with Interfaces.C; use Interfaces.C; with stdint_h; with Interfaces.C.Strings; package bcm2835_h is -- 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 1.13 2013/12/06 22:24:52 mikem Exp mikem $ --/ \mainpage C library for Broadcom BCM 2835 as used in Raspberry Pi --/ --/ This is a C library for Raspberry Pi (RPi). It provides access to --/ GPIO and other IO functions on the Broadcom BCM 2835 chip, --/ allowing access to the GPIO pins on the --/ 26 pin IDE plug on the RPi board so you can control and interface with various external devices. --/ --/ It provides functions for reading digital inputs and setting digital outputs, using SPI and I2C, --/ and for accessing the system timers. --/ Pin event detection is supported by polling (interrupts are not supported). --/ --/ It is C++ compatible, and installs as a header file and non-shared library on --/ any Linux-based distro (but clearly is no use except on Raspberry Pi or another board with --/ BCM 2835). --/ --/ The version of the package that this documentation refers to can be downloaded --/ from http://www.airspayce.com/mikem/bcm2835/bcm2835-1.36.tar.gz --/ You can find the latest version at http://www.airspayce.com/mikem/bcm2835 --/ --/ Several example programs are provided. --/ --/ Based on data in http://elinux.org/RPi_Low-level_peripherals and --/ http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf --/ and http://www.scribd.com/doc/101830961/GPIO-Pads-Control2 --/ --/ You can also find online help and discussion at http://groups.google.com/group/bcm2835 --/ Please use that group for all questions and discussions on this topic. --/ Do not contact the author directly, unless it is to discuss commercial licensing. --/ --/ Tested on debian6-19-04-2012, 2012-07-15-wheezy-raspbian, 2013-07-26-wheezy-raspbian --/ and Occidentalisv01 --/ CAUTION: it has been observed that when detect enables such as bcm2835_gpio_len() --/ are used and the pin is pulled LOW --/ it can cause temporary hangs on 2012-07-15-wheezy-raspbian, 2013-07-26-wheezy-raspbian --/ and Occidentalisv01. --/ Reason for this is not yet determined, but we suspect that an interrupt handler is --/ hitting a hard loop on those OSs. --/ If you must use bcm2835_gpio_len() and friends, make sure you disable the pins with --/ bcm2835_gpio_clr_len() and friends after use. --/ --/ \par Installation --/ --/ This library consists of a single non-shared library and header file, which will be --/ installed in the usual places by make install --/ --/ \code --/ # download the latest version of the library, say bcm2835-1.xx.tar.gz, then: --/ tar zxvf bcm2835-1.xx.tar.gz --/ cd bcm2835-1.xx --/ ./configure --/ make --/ sudo make check --/ sudo make install --/ \endcode --/ --/ \par Physical Addresses --/ --/ The functions bcm2835_peri_read(), bcm2835_peri_write() and bcm2835_peri_set_bits() --/ are low level peripheral register access functions. They are designed to use --/ physical addresses as described in section 1.2.3 ARM physical addresses --/ of the BCM2835 ARM Peripherals manual. --/ Physical addresses range from 0x20000000 to 0x20FFFFFF for peripherals. The bus --/ addresses for peripherals are set up to map onto the peripheral bus address range starting at --/ 0x7E000000. Thus a peripheral advertised in the manual at bus address 0x7Ennnnnn is available at --/ physical address 0x20nnnnnn. --/ --/ The base address of the various peripheral registers are available with the following --/ externals: --/ bcm2835_gpio --/ bcm2835_pwm --/ bcm2835_clk --/ bcm2835_pads --/ bcm2835_spio0 --/ bcm2835_st --/ bcm2835_bsc0 --/ bcm2835_bsc1 --/ --/ \par Pin Numbering --/ --/ The GPIO pin numbering as used by RPi is different to and inconsistent with the underlying --/ BCM 2835 chip pin numbering. http://elinux.org/RPi_BCM2835_GPIOs --/ --/ RPi has a 26 pin IDE header that provides access to some of the GPIO pins on the BCM 2835, --/ as well as power and ground pins. Not all GPIO pins on the BCM 2835 are available on the --/ IDE header. --/ --/ RPi Version 2 also has a P5 connector with 4 GPIO pins, 5V, 3.3V and Gnd. --/ --/ The functions in this library are designed to be passed the BCM 2835 GPIO pin number and _not_ --/ the RPi pin number. There are symbolic definitions for each of the available pins --/ that you should use for convenience. See \ref RPiGPIOPin. --/ --/ \par SPI Pins --/ --/ The bcm2835_spi_* functions allow you to control the BCM 2835 SPI0 interface, --/ allowing you to send and received data by SPI (Serial Peripheral Interface). --/ For more information about SPI, see http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus --/ --/ When bcm2835_spi_begin() is called it changes the bahaviour of the SPI interface pins from their --/ default GPIO behaviour in order to support SPI. While SPI is in use, you will not be able --/ to control the state of the SPI pins through the usual bcm2835_spi_gpio_write(). --/ When bcm2835_spi_end() is called, the SPI pins will all revert to inputs, and can then be --/ configured and controled with the usual bcm2835_gpio_* calls. --/ --/ The Raspberry Pi GPIO pins used for SPI are: --/ --/ - P1-19 (MOSI) --/ - P1-21 (MISO) --/ - P1-23 (CLK) --/ - P1-24 (CE0) --/ - P1-26 (CE1) --/ --/ \par I2C Pins --/ --/ The bcm2835_i2c_* functions allow you to control the BCM 2835 BSC interface, --/ allowing you to send and received data by I2C ("eye-squared cee"; generically referred to as "two-wire interface") . --/ For more information about I?C, see http://en.wikipedia.org/wiki/I%C2%B2C --/ --/ The Raspberry Pi V2 GPIO pins used for I2C are: --/ --/ - P1-03 (SDA) --/ - P1-05 (SLC) --/ --/ \par PWM --/ --/ The BCM2835 supports hardware PWM on a limited subset of GPIO pins. This bcm2835 library provides --/ functions for configuring and controlling PWM output on these pins. --/ --/ The BCM2835 contains 2 independent PWM channels (0 and 1), each of which be connnected to a limited subset of --/ GPIO pins. The following GPIO pins may be connected to the following PWM channels (from section 9.5): --/ \code --/ GPIO PIN RPi pin PWM Channel ALT FUN --/ 12 0 0 --/ 13 1 0 --/ 18 1-12 0 5 --/ 19 1 5 --/ 40 0 0 --/ 41 1 0 --/ 45 1 0 --/ 52 0 1 --/ 53 1 1 --/ \endcode --/ In order for a GPIO pin to emit output from its PWM channel, it must be set to the Alt Function given above. --/ Note carefully that current versions of the Raspberry Pi only expose one of these pins (GPIO 18 = RPi Pin 1-12) --/ on the IO headers, and therefore this is the only IO pin on the RPi that can be used for PWM. --/ Further it must be set to ALT FUN 5 to get PWM output. --/ --/ Both PWM channels are driven by the same PWM clock, whose clock dvider can be varied using --/ bcm2835_pwm_set_clock(). Each channel can be separately enabled with bcm2835_pwm_set_mode(). --/ The average output of the PWM channel is determined by the ratio of DATA/RANGE for that channel. --/ Use bcm2835_pwm_set_range() to set the range and bcm2835_pwm_set_data() to set the data in that ratio --/ --/ Each PWM channel can run in either Balanced or Mark-Space mode. In Balanced mode, the hardware --/ sends a combination of clock pulses that results in an overall DATA pulses per RANGE pulses. --/ In Mark-Space mode, the hardware sets the output HIGH for DATA clock pulses wide, followed by --/ LOW for RANGE-DATA clock pulses. --/ --/ The PWM clock can be set to control the PWM pulse widths. The PWM clock is derived from --/ a 19.2MHz clock. You can set any divider, but some common ones are provided by the BCM2835_PWM_CLOCK_DIVIDER_* --/ values of \ref bcm2835PWMClockDivider. --/ --/ For example, say you wanted to drive a DC motor with PWM at about 1kHz, --/ and control the speed in 1/1024 increments from --/ 0/1024 (stopped) through to 1024/1024 (full on). In that case you might set the --/ clock divider to be 16, and the RANGE to 1024. The pulse repetition frequency will be --/ 1.2MHz/1024 = 1171.875Hz. --/ --/ \par Real Time performance constraints --/ --/ The bcm2835 is a library for user programs (i.e. they run in 'userland'). --/ Such programs are not part of the kernel and are usually --/ subject to paging and swapping by the kernel while it does other things besides running your program. --/ This means that you should not expect to get real-time performance or --/ real-time timing constraints from such programs. In particular, there is no guarantee that the --/ bcm2835_delay() and bcm2835_delayMicroseconds() will return after exactly the time requested. --/ In fact, depending on other activity on the host, IO etc, you might get significantly longer delay times --/ than the one you asked for. So please dont expect to get exactly the time delay you request. --/ --/ Arjan reports that you can prevent swapping on Linux with the following code fragment: --/ --/ \code --/ struct sched_param sp; --/ memset(&sp, 0, sizeof(sp)); --/ sp.sched_priority = sched_get_priority_max(SCHED_FIFO); --/ sched_setscheduler(0, SCHED_FIFO, &sp); --/ mlockall(MCL_CURRENT | MCL_FUTURE); --/ \endcode --/ --/ \par Bindings to other languages --/ --/ mikem has made Perl bindings available at CPAN: --/ http://search.cpan.org/~mikem/Device-BCM2835-1.9/lib/Device/BCM2835.pm --/ Matthew Baker has kindly made Python bindings available at: --/ https://github.com/mubeta06/py-libbcm2835 --/ Gary Marks has created a Serial Peripheral Interface (SPI) command-line utility --/ for Raspberry Pi, based on the bcm2835 library. The --/ utility, spincl, is licensed under Open Source GNU GPLv3 by iP Solutions (http://ipsolutionscorp.com), as a --/ free download with source included: http://ipsolutionscorp.com/raspberry-pi-spi-utility/ --/ --/ \par Open Source Licensing GPL V2 --/ --/ This is the appropriate option if you want to share the source code of your --/ application with everyone you distribute it to, and you also want to give them --/ the right to share who uses it. If you wish to use this software under Open --/ Source Licensing, you must contribute all your source code to the open source --/ community in accordance with the GPL Version 2 when your application is --/ distributed. See http://www.gnu.org/copyleft/gpl.html and COPYING --/ --/ \par Acknowledgements --/ --/ Some of this code has been inspired by Dom and Gert. --/ The I2C code has been inspired by Alan Barr. --/ --/ \par Revision History --/ --/ \version 1.0 Initial release --/ \version 1.1 Minor bug fixes --/ \version 1.2 Added support for SPI --/ \version 1.3 Added bcm2835_spi_transfern() --/ \version 1.4 Fixed a problem that prevented SPI CE1 being used. Reported by David Robinson. --/ \version 1.5 Added bcm2835_close() to deinit the library. Suggested by C?sar Ortiz --/ \version 1.6 Document testing on 2012-07-15-wheezy-raspbian and Occidentalisv01 --/ Functions bcm2835_gpio_ren(), bcm2835_gpio_fen(), bcm2835_gpio_hen() --/ bcm2835_gpio_len(), bcm2835_gpio_aren() and bcm2835_gpio_afen() now --/ changes only the pin specified. Other pins that were already previously --/ enabled stay enabled. --/ Added bcm2835_gpio_clr_ren(), bcm2835_gpio_clr_fen(), bcm2835_gpio_clr_hen() --/ bcm2835_gpio_clr_len(), bcm2835_gpio_clr_aren(), bcm2835_gpio_clr_afen() --/ to clear the enable for individual pins, suggested by Andreas Sundstrom. --/ \version 1.7 Added bcm2835_spi_transfernb to support different buffers for read and write. --/ \version 1.8 Improvements to read barrier, as suggested by maddin. --/ \version 1.9 Improvements contributed by mikew: --/ I noticed that it was mallocing memory for the mmaps on /dev/mem. --/ It's not necessary to do that, you can just mmap the file directly, --/ so I've removed the mallocs (and frees). --/ I've also modified delayMicroseconds() to use nanosleep() for long waits, --/ and a busy wait on a high resolution timer for the rest. This is because --/ I've found that calling nanosleep() takes at least 100-200 us. --/ You need to link using '-lrt' using this version. --/ I've added some unsigned casts to the debug prints to silence compiler --/ warnings I was getting, fixed some typos, and changed the value of --/ BCM2835_PAD_HYSTERESIS_ENABLED to 0x08 as per Gert van Loo's doc at --/ http://www.scribd.com/doc/101830961/GPIO-Pads-Control2 --/ Also added a define for the passwrd value that Gert says is needed to --/ change pad control settings. --/ \version 1.10 Changed the names of the delay functions to bcm2835_delay() --/ and bcm2835_delayMicroseconds() to prevent collisions with wiringPi. --/ Macros to map delay()-> bcm2835_delay() and --/ Macros to map delayMicroseconds()-> bcm2835_delayMicroseconds(), which --/ can be disabled by defining BCM2835_NO_DELAY_COMPATIBILITY --/ \version 1.11 Fixed incorrect link to download file --/ \version 1.12 New GPIO pin definitions for RPi version 2 (which has a different GPIO mapping) --/ \version 1.13 New GPIO pin definitions for RPi version 2 plug P5 --/ Hardware base pointers are now available (after initialisation) externally as bcm2835_gpio --/ bcm2835_pwm bcm2835_clk bcm2835_pads bcm2835_spi0. --/ \version 1.14 Now compiles even if CLOCK_MONOTONIC_RAW is not available, uses CLOCK_MONOTONIC instead. --/ Fixed errors in documentation of SPI divider frequencies based on 250MHz clock. --/ Reported by Ben Simpson. --/ \version 1.15 Added bcm2835_close() to end of examples as suggested by Mark Wolfe. --/ \version 1.16 Added bcm2835_gpio_set_multi, bcm2835_gpio_clr_multi and bcm2835_gpio_write_multi --/ to allow a mask of pins to be set all at once. Requested by Sebastian Loncar. --/ \version 1.17 Added bcm2835_gpio_write_mask. Requested by Sebastian Loncar. --/ \version 1.18 Added bcm2835_i2c_* functions. Changes to bcm2835_delayMicroseconds: --/ now uses the RPi system timer counter, instead of clock_gettime, for improved accuracy. --/ No need to link with -lrt now. Contributed by Arjan van Vught. --/ \version 1.19 Removed inlines added by previous patch since they don't seem to work everywhere. --/ Reported by olly. --/ \version 1.20 Patch from Mark Dootson to close /dev/mem after access to the peripherals has been granted. --/ \version 1.21 delayMicroseconds is now not susceptible to 32 bit timer overruns. --/ Patch courtesy Jeremy Mortis. --/ \version 1.22 Fixed incorrect definition of BCM2835_GPFEN0 which broke the ability to set --/ falling edge events. Reported by Mark Dootson. --/ \version 1.23 Added bcm2835_i2c_set_baudrate and bcm2835_i2c_read_register_rs. --/ Improvements to bcm2835_i2c_read and bcm2835_i2c_write functions --/ to fix ocasional reads not completing. Patched by Mark Dootson. --/ \version 1.24 Mark Dootson p[atched a problem with his previously submitted code --/ under high load from other processes. --/ \version 1.25 Updated author and distribution location details to airspayce.com --/ \version 1.26 Added missing unmapmem for pads in bcm2835_close to prevent a memory leak. --/ Reported by Hartmut Henkel. --/ \version 1.27 bcm2835_gpio_set_pad() no longer needs BCM2835_PAD_PASSWRD: it is --/ now automatically included. --/ Added suport for PWM mode with bcm2835_pwm_* functions. --/ \version 1.28 Fixed a problem where bcm2835_spi_writenb() would have problems with transfers of more than --/ 64 bytes dues to read buffer filling. Patched by Peter Würtz. --/ \version 1.29 Further fix to SPI from Peter Würtz. --/ \version 1.30 10 microsecond delays from bcm2835_spi_transfer and bcm2835_spi_transfern for --/ significant performance improvements, Patch by Alan Watson. --/ \version 1.31 Fix a GCC warning about dummy variable, patched by Alan Watson. Thanks. --/ \version 1.32 Added option I2C_V1 definition to compile for version 1 RPi. --/ By default I2C code is generated for the V2 RPi which has SDA1 and SCL1 connected. --/ Contributed by Malcolm Wiles based on work by Arvi Govindaraj. --/ \version 1.33 Added command line utilities i2c and gpio to examples. Contributed by Shahrooz Shahparnia. --/ \version 1.34 Added bcm2835_i2c_write_read_rs() which writes an arbitrary number of bytes, --/ sends a repeat start, and reads from the device. Contributed by Eduardo Steinhorst. --/ \version 1.35 Fix build errors when compiled under Qt. Also performance improvements with SPI transfers. Contributed by Udo Klaas. --/ \version 1.36 Make automake's test runner detect that we're skipping tests when not root, the second --/ one makes us skip the test when using fakeroot (as used when building --/ Debian packages). Contributed by Guido Günther. --/ --/ \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS -- Defines for BCM2835 --/ \defgroup constants Constants for passing to and from library functions --/ The values here are designed to be passed to various functions in the bcm2835 library. --/ @{ --/ This means pin HIGH, true, 3.3volts on a pin. --/ This means pin LOW, false, 0volts on a pin. --/ Speed of the core clock core_clk -- Physical addresses for various peripheral register sets --/ Base Physical Address of the BCM 2835 peripheral registers --/ Base Physical Address of the System Timer registers --/ Base Physical Address of the Pads registers --/ Base Physical Address of the Clock/timer registers --/ Base Physical Address of the GPIO registers --/ Base Physical Address of the SPI0 registers --/ Base Physical Address of the BSC0 registers --/ Base Physical Address of the PWM registers --/ Base Physical Address of the BSC1 registers -- manual converted HIGH : constant unsigned := 16#1#; LOW : constant unsigned := 16#0#; BCM2835_CORE_CLK_HZ : constant unsigned := 250000000; BCM2835_PERI_BASE : constant unsigned := 16#20000000#; BCM2835_ST_BASE : constant unsigned := (BCM2835_PERI_BASE + 16#3000#); BCM2835_GPIO_PADS : constant unsigned := (BCM2835_PERI_BASE + 16#100000#); BCM2835_CLOCK_BASE : constant unsigned := (BCM2835_PERI_BASE + 16#101000#); BCM2835_GPIO_BASE : constant unsigned := (BCM2835_PERI_BASE + 16#200000#); BCM2835_SPI0_BASE : constant unsigned := (BCM2835_PERI_BASE + 16#204000#); BCM2835_BSC0_BASE : constant unsigned := (BCM2835_PERI_BASE + 16#205000#); BCM2835_GPIO_PWM : constant unsigned := (BCM2835_PERI_BASE + 16#20C000#); BCM2835_BSC1_BASE : constant unsigned := (BCM2835_PERI_BASE + 16#804000#); BCM2835_PAGE_SIZE : constant unsigned := (4*1024); BCM2835_BLOCK_SIZE : constant unsigned := (4*1024); BCM2835_GPFSEL0 : constant unsigned := 16#0000#; BCM2835_GPFSEL1 : constant unsigned := 16#0004#; BCM2835_GPFSEL2 : constant unsigned := 16#0008#; BCM2835_GPFSEL3 : constant unsigned := 16#000c#; BCM2835_GPFSEL4 : constant unsigned := 16#0010#; BCM2835_GPFSEL5 : constant unsigned := 16#0014#; BCM2835_GPSET0 : constant unsigned := 16#001c#; BCM2835_GPSET1 : constant unsigned := 16#0020#; BCM2835_GPCLR0 : constant unsigned := 16#0028#; BCM2835_GPCLR1 : constant unsigned := 16#002c#; BCM2835_GPLEV0 : constant unsigned := 16#0034#; BCM2835_GPLEV1 : constant unsigned := 16#0038#; BCM2835_GPEDS0 : constant unsigned := 16#0040#; BCM2835_GPEDS1 : constant unsigned := 16#0044#; BCM2835_GPREN0 : constant unsigned := 16#004c#; BCM2835_GPREN1 : constant unsigned := 16#0050#; BCM2835_GPFEN0 : constant unsigned := 16#0058#; BCM2835_GPFEN1 : constant unsigned := 16#005c#; BCM2835_GPHEN0 : constant unsigned := 16#0064#; BCM2835_GPHEN1 : constant unsigned := 16#0068#; BCM2835_GPLEN0 : constant unsigned := 16#0070#; BCM2835_GPLEN1 : constant unsigned := 16#0074#; BCM2835_GPAREN0 : constant unsigned := 16#007c#; BCM2835_GPAREN1 : constant unsigned := 16#0080#; BCM2835_GPAFEN0 : constant unsigned := 16#0088#; BCM2835_GPAFEN1 : constant unsigned := 16#008c#; BCM2835_GPPUD : constant unsigned := 16#0094#; BCM2835_GPPUDCLK0 : constant unsigned := 16#0098#; BCM2835_GPPUDCLK1 : constant unsigned := 16#009c#; BCM2835_PADS_GPIO_0_27 : constant unsigned := 16#002c#; BCM2835_PADS_GPIO_28_45 : constant unsigned := 16#0030#; BCM2835_PADS_GPIO_46_53 : constant unsigned := 16#0034#; BCM2835_PAD_PASSWRD : constant unsigned := 16#5A000000#; BCM2835_PAD_SLEW_RATE_UNLIMITED : constant unsigned := 16#10#; BCM2835_PAD_HYSTERESIS_ENABLED : constant unsigned := 16#08#; BCM2835_PAD_DRIVE_2mA : constant unsigned := 16#00#; BCM2835_PAD_DRIVE_4mA : constant unsigned := 16#01#; BCM2835_PAD_DRIVE_6mA : constant unsigned := 16#02#; BCM2835_PAD_DRIVE_8mA : constant unsigned := 16#03#; BCM2835_PAD_DRIVE_10mA : constant unsigned := 16#04#; BCM2835_PAD_DRIVE_12mA : constant unsigned := 16#05#; BCM2835_PAD_DRIVE_14mA : constant unsigned := 16#06#; BCM2835_PAD_DRIVE_16mA : constant unsigned := 16#07#; BCM2835_SPI0_CS : constant unsigned := 16#0000#; BCM2835_SPI0_FIFO : constant unsigned := 16#0004#; BCM2835_SPI0_CLK : constant unsigned := 16#0008#; BCM2835_SPI0_DLEN : constant unsigned := 16#000c#; BCM2835_SPI0_LTOH : constant unsigned := 16#0010#; BCM2835_SPI0_DC : constant unsigned := 16#0014#; BCM2835_SPI0_CS_LEN_LONG : constant unsigned := 16#02000000#; BCM2835_SPI0_CS_DMA_LEN : constant unsigned := 16#01000000#; BCM2835_SPI0_CS_CSPOL2 : constant unsigned := 16#00800000#; BCM2835_SPI0_CS_CSPOL1 : constant unsigned := 16#00400000#; BCM2835_SPI0_CS_CSPOL0 : constant unsigned := 16#00200000#; BCM2835_SPI0_CS_RXF : constant unsigned := 16#00100000#; BCM2835_SPI0_CS_RXR : constant unsigned := 16#00080000#; BCM2835_SPI0_CS_TXD : constant unsigned := 16#00040000#; BCM2835_SPI0_CS_RXD : constant unsigned := 16#00020000#; BCM2835_SPI0_CS_DONE : constant unsigned := 16#00010000#; BCM2835_SPI0_CS_TE_EN : constant unsigned := 16#00008000#; BCM2835_SPI0_CS_LMONO : constant unsigned := 16#00004000#; BCM2835_SPI0_CS_LEN : constant unsigned := 16#00002000#; BCM2835_SPI0_CS_REN : constant unsigned := 16#00001000#; BCM2835_SPI0_CS_ADCS : constant unsigned := 16#00000800#; BCM2835_SPI0_CS_INTR : constant unsigned := 16#00000400#; BCM2835_SPI0_CS_INTD : constant unsigned := 16#00000200#; BCM2835_SPI0_CS_DMAEN : constant unsigned := 16#00000100#; BCM2835_SPI0_CS_TA : constant unsigned := 16#00000080#; BCM2835_SPI0_CS_CSPOL : constant unsigned := 16#00000040#; BCM2835_SPI0_CS_CLEAR : constant unsigned := 16#00000030#; BCM2835_SPI0_CS_CLEAR_RX : constant unsigned := 16#00000020#; BCM2835_SPI0_CS_CLEAR_TX : constant unsigned := 16#00000010#; BCM2835_SPI0_CS_CPOL : constant unsigned := 16#00000008#; BCM2835_SPI0_CS_CPHA : constant unsigned := 16#00000004#; BCM2835_SPI0_CS_CS : constant unsigned := 16#00000003#; BCM2835_BSC_C : constant unsigned := 16#0000#; BCM2835_BSC_S : constant unsigned := 16#0004#; BCM2835_BSC_DLEN : constant unsigned := 16#0008#; BCM2835_BSC_A : constant unsigned := 16#000c#; BCM2835_BSC_FIFO : constant unsigned := 16#0010#; BCM2835_BSC_DIV : constant unsigned := 16#0014#; BCM2835_BSC_DEL : constant unsigned := 16#0018#; BCM2835_BSC_CLKT : constant unsigned := 16#001c#; BCM2835_BSC_C_I2CEN : constant unsigned := 16#00008000#; BCM2835_BSC_C_INTR : constant unsigned := 16#00000400#; BCM2835_BSC_C_INTT : constant unsigned := 16#00000200#; BCM2835_BSC_C_INTD : constant unsigned := 16#00000100#; BCM2835_BSC_C_ST : constant unsigned := 16#00000080#; BCM2835_BSC_C_CLEAR_1 : constant unsigned := 16#00000020#; BCM2835_BSC_C_CLEAR_2 : constant unsigned := 16#00000010#; BCM2835_BSC_C_READ : constant unsigned := 16#00000001#; BCM2835_BSC_S_CLKT : constant unsigned := 16#00000200#; BCM2835_BSC_S_ERR : constant unsigned := 16#00000100#; BCM2835_BSC_S_RXF : constant unsigned := 16#00000080#; BCM2835_BSC_S_TXE : constant unsigned := 16#00000040#; BCM2835_BSC_S_RXD : constant unsigned := 16#00000020#; BCM2835_BSC_S_TXD : constant unsigned := 16#00000010#; BCM2835_BSC_S_RXR : constant unsigned := 16#00000008#; BCM2835_BSC_S_TXW : constant unsigned := 16#00000004#; BCM2835_BSC_S_DONE : constant unsigned := 16#00000002#; BCM2835_BSC_S_TA : constant unsigned := 16#00000001#; BCM2835_BSC_FIFO_SIZE : constant unsigned := 16; BCM2835_ST_CS : constant unsigned := 16#0000#; BCM2835_ST_CLO : constant unsigned := 16#0004#; BCM2835_ST_CHI : constant unsigned := 16#0008#; BCM2835_PWM_CONTROL : constant unsigned := 0; BCM2835_PWM_STATUS : constant unsigned := 1; BCM2835_PWM_DMAC : constant unsigned := 2; BCM2835_PWM0_RANGE : constant unsigned := 4; BCM2835_PWM0_DATA : constant unsigned := 5; BCM2835_PWM_FIF1 : constant unsigned := 6; BCM2835_PWM1_RANGE : constant unsigned := 8; BCM2835_PWM1_DATA : constant unsigned := 9; BCM2835_PWMCLK_CNTL : constant unsigned := 40; BCM2835_PWMCLK_DIV : constant unsigned := 41; BCM2835_PWM_PASSWRD : constant unsigned := 16#5A000000#; BCM2835_PWM1_MS_MODE : constant unsigned := 16#8000#; BCM2835_PWM1_USEFIFO : constant unsigned := 16#2000#; BCM2835_PWM1_REVPOLAR : constant unsigned := 16#1000#; BCM2835_PWM1_OFFSTATE : constant unsigned := 16#0800#; BCM2835_PWM1_REPEATFF : constant unsigned := 16#0400#; BCM2835_PWM1_SERIAL : constant unsigned := 16#0200#; BCM2835_PWM1_ENABLE : constant unsigned := 16#0100#; BCM2835_PWM0_MS_MODE : constant unsigned := 16#0080#; BCM2835_PWM_CLEAR_FIFO : constant unsigned := 16#0040#; BCM2835_PWM0_USEFIFO : constant unsigned := 16#0020#; BCM2835_PWM0_REVPOLAR : constant unsigned := 16#0010#; BCM2835_PWM0_OFFSTATE : constant unsigned := 16#0008#; BCM2835_PWM0_REPEATFF : constant unsigned := 16#0004#; BCM2835_PWM0_SERIAL : constant unsigned := 16#0002#; BCM2835_PWM0_ENABLE : constant unsigned := 16#0001#; -- arg-macro: procedure delay (x) -- bcm2835_delay(x) -- arg-macro: procedure delayMicroseconds (x) -- bcm2835_delayMicroseconds(x) --/ Base of the ST (System Timer) registers. --/ Available after bcm2835_init has been called bcm2835_st : access stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:355 pragma Import (C, bcm2835_st, "bcm2835_st"); --/ Base of the GPIO registers. --/ Available after bcm2835_init has been called bcm2835_gpio : access stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:359 pragma Import (C, bcm2835_gpio, "bcm2835_gpio"); --/ Base of the PWM registers. --/ Available after bcm2835_init has been called bcm2835_pwm : access stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:363 pragma Import (C, bcm2835_pwm, "bcm2835_pwm"); --/ Base of the CLK registers. --/ Available after bcm2835_init has been called bcm2835_clk : access stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:367 pragma Import (C, bcm2835_clk, "bcm2835_clk"); --/ Base of the PADS registers. --/ Available after bcm2835_init has been called bcm2835_pads : access stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:371 pragma Import (C, bcm2835_pads, "bcm2835_pads"); --/ Base of the SPI0 registers. --/ Available after bcm2835_init has been called bcm2835_spi0 : access stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:375 pragma Import (C, bcm2835_spi0, "bcm2835_spi0"); --/ Base of the BSC0 registers. --/ Available after bcm2835_init has been called bcm2835_bsc0 : access stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:379 pragma Import (C, bcm2835_bsc0, "bcm2835_bsc0"); --/ Base of the BSC1 registers. --/ Available after bcm2835_init