/// <summary>
/// Reads the status of the specified pins.
/// </summary>
/// <param name="pins">The pins.</param>
/// <returns>
/// The pins status.
/// </returns>
public ProcessorPins Read(ProcessorPins pins)
{
var pinGroupAddress = this.gpioAddress + (int)(Interop.Bcm2835Gplev0 + (0U * 4));
var value = SafeReadUInt32(pinGroupAddress);
return((ProcessorPins)((uint)pins & value));
}
/// <summary>
/// Enumerates the specified pins.
/// </summary>
/// <param name="pins">The pins.</param>
/// <returns>The pins.</returns>
public static IEnumerable <ProcessorPin> Enumerate(this ProcessorPins pins)
{
return(((Enum.GetValues(typeof(ProcessorPin)) as ProcessorPin[]) ?? new ProcessorPin[0])
.Distinct()
.Where(p => (pins & (ProcessorPins)((uint)1 << (int)p)) != ProcessorPins.None)
.ToArray());
}
/// <summary>
/// Reads the status of the specified pins.
/// </summary>
/// <param name="pins">The pins.</param>
/// <returns>
/// The pins status.
/// </returns>
public ProcessorPins Read(ProcessorPins pins)
{
var pinGroupAddress = gpioAddress + (int)(Interop.BCM2835_GPLEV0 + (uint)0 * 4);
var value = SafeReadUInt32(pinGroupAddress);
return((ProcessorPins)((uint)pins & value));
}
/// <summary>
/// Reads the status of the specified pins.
/// </summary>
/// <param name="pins">The pins.</param>
/// <returns>
/// The pins status.
/// </returns>
public ProcessorPins Read(ProcessorPins pins)
{
return(pins.Enumerate()
.Select(p => this.Read(p) ? (ProcessorPins)(1U << (int)p) : ProcessorPins.None)
.Aggregate(
ProcessorPins.None,
(a, p) => a | p));
}
/// <summary>
/// Reads the status of the specified pins.
/// </summary>
/// <param name="pins">The pins.</param>
/// <returns>
/// The pins status.
/// </returns>
public ProcessorPins Read(ProcessorPins pins)
{
return pins.Enumerate()
.Select(p => Read(p) ? (ProcessorPins) ((uint) 1 << (int) p) : ProcessorPins.None)
.Aggregate(
ProcessorPins.None,
(a, p) => a | p);
}
public void enumerateTest()
{
var pins1 = new ProcessorPins();
pins1.Set(0, true);
var pins = pins1.Enumerate();
Assert.AreEqual(1, pins.Count());
Assert.AreEqual(0, pins.ToArray()[0]);
}
public void compareNETest()
{
var pins1 = new ProcessorPins();
var pins2 = new ProcessorPins();
pins2.Set(0, true);
Assert.AreNotEqual(pins1, pins2);
pins1.Set(1, true);
Assert.AreNotEqual(pins1, pins2);
}
private void Allocate(PinConfiguration configuration)
{
if (configuration.StatusChangedAction != null)
{
var handler = new EventHandler <PinStatusEventArgs>((sender, args) =>
{
if (args.Configuration == configuration)
{
configuration.StatusChangedAction(args.Enabled);
}
});
pinEvents[configuration.Pin] = handler;
PinStatusChanged += handler;
}
Driver.Allocate(configuration.Pin, configuration.Direction);
var outputConfiguration = configuration as OutputPinConfiguration;
if (outputConfiguration != null)
{
this[configuration.Pin] = outputConfiguration.Enabled;
}
else
{
var inputConfiguration = (InputPinConfiguration)configuration;
var pinValue = Driver.Read(inputConfiguration.Pin);
var pin = (ProcessorPins)((ulong)1 << (int)inputConfiguration.Pin);
inputPins = inputPins | pin;
Console.WriteLine(pin);
Console.WriteLine(inputPins);
pinRawValues = Driver.Read(inputPins);
if (inputConfiguration.Resistor != PinResistor.None && (Driver.GetCapabilities() & GpioConnectionDriverCapabilities.CanSetPinResistor) > 0)
{
