IOT Raspberry Pi Programs
We have decided not to make the programs available as a download because this is not the point of the book - the programs are not finished production code but something you should type in and study.
The best solution is to provide the source code of the programs in a form that can be copied and pasted into a NetBeans of VS Code project.
Note: The VS Code task listings are at the very end of this page.
The only downside is that you have to create a project to paste the code into.
To do this follow the instructionin the book- in particular remember to add the bcm2835 library and also any library references that may be needed.
All of the programs below were copy and pasted from working programs in the IDE.
If anything you consider important is missing or if you have any requests or comments contact me
This email address is being protected from spambots. You need JavaScript enabled to view it.
Page 32
#include <stdio.h>
#include <stdlib.h>
int main(int argc, char** argv) {
printf("Hello C World");
return(EXIT_SUCCESS);
}
Page 38
#include <bcm2835.h>
#include <stdio.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_OUTP);
while (1)
{
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, HIGH);
bcm2835_delay(500);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, LOW);
bcm2835_delay(500);
}
bcm2835_close();
return 0;
}
Page 50
#include <bcm2835.h>
#include <stdio.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_OUTP);
for (;;)
{
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, LOW);
}
bcm2835_close();
return 0;
}
Page 54
#define _DEFAULT_SOURCE
#include <bcm2835.h>
#include <stdio.h>
#include <time.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_OUTP);
volatile int i;
struct timespec delay = {0, 10 * 1000};
for (;;)
{
bcm2835_gpio_set(RPI_BPLUS_GPIO_J8_07);
nanosleep(&delay, NULL);
bcm2835_gpio_clr(RPI_BPLUS_GPIO_J8_07);
nanosleep(&delay, NULL);
}
bcm2835_close();
return 0;
}
Page 56
#include <bcm2835.h>
#include <stdio.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_OUTP);
volatile int i;
int n = 10;
for (;;)
{
for (i = 0; i < n; i++)
{
};
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, HIGH);
for (i = 0; i < n; i++)
{
};
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, LOW);
}
bcm2835_close();
return 0;
}
Page 57
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
#include <time.h>
#define BILLION 1000000000L
int main(int argc, char** argv) {
struct timespec btime, etime;
volatile int i;
clock_gettime(CLOCK_REALTIME, &btime);
for (i = 0; i < 10000000; i++) {
};
clock_gettime(CLOCK_REALTIME, &etime);
double nseconds = (double) ((etime.tv_sec - btime.tv_sec)* BILLION)+(double) (etime.tv_nsec - btime.tv_nsec);
int n = (int) 10 /nseconds * BILLION + 0.5;
printf("time = %f (s) \n \r",nseconds / BILLION);
printf("n= %d \n\r", n);
return (EXIT_SUCCESS);
}
Page 58
#include <bcm2835.h>
#include <stdio.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07,
BCM2835_GPIO_FSEL_OUTP);
for (;;)
{
bcm2835_gpio_set(RPI_BPLUS_GPIO_J8_07);
bcm2835_delayMicroseconds(1);
bcm2835_gpio_clr(RPI_BPLUS_GPIO_J8_07);
bcm2835_delayMicroseconds(1);
}
bcm2835_close();
return 0;
}
Page 59
#include <bcm2835.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
int main()
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07,
BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_11,
BCM2835_GPIO_FSEL_OUTP);
volatile int i;
for (;;)
{
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, LOW);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, LOW);
}
return (EXIT_SUCCESS);
}
