*/
#pragma once
-/** @file
- *
+/**
+ * @file
* @brief Analog input/output
*
* AIO is the anlog input & output interface to libmaa. It is used to read or
*/
typedef struct _aio* maa_aio_context;
-/** Initialise an Analog input device, connected to the specified pin
- *
- * @param aio_channel channel number to read ADC inputs
+/**
+ * Initialise an Analog input device, connected to the specified pin
*
- * @returns pointer to maa_aio_context structure after initialisation of Analog
- * input pin successfully, else returns null.
+ * @param pin Channel number to read ADC inputs
+ * @returns aio context or NULL
*/
-maa_aio_context maa_aio_init(unsigned int aio_channel);
+maa_aio_context maa_aio_init(unsigned int pin);
-/** Read the input voltage, represented as an unsigned short in the range [0x0,
- * 0xFFFF]
- *
- * @param dev - pointer to maa_aio_context structure initialised by
- * maa_aio_init()
+/**
+ * Read the input voltage
*
- * @returns 16-bit unsigned integer representing the current input voltage,
- * normalised to a 16-bit value
+ * @param dev The AIO context
+ * @returns The current input voltage, normalised to a 16-bit value
*/
uint16_t maa_aio_read(maa_aio_context dev);
-/** Close the analog input context
- * - Will free the memory for the context.
- *
- * @param dev - pointer to maa_aio_context structure initialised by
- * maa_aio_init()
+/**
+ * Close the analog input context, this will free the memory for the context
*
- * @return maa_result_t - result type.
+ * @param dev The AIO context
+ * @return Result of operation
*/
maa_result_t maa_aio_close(maa_aio_context dev);
#pragma once
-/** @file
- *
- * This file defines the aio C++ interface for libmaa
- *
- */
-
#include "aio.h"
namespace maa {
+/**
+ * @brief C++ API to Analog IO
+ *
+ * This file defines the aio C++ interface for libmaa
+ *
+ * @snippet examples/c++/AioA0.cpp Interesting
+ */
class Aio {
public:
+ /**
+ * Aio Constructor, takes a pin number which will map directly to the
+ * board number
+ *
+ * @param pin channel number to read ADC inputs
+ */
Aio(unsigned int pin) {
m_aio = maa_aio_init(pin);
}
+ /**
+ * Aio destructor
+ */
~Aio() {
maa_aio_close(m_aio);
}
+ /**
+ * Read a value from the AIO pin. Note this value can never be outside
+ * of the bounds of an unsigned short
+ *
+ * @returns The current input voltage, normalised to a 16-bit value
+ */
int read() {
- // Use basic types to make swig code generation simpler
- return (int) maa_aio_read(m_aio);
+ // Use basic types to make swig code generation simpler
+ return (int) maa_aio_read(m_aio);
}
private:
maa_aio_context m_aio;
#pragma once
-/** @file
- *
+/**
+ * @file
* @brief General Purpose IO
*
- * GPIO is the General Purpose IO interface to libmaa. It's features depends on
+ * Gpio is the General Purpose IO interface to libmaa. It's features depends on
* the board type used, it can use gpiolibs (exported via a kernel module
* through sysfs), or memory mapped IO via a /dev/uio device or /dev/mem
* depending again on the board configuratio, or memory mapped IO via a
- * /dev/uio device or /dev/mem depending again on the board configuration.
+ * /dev/uio device or /dev/mem depending again on the board configuration
*
* @snippet gpio_read6.c Interesting
*/
#include <pthread.h>
#include "maa.h"
-/**
- * A strucutre representing a gpio pin.
- */
/**
* Opaque pointer definition to the internal struct _gpio
typedef struct _gpio* maa_gpio_context;
/**
- * GPIO Output modes
+ * Gpio Output modes
*/
typedef enum {
MAA_GPIO_STRONG = 0, /**< Default. Strong high and low */
} gpio_mode_t;
/**
- * GPIO Direction options.
+ * Gpio Direction options
*/
typedef enum {
MAA_GPIO_OUT = 0, /**< Output. A Mode can also be set */
- MAA_GPIO_IN = 1 /**< Input. */
+ MAA_GPIO_IN = 1 /**< Input */
} gpio_dir_t;
+/**
+ * Gpio Edge types for interupts
+ */
typedef enum {
- MAA_GPIO_EDGE_NONE = 0, /**< No interrupt on GPIO */
+ MAA_GPIO_EDGE_NONE = 0, /**< No interrupt on Gpio */
MAA_GPIO_EDGE_BOTH = 1, /**< Interupt on rising & falling */
MAA_GPIO_EDGE_RISING = 2, /**< Interupt on rising only */
MAA_GPIO_EDGE_FALLING = 3 /**< Interupt on falling only */
} gpio_edge_t;
-/** Initialise gpio_context, based on board number
- *
- * @param pin pin number read from the board, i.e IO3 is 3.
+/**
+ * Initialise gpio_context, based on board number
*
- * @returns maa_gpio_context based on the IO pin
+ * @param pin Pin number read from the board, i.e IO3 is 3
+ * @returns gpio context or NULL
*/
maa_gpio_context maa_gpio_init(int pin);
-/** Initialise gpio context without any mapping to a pin.