has been called bcm2835_bsc1 : access stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:383 pragma Import (C, bcm2835_bsc1, "bcm2835_bsc1"); --/ Size of memory page on RPi --/ Size of memory block on RPi -- Defines for GPIO -- The BCM2835 has 54 GPIO pins. -- BCM2835 data sheet, Page 90 onwards. --/ GPIO register offsets from BCM2835_GPIO_BASE. Offsets into the GPIO Peripheral block in bytes per 6.1 Register View --/ \brief bcm2835PortFunction --/ Port function select modes for bcm2835_gpio_fsel() --/< Input --/< Output --/< Alternate function 0 --/< Alternate function 1 --/< Alternate function 2 --/< Alternate function 3 --/< Alternate function 4 --/< Alternate function 5 --/< Function select bits mask subtype bcm2835FunctionSelect is unsigned; BCM2835_GPIO_FSEL_INPT : constant bcm2835FunctionSelect := 0; BCM2835_GPIO_FSEL_OUTP : constant bcm2835FunctionSelect := 1; BCM2835_GPIO_FSEL_ALT0 : constant bcm2835FunctionSelect := 4; BCM2835_GPIO_FSEL_ALT1 : constant bcm2835FunctionSelect := 5; BCM2835_GPIO_FSEL_ALT2 : constant bcm2835FunctionSelect := 6; BCM2835_GPIO_FSEL_ALT3 : constant bcm2835FunctionSelect := 7; BCM2835_GPIO_FSEL_ALT4 : constant bcm2835FunctionSelect := 3; BCM2835_GPIO_FSEL_ALT5 : constant bcm2835FunctionSelect := 2; BCM2835_GPIO_FSEL_MASK : constant bcm2835FunctionSelect := 7; -- /usr/local/include/bcm2835.h:438 --/ \brief bcm2835PUDControl --/ Pullup/Pulldown defines for bcm2835_gpio_pud() --/< Off ? disable pull-up/down --/< Enable Pull Down control --/< Enable Pull Up control type bcm2835PUDControl is (BCM2835_GPIO_PUD_OFF, BCM2835_GPIO_PUD_DOWN, BCM2835_GPIO_PUD_UP); pragma Convention (C, bcm2835PUDControl); -- /usr/local/include/bcm2835.h:447 --/ Pad control register offsets from BCM2835_GPIO_PADS --/ Pad Control masks --/ \brief bcm2835PadGroup --/ Pad group specification for bcm2835_gpio_pad() --/< Pad group for GPIO pads 0 to 27 --/< Pad group for GPIO pads 28 to 45 --/< Pad group for GPIO pads 46 to 53 type bcm2835PadGroup is (BCM2835_PAD_GROUP_GPIO_0_27, BCM2835_PAD_GROUP_GPIO_28_45, BCM2835_PAD_GROUP_GPIO_46_53); pragma Convention (C, bcm2835PadGroup); -- /usr/local/include/bcm2835.h:474 --/ \brief GPIO Pin Numbers --/ --/ Here we define Raspberry Pin GPIO pins on P1 in terms of the underlying BCM GPIO pin numbers. --/ These can be passed as a pin number to any function requiring a pin. --/ Not all pins on the RPi 26 bin IDE plug are connected to GPIO pins --/ and some can adopt an alternate function. --/ RPi version 2 has some slightly different pinouts, and these are values RPI_V2_*. --/ At bootup, pins 8 and 10 are set to UART0_TXD, UART0_RXD (ie the alt0 function) respectively --/ When SPI0 is in use (ie after bcm2835_spi_begin()), pins 19, 21, 23, 24, 26 are dedicated to SPI --/ and cant be controlled independently --/< Version 1, Pin P1-03 --/< Version 1, Pin P1-05 --/< Version 1, Pin P1-07 --/< Version 1, Pin P1-08, defaults to alt function 0 UART0_TXD --/< Version 1, Pin P1-10, defaults to alt function 0 UART0_RXD --/< Version 1, Pin P1-11 --/< Version 1, Pin P1-12, can be PWM channel 0 in ALT FUN 5 --/< Version 1, Pin P1-13 --/< Version 1, Pin P1-15 --/< Version 1, Pin P1-16 --/< Version 1, Pin P1-18 --/< Version 1, Pin P1-19, MOSI when SPI0 in use --/< Version 1, Pin P1-21, MISO when SPI0 in use --/< Version 1, Pin P1-22 --/< Version 1, Pin P1-23, CLK when SPI0 in use --/< Version 1, Pin P1-24, CE0 when SPI0 in use --/< Version 1, Pin P1-26, CE1 when SPI0 in use -- RPi Version 2 --/< Version 2, Pin P1-03 --/< Version 2, Pin P1-05 --/< Version 2, Pin P1-07 --/< Version 2, Pin P1-08, defaults to alt function 0 UART0_TXD --/< Version 2, Pin P1-10, defaults to alt function 0 UART0_RXD --/< Version 2, Pin P1-11 --/< Version 2, Pin P1-12, can be PWM channel 0 in ALT FUN 5 --/< Version 2, Pin P1-13 --/< Version 2, Pin P1-15 --/< Version 2, Pin P1-16 --/< Version 2, Pin P1-18 --/< Version 2, Pin P1-19, MOSI when SPI0 in use --/< Version 2, Pin P1-21, MISO when SPI0 in use --/< Version 2, Pin P1-22 --/< Version 2, Pin P1-23, CLK when SPI0 in use --/< Version 2, Pin P1-24, CE0 when SPI0 in use --/< Version 2, Pin P1-26, CE1 when SPI0 in use -- RPi Version 2, new plug P5 --/< Version 2, Pin P5-03 --/< Version 2, Pin P5-04 --/< Version 2, Pin P5-05 --/< Version 2, Pin P5-06 subtype RPiGPIOPin is unsigned; RPI_GPIO_P1_03 : constant RPiGPIOPin := 0; RPI_GPIO_P1_05 : constant RPiGPIOPin := 1; RPI_GPIO_P1_07 : constant RPiGPIOPin := 4; RPI_GPIO_P1_08 : constant RPiGPIOPin := 14; RPI_GPIO_P1_10 : constant RPiGPIOPin := 15; RPI_GPIO_P1_11 : constant RPiGPIOPin := 17; RPI_GPIO_P1_12 : constant RPiGPIOPin := 18; RPI_GPIO_P1_13 : constant RPiGPIOPin := 21; RPI_GPIO_P1_15 : constant RPiGPIOPin := 22; RPI_GPIO_P1_16 : constant RPiGPIOPin := 23; RPI_GPIO_P1_18 : constant RPiGPIOPin := 24; RPI_GPIO_P1_19 : constant RPiGPIOPin := 10; RPI_GPIO_P1_21 : constant RPiGPIOPin := 9; RPI_GPIO_P1_22 : constant RPiGPIOPin := 25; RPI_GPIO_P1_23 : constant RPiGPIOPin := 11; RPI_GPIO_P1_24 : constant RPiGPIOPin := 8; RPI_GPIO_P1_26 : constant RPiGPIOPin := 7; RPI_V2_GPIO_P1_03 : constant RPiGPIOPin := 2; RPI_V2_GPIO_P1_05 : constant RPiGPIOPin := 3; RPI_V2_GPIO_P1_07 : constant RPiGPIOPin := 4; RPI_V2_GPIO_P1_08 : constant RPiGPIOPin := 14; RPI_V2_GPIO_P1_10 : constant RPiGPIOPin := 15; RPI_V2_GPIO_P1_11 : constant RPiGPIOPin := 17; RPI_V2_GPIO_P1_12 : constant RPiGPIOPin := 18; RPI_V2_GPIO_P1_13 : constant RPiGPIOPin := 27; RPI_V2_GPIO_P1_15 : constant RPiGPIOPin := 22; RPI_V2_GPIO_P1_16 : constant RPiGPIOPin := 23; RPI_V2_GPIO_P1_18 : constant RPiGPIOPin := 24; RPI_V2_GPIO_P1_19 : constant RPiGPIOPin := 10; RPI_V2_GPIO_P1_21 : constant RPiGPIOPin := 9; RPI_V2_GPIO_P1_22 : constant RPiGPIOPin := 25; RPI_V2_GPIO_P1_23 : constant RPiGPIOPin := 11; RPI_V2_GPIO_P1_24 : constant RPiGPIOPin := 8; RPI_V2_GPIO_P1_26 : constant RPiGPIOPin := 7; RPI_V2_GPIO_P5_03 : constant RPiGPIOPin := 28; RPI_V2_GPIO_P5_04 : constant RPiGPIOPin := 29; RPI_V2_GPIO_P5_05 : constant RPiGPIOPin := 30; RPI_V2_GPIO_P5_06 : constant RPiGPIOPin := 31; -- /usr/local/include/bcm2835.h:531 -- Defines for SPI -- GPIO register offsets from BCM2835_SPI0_BASE. -- Offsets into the SPI Peripheral block in bytes per 10.5 SPI Register Map -- Register masks for SPI0_CS --/ \brief bcm2835SPIBitOrder SPI Bit order --/ Specifies the SPI data bit ordering for bcm2835_spi_setBitOrder() --/< LSB First --/< MSB First type bcm2835SPIBitOrder is (BCM2835_SPI_BIT_ORDER_LSBFIRST, BCM2835_SPI_BIT_ORDER_MSBFIRST); pragma Convention (C, bcm2835SPIBitOrder); -- /usr/local/include/bcm2835.h:577 --/ \brief SPI Data mode --/ Specify the SPI data mode to be passed to bcm2835_spi_setDataMode() --/< CPOL = 0, CPHA = 0 --/< CPOL = 0, CPHA = 1 --/< CPOL = 1, CPHA = 0 --/< CPOL = 1, CPHA = 1 type bcm2835SPIMode is (BCM2835_SPI_MODE0, BCM2835_SPI_MODE1, BCM2835_SPI_MODE2, BCM2835_SPI_MODE3); pragma Convention (C, bcm2835SPIMode); -- /usr/local/include/bcm2835.h:587 --/ \brief bcm2835SPIChipSelect --/ Specify the SPI chip select pin(s) --/< Chip Select 0 --/< Chip Select 1 --/< Chip Select 2 (ie pins CS1 and CS2 are asserted) --/< No CS, control it yourself type bcm2835SPIChipSelect is (BCM2835_SPI_CS0, BCM2835_SPI_CS1, BCM2835_SPI_CS2, BCM2835_SPI_CS_NONE); pragma Convention (C, bcm2835SPIChipSelect); -- /usr/local/include/bcm2835.h:597 --/ \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. --/ Clock divided is based on nominal base clock rate of 250MHz --/ It is reported that (contrary to the documentation) any even divider may used. --/ The frequencies shown for each divider have been confirmed by measurement --/< 65536 = 262.144us = 3.814697260kHz --/< 32768 = 131.072us = 7.629394531kHz --/< 16384 = 65.536us = 15.25878906kHz --/< 8192 = 32.768us = 30/51757813kHz --/< 4096 = 16.384us = 61.03515625kHz --/< 2048 = 8.192us = 122.0703125kHz --/< 1024 = 4.096us = 244.140625kHz --/< 512 = 2.048us = 488.28125kHz --/< 256 = 1.024us = 976.5625MHz --/< 128 = 512ns = = 1.953125MHz --/< 64 = 256ns = 3.90625MHz --/< 32 = 128ns = 7.8125MHz --/< 16 = 64ns = 15.625MHz --/< 8 = 32ns = 31.25MHz --/< 4 = 16ns = 62.5MHz --/< 2 = 8ns = 125MHz, fastest you can get --/< 1 = 262.144us = 3.814697260kHz, same as 0/65536 subtype bcm2835SPIClockDivider is unsigned; BCM2835_SPI_CLOCK_DIVIDER_65536 : constant bcm2835SPIClockDivider := 0; BCM2835_SPI_CLOCK_DIVIDER_32768 : constant bcm2835SPIClockDivider := 32768; BCM2835_SPI_CLOCK_DIVIDER_16384 : constant bcm2835SPIClockDivider := 16384; BCM2835_SPI_CLOCK_DIVIDER_8192 : constant bcm2835SPIClockDivider := 8192; BCM2835_SPI_CLOCK_DIVIDER_4096 : constant bcm2835SPIClockDivider := 4096; BCM2835_SPI_CLOCK_DIVIDER_2048 : constant bcm2835SPIClockDivider := 2048; BCM2835_SPI_CLOCK_DIVIDER_1024 : constant bcm2835SPIClockDivider := 1024; BCM2835_SPI_CLOCK_DIVIDER_512 : constant bcm2835SPIClockDivider := 512; BCM2835_SPI_CLOCK_DIVIDER_256 : constant bcm2835SPIClockDivider := 256; BCM2835_SPI_CLOCK_DIVIDER_128 : constant