Page 60
#include <bcm2835.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
int main()
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_11, BCM2835_GPIO_FSEL_OUTP);
uint32_t mask = (1 << RPI_BPLUS_GPIO_J8_07) | (1 << RPI_BPLUS_GPIO_J8_11);
for (;;)
{
bcm2835_gpio_set_multi(mask);
bcm2835_gpio_clr_multi(mask);
}
return (EXIT_SUCCESS);
}
Page 81
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_PUD_UP);
while (1)
{
if (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
{
printf("Line Low \n\r");
fflush(stdout);
};
}
return 0;
}
Page 82
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_PUD_UP);
while (1)
{
while (1 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
bcm2835_delayMicroseconds(1000);
while (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
bcm2835_delayMicroseconds(1000);
printf("Button Push \n\r");
fflush(stdout);
}
return 0;
}
Page 83
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_PUD_UP);
uint64_t t;
while (1)
{
while (1 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
t = bcm2835_st_read();
bcm2835_delayMicroseconds(1000);
while (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
t = bcm2835_st_read() - t;
bcm2835_delayMicroseconds(1000);
if (t > 5000000)
{
printf("Putton held \n\r");
}
else
{
printf("Button Push \n\r");
}
fflush(stdout);
}
return 0;
}
Page 84
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
volatile int i;
while (1)
{
while (1 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
while (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
for (i = 0; i < 5000; i++)
{
if (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
break;
}
printf("%d\n\r", i);
fflush(stdout);
}
return (EXIT_SUCCESS);
}
Page 85
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
volatile int i;
uint64_t t;
while (1)
{
while (1 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
while (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
t = bcm2835_st_read();
for (i = 0; i < 5000; i++)
{
if (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
break;
}
t = bcm2835_st_read() - t;
printf("%d,%llu\n\r", i, t);
fflush(stdout);
}
return (EXIT_SUCCESS);
}
Page 86
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
#include <unistd.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_11, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, LOW);
uint64_t t;
while (1)
{
while (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
t = bcm2835_st_read();
while (1 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
;
t = bcm2835_st_read() - t;
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, LOW);
}
return (EXIT_SUCCESS);
}
Page 89
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_PUD_UP);
uint64_t t;
int s = 0;
int i;
while (1)
{
t = bcm2835_st_read();
i = bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07);
switch (s)
{
case 0: //Button not pushed
if (!i)
{
s = 1;
printf("Button Push \n\r");
fflush(stdout);
}
break;
case 1: //Button pushed
if (i)
{
s = 0;
}
break;
default:
s = 0;
}
t = bcm2835_st_read() - t;
bcm2835_delayMicroseconds(1000 - t);
}
return 0;
}
Page 91
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_PUD_UP);
uint64_t t, tpush = 0;
int s = 0, i;
while (1)
{
t = bcm2835_st_read();
i = bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07);
switch (s)
{
case 0: //Button not pushed
if (!i)
{
s = 1;
tpush = t;
}
break;
case 1: //Button pushed
if (i)
{
s = 0;
if ((t - tpush) > 5000000)
{
printf("Button held \n\r");
}
else
{
printf("Button pushed \n\r");
}
fflush(stdout);
}
break;
default:
s = 0;
}
t = bcm2835_st_read() - t;