- * - For more expert users
+/**
+ * Initialise gpio context without any mapping to a pin
*
* @param gpiopin gpio pin as listed in SYSFS
- *
- * @return gpio context
+ * @return gpio context or NULL
*/
maa_gpio_context maa_gpio_init_raw(int gpiopin);
-/** Set the edge mode on the gpio
+/**
+ * Set the edge mode on the gpio
*
- * @param dev The GPIO context
+ * @param dev The Gpio context
* @param mode The edge mode to set the gpio into
- *
- * @return maa result type.
+ * @return Result of operation
*/
maa_result_t maa_gpio_edge_mode(maa_gpio_context dev, gpio_edge_t mode);
-/** Set an interupt on pin
+/**
+ * Set an interupt on pin
*
- * @param dev The GPIO context
- * @param mode The edge mode to set the gpio into
+ * @param dev The Gpio context
+ * @param edge The edge mode to set the gpio into
* @param fptr Function pointer to function to be called when interupt is
* triggered
- *
- * @return maa result type.
+ * @return Result of operation
*/
-maa_result_t
-maa_gpio_isr(maa_gpio_context dev, gpio_edge_t edge, void (*fptr)(void));
+maa_result_t maa_gpio_isr(maa_gpio_context dev, gpio_edge_t edge, void (*fptr)(void));
-/** Stop the current interupt watcher on this GPIO, and set the GPIO edge mode
- * to MAA_GPIO_EDGE_NONE.
- *
- * @param dev The GPIO context.
+/**
+ * Stop the current interupt watcher on this Gpio, and set the Gpio edge mode
+ * to MAA_GPIO_EDGE_NONE
*
- * @return maa result type.
+ * @param dev The Gpio context
+ * @return Result of operation
*/
-maa_result_t
-maa_gpio_isr_exit(maa_gpio_context dev);
+maa_result_t maa_gpio_isr_exit(maa_gpio_context dev);
-/** Set GPIO Output Mode,
- *
- * @param dev The GPIO context
- * @param mode The GPIO Output Mode.
+/**
+ * Set Gpio Output Mode,
*
- * @return maa result type.
+ * @param dev The Gpio context
+ * @param mode The Gpio Output Mode
+ * @return Result of operation
*/
maa_result_t maa_gpio_mode(maa_gpio_context dev, gpio_mode_t mode);
-/** Set GPIO direction
- *
- * @param dev The GPIO context.
- * @param dir The direction of the GPIO.
+/**
+ * Set Gpio direction
*
- * @return maa result type.
+ * @param dev The Gpio context
+ * @param dir The direction of the Gpio
+ * @return Result of operation
*/
maa_result_t maa_gpio_dir(maa_gpio_context dev, gpio_dir_t dir);
-/** Close the GPIO context
- * - Will free the memory for the context and unexport the GPIO
- *
- * @param dev the GPIO context
+/**
+ * Close the Gpio context
+ * - Will free the memory for the context and unexport the Gpio
*
- * @return maa result type.
+ * @param dev The Gpio context
+ * @return Result of operation
*/
maa_result_t maa_gpio_close(maa_gpio_context dev);
-/** Read the GPIO value.
- *
- * @param dev The GPIO context.
+/**
+ * Read the Gpio value.
*
- * @return the integer value of the GPIO
+ * @param dev The Gpio context
+ * @return Result of operation
*/
int maa_gpio_read(maa_gpio_context dev);
-/** Write to the GPIO Value.
- *
- * @param dev The GPIO context.
- * @param value Integer value to write.
+/**
+ * Write to the Gpio Value.
*
- * @return maa result type
+ * @param dev The Gpio context
+ * @param value Integer value to write
+ * @return Result of operation
*/
maa_result_t maa_gpio_write(maa_gpio_context dev, int value);
-/** Change ownership of the context.
+/**
+ * Change ownership of the context.
*
- * @param dev gpio context
- * @param owner does this context own the pin.