bcm2835SPIClockDivider := 128; BCM2835_SPI_CLOCK_DIVIDER_64 : constant bcm2835SPIClockDivider := 64; BCM2835_SPI_CLOCK_DIVIDER_32 : constant bcm2835SPIClockDivider := 32; BCM2835_SPI_CLOCK_DIVIDER_16 : constant bcm2835SPIClockDivider := 16; BCM2835_SPI_CLOCK_DIVIDER_8 : constant bcm2835SPIClockDivider := 8; BCM2835_SPI_CLOCK_DIVIDER_4 : constant bcm2835SPIClockDivider := 4; BCM2835_SPI_CLOCK_DIVIDER_2 : constant bcm2835SPIClockDivider := 2; BCM2835_SPI_CLOCK_DIVIDER_1 : constant bcm2835SPIClockDivider := 1; -- /usr/local/include/bcm2835.h:624 -- Defines for I2C -- GPIO register offsets from BCM2835_BSC*_BASE. -- Offsets into the BSC Peripheral block in bytes per 3.1 BSC Register Map -- Register masks for BSC_C -- Register masks for BSC_S --/ \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 --/< 2500 = 10us = 100 kHz --/< 622 = 2.504us = 399.3610 kHz --/< 150 = 60ns = 1.666 MHz (default at reset) --/< 148 = 59ns = 1.689 MHz subtype bcm2835I2CClockDivider is unsigned; BCM2835_I2C_CLOCK_DIVIDER_2500 : constant bcm2835I2CClockDivider := 2500; BCM2835_I2C_CLOCK_DIVIDER_626 : constant bcm2835I2CClockDivider := 626; BCM2835_I2C_CLOCK_DIVIDER_150 : constant bcm2835I2CClockDivider := 150; BCM2835_I2C_CLOCK_DIVIDER_148 : constant bcm2835I2CClockDivider := 148; -- /usr/local/include/bcm2835.h:671 --/ \brief bcm2835I2CReasonCodes --/ Specifies the reason codes for the bcm2835_i2c_write and bcm2835_i2c_read functions. --/< Success --/< Received a NACK --/< Received Clock Stretch Timeout --/< Not all data is sent / received subtype bcm2835I2CReasonCodes is unsigned; BCM2835_I2C_REASON_OK : constant bcm2835I2CReasonCodes := 0; BCM2835_I2C_REASON_ERROR_NACK : constant bcm2835I2CReasonCodes := 1; BCM2835_I2C_REASON_ERROR_CLKT : constant bcm2835I2CReasonCodes := 2; BCM2835_I2C_REASON_ERROR_DATA : constant bcm2835I2CReasonCodes := 4; -- /usr/local/include/bcm2835.h:681 -- 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. --/ @} -- Defines for PWM, word offsets (ie 4 byte multiples) -- Defines for PWM Clock, word offsets (ie 4 byte multiples) --/ \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 --/< 32768 = 585Hz --/< 16384 = 1171.8Hz --/< 8192 = 2.34375kHz --/< 4096 = 4.6875kHz --/< 2048 = 9.375kHz --/< 1024 = 18.75kHz --/< 512 = 37.5kHz --/< 256 = 75kHz --/< 128 = 150kHz --/< 64 = 300kHz --/< 32 = 600.0kHz --/< 16 = 1.2MHz --/< 8 = 2.4MHz --/< 4 = 4.8MHz --/< 2 = 9.6MHz, fastest you can get --/< 1 = 4.6875kHz, same as divider 4096 subtype bcm2835PWMClockDivider is unsigned; BCM2835_PWM_CLOCK_DIVIDER_32768 : constant bcm2835PWMClockDivider := 32768; BCM2835_PWM_CLOCK_DIVIDER_16384 : constant bcm2835PWMClockDivider := 16384; BCM2835_PWM_CLOCK_DIVIDER_8192 : constant bcm2835PWMClockDivider := 8192; BCM2835_PWM_CLOCK_DIVIDER_4096 : constant bcm2835PWMClockDivider := 4096; BCM2835_PWM_CLOCK_DIVIDER_2048 : constant bcm2835PWMClockDivider := 2048; BCM2835_PWM_CLOCK_DIVIDER_1024 : constant bcm2835PWMClockDivider := 1024; BCM2835_PWM_CLOCK_DIVIDER_512 : constant bcm2835PWMClockDivider := 512; BCM2835_PWM_CLOCK_DIVIDER_256 : constant bcm2835PWMClockDivider := 256; BCM2835_PWM_CLOCK_DIVIDER_128 : constant bcm2835PWMClockDivider := 128; BCM2835_PWM_CLOCK_DIVIDER_64 : constant bcm2835PWMClockDivider := 64; BCM2835_PWM_CLOCK_DIVIDER_32 : constant bcm2835PWMClockDivider := 32; BCM2835_PWM_CLOCK_DIVIDER_16 : constant bcm2835PWMClockDivider := 16; BCM2835_PWM_CLOCK_DIVIDER_8 : constant bcm2835PWMClockDivider := 8; BCM2835_PWM_CLOCK_DIVIDER_4 : constant bcm2835PWMClockDivider := 4; BCM2835_PWM_CLOCK_DIVIDER_2 : constant bcm2835PWMClockDivider := 2; BCM2835_PWM_CLOCK_DIVIDER_1 : constant bcm2835PWMClockDivider := 1; -- /usr/local/include/bcm2835.h:755 -- Historical name compatibility --/ \defgroup init Library initialisation and management --/ These functions allow you to intialise and control the bcm2835 library --/ @{ --/ Initialise the library by opening /dev/mem and getting pointers to the --/ internal memory for BCM 2835 device registers. You must call this (successfully) --/ before calling any other --/ functions in this library (except bcm2835_set_debug). --/ If bcm2835_init() fails by returning 0, --/ calling any other function may result in crashes or other failures. --/ Prints messages to stderr in case of errors. --/ \return 1 if successful else 0 function bcm2835_init return int; -- /usr/local/include/bcm2835.h:779 pragma Import (C, bcm2835_init, "bcm2835_init"); --/ Close the library, deallocating any allocated memory and closing /dev/mem --/ \return 1 if successful else 0 function bcm2835_close return int; -- /usr/local/include/bcm2835.h:783 pragma Import (C, bcm2835_close, "bcm2835_close"); --/ Sets the debug level of the library. --/ A value of 1 prevents mapping to /dev/mem, and makes the library print out --/ what it would do, rather than accessing the GPIO registers. --/ A value of 0, the default, causes normal operation. --/ Call this before calling bcm2835_init(); --/ \param[in] debug The new debug level. 1 means debug procedure bcm2835_set_debug (debug : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:791 pragma Import (C, bcm2835_set_debug, "bcm2835_set_debug"); --/ @} // end of init --/ \defgroup lowlevel Low level register access --/ These functions provide low level register access, and should not generally --/ need to be used --/ --/ @{ --/ Reads 32 bit value from a peripheral address --/ The read is done twice, and is therefore always safe in terms of --/ manual section 1.3 Peripheral access precautions for correct memory ordering --/ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. --/ \return the value read from the 32 bit register --/ \sa Physical Addresses function bcm2835_peri_read (paddr : access stdint_h.uint32_t) return stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:807 pragma Import (C, bcm2835_peri_read, "bcm2835_peri_read"); --/ Reads 32 bit value from a peripheral address without the read barrier --/ You should only use this when your code has previously called bcm2835_peri_read() --/ within the same peripheral, and no other peripheral access has occurred since. --/ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. --/ \return the value read from the 32 bit register --/ \sa Physical Addresses function bcm2835_peri_read_nb (paddr : access stdint_h.uint32_t) return stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:816 pragma Import (C, bcm2835_peri_read_nb, "bcm2835_peri_read_nb"); --/ Writes 32 bit value from a peripheral address --/ The write is done twice, and is therefore always safe in terms of --/ manual section 1.3 Peripheral access precautions for correct memory ordering --/ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. --/ \param[in] value The 32 bit value to write --/ \sa Physical Addresses procedure bcm2835_peri_write (paddr : access stdint_h.uint32_t; value : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:825 pragma Import (C, bcm2835_peri_write, "bcm2835_peri_write"); --/ Writes 32 bit value from a peripheral address without the write barrier --/ You should only use this when your code has previously called bcm2835_peri_write() --/ within the same peripheral, and no other peripheral access has occurred since. --/ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. --/ \param[in] value The 32 bit value to write --/ \sa Physical Addresses procedure bcm2835_peri_write_nb (paddr : access stdint_h.uint32_t; value : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:833 pragma Import (C, bcm2835_peri_write_nb, "bcm2835_peri_write_nb"); --/ Alters a number of bits in a 32 peripheral regsiter. --/ It reads the current valu and then alters the bits deines as 1 in mask, --/ according to the bit value in value. --/ All other bits that are 0 in the mask are unaffected. --/ Use this to alter a subset of the bits in a register. --/ The write is done twice, and is therefore always safe in terms of --/ manual section 1.3 Peripheral access precautions for correct memory ordering --/ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. --/ \param[in] value The 32 bit value to write, masked in by mask. --/ \param[in] mask Bitmask that defines the bits that will be altered in the register. --/ \sa Physical Addresses procedure bcm2835_peri_set_bits (paddr : access stdint_h.uint32_t; value : stdint_h.uint32_t; mask : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:846 pragma Import (C, bcm2835_peri_set_bits, "bcm2835_peri_set_bits"); --/ @} // end of lowlevel --/ \defgroup gpio GPIO register access --/ These functions allow you to control the GPIO interface. You can set the --/ function of each GPIO pin, read the input state and set the output state. --/ @{ --/ Sets the Function Select register for the given pin, which configures --/ the pin as Input, Output or one of the 6 alternate functions. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. --/ \param[in] mode Mode to set the pin to, one of BCM2835_GPIO_FSEL_* from \ref bcm2835FunctionSelect procedure bcm2835_gpio_fsel (pin : stdint_h.uint8_t; mode : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:858 pragma Import (C, bcm2835_gpio_fsel, "bcm2835_gpio_fsel"); --/ Sets the specified pin output to --/ HIGH. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. --/ \sa bcm2835_gpio_write() procedure bcm2835_gpio_set (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:864 pragma Import (C, bcm2835_gpio_set, "bcm2835_gpio_set"); --/ Sets the specified pin output to --/ LOW. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. --/ \sa bcm2835_gpio_write() procedure bcm2835_gpio_clr (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:870 pragma Import (C, bcm2835_gpio_clr, "bcm2835_gpio_clr"); --/ Sets any of the first 32 GPIO output pins specified in the mask to --/ HIGH. --/ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) --/ \sa bcm2835_gpio_write_multi() procedure bcm2835_gpio_set_multi (mask : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:876 pragma Import (C, bcm2835_gpio_set_multi, "bcm2835_gpio_set_multi"); --/ Sets any of the first 32 GPIO output pins specified in the mask to --/ LOW. --/ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) --/ \sa bcm2835_gpio_write_multi() procedure bcm2835_gpio_clr_multi (mask : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:882 pragma Import (C, bcm2835_gpio_clr_multi, "bcm2835_gpio_clr_multi"); --/ Reads the current level on the specified --/ pin and returns either HIGH or LOW. Works whether or not the pin --/ is an input or an output. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. --/ \return the current level either HIGH or LOW function bcm2835_gpio_lev (pin : stdint_h.uint8_t) return stdint_h.uint8_t; -- /usr/local/include/bcm2835.h:889 pragma Import (C, bcm2835_gpio_lev, "bcm2835_gpio_lev"); --/ Event Detect Status. --/ Tests whether the specified pin has detected a level or edge --/ as requested by bcm2835_gpio_ren(), bcm2835_gpio_fen(), bcm2835_gpio_hen(), --/ bcm2835_gpio_len(), bcm2835_gpio_aren(), bcm2835_gpio_afen(). --/ Clear the flag for a given pin by calling bcm2835_gpio_set_eds(pin); --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. --/ \return HIGH if the event detect status for the given pin is true. function bcm2835_gpio_eds (pin : stdint_h.uint8_t) return stdint_h.uint8_t; -- /usr/local/include/bcm2835.h:898 pragma Import (C, bcm2835_gpio_eds, "bcm2835_gpio_eds"); --/ Sets the Event Detect Status register for a given pin to 1, --/ which has the effect of clearing the flag. Use this afer seeing --/ an Event Detect Status on the pin. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_set_eds (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:904 pragma Import (C, bcm2835_gpio_set_eds, "bcm2835_gpio_set_eds"); --/ Enable Rising Edge Detect Enable for the specified pin. --/ When a rising edge is detected, sets the appropriate pin in Event Detect Status. --/ The GPRENn registers use --/ synchronous edge detection. This means the input signal is sampled using the --/ system clock and then it is looking for a ?011? pattern on the sampled signal. This --/ has the effect of suppressing glitches. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_ren (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:913 pragma Import (C, bcm2835_gpio_ren, "bcm2835_gpio_ren"); --/ Disable Rising Edge Detect Enable for the specified pin. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_clr_ren (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:917 pragma Import (C, bcm2835_gpio_clr_ren, "bcm2835_gpio_clr_ren"); --/ Enable Falling Edge Detect Enable for the specified pin. --/ When a falling edge is detected, sets the appropriate pin in Event Detect Status. --/ The GPRENn registers use --/ synchronous edge detection. This means the input signal is sampled using the --/ system clock and then it is looking for a ?100? pattern on the sampled signal. This --/ has the effect of suppressing glitches. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_fen (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:926 pragma Import (C, bcm2835_gpio_fen, "bcm2835_gpio_fen"); --/ Disable Falling Edge Detect Enable for the specified pin. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_clr_fen (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:930 pragma Import (C, bcm2835_gpio_clr_fen, "bcm2835_gpio_clr_fen"); --/ Enable High Detect Enable for the specified pin. --/ When a HIGH level is detected on the pin, sets the appropriate pin in Event Detect Status. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_hen (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:935 pragma Import (C, bcm2835_gpio_hen, "bcm2835_gpio_hen"); --/ Disable High Detect Enable for the specified pin. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_clr_hen (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:939 pragma Import (C, bcm2835_gpio_clr_hen, "bcm2835_gpio_clr_hen"); --/ Enable Low Detect Enable for the specified pin. --/ When a LOW level is detected on the pin, sets the appropriate pin in Event Detect Status. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_len (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:944 pragma Import (C, bcm2835_gpio_len, "bcm2835_gpio_len"); --/ Disable Low Detect Enable for the specified pin. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_clr_len (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:948 pragma Import (C, bcm2835_gpio_clr_len, "bcm2835_gpio_clr_len"); --/ Enable Asynchronous Rising Edge Detect Enable for the specified pin. --/ When a rising edge is detected, sets the appropriate pin in Event Detect Status. --/ Asynchronous means the incoming signal is not sampled by the system clock. As such --/ rising edges of very short duration can be detected. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_aren (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:955 pragma Import (C, bcm2835_gpio_aren, "bcm2835_gpio_aren"); --/ Disable Asynchronous Rising Edge Detect Enable for the specified pin. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_clr_aren (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:959 pragma Import (C, bcm2835_gpio_clr_aren, "bcm2835_gpio_clr_aren"); --/ Enable Asynchronous Falling Edge Detect Enable for the specified pin. --/ When a falling edge is detected, sets the appropriate pin in Event Detect Status. --/ Asynchronous means the incoming signal is not sampled by the system clock. As such --/ falling edges of very short duration can be detected. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_afen (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:966 pragma Import (C, bcm2835_gpio_afen, "bcm2835_gpio_afen"); --/ Disable Asynchronous Falling Edge Detect Enable for the specified pin. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. procedure bcm2835_gpio_clr_afen (pin : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:970 pragma Import (C, bcm2835_gpio_clr_afen, "bcm2835_gpio_clr_afen"); --/ Sets the Pull-up/down register for the given pin. This is --/ used with bcm2835_gpio_pudclk() to set the Pull-up/down resistor for the given pin. --/ However, it is usually more convenient to use bcm2835_gpio_set_pud(). --/ \param[in] pud The desired Pull-up/down mode. One of BCM2835_GPIO_PUD_* from bcm2835PUDControl --/ \sa bcm2835_gpio_set_pud() procedure bcm2835_gpio_pud (pud : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:977 pragma Import (C, bcm2835_gpio_pud, "bcm2835_gpio_pud"); --/ Clocks the Pull-up/down value set earlier by bcm2835_gpio_pud() into the pin. --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. --/ \param[in] on HIGH to clock the value from bcm2835_gpio_pud() into the pin. --/ LOW to remove the clock. --/ \sa bcm2835_gpio_set_pud() procedure bcm2835_gpio_pudclk (pin : stdint_h.uint8_t; on : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:984 pragma Import (C, bcm2835_gpio_pudclk, "bcm2835_gpio_pudclk"); --/ Reads and returns the Pad Control for the given GPIO group. --/ \param[in] group The GPIO pad group number, one of BCM2835_PAD_GROUP_GPIO_* --/ \return Mask of bits from BCM2835_PAD_* from \ref bcm2835PadGroup function bcm2835_gpio_pad (group : stdint_h.uint8_t) return stdint_h.uint32_t; -- /usr/local/include/bcm2835.h:989 pragma Import (C, bcm2835_gpio_pad, "bcm2835_gpio_pad"); --/ Sets the Pad Control for the given GPIO group. --/ \param[in] group The GPIO pad group number, one of BCM2835_PAD_GROUP_GPIO_* --/ \param[in] control Mask of bits from BCM2835_PAD_* from \ref bcm2835PadGroup. Note --/ that it is not necessary to include BCM2835_PAD_PASSWRD in the mask as this --/ is automatically included. procedure bcm2835_gpio_set_pad (group : stdint_h.uint8_t; control : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:996 pragma Import (C, bcm2835_gpio_set_pad, "bcm2835_gpio_set_pad"); --/ Delays for the specified