Driver.SetPinResistor(inputConfiguration.Pin, inputConfiguration.Resistor);
}
var switchConfiguration = inputConfiguration as SwitchInputPinConfiguration;
if (switchConfiguration != null)
{
pinValues[inputConfiguration.Pin] = switchConfiguration.Enabled;
OnPinStatusChanged(new PinStatusEventArgs {
Configuration = inputConfiguration, Enabled = pinValues[inputConfiguration.Pin]
});
}
else
{
pinValues[inputConfiguration.Pin] = inputConfiguration.GetEffective(pinValue);
OnPinStatusChanged(new PinStatusEventArgs {
Configuration = inputConfiguration, Enabled = pinValues[inputConfiguration.Pin]
});
}
}
}
private void CheckInputPins()
{
var newPinValues = Driver.Read(inputPins);
var changes = newPinValues ^ pinRawValues;
if (changes == ProcessorPins.None)
{
return;
}
var notifiedConfigurations = new List <PinConfiguration>();
foreach (var np in changes.Enumerate())
{
var processorPin = (ProcessorPins)((uint)1 << (int)np);
var oldPinValue = (pinRawValues & processorPin) != ProcessorPins.None;
var newPinValue = (newPinValues & processorPin) != ProcessorPins.None;
if (oldPinValue != newPinValue)
{
var pin = (InputPinConfiguration)pinConfigurations[np];
var switchPin = pin as SwitchInputPinConfiguration;
if (switchPin != null)
{
if (pin.GetEffective(newPinValue))
{
pinValues[np] = !pinValues[np];
notifiedConfigurations.Add(pin);
}
}
else
{
pinValues[np] = pin.GetEffective(newPinValue);
notifiedConfigurations.Add(pin);
}
}
}
pinRawValues = newPinValues;
// Only fires events once all states have been modified.
foreach (var pin in notifiedConfigurations)
{
OnPinStatusChanged(new PinStatusEventArgs {
Configuration = pin, Enabled = pinValues[pin.Pin]
});
}
}
/// <summary>
/// Clears pin attached to this connection.
/// </summary>
public void Clear()
{
lock (pinConfigurations)
{
foreach (var pinConfiguration in pinConfigurations.Values)
{
Release(pinConfiguration);
}
pinConfigurations.Clear();
namedPins.Clear();
pinValues.Clear();
pinRawValues = ProcessorPins.None;
inputPins = ProcessorPins.None;
}
}
public void diffTest()
{
var pins1 = new ProcessorPins();
pins1.Set(2, true);
pins1.Set(7, true);
var pins2 = new ProcessorPins();
pins2.Set(2, true);
var pins = pins2.Diff(pins1);
Assert.AreEqual(pins1.Count, pins.Count);
Assert.AreEqual(true, pins.Get(7));
Assert.AreEqual(false, pins.Get(2));
}
/// <summary>
/// Reads the status of the specified pins.
/// </summary>
/// <param name="pins">The pins.</param>
/// <returns>
/// The pins status.
/// </returns>
public ProcessorPins Read(ProcessorPins pins)
{
IntPtr pinGroupAddress;
if ((ulong)pins <= ((ulong)1 << 31))
{
pinGroupAddress = gpioAddress + (int)(OP.BCM2835_GPLEV0);
uint value = SafeReadUInt32(pinGroupAddress);
//Console.WriteLine($"Reading GPLEV0 status pis:{(uint)pins} pinGroupAddress:{pinGroupAddress.ToString("X8")} value:{value} pin:{(ProcessorPins)((ulong)pins & value)}");
return((ProcessorPins)((uint)pins & value));
}
else
{
ulong pins2 = (ulong)pins >> 32;
pinGroupAddress = gpioAddress + (int)(OP.BCM2835_GPLEV1);
uint value = SafeReadUInt32(pinGroupAddress);
//Console.WriteLine($"Reading GPLEV1 status pis:{(ulong)pins} pinGroupAddress:{pinGroupAddress.ToString("X8")} value:{value} pin:{(ProcessorPins)(((ulong)pins2 & value) << 32)}");
return((ProcessorPins)(((ulong)pins2 & value) << 32));
}
}
/// <summary>
/// Removes the specified pin.