+ * @param dev The Gpio context
+ * @param owner Does this context own the pin
+ * @return Result of operation
*/
maa_result_t maa_gpio_owner(maa_gpio_context dev, maa_boolean_t owner);
-/** Enable using memory mapped io instead of sysfs
+/**
+ * Enable using memory mapped io instead of sysfs
*
- * @param dev gpio context
- * @param mmap use mmap instead of sysfs
- * @return maa_result type
+ * @param dev The Gpio context
+ * @param mmap Use mmap instead of sysfs
+ * @return Result of operation
*/
maa_result_t maa_gpio_use_mmaped(maa_gpio_context dev, maa_boolean_t mmap);
#pragma once
-/** @file
- *
- * This file defines the gpio C++ interface for libmaa
- *
- */
-
#include "gpio.h"
namespace maa {
// These enums must match the enums in gpio.h
+
+/**
+ * Gpio Output modes
+ */
typedef enum {
- MODE_STRONG = 0,
- MODE_PULLUP = 1,
- MODE_PULLDOWN = 2,
- MODE_HIZ = 3
+ MODE_STRONG = 0, /**< No interrupt on Gpio */
+ MODE_PULLUP = 1, /**< Interupt on rising & falling */
+ MODE_PULLDOWN = 2, /**< Interupt on rising only */
+ MODE_HIZ = 3 /**< Interupt on falling only */
} Mode;
+/**
+ * Gpio Direction options
+ */
typedef enum {
- DIR_OUT = 0,
- DIR_IN = 1
+ DIR_OUT = 0, /**< Output. A Mode can also be set */
+ DIR_IN = 1 /**< Input */
} Dir;
+/**
+ * Gpio Edge types for interupts
+ */
typedef enum {
- EDGE_NONE = 0,
- EDGE_BOTH = 1,
- EDGE_RISING = 2,
- EDGE_FALLING = 3
+ EDGE_NONE = 0, /**< No interrupt on Gpio */
+ EDGE_BOTH = 1, /**< Interupt on rising & falling */
+ EDGE_RISING = 2, /**< Interupt on rising only */
+ EDGE_FALLING = 3 /**< Interupt on falling only */
} Edge;
+/**
+ * @brief C++ API to General Purpose IO
+ *
+ * This file defines the gpio C++ interface for libmaa
+ *
+ * @snippet Blink-IO.cpp Interesting
+ */
class Gpio {
public:
+ /**
+ * Instanciates a Gpio object
+ *
+ * @param pin pin number to use
+ * @param owner (optional) Set pin owner, default behaviour is to 'own'
+ * the pin if we exported it. This means we will close it on destruct.
+ * Otherwise it will get left open. This is only valid in sysfs use
+ * cases
+ * @param raw (optional) Raw pins will use gpiolibs pin numbering from
+ * the kernel module. Note that you will not get any muxers set up for
+ * you so this may not always work as expected.
+ */
Gpio(int pin, bool owner=true, bool raw=false) {
if (raw)
m_gpio = maa_gpio_init_raw(pin);
if (!owner)
maa_gpio_owner(m_gpio, 0);
}
+ /**
+ * Gpio object destructor, this will only unexport the gpio if we where
+ * the owner
+ */
~Gpio() {
- maa_result_t x = maa_gpio_close(m_gpio);
+ maa_gpio_close(m_gpio);
}
+ /**
+ * Set the edge mode for ISR
+ *
+ * @param mode The edge mode to set
+ * @return Result of operation
+ */
maa_result_t edge(Edge mode) {
return maa_gpio_edge_mode(m_gpio, (gpio_edge_t) mode);
}
return maa_gpio_isr(m_gpio, (gpio_edge_t) mode, (void (*) ()) pyfunc);
}
#else
+ /**
+ * Sets a callback to be called when pin value changes
+ *
+ * @return Result of operation
+ */
maa_result_t isr(Edge mode, void (*fptr)(void)) {
return maa_gpio_isr(m_gpio, (gpio_edge_t) mode, fptr);
}
#endif
+ /**
+ * Exits callback - this call will not kill the isr thread imediatlu
+ * but only when it is out of it's critical section
+ *
+ * @return Result of operation
+ */
maa_result_t isr_exit() {
return maa_gpio_isr_exit(m_gpio);
}
+ /**
+ * Change Gpio mode
+ *
+ * @param mode The mode to change the gpio into
+ * @return Result of operation
+ */
maa_result_t mode(Mode mode) {
return maa_gpio_mode(m_gpio, (gpio_mode_t) mode);
}
+ /**
+ * Change Gpio direction
+ *
+ * @param dir The direction to change the gpio into
+ * @return Result of operation
+ */
maa_result_t dir(Dir dir) {
return maa_gpio_dir(m_gpio, (gpio_dir_t) dir);
}
+ /**
+ * Read value from Gpio
+ *
+ * @return Gpio value
+ */
int read() {
return maa_gpio_read(m_gpio);
}
- int write(int value) {
+ /**
+ * Write value to Gpio
+ *
+ * @param value Value to write to Gpio
+ * @return Result of operation
+ */
+ maa_result_t write(int value) {
return maa_gpio_write(m_gpio, value);
}
private:
#pragma once
-/** @file
- *
+/**
+ * @file
* @brief Inter-Integrated Circuit
*
* This file defines the i2c/Iic interface for libmaa. A context represents a
*/
typedef struct _i2c* maa_i2c_context;
-/** Initialise i2c context, using board defintions
+/**
+ * Initialise i2c context, using board defintions
*
* @param bus i2c bus to use
- * @return maa_i2c_context i2c context ready for other calls.
+ * @return i2c context or NULL
*/
maa_i2c_context maa_i2c_init(int bus);
-/** Initialise i2c context, passing in spi bus to use.
+/**
+ * Initialise i2c context, passing in spi bus to use.
*
* @param bus The i2c bus to use i.e. /dev/i2c-2 would be "2"
- * @return maa_i2c_context i2c context ready for other calls.
+ * @return i2c context or NULL
*/
maa_i2c_context maa_i2c_init_raw(unsigned int bus);
-/** Sets the frequency of the i2c context
- *
- * @param dev the i2c context
- * @param hz The bus frequency in hertz
+/**
+ * Sets the frequency of the i2c context
*
- * @return maa_result_t the maa result.