bcm2835_delayMicroseconds(1000 - t);
}
return 0;
}
Page 92
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_PUD_UP);
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_11, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_13, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_15, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_13, LOW);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_15, LOW);
uint64_t t;
int buttonState = bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07);
int state = 0;
while (1)
{
t = bcm2835_st_read();
int buttonNow = bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07);
int edge = buttonState - buttonNow;
buttonState = buttonNow;
switch (state)
{
case 0:
if (edge)
{
state = 1;
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, LOW);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_13, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_15, LOW);
}
break;
case 1:
if (edge)
{
state = 2;
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, LOW);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_13, LOW);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_15, HIGH);
}
break;
case 2:
if (edge)
{
state = 0;
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_13, LOW);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_15, LOW);
}
break;
}
t = bcm2835_st_read() - t;
bcm2835_delayMicroseconds(1000 - t);
}
return 0;
}
Page 103
#include <stdio.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/gpio.h>
int main(int argc, char **argv)
{
int fd;
struct gpiochip_info info;
fd = open("/dev/gpiochip0", O_RDONLY);
int ret = ioctl(fd, GPIO_GET_CHIPINFO_IOCTL, &info);
close(fd);
printf("label: %s\n name: %s\n number of lines: %u\n", info.label, info.name, info.lines);
return 0;
}
Page 106
#include <string.h>
#include <stdio.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/gpio.h>
int main(int argc, char **argv)
{
int fd, ret;
struct gpiohandle_request req;
req.lineoffsets[0] = 4;
req.lineoffsets[1] = 17;
req.flags = GPIOHANDLE_REQUEST_OUTPUT;
req.default_values[0] = 0;
req.default_values[1] = 0;
strcpy(req.consumer_label, "Output test");
req.lines = 2;
fd = open("/dev/gpiochip0", O_RDONLY);
ret = ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &req);
close(fd);
struct gpiohandle_data data;
data.values[0] = 0;
data.values[1] = 1;
while (1)
{
data.values[0] = !data.values[0];
data.values[1] = !data.values[1];
ret = ioctl(req.fd, GPIOHANDLE_SET_LINE_VALUES_IOCTL, &data);
}
return 0;
}
Page 107
#include <string.h>
#include <stdio.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/gpio.h>
int main(int argc, char **argv)
{
int fd, ret;
struct gpiohandle_request req;
req.lineoffsets[0] = 4;
req.lineoffsets[1] = 17;
req.flags = GPIOHANDLE_REQUEST_INPUT;
strcpy(req.consumer_label, "Input test");
req.lines = 2;
fd = open("/dev/gpiochip0", O_RDONLY);
ret = ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &req);
close(fd);
struct gpiohandle_data data;
ret = ioctl(req.fd, GPIOHANDLE_GET_LINE_VALUES_IOCTL, &data);
printf("%hhu , %hhu", data.values[0], data.values[1]);
close(req.fd);
return 0;
}
Page 114
Note a full program just a function definition
#define _DEFAULT_SOURCE
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
void checkIRQ()
{
FILE *fp = popen("sudo dtparam -l", "r");
if (fp == NULL)
{
printf("Failed to run command\n\r");
exit(1);
}
char output[1024];
int txfound = 0;
while (fgets(output, sizeof(output), fp) != NULL)
{
printf("%s\n\r", output);
fflush(stdout);
if (strstr(output, "gpio-no-irq") != NULL)
{
txfound = 1;
}
}
pclose(fp);
if (txfound == 0)
