa8c | 245 | } |
hudakz | 1:1f2d9982fa8c | 246 | |
hudakz | 1:1f2d9982fa8c | 247 | fclose(fp); |
hudakz | 1:1f2d9982fa8c | 248 | |
hudakz | 1:1f2d9982fa8c | 249 | //The system to create the file /sys/class/gpio/gpio<GPIO number> |
hudakz | 1:1f2d9982fa8c | 250 | //So we wait a bit |
hudakz | 1:1f2d9982fa8c | 251 | ThisThread::sleep_for_ms(1); |
hudakz | 1:1f2d9982fa8c | 252 | |
hudakz | 1:1f2d9982fa8c | 253 | char* interruptFile = NULL; |
hudakz | 1:1f2d9982fa8c | 254 | asprintf(&interruptFile, "/sys/class/gpio/gpio%d/edge", GPIOPin); |
hudakz | 1:1f2d9982fa8c | 255 | |
hudakz | 1:1f2d9982fa8c | 256 | //Set detection condition |
hudakz | 1:1f2d9982fa8c | 257 | fp = fopen(interruptFile, "w"); |
hudakz | 1:1f2d9982fa8c | 258 | if (fp == NULL) { |
hudakz | 1:1f2d9982fa8c | 259 | fprintf(stderr, "Unable to set detection type on pin %d\n", p); |
hudakz | 1:1f2d9982fa8c | 260 | exit(1); |
hudakz | 1:1f2d9982fa8c | 261 | } |
hudakz | 1:1f2d9982fa8c | 262 | else { |
hudakz | 1:1f2d9982fa8c | 263 | switch (m) { |
hudakz | 1:1f2d9982fa8c | 264 | case RISING: |
hudakz | 1:1f2d9982fa8c | 265 | fprintf(fp, "rising"); |
hudakz | 1:1f2d9982fa8c | 266 | break; |
hudakz | 1:1f2d9982fa8c | 267 | |
hudakz | 1:1f2d9982fa8c | 268 | case FALLING: |
hudakz | 1:1f2d9982fa8c | 269 | fprintf(fp, "falling"); |
hudakz | 1:1f2d9982fa8c | 270 | break; |
hudakz | 1:1f2d9982fa8c | 271 | |
hudakz | 1:1f2d9982fa8c | 272 | default: |
hudakz | 1:1f2d9982fa8c | 273 | fprintf(fp, "both"); |
hudakz | 1:1f2d9982fa8c | 274 | break; |
hudakz | 1:1f2d9982fa8c | 275 | } |
hudakz | 1:1f2d9982fa8c | 276 | } |
hudakz | 1:1f2d9982fa8c | 277 | |
hudakz | 1:1f2d9982fa8c | 278 | fclose(fp); |
hudakz | 1:1f2d9982fa8c | 279 | |
hudakz | 1:1f2d9982fa8c | 280 | if (*threadId == 0) { |
hudakz | 1:1f2d9982fa8c | 281 | |
hudakz | 1:1f2d9982fa8c | 282 | //Create a thread passing the pin and function |
hudakz | 1:1f2d9982fa8c | 283 | pthread_create(threadId, NULL, threadFunction, (void*)threadArgs); |
hudakz | 1:1f2d9982fa8c | 284 | } |
hudakz | 1:1f2d9982fa8c | 285 | else { |
hudakz | 1:1f2d9982fa8c | 286 | |
hudakz | 1:1f2d9982fa8c | 287 | //First cancel the existing thread for that pin |
hudakz | 1:1f2d9982fa8c | 288 | pthread_cancel(*threadId); |
hudakz | 1:1f2d9982fa8c | 289 | |
hudakz | 1:1f2d9982fa8c | 290 | //Create a thread passing the pin, function and mode |
hudakz | 1:1f2d9982fa8c | 291 | pthread_create(threadId, NULL, threadFunction, (void*)threadArgs); |
hudakz | 1:1f2d9982fa8c | 292 | } |
hudakz | 1:1f2d9982fa8c | 293 | } |
hudakz | 1:1f2d9982fa8c | 294 | |
hudakz | 1:1f2d9982fa8c | 295 | /** |
hudakz | 1:1f2d9982fa8c | 296 | * @brief |
hudakz | 1:1f2d9982fa8c | 297 | * @note |
hudakz | 1:1f2d9982fa8c | 298 | * @param |
hudakz | 1:1f2d9982fa8c | 299 | * @retval |
hudakz | 1:1f2d9982fa8c | 300 | */ |
hudakz | 1:1f2d9982fa8c | 301 | void detachInterrupt(PinName p) |
hudakz | 1:1f2d9982fa8c | 302 | { |
hudakz | 1:1f2d9982fa8c | 303 | int GPIOPin = p; |
hudakz | 1:1f2d9982fa8c | 304 | |
hudakz | 1:1f2d9982fa8c | 305 | FILE* fp = fopen("/sys/class/gpio/unexport", "w"); |
hudakz | 1:1f2d9982fa8c | 306 | if (fp == NULL) { |
hudakz | 1:1f2d9982fa8c | 307 | fprintf(stderr, "Unable to unexport pin %d for interrupt\n", p); |
hudakz | 1:1f2d9982fa8c | 308 | exit(1); |
hudakz | 1:1f2d9982fa8c | 309 | } |
hudakz | 1:1f2d9982fa8c | 310 | else { |
hudakz | 1:1f2d9982fa8c | 311 | fprintf(fp, "%d", GPIOPin); |
hudakz | 1:1f2d9982fa8c | 312 | } |
hudakz | 1:1f2d9982fa8c | 313 | |
hudakz | 1:1f2d9982fa8c | 314 | fclose(fp); |
hudakz | 1:1f2d9982fa8c | 315 | |
hudakz | 1:1f2d9982fa8c | 316 | pthread_t* threadId = getThreadIdFromPin(p); |
hudakz | 1:1f2d9982fa8c | 317 | pthread_cancel(*threadId); |
hudakz | 1:1f2d9982fa8c | 318 | } |
hudakz | 1:1f2d9982fa8c | 319 | |
hudakz | 1:1f2d9982fa8c | 320 | Peripheral peripheral = Peripheral(); |
hudakz | 1:1f2d9982fa8c | 321 | |
hudakz | 1:1f2d9982fa8c | 322 |