+ * @param dev The i2c context
+ * @param hz The bus frequency in hertz
+ * @return Result of operation
*/
maa_result_t maa_i2c_frequency(maa_i2c_context dev, int hz);
-/** Read from an i2c context
- *
- * @param dev the i2c context
- * @param data pointer to the byte array to read data in to
- * @param length max number of bytes to read
+/**
+ * Read from an i2c context
*
- * @return maa_result_t the maa result.
+ * @param dev The i2c context
+ * @param data pointer to the byte array to read data in to
+ * @param length max number of bytes to read
+ * @return Result of operation
*/
maa_result_t maa_i2c_read(maa_i2c_context dev, uint8_t *data, int length);
-/** Read a single byte from the i2c context
- *
- * @param dev the i2c context
+/**
+ * Read a single byte from the i2c context
*
- * @return byte the result of the read or -1 if failed.
+ * @param dev The i2c context
+ * @return The result of the read or -1 if failed
*/
uint8_t maa_i2c_read_byte(maa_i2c_context dev);
-/** Write to an i2c context
- *
- * @param dev the i2c context
- * @param data pointer to the byte array to be written
- * @param length the number of bytes to transmit
+/**
+ * Write to an i2c context
*
- * @return maa_result_t the maa result.
+ * @param dev The i2c context
+ * @param data pointer to the byte array to be written
+ * @param length the number of bytes to transmit
+ * @return Result of operation
*/
maa_result_t maa_i2c_write(maa_i2c_context dev, const uint8_t *data, int length);
-/** Write a single byte to an i2c context
- *
- * @param dev the i2c context
- * @data the byte to write
+/**
+ * Write a single byte to an i2c context
*
- * @return maa_result_t the maa result.
+ * @param dev The i2c context
+ * @param data The byte to write
+ * @return Result of operation
*/
maa_result_t maa_i2c_write_byte(maa_i2c_context dev, const uint8_t data);
-/** Sets the i2c context address.
- *
- * @param dev the i2c context
- * @param address The address to set for the slave (ignoring the least
- * signifcant bit). If set to 0, the slave will only respond to the
- * general call address.
+/**
+ * Sets the i2c context address.
*
- * @return maa_result_t the maa result.
+ * @param dev The i2c context
+ * @param address The address to set for the slave (ignoring the least
+ * signifcant bit). If set to 0, the slave will only respond to the
+ * general call address.
+ * @return Result of operation
*/
maa_result_t maa_i2c_address(maa_i2c_context dev, int address);
-/** De-inits an maa_i2c_context device
- *
- * @param dev the i2c context
+/**
+ * De-inits an maa_i2c_context device
*
- * @return maa_result_t the maa result.
+ * @param dev The i2c context
+ * @return Result of operation
*/
maa_result_t maa_i2c_stop(maa_i2c_context dev);
#pragma once
-/** @file
- *
- * This file defines the i2c C++ interface for libmaa
- *
- */
-
#include "i2c.h"
namespace maa {
+/**
+ * @brief C++ API to Inter-Integrated Circuit
+ *
+ * This file defines the I2c C++ interface for libmaa
+ *
+ * @snippet I2c-compass.cpp Interesting
+ */
class I2c {
public:
+ /**
+ * Instantiates an i2c bus. Multiple instances of the same bus can
+ * exist and the bus is not guarranteed to be on the correct address
+ * before read/write.
+ *
+ * @param bus The i2c bus to use
+ * @param raw Whether to disable pinmapper for your board
+ */
I2c(int bus, bool raw=false) {
if (raw)
m_i2c = maa_i2c_init_raw(bus);
else
m_i2c = maa_i2c_init(bus);
}
+ /**
+ * Closes the I2c Bus used. This does not guarrantee the bus will not
+ * be usable by anyone else or communicates this disconnect to any
+ * slaves.