{
fp = popen("sudo dtoverlay gpio-no-irq", "r");
if (fp == NULL)
{
printf("Failed to run command\n\r");
exit(1);
}
pclose(fp);
}
}
Page 118
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
#include <unistd.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fen(RPI_BPLUS_GPIO_J8_07);
bcm2835_gpio_ren(RPI_BPLUS_GPIO_J8_07);
volatile int i;
uint64_t t;
while (1)
{
bcm2835_gpio_set_eds(RPI_BPLUS_GPIO_J8_07);
while (0 == bcm2835_gpio_eds(RPI_BPLUS_GPIO_J8_07))
;
t = bcm2835_st_read();
bcm2835_gpio_set_eds(RPI_BPLUS_GPIO_J8_07);
for (i = 0; i < 5000; i++)
{
if (1 == bcm2835_gpio_eds(RPI_BPLUS_GPIO_J8_07))
break;
}
t = bcm2835_st_read() - t;
printf("%d,%llu\n\r", i, t);
fflush(stdout);
}
return (EXIT_SUCCESS);
}
Page 119
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
#include <unistd.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fen(RPI_BPLUS_GPIO_J8_07);
bcm2835_gpio_clr_fen(RPI_BPLUS_GPIO_J8_07);
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_11, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, LOW);
uint64_t t;
while (1)
{
bcm2835_gpio_set_eds(RPI_BPLUS_GPIO_J8_07);
t = bcm2835_st_read();
for (;;)
{
if (1 == bcm2835_gpio_eds(RPI_BPLUS_GPIO_J8_07))
break;
}
t = bcm2835_st_read() - t;
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_11, LOW);
}
return (EXIT_SUCCESS);
}
Page 120
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
#include <unistd.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_PUD_UP);
printf("Press button \n\r");
fflush(stdout);
sleep(20);
if (0 == bcm2835_gpio_lev(RPI_BPLUS_GPIO_J8_07))
{
printf("Button pressed \n\r");
}
else
{
printf("No Button press\n\r");
};
return 0;
}
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
#include <unistd.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_PUD_UP);
bcm2835_gpio_fen(RPI_BPLUS_GPIO_J8_07);
bcm2835_gpio_set_eds(RPI_BPLUS_GPIO_J8_07);
printf("Press button \n\r");
fflush(stdout);
sleep(20);
if (bcm2835_gpio_eds(RPI_BPLUS_GPIO_J8_07))
{
printf("Button pressed \n\r");
}
else
{
printf("No Button press\n\r");
};
return 0;
}
Page 124
#include <string.h>
#include <stdio.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/gpio.h>
#include <sys/epoll.h>
int main(int argc, char **argv) {
int fd, ret;
struct gpioevent_request req;
req.lineoffset = 4;
req.handleflags = GPIOHANDLE_REQUEST_INPUT;
req.eventflags = GPIOEVENT_REQUEST_RISING_EDGE;
strcpy(req.consumer_label, "Event test");
fd = open("/dev/gpiochip0", O_RDONLY);
ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &req);
close(fd);
static struct epoll_event ev;
ev.events = EPOLLIN;
ev.data.fd = req.fd;
int epfd = epoll_create(1);
int res = epoll_ctl(epfd, EPOLL_CTL_ADD, req.fd, &ev);
int nfds = epoll_wait(epfd, &ev, 1, 20000);
if (nfds != 0) {
struct gpioevent_data edata;
read(req.fd, &edata, sizeof edata);
printf("%u,%llu", edata.id, edata.timestamp);
}
}
Page 129
#include <string.h>
#include <stdio.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/gpio.h>
#include <sys/epoll.h>
#include <pthread.h>
uint64_t t[20];
typedef void (*eventHandler)(int);
typedef struct
{
int epfd;
int fd;
eventHandler func;
} intVec;
void myHandler(int fd)
{
struct gpioevent_data edata;
read(fd, &edata, sizeof edata);
printf("%u,%llu \n\r", edata.id, edata.timestamp);
fflush(stdout);
}
void *waitInterrupt(void *arg)
{
intVec *intData = (intVec *)arg;
struct epoll_event ev;
for (;;)
{
int nfds = epoll_wait(intData->epfd, &ev, 1, 20000);
if (nfds != 0)
{
intData->func(intData->fd);
}
}
}
int main(int argc, char **argv)
{
int fd, ret;
struct gpioevent_request req;