number of milliseconds. --/ Uses nanosleep(), and therefore does not use CPU until the time is up. --/ However, you are at the mercy of nanosleep(). From the manual for nanosleep(): --/ If the interval specified in req is not an exact multiple of the granularity --/ underlying clock (see time(7)), then the interval will be --/ rounded up to the next multiple. Furthermore, after the sleep completes, --/ there may still be a delay before the CPU becomes free to once --/ again execute the calling thread. --/ \param[in] millis Delay in milliseconds procedure bcm2835_delay (millis : unsigned); -- /usr/local/include/bcm2835.h:1007 pragma Import (C, bcm2835_delay, "bcm2835_delay"); --/ Delays for the specified number of microseconds. --/ Uses a combination of nanosleep() and a busy wait loop on the BCM2835 system timers, --/ However, you are at the mercy of nanosleep(). From the manual for nanosleep(): --/ If the interval specified in req is not an exact multiple of the granularity --/ underlying clock (see time(7)), then the interval will be --/ rounded up to the next multiple. Furthermore, after the sleep completes, --/ there may still be a delay before the CPU becomes free to once --/ again execute the calling thread. --/ For times less than about 450 microseconds, uses a busy wait on the System Timer. --/ It is reported that a delay of 0 microseconds on RaspberryPi will in fact --/ result in a delay of about 80 microseconds. Your mileage may vary. --/ \param[in] micros Delay in microseconds procedure bcm2835_delayMicroseconds (micros : stdint_h.uint64_t); -- /usr/local/include/bcm2835.h:1021 pragma Import (C, bcm2835_delayMicroseconds, "bcm2835_delayMicroseconds"); --/ Sets the output state of the specified pin --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. --/ \param[in] on HIGH sets the output to HIGH and LOW to LOW. procedure bcm2835_gpio_write (pin : stdint_h.uint8_t; on : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1026 pragma Import (C, bcm2835_gpio_write, "bcm2835_gpio_write"); --/ Sets any of the first 32 GPIO output pins specified in the mask to the state given by on --/ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) --/ \param[in] on HIGH sets the output to HIGH and LOW to LOW. procedure bcm2835_gpio_write_multi (mask : stdint_h.uint32_t; on : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1031 pragma Import (C, bcm2835_gpio_write_multi, "bcm2835_gpio_write_multi"); --/ Sets the first 32 GPIO output pins specified in the mask to the value given by value --/ \param[in] value values required for each bit masked in by mask, eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) --/ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) procedure bcm2835_gpio_write_mask (value : stdint_h.uint32_t; mask : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:1036 pragma Import (C, bcm2835_gpio_write_mask, "bcm2835_gpio_write_mask"); --/ Sets the Pull-up/down mode for the specified pin. This is more convenient than --/ clocking the mode in with bcm2835_gpio_pud() and bcm2835_gpio_pudclk(). --/ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. --/ \param[in] pud The desired Pull-up/down mode. One of BCM2835_GPIO_PUD_* from bcm2835PUDControl procedure bcm2835_gpio_set_pud (pin : stdint_h.uint8_t; pud : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1042 pragma Import (C, bcm2835_gpio_set_pud, "bcm2835_gpio_set_pud"); --/ @} --/ \defgroup spi SPI access --/ These functions let you use SPI0 (Serial Peripheral Interface) to --/ interface with an external SPI device. --/ @{ --/ Start SPI operations. --/ Forces RPi SPI0 pins P1-19 (MOSI), P1-21 (MISO), P1-23 (CLK), P1-24 (CE0) and P1-26 (CE1) --/ to alternate function ALT0, which enables those pins for SPI interface. --/ You should call bcm2835_spi_end() when all SPI funcitons are complete to return the pins to --/ their default functions --/ \sa bcm2835_spi_end() procedure bcm2835_spi_begin; -- /usr/local/include/bcm2835.h:1057 pragma Import (C, bcm2835_spi_begin, "bcm2835_spi_begin"); --/ End SPI operations. --/ SPI0 pins P1-19 (MOSI), P1-21 (MISO), P1-23 (CLK), P1-24 (CE0) and P1-26 (CE1) --/ are returned to their default INPUT behaviour. procedure bcm2835_spi_end; -- /usr/local/include/bcm2835.h:1062 pragma Import (C, bcm2835_spi_end, "bcm2835_spi_end"); --/ Sets the SPI bit order --/ NOTE: has no effect. Not supported by SPI0. --/ Defaults to --/ \param[in] order The desired bit order, one of BCM2835_SPI_BIT_ORDER_*, --/ see \ref bcm2835SPIBitOrder procedure bcm2835_spi_setBitOrder (order : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1069 pragma Import (C, bcm2835_spi_setBitOrder, "bcm2835_spi_setBitOrder"); --/ Sets the SPI clock divider and therefore the --/ SPI clock speed. --/ \param[in] divider The desired SPI clock divider, one of BCM2835_SPI_CLOCK_DIVIDER_*, --/ see \ref bcm2835SPIClockDivider procedure bcm2835_spi_setClockDivider (divider : stdint_h.uint16_t); -- /usr/local/include/bcm2835.h:1075 pragma Import (C, bcm2835_spi_setClockDivider, "bcm2835_spi_setClockDivider"); --/ Sets the SPI data mode --/ Sets the clock polariy and phase --/ \param[in] mode The desired data mode, one of BCM2835_SPI_MODE*, --/ see \ref bcm2835SPIMode procedure bcm2835_spi_setDataMode (mode : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1081 pragma Import (C, bcm2835_spi_setDataMode, "bcm2835_spi_setDataMode"); --/ Sets the chip select pin(s) --/ When an bcm2835_spi_transfer() is made, the selected pin(s) will be asserted during the --/ transfer. --/ \param[in] cs Specifies the CS pins(s) that are used to activate the desired slave. --/ One of BCM2835_SPI_CS*, see \ref bcm2835SPIChipSelect procedure bcm2835_spi_chipSelect (cs : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1088 pragma Import (C, bcm2835_spi_chipSelect, "bcm2835_spi_chipSelect"); --/ Sets the chip select pin polarity for a given pin --/ When an bcm2835_spi_transfer() occurs, the currently selected chip select pin(s) --/ will be asserted to the --/ value given by active. When transfers are not happening, the chip select pin(s) --/ return to the complement (inactive) value. --/ \param[in] cs The chip select pin to affect --/ \param[in] active Whether the chip select pin is to be active HIGH procedure bcm2835_spi_setChipSelectPolarity (cs : stdint_h.uint8_t; active : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1097 pragma Import (C, bcm2835_spi_setChipSelectPolarity, "bcm2835_spi_setChipSelectPolarity"); --/ Transfers one byte to and from the currently selected SPI slave. --/ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect) --/ during the transfer. --/ Clocks the 8 bit value out on MOSI, and simultaneously clocks in data from MISO. --/ Returns the read data byte from the slave. --/ Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual --/ \param[in] value The 8 bit data byte to write to MOSI --/ \return The 8 bit byte simultaneously read from MISO --/ \sa bcm2835_spi_transfern() function bcm2835_spi_transfer (value : stdint_h.uint8_t) return stdint_h.uint8_t; -- /usr/local/include/bcm2835.h:1108 pragma Import (C, bcm2835_spi_transfer, "bcm2835_spi_transfer"); --/ Transfers any number of bytes to and from the currently selected SPI slave. --/ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect) --/ during the transfer. --/ Clocks the len 8 bit bytes out on MOSI, and simultaneously clocks in data from MISO. --/ The data read read from the slave is placed into rbuf. rbuf must be at least len bytes long --/ Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual --/ \param[in] tbuf Buffer of bytes to send. --/ \param[out] rbuf Received bytes will by put in this buffer --/ \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send/received --/ \sa bcm2835_spi_transfer() procedure bcm2835_spi_transfernb (tbuf : Interfaces.C.Strings.chars_ptr; rbuf : Interfaces.C.Strings.chars_ptr; len : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:1120 pragma Import (C, bcm2835_spi_transfernb, "bcm2835_spi_transfernb"); --/ Transfers any number of bytes to and from the currently selected SPI slave --/ using bcm2835_spi_transfernb. --/ The returned data from the slave replaces the transmitted data in the buffer. --/ \param[in,out] buf Buffer of bytes to send. Received bytes will replace the contents --/ \param[in] len Number of bytes int eh buffer, and the number of bytes to send/received --/ \sa bcm2835_spi_transfer() procedure bcm2835_spi_transfern (buf : Interfaces.C.Strings.chars_ptr; len : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:1128 pragma Import (C, bcm2835_spi_transfern, "bcm2835_spi_transfern"); --/ Transfers any number of bytes to the currently selected SPI slave. --/ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect) --/ during the transfer. --/ \param[in] buf Buffer of bytes to send. --/ \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send procedure bcm2835_spi_writenb (buf : Interfaces.C.Strings.chars_ptr; len : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:1135 pragma Import (C, bcm2835_spi_writenb, "bcm2835_spi_writenb"); --/ @} --/ \defgroup i2c I2C access --/ These functions let you use I2C (The Broadcom Serial Control bus with the Philips --/ I2C bus/interface version 2.1 January 2000.) to interface with an external I2C device. --/ @{ --/ Start I2C operations. --/ Forces RPi I2C pins P1-03 (SDA) and P1-05 (SCL) --/ to alternate function ALT0, which enables those pins for I2C interface. --/ You should call bcm2835_i2c_end() when all I2C functions are complete to return the pins to --/ their default functions --/ \sa bcm2835_i2c_end() procedure bcm2835_i2c_begin; -- /usr/local/include/bcm2835.h:1150 pragma Import (C, bcm2835_i2c_begin, "bcm2835_i2c_begin"); --/ End I2C operations. --/ I2C pins P1-03 (SDA) and P1-05 (SCL) --/ are returned to their default INPUT behaviour. procedure bcm2835_i2c_end; -- /usr/local/include/bcm2835.h:1155 pragma Import (C, bcm2835_i2c_end, "bcm2835_i2c_end"); --/ Sets the I2C slave address. --/ \param[in] addr The I2C slave address. procedure bcm2835_i2c_setSlaveAddress (addr : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1159 pragma Import (C, bcm2835_i2c_setSlaveAddress, "bcm2835_i2c_setSlaveAddress"); --/ Sets the I2C clock divider and therefore the I2C clock speed. --/ \param[in] divider The desired I2C clock divider, one of BCM2835_I2C_CLOCK_DIVIDER_*, --/ see \ref bcm2835I2CClockDivider procedure bcm2835_i2c_setClockDivider (divider : stdint_h.uint16_t); -- /usr/local/include/bcm2835.h:1164 pragma Import (C, bcm2835_i2c_setClockDivider, "bcm2835_i2c_setClockDivider"); --/ Sets the I2C clock divider by converting the baudrate parameter to --/ the equivalent I2C clock divider. ( see \sa bcm2835_i2c_setClockDivider) --/ For the I2C standard 100khz you would set baudrate to 100000 --/ The use of baudrate corresponds to its use in the I2C kernel device --/ driver. (Of course, bcm2835 has nothing to do with the kernel driver) procedure bcm2835_i2c_set_baudrate (baudrate : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:1171 pragma Import (C, bcm2835_i2c_set_baudrate, "bcm2835_i2c_set_baudrate"); --/ Transfers any number of bytes to the currently selected I2C slave. --/ (as previously set by \sa bcm2835_i2c_setSlaveAddress) --/ \param[in] buf Buffer of bytes to send. --/ \param[in] len Number of bytes in the buf buffer, and the number of bytes to send. --/ \return reason see \ref bcm2835I2CReasonCodes function bcm2835_i2c_write (buf : Interfaces.C.Strings.chars_ptr; len : stdint_h.uint32_t) return stdint_h.uint8_t; -- /usr/local/include/bcm2835.h:1178 pragma Import (C, bcm2835_i2c_write, "bcm2835_i2c_write"); --/ Transfers any number of bytes from the currently selected I2C slave. --/ (as previously set by \sa bcm2835_i2c_setSlaveAddress) --/ \param[in] buf Buffer of bytes to receive. --/ \param[in] len Number of bytes in the buf buffer, and the number of bytes to received. --/ \return reason see \ref bcm2835I2CReasonCodes function bcm2835_i2c_read (buf : Interfaces.C.Strings.chars_ptr; len : stdint_h.uint32_t) return stdint_h.uint8_t; -- /usr/local/include/bcm2835.h:1185 pragma Import (C, bcm2835_i2c_read, "bcm2835_i2c_read"); --/ Allows reading from I2C slaves that require a repeated start (without any prior stop) --/ to read after the required slave register has been set. For example, the popular --/ MPL3115A2 pressure and temperature sensor. Note that your device must support or --/ require this mode. If your device does not require this mode then the standard --/ combined: --/ \sa bcm2835_i2c_write --/ \sa bcm2835_i2c_read --/ are a better choice. --/ Will read from the slave previously set by \sa bcm2835_i2c_setSlaveAddress --/ \param[in] regaddr Buffer containing the slave register you wish to read from. --/ \param[in] buf Buffer of bytes to receive. --/ \param[in] len Number of bytes in the buf buffer, and the number of bytes to received. --/ \return reason see \ref bcm2835I2CReasonCodes function bcm2835_i2c_read_register_rs (regaddr : Interfaces.C.Strings.chars_ptr; buf : Interfaces.C.Strings.chars_ptr; len : stdint_h.uint32_t) return stdint_h.uint8_t; -- /usr/local/include/bcm2835.h:1200 pragma Import (C, bcm2835_i2c_read_register_rs, "bcm2835_i2c_read_register_rs"); --/ Allows sending an arbitrary number of bytes to I2C slaves before issuing a repeated --/ start (with no prior stop) and reading a response. --/ Necessary for devices that require such behavior, such as the MLX90620. --/ Will write to and read from the slave previously set by \sa bcm2835_i2c_setSlaveAddress --/ \param[in] cmds Buffer containing the bytes to send before the repeated start condition. --/ \param[in] cmds_len Number of bytes to send from cmds buffer --/ \param[in] buf Buffer of bytes to receive. --/ \param[in] buf_len Number of bytes to receive in the buf buffer. --/ \return reason see \ref bcm2835I2CReasonCodes function bcm2835_i2c_write_read_rs (cmds : Interfaces.C.Strings.chars_ptr; cmds_len : stdint_h.uint32_t; buf : Interfaces.C.Strings.chars_ptr; buf_len : stdint_h.uint32_t) return stdint_h.uint8_t; -- /usr/local/include/bcm2835.h:1211 pragma Import (C, bcm2835_i2c_write_read_rs, "bcm2835_i2c_write_read_rs"); --/ @} --/ \defgroup st System Timer access --/ Allows access to and delays using the System Timer Counter. --/ @{ --/ Read the System Timer Counter register. --/ \return the value read from the System Timer Counter Lower 32 bits register function bcm2835_st_read return stdint_h.uint64_t; -- /usr/local/include/bcm2835.h:1221 pragma Import (C, bcm2835_st_read, "bcm2835_st_read"); --/ Delays for the specified number of microseconds with offset. --/ \param[in] offset_micros Offset in microseconds --/ \param[in] micros Delay in microseconds procedure bcm2835_st_delay (offset_micros : stdint_h.uint64_t; micros : stdint_h.uint64_t); -- /usr/local/include/bcm2835.h:1226 pragma Import (C, bcm2835_st_delay, "bcm2835_st_delay"); --/ @} --/ \defgroup pwm Pulse Width Modulation --/ Allows control of 2 independent PWM channels. A limited subset of GPIO pins --/ can be connected to one of these 2 channels, allowing PWM control of GPIO pins. --/ You have to set the desired pin into a particular Alt Fun to PWM output. See the PWM --/ documentation on the Main Page. --/ @{ --/ Sets the PWM clock divisor, --/ to control the basic PWM pulse widths. --/ \param[in] divisor Divides the basic 19.2MHz PWM clock. You can use one of the common --/ values BCM2835_PWM_CLOCK_DIVIDER_* in \ref bcm2835PWMClockDivider procedure bcm2835_pwm_set_clock (divisor : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:1241 pragma Import (C, bcm2835_pwm_set_clock, "bcm2835_pwm_set_clock"); --/ Sets the mode of the given PWM channel, --/ allowing you to control the PWM mode and enable/disable that channel --/ \param[in] channel The PWM channel. 0 or 1. --/ \param[in] markspace Set true if you want Mark-Space mode. 0 for Balanced mode. --/ \param[in] enabled Set true to enable this channel and produce PWM pulses. procedure bcm2835_pwm_set_mode (channel : stdint_h.uint8_t; markspace : stdint_h.uint8_t; enabled : stdint_h.uint8_t); -- /usr/local/include/bcm2835.h:1248 pragma Import (C, bcm2835_pwm_set_mode, "bcm2835_pwm_set_mode"); --/ Sets the maximum range of the PWM output. --/ The data value can vary between 0 and this range to control PWM output --/ \param[in] channel The PWM channel. 0 or 1. --/ \param[in] range The maximum value permitted for DATA. procedure bcm2835_pwm_set_range (channel : stdint_h.uint8_t; c_range : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:1254 pragma Import (C, bcm2835_pwm_set_range, "bcm2835_pwm_set_range"); --/ Sets the PWM pulse ratio to emit to DATA/RANGE, --/ where RANGE is set by bcm2835_pwm_set_range(). --/ \param[in] channel The PWM channel. 0 or 1. --/ \param[in] data Controls the PWM output ratio as a fraction of the range. --/ Can vary from 0 to RANGE. procedure bcm2835_pwm_set_data (channel : stdint_h.uint8_t; data : stdint_h.uint32_t); -- /usr/local/include/bcm2835.h:1261 pragma Import (C, bcm2835_pwm_set_data, "bcm2835_pwm_set_data"); --/ @} --/ @example blink.c --/ Blinks RPi GPIO pin 11 on and off --/ @example input.c --/ Reads the state of an RPi input pin --/ @example event.c --/ Shows how to use event detection on an input pin --/ @example spi.c --/ Shows how to use SPI interface to transfer a byte to and from an SPI device --/ @example spin.c --/ Shows how to use SPI interface to transfer a number of bytes to and from an SPI device --/ @example pwm.c --/ Shows how to use PWM to control GPIO pins --/ @example i2c.c --/ Command line utility for executing i2c commands with the --/ Broadcom bcm2835. Contributed by Shahrooz Shahparnia. --/ example gpio.c --/ Command line utility for executing gpio commands with the --/ Broadcom bcm2835. Contributed by Shahrooz Shahparnia. end bcm2835_h;