+ */
~I2c() {
maa_i2c_stop(m_i2c);
}
+ /**
+ * Sets the i2c Frequency for communication. Your board may not support
+ * the set frequency. Anyone can change this at any time and this will
+ * affect every slave on the bus
+ *
+ * @param hz Frequency to set the bus to in hz
+ * @return Result of operation
+ */
maa_result_t frequency(int hz) {
return maa_i2c_frequency(m_i2c, hz);
}
+ /**
+ * Set the slave to talk to, typically called before every read/write
+ * operation
+ *
+ * @param address Communicate to the i2c slave on this address
+ * @return Result of operation
+ */
maa_result_t address(int address) {
return maa_i2c_address(m_i2c, address);
}
+ /**
+ * Read exactly one byte from the bus
+ *
+ * @return Char read from the bus
+ */
unsigned char read_byte() {
return (unsigned char) maa_i2c_read_byte(m_i2c);
}
+ /**
+ * Read mutliple bytes from the bus
+ *
+ * @param data Buffer to write into
+ * @param length Size of read
+ * @return Result of operation
+ */
maa_result_t read(unsigned char * data, int length) {
return maa_i2c_read(m_i2c, data, length);
}
+ /**
+ * Write one byte to the bus
+ *
+ * @param data Buffer to send on the bus
+ * @param length Size of buffer to send
+ * @return Result of operation
+ */
maa_result_t write(const unsigned char* data, int length) {
return maa_i2c_write(m_i2c, data, length);
}
+ /**
+ * Write multiple bytes to the bus
+ *
+ * @param data The byte to send on the bus
+ * @return Result of operation
+ */
maa_result_t write_byte(const unsigned char data) {
return maa_i2c_write_byte(m_i2c, data);
}
/** @file
*
* This file defines the basic shared values for libmaa
- *
*/
#ifdef __cplusplus
/*@{*/
unsigned int pin; /**< Raw GPIO pin id */
unsigned int value; /**< Raw GPIO value */
+ /*@}*/
} maa_mux_t;
/**
/*@}*/
} maa_board_t;
-/** Initialise MAA
+/**
+ * Initialise MAA
*
* Detects running platform and attempts to use included pinmap
- * @return maa_result_t maa result
+ *
+ * @return Result of operation
*/
#ifndef SWIG
// this sets a compiler attribute (supported by GCC & clang) to have maa_init()
*
* The version returned may not be what is expected however it is a reliable
* number associated with the git tag closest to that version at build time
+ *
* @return version string from version.h
*/
const char* maa_get_version();
-/** Print a textual representation of the maa_result_t
+/**
+ * Print a textual representation of the maa_result_t
*
- * @param result the result to print,
+ * @param result the result to print
*/
void maa_result_print(maa_result_t result);
-/** Checks if a pin is able to use the passed in mode.
+/**
+ * Checks if a pin is able to use the passed in mode.
*
* @param pin Physical Pin to be checked.
* @param mode the mode to be tested.
#pragma once
-/** @file
- *
+/**
+ * @file
* @brief Pulse Width Modulation module
*
* PWM is the Pulse Width Modulation interface to libmaa. It allows the
typedef struct _pwm* maa_pwm_context;
-/** Initialise pwm_context, uses board mapping.
- *
- * @param pin The PWM PIN.
+/**
+ * Initialise pwm_context, uses board mapping
*
- * @return maa_pwm_context The returned initialised pwm context
+ * @param pin The PWM PIN
+ * @return pwm context or NULL
*/
maa_pwm_context maa_pwm_init(int pin);
-/** Initialise pwm_context, raw mode.
+/**
+ * Initialise pwm_context, raw mode
*
* @param chipid The chip inwhich the PWM is under in SYSFS
* @param pin The PWM PIN.
- *
- * @return maa_pwm_context The returned initialised pwm context
+ * @return pwm context or NULL
*/
maa_pwm_context maa_pwm_init_raw(int chipid, int pin);
-/** Set the ouput duty-cycle percentage, as a float
+/**
+ * Set the ouput duty-cycle percentage, as a float
*
- * @param pwm The PWM context to use.
+ * @param dev The Pwm context to use
* @param percentage A floating-point value representing percentage of output.
* The value should lie between 0.0f (representing on 0%) and 1.0f
- * Values above or below this range will be set at either 0.0f or 1.0f.
- *
- * @return maa_result_t the maa result.
+ * Values above or below this range will be set at either 0.0f or 1.0f
+ * @return Result of operation
*/
-maa_result_t maa_pwm_write(maa_pwm_context pwm, float percentage);
+maa_result_t maa_pwm_write(maa_pwm_context dev, float percentage);
-/** Read the ouput duty-cycle percentage, as a float
+/**
+ * Read the ouput duty-cycle percentage, as a float
*
- * @param pwm The PWM context to use.
+ * @param dev The Pwm context to use
* @return percentage A floating-point value representing percentage of output.
* The value should lie between 0.0f (representing on 0%) and 1.0f
- * Values above or below this range will be set at either 0.0f or 1.0f.
+ * Values above or below this range will be set at either 0.0f or 1.0f
*/
-float maa_pwm_read(maa_pwm_context pwm);
+float maa_pwm_read(maa_pwm_context dev);
-/** Set the PWM period as seconds represented in a float
- *
- * @param pwm The PWM context to use.
- * @param seconds Peroid represented as a float in seconds.
+/**
+ * Set the PWM period as seconds represented in a float
*
- * @return maa_result_t the maa result.
+ * @param dev The Pwm context to use
+ * @param seconds Period represented as a float in seconds
+ * @return Result of operation
*/
-maa_result_t maa_pwm_period(maa_pwm_context pwm, float seconds);
+maa_result_t maa_pwm_period(maa_pwm_context dev, float seconds);
-/** Set period, milli-oseconds.
- *
- * @param pwm The PWM context to use.
- * @param ms milli-seconds for period.
+/**
+ * Set period, milliseconds.
*
- * @return maa_result_t the maa result.
+ * @param dev The Pwm context to use
+ * @param ms Milliseconds for period
+ * @return Result of operation
*/
-maa_result_t maa_pwm_period_ms(maa_pwm_context pwm, int ms);
+maa_result_t maa_pwm_period_ms(maa_pwm_context dev, int ms);
-/** Set period, microseconds
+/**
+ * Set period, microseconds
*
- * @param pwm The PWM context to use.