/// </summary>
/// <param name="configuration">The pin configuration.</param>
public void Remove(PinConfiguration configuration)
{
lock (pinConfigurations)
{
lock (timer)
{
if (IsOpened)
{
Release(configuration);
}
}
pinConfigurations.Remove(configuration.Pin);
if (!string.IsNullOrEmpty(configuration.Name))
{
namedPins.Remove(configuration.Name);
}
pinValues.Remove(configuration.Pin);
var pin = (ProcessorPins)((uint)1 << (int)configuration.Pin);
inputPins &= ~pin;
pinRawValues &= ~pin;
}
}
private void Allocate(PinConfiguration configuration)
{
if (configuration.StatusChangedAction != null)
{
var handler = new EventHandler<PinStatusEventArgs>((sender, args) =>
{
if (args.Configuration == configuration)
configuration.StatusChangedAction(args.Enabled);
});
pinEvents[configuration.Pin] = handler;
PinStatusChanged += handler;
}
Driver.Allocate(configuration.Pin, configuration.Direction);
var outputConfiguration = configuration as OutputPinConfiguration;
if (outputConfiguration != null)
this[configuration.Pin] = outputConfiguration.Enabled;
else
{
var inputConfiguration = (InputPinConfiguration) configuration;
var pinValue = Driver.Read(inputConfiguration.Pin);
var pin = (ProcessorPins)((uint)1 << (int)inputConfiguration.Pin);
inputPins = inputPins | pin;
pinRawValues = Driver.Read(inputPins);
if (inputConfiguration.Resistor != PinResistor.None)
Driver.SetPinResistor(inputConfiguration.Pin, inputConfiguration.Resistor);
var switchConfiguration = inputConfiguration as SwitchInputPinConfiguration;
if (switchConfiguration != null)
{
pinValues[inputConfiguration.Pin] = switchConfiguration.Enabled;
OnPinStatusChanged(new PinStatusEventArgs { Configuration = inputConfiguration, Enabled = pinValues[inputConfiguration.Pin] });
}
else
{
pinValues[inputConfiguration.Pin] = inputConfiguration.GetEffective(pinValue);
OnPinStatusChanged(new PinStatusEventArgs { Configuration = inputConfiguration, Enabled = pinValues[inputConfiguration.Pin] });
}
}
}
/// <summary>
/// Removes the specified pin.
/// </summary>
/// <param name="configuration">The pin configuration.</param>
public void Remove(PinConfiguration configuration)
{
lock (pinConfigurations)
{
lock (timer)
{
if (IsOpened)
Release(configuration);
}
pinConfigurations.Remove(configuration.Pin);
if (!string.IsNullOrEmpty(configuration.Name))
namedPins.Remove(configuration.Name);
pinValues.Remove(configuration.Pin);
var pin = (ProcessorPins)((uint)1 << (int)configuration.Pin);
inputPins = inputPins & ~pin;
pinRawValues = pinRawValues & ~pin;
}
}
/// <summary>
/// Clears pin attached to this connection.