- * @param ns microseconds as period.
- *
- * @return maa_result_t the maa result.
+ * @param dev The Pwm context to use
+ * @param us Microseconds as period
+ * @return Result of operation
*/
-maa_result_t maa_pwm_period_us(maa_pwm_context pwm, int us);
+maa_result_t maa_pwm_period_us(maa_pwm_context dev, int us);
-/** Set pulsewidth, As represnted by seconds in a (float).
+/**
+ * Set pulsewidth, As represnted by seconds in a (float)
*
- * @param pwm The PWM context to use.
+ * @param dev The Pwm context to use
* @param seconds The duration of a pulse
- *
- * @return maa_result_t the maa result.
+ * @return Result of operation
*/
-maa_result_t maa_pwm_pulsewidth(maa_pwm_context pwm, float seconds);
+maa_result_t maa_pwm_pulsewidth(maa_pwm_context dev, float seconds);
-/** Set pulsewidth, milliseconds
- *
- * @param pwm The PWM context to use.
- * @param ms milliseconds for pulsewidth.
+/**
+ * Set pulsewidth, milliseconds
*
- * @return maa_result_t the maa result.
+ * @param dev The Pwm context to use
+ * @param ms Milliseconds for pulsewidth
+ * @return Result of operation
*/
-maa_result_t maa_pwm_pulsewidth_ms(maa_pwm_context pwm, int ms);
+maa_result_t maa_pwm_pulsewidth_ms(maa_pwm_context dev, int ms);
-/** Set pulsewidth, microseconds.
+/**
+ * Set pulsewidth, microseconds
*
- * @param pwm The PWM context to use.
- * @param us microseconds for pulsewidth.
- *
- * @return maa_result_t the maa result.
+ * @param dev The Pwm context to use
+ * @param us Microseconds for pulsewidth
+ * @return Result of operation
*/
-maa_result_t maa_pwm_pulsewidth_us(maa_pwm_context pwm, int us);
+maa_result_t maa_pwm_pulsewidth_us(maa_pwm_context dev, int us);
-/** Set the enable status of the PWM pin. None zero will assume on with output being driven.
+/**
+ * Set the enable status of the PWM pin. None zero will assume on with output being driven.
* and 0 will disable the output.
*
- * @param pwm The PWM context to use.
- * @param enable enable status of pin
- *
- * @return maa_result_t the maa result.
+ * @param dev The pwm context to use
+ * @param enable Toggle status of pin
+ * @return Result of operation.
*/
-maa_result_t maa_pwm_enable(maa_pwm_context pwm, int enable);
+maa_result_t maa_pwm_enable(maa_pwm_context dev, int enable);
-/** Change ownership of context
+/**
+ * Change ownership of context
*
- * @param pwm the context
- * @param owner ownership , 1 to own
+ * @param dev the context
+ * @param owner Ownership boolean
+ * @return Result of operation
*/
-maa_result_t maa_pwm_owner(maa_pwm_context pwm, maa_boolean_t owner);
+maa_result_t maa_pwm_owner(maa_pwm_context dev, maa_boolean_t owner);
-/** Close and unexport the PWM pin.
- *
- * @param pwm The PWM context to use.
+/**
+ * Close and unexport the PWM pin
*
- * @return maa_result_t the maa result.
+ * @param dev The pwm context to use
+ * @return Result of operation
*/
-maa_result_t maa_pwm_close(maa_pwm_context pwm);
+maa_result_t maa_pwm_close(maa_pwm_context dev);
#ifdef __cplusplus
}
#pragma once
-/** @file
- *
- * This file defines the pwm C++ interface for libmaa
- *
- */
-
#include "pwm.h"
namespace maa {
+/**
+ * @brief C++ API to Pulse Width Modulation
+ *
+ * This file defines the PWM C++ interface for libmaa
+ *
+ * @snippet Pwm3-cycle.cpp Interesting
+ */
class Pwm {
public:
+ /**
+ * instanciates a PWM object on a pin
+ *
+ * @param pin the pin number used on your board
+ * @param chipid the pwmchip to use, use only in raw mode
+ * @param owner if you are the owner of the pin the destructor will
+ * unexport the pin from sysfs, default behaviour is you are the owner
+ * if the pinmapper exported it
+ */
Pwm(int pin, int chipid=-1, bool owner = true) {
if (chipid == -1)
m_pwm = maa_pwm_init(pin);
if (!owner)
maa_pwm_owner(m_pwm, 0);
}
+ /**
+ * Pwm destructor
+ */
~Pwm() {
maa_pwm_close(m_pwm);
}
+ /**
+ * Set the output duty-cycle percentage, as a float
+ *
+ * @param percentage A floating-point value representing percentage of
+ * output. The value should lie between 0.0f (representing on 0%) and
+ * 1.0f Values above or below this range will be set at either 0.0f or
+ * 1.0f
+ * @return Result of operation
+ */
maa_result_t write(float percentage) {
return maa_pwm_write(m_pwm, percentage);
}
+ /**
+ * Read the ouput duty-cycle percentage, as a float
+ *
+ * @return A floating-point value representing percentage of
+ * output. The value should lie between 0.0f (representing on 0%) and
+ * 1.0f Values above or below this range will be set at either 0.0f or
+ * 1.0f
+ */
float read() {
return maa_pwm_read(m_pwm);
}
+ /**
+ * Set the PWM period as seconds represented in a float
+ *
+ * @param period Period represented as a float in seconds
+ * @return Result of operation
+ */
maa_result_t period(float period) {
return maa_pwm_period(m_pwm, period);
}
+ /**
+ * Set period, milliseconds
+ *
+ * @param ms milliseconds for period
+ * @return Result of operation
+ */
maa_result_t period_ms(int ms) {
return maa_pwm_period_ms(m_pwm, ms);
}
+ /**
+ * Set period, microseconds
+ *
+ * @param us microseconds as period
+ * @return Result of operation
+ */
maa_result_t period_us(int us) {
return maa_pwm_period_us(m_pwm, us);
}
+ /**
+ * Set pulsewidth, As represnted by seconds in a (float)
+ *
+ * @param seconds The duration of a pulse
+ * @return Result of operation
+ */
maa_result_t pulsewidth(float seconds) {
return maa_pwm_pulsewidth(m_pwm, seconds);
}
+ /**
+ * Set pulsewidth, milliseconds
+ *
+ * @param ms milliseconds for pulsewidth
+ * @return Result of operation
+ */
maa_result_t pulsewidth_ms(int ms) {
return maa_pwm_pulsewidth_ms(m_pwm, ms);
}
+ /**
+ * The pulsewidth, microseconds
+ *
+ * @param us microseconds for pulsewidth
+ * @return Result of operation
+ */
maa_result_t pulsewidth_us(int us) {
return maa_pwm_pulsewidth_us(m_pwm, us);
}
+ /**
+ * Set the enable status of the PWM pin. None zero will assume on with
+ * output being driven and 0 will disable the output
+ *
+ * @param enable enable status of pin
+ * @return Result of operation
+ */
maa_result_t enable(bool enable) {
if (enable)
return maa_pwm_enable(m_pwm, 1);
#pragma once
-/** @file
- *
+/**
+ * @file
* @brief System Packet Interface
*
* This file defines the spi interface for libmaa
#include "maa.h"
+/**
+ * Opaque pointer definition to the internal struct _spi
+ */
typedef struct _spi* maa_spi_context;
-/** Initialise SPI_context, uses board mapping. Sets the muxes
+/**
+ * Initialise SPI_context, uses board mapping. Sets the muxes
*
- * @param bus to use, as listed in platform definition. Normally 0
- * @return maa_spi_context The returned initialised SPI context
+ * @param bus Bus to use, as listed in platform definition, normally 0
+ * @return Spi context or NULL
*/
maa_spi_context maa_spi_init(int bus);
-/** Set the SPI device mode. see spidev
- * 0-3.
- * @param spi the spi device context
- * @param mode the mode. See Linux spidev
+/**
+ * Set the SPI device mode. see spidev 0-3.
*
- * @return maa_spi_context The returned initialised SPI context
+ * @param dev The Spi context
+ * @param mode The SPI mode, See Linux spidev
+ * @return Spi context or NULL
*/
maa_result_t maa_spi_mode(maa_spi_context dev,unsigned short mode);
/** Set the SPI device operating clock frequency.
*
- * @param spi the spid device clock frequency
+ * @param dev the Spi context
* @param hz the frequency in hz
- *
* @return maa_spi_context The returned initialised SPI context
*/
maa_result_t maa_spi_frequency(maa_spi_context dev, int hz);
/** Write Single Byte to the SPI device.
*
- * @param spi the spid device clock frequency
- * @param data to send
- *
- * @return data received on the miso line.
+ * @param dev The Spi context
+ * @param data Data to send
+ * @return Data received on the miso line
*/
uint8_t maa_spi_write(maa_spi_context dev, uint8_t data);
/** Write Buffer of bytes to the SPI device.
*
- * @param spi the spid device clock frequency
+ * @param dev The Spi context
* @param data to send
* @param length elements within buffer, Max 4096
- *
- * @return data received on the miso line. Same length as passed in.
+ * @return Data received on the miso line, same length as passed in
*/
uint8_t* maa_spi_write_buf(maa_spi_context dev, uint8_t* data, int length);
/**
+ * Change the SPI lsb mode
*
- * @param dev spi context
- * @param lsb. Use least significant bit transmission. 0 for msbi
- *
- * @return maa result of operation
+ * @param dev The Spi context
+ * @param lsb Use least significant bit transmission. 0 for msbi
+ * @return Result of operation
*/
-maa_result_t
-maa_spi_lsbmode(maa_spi_context dev, maa_boolean_t lsb);
+maa_result_t maa_spi_lsbmode(maa_spi_context dev, maa_boolean_t lsb);
-/** Set bits per mode on transaction
- * Defaults at 8.