/// </summary>
public void Clear()
{
lock (pinConfigurations)
{
foreach (var pinConfiguration in pinConfigurations.Values)
Release(pinConfiguration);
pinConfigurations.Clear();
namedPins.Clear();
pinValues.Clear();
pinRawValues = ProcessorPins.None;
inputPins = ProcessorPins.None;
}
}
public GpioHal(IList<Pin> pins, string driverName = "", bool useProcessorPinsNames = false, PinResistor inputResistor = PinResistor.PullUp)
{
_inUse = false;
_driver = GetDriver(driverName); // GPIO driver
_inputResistor = inputResistor; // Pullup/pulldown input resistors
_pins = new Dictionary<string, ProcessorPin>(); // Global pins
foreach (var pin in pins)
{
ProcessorPin procPin;
if (useProcessorPinsNames)
{
ConnectorPin userPin;
if (!Enum.TryParse(pin.Source, true, out userPin))
{
throw new HardwareException(string.Format("raspberry connector pin {0} not found", pin.Source));
}
procPin = userPin.ToProcessor();
}
else
{
if (!Enum.TryParse(pin.Source, true, out procPin))
{
throw new HardwareException(string.Format("raspberry processor pin {0} not found", pin.Source));
}
}
switch (pin.Type)
{
case PinTypes.Input:
case PinTypes.Counter:
case PinTypes.Analog:
//Allocate pin
_driver.Allocate(procPin, PinDirection.Input);
//Set pullup/pulldown resistor
if (_inputResistor != PinResistor.None && (_driver.GetCapabilities() & GpioConnectionDriverCapabilities.CanSetPinResistor) > 0)
_driver.SetPinResistor(procPin, _inputResistor);
break;
case PinTypes.Output:
case PinTypes.Pwm:
//Allocate output pin
_driver.Allocate(procPin, PinDirection.Output);
break;
}
//set input pins in global input pins
_globalPins |= (ProcessorPins)((uint)1 << (int)procPin);
//Add proessor pin
_pins.Add(pin.Source, procPin);
}
Info = new HardwareInfo
{
Name = "Raspberry model " + Raspberry.Board.Current.Model + "GPIO HAL",
Inputs = GpioConnectionSettings.ConnectorPinout == Raspberry.ConnectorPinout.Rev2 ? 26 : 17,
Outputs = GpioConnectionSettings.ConnectorPinout == Raspberry.ConnectorPinout.Rev2 ? 26 : 17,
Analogs = 0,
Pwms = 0,
Counters = 0,
Vendor = "Raspberry foundation"
};
}
/// <summary>
/// Reads the status of the specified pins.
/// </summary>
/// <param name="pins">The pins.</param>
/// <returns>
/// The pins status.
/// </returns>
public ProcessorPins Read(ProcessorPins pins)
{
var value = Interop.bcm2835_gpioperi_read(0);
return (ProcessorPins)((uint)pins & value);
}
private void CheckInputPins()
{
var newPinValues = Driver.Read(inputPins);
var changes = newPinValues ^ pinRawValues;
if (changes == ProcessorPins.None)
return;
var notifiedConfigurations = new List<PinConfiguration>();
foreach (var np in changes.Enumerate())
{
var processorPin = (ProcessorPins) ((uint) 1 << (int) np);
var oldPinValue = (pinRawValues & processorPin) != ProcessorPins.None;
var newPinValue = (newPinValues & processorPin) != ProcessorPins.None;
if (oldPinValue != newPinValue)
{
var pin = (InputPinConfiguration) pinConfigurations[np];
var switchPin = pin as SwitchInputPinConfiguration;
if (switchPin != null)
{
if (pin.GetEffective(newPinValue))
{
pinValues[np] = !pinValues[np];
notifiedConfigurations.Add(pin);
}
}
else
{
pinValues[np] = pin.GetEffective(newPinValue);
notifiedConfigurations.Add(pin);
}
}
}
pinRawValues = newPinValues;
// Only fires events once all states have been modified.
foreach (var pin in notifiedConfigurations)
OnPinStatusChanged(new PinStatusEventArgs {Configuration = pin, Enabled = pinValues[pin.Pin]});
}
/// <summary>
/// Reads the status of the specified pins.
/// </summary>
/// <param name="pins">The pins.</param>
/// <returns>
/// The pins status.
/// </returns>
public ProcessorPins Read(ProcessorPins pins)
{
var pinGroupAddress = gpioAddress + (int)(Interop.BCM2835_GPLEV0 + (uint)0 * 4);
var value = SafeReadUInt32(pinGroupAddress);
return (ProcessorPins)((uint)pins & value);
}
public void Update()
{
_pinValues = _driver.Read(_globalPins);
}