+/**
+ * Set bits per mode on transaction, defaults at 8
*
- * @param dev spi context
+ * @param dev The Spi context
* @param bits bits per word
- *
* @return Result of operation
*/
-maa_result_t
-maa_spi_bit_per_word(maa_spi_context dev, unsigned int bits);
+maa_result_t maa_spi_bit_per_word(maa_spi_context dev, unsigned int bits);
-/** De-inits an maa_spi_context device
- *
- * @param dev the spi context
+/**
+ * De-inits an maa_spi_context device
*
- * @return maa_result_t the maa result.
+ * @param dev The Spi context
+ * @return Result of operation
*/
maa_result_t maa_spi_stop(maa_spi_context dev);
#pragma once
-/** @file
- *
- * This file defines the spi C++ interface for libmaa
- */
-
#include "spi.h"
namespace maa {
+/**
+ * @brief C++ API to System Packet Interface
+ *
+ * This file defines the SPI C++ interface for libmaa
+ *
+ * @snippet Spi-pot.cpp Interesting
+ */
class Spi {
public:
+ /**
+ * Initialise SPI object using the board mapping to set muxes
+ *
+ * @param bus to use, as listed in the platform definition, normally 0
+ */
Spi(int bus) {
m_spi = maa_spi_init(bus);
}
+ /**
+ * Closes spi bus
+ */
~Spi() {
maa_spi_stop(m_spi);
}
+ /**
+ * Set the SPI device mode. see spidev0-3
+ *
+ * @param mode the mode. See Linux spidev doc
+ * @return Result of operation
+ */
maa_result_t mode(unsigned short mode) {
return maa_spi_mode(m_spi, mode);
}
+ /**
+ * Set the SPI device operating clock frequency
+ *
+ * @param hz the frequency to set in hz
+ * @return Result of operation
+ */
maa_result_t frequency(int hz) {
return maa_spi_frequency(m_spi, hz);
}
+ /**
+ * Write single byte to the SPI device
+ *
+ * @param data the byte to send
+ * @return data received on the miso line
+ */
unsigned char write(uint8_t data) {
return (unsigned char) maa_spi_write(m_spi, data);
}
+ /**
+ * Write buffer of bytes to SPI device
+ *
+ * @param data buffer to send
+ * @param length size of buffer to send
+ * @return char* data received on the miso line. Same length as passed in
+ */
unsigned char* write_buf(uint8_t* data, int length) {
return (unsigned char*) maa_spi_write_buf(m_spi, data, length);
}
- private:
- maa_spi_context m_spi;
-};
-
+ /**
+ * Change the SPI lsb mode
+ *
+ * @param lsb Use least significant bit transmission - 0 for msbi
+ * @return Result of operation
+ */
+ maa_result_t lsbmode(bool lsb) {
+ return maa_spi_lsbmode(m_spi, (maa_boolean_t) lsb);
+ }
+ /**
+ * Set bits per mode on transaction, default is 8
+ *
+ * @param bits bits per word
+ * @return Result of operation
+ */
+ maa_result_t bit_per_word(unsigned int bits) {
+ return maa_spi_bit_per_word(m_spi, bits);
+ }
+ private:
+ maa_spi_context m_spi;
+ };
}
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
+//! [Interesting]
#include "aio.hpp"
int main ()
return MAA_SUCCESS;
}
+//! [Interesting]
#include <unistd.h>
#include "gpio.hpp"
-
#define DEFAULT_IOPIN 8
static int iopin;
running = -1;
}
}
-
int main (int argc, char **argv)
{
if (argc < 2) {
} else {
iopin = strtol(argv[1], NULL, 10);
}
+
+ signal(SIGINT, sig_handler);
+
+//! [Interesting]
maa::Gpio* gpio = new maa::Gpio(iopin);
if (gpio == NULL) {
return MAA_ERROR_UNSPECIFIED;
if (response != MAA_SUCCESS)
maa_result_print((maa_result_t) MAA_SUCCESS);
- signal(SIGINT, sig_handler);
-
while (running == 0) {
response = gpio->write(1);
sleep(1);
}
delete gpio;
return response;
+//! [Interesting]
}
int main ()
{
+//! [Interesting]
maa::I2c* i2c;
i2c = new maa::I2c(0);
float direction = 0;
rx_tx_buf[0] = HMC5883L_CONF_REG_B;
rx_tx_buf[1] = GA_1_3_REG;
i2c->write(rx_tx_buf, 2);
-
+//! [Interesting]
signal(SIGINT, sig_handler);
while (running == 0) {
int main ()
{
+ signal(SIGINT, sig_handler);
+//! [Interesting]
maa::Pwm* pwm;
pwm = new maa::Pwm(3);
}
fprintf(stdout, "Cycling PWM on IO3 (pwm3) \n");
- signal(SIGINT, sig_handler);
-
float value = 0.0f;
while (running == 0) {
value = value + 0.01f;
}
}
delete pwm;
+//! [Interesting]
return MAA_SUCCESS;
}
int main ()
{
+ signal(SIGINT, sig_handler);
+
+//! [Interesting]
maa::Spi* spi;
spi = new maa::Spi(0);
- signal(SIGINT, sig_handler);
-
uint8_t data[] = {0x00, 100};
uint8_t *recv;
while (running == 0) {
}
delete spi;
+//! [Interesting]
return MAA_SUCCESS;
}
projects / contrib / mraa.git / commitdiff