req.lineoffset = 4;
req.handleflags = GPIOHANDLE_REQUEST_INPUT;
req.eventflags = GPIOEVENT_REQUEST_RISING_EDGE;
strcpy(req.consumer_label, "Event test");
fd = open("/dev/gpiochip0", O_RDONLY);
ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &req);
close(fd);
static struct epoll_event ev;
ev.events = EPOLLIN;
ev.data.fd = req.fd;
int epfd = epoll_create(1);
int res = epoll_ctl(epfd, EPOLL_CTL_ADD, req.fd, &ev);
intVec intData;
intData.epfd = epfd;
intData.fd = req.fd;
intData.func = &myHandler;
pthread_t intThread;
if (pthread_create(&intThread, NULL, waitInterrupt,
(void *)&intData))
{
fprintf(stderr, "Error creating thread\n");
return 1;
}
for (;;)
{
printf("Working\n\r");
fflush(stdout);
sleep(2);
}
}
page 131
#include <pthread.h>
#include <stdio.h>
#include <string.h>
#include <bcm2835.h>
#include <fcntl.h>
#include <unistd.h>
#include <poll.h>
#define BUFFER_MAX 50
typedef void (*eventHandler)();
int openGPIO(int pin, int direction);
int writeGPIO(int gpio, int value);
int readGPIO(int gpio);
int setEdgeGPIO(int gpio, char *edge);
void *waitInterrupt(void *arg);
int attachGPIO(int gpio, char *edge, eventHandler func);
int fd[32] = {0};
typedef struct
{
int fd;
int gpio;
eventHandler func;
} intVec;
intVec intData;
static int count;
void myIntHandler()
{
count++;
};
int main(int argc, char **argv)
{
attachGPIO(4, "both", myIntHandler);
for (;;)
{
printf("Interrupt %d\n\r", count);
fflush(stdout);
};
return 0;
}
int openGPIO(int gpio, int direction)
{
if (gpio < 0 || gpio > 31)
return -1;
if (direction < 0 || direction > 1)
return -2;
int len;
char buf[BUFFER_MAX];
if (fd[gpio] != 0)
{
close(fd[gpio]);
fd[gpio] = open("/sys/class/gpio/unexport", O_WRONLY);
len = snprintf(buf, BUFFER_MAX, "%d", gpio);
write(fd[gpio], buf, len);
close(fd[gpio]);
fd[gpio] = 0;
}
fd[gpio] = open("/sys/class/gpio/export", O_WRONLY);
len = snprintf(buf, BUFFER_MAX, "%d", gpio);
write(fd[gpio], buf, len);
close(fd[gpio]);
len = snprintf(buf, BUFFER_MAX,
"/sys/class/gpio/gpio%d/direction", gpio);
fd[gpio] = open(buf, O_WRONLY);
if (direction == 1)
{
write(fd[gpio], "out", 4);
close(fd[gpio]);
len = snprintf(buf, BUFFER_MAX,
"/sys/class/gpio/gpio%d/value", gpio);
fd[gpio] = open(buf, O_WRONLY);
}
else
{
write(fd[gpio], "in", 3);
close(fd[gpio]);
len = snprintf(buf, BUFFER_MAX,
"/sys/class/gpio/gpio%d/value", gpio);
fd[gpio] = open(buf, O_RDONLY);
}
return 0;
}
int writeGPIO(int gpio, int b)
{
if (b == 0)
{
write(fd[gpio], "0", 1);
}
else
{
write(fd[gpio], "1", 1);
}
lseek(fd[gpio], 0, SEEK_SET);
return 0;
}
int readGPIO(int gpio)
{
char value_str[3];
int c = read(fd[gpio], value_str, 3);
lseek(fd[gpio], 0, SEEK_SET);
if (value_str[0] == '0')
{
return 0;
}
else
{
return 1;
}
}
int setEdgeGPIO(int gpio, char *edge)
{
char buf[BUFFER_MAX];
int len = snprintf(buf, BUFFER_MAX,
"/sys/class/gpio/gpio%d/edge", gpio);
int fd = open(buf, O_WRONLY);
write(fd, edge, strlen(edge) + 1);
close(fd);
return 0;
}
int attachGPIO(int gpio, char *edge, eventHandler func)
{
openGPIO(gpio, 0);
setEdgeGPIO(gpio, edge);
readGPIO(gpio);
intData.fd = fd[gpio];
intData.gpio = gpio;
intData.func = func;
pthread_t intThread;
if (pthread_create(&intThread,
NULL, waitInterrupt, (void *)&intData))
{
fprintf(stderr, "Error creating thread\n");
return 1;
}
return 0;
}
void *waitInterrupt(void *arg)
{
intVec *intData = (intVec *)arg;
int gpio = intData->gpio;
struct pollfd fdset[1];
fdset[0].fd = intData->fd;
fdset[0].events = POLLPRI;
fdset[0].revents = 0;
for (;;)
{
int rc = poll(fdset, 1, -1);
if (fdset[0].revents & POLLPRI)
{
intData->func();
lseek(fdset[0].fd, 0, SEEK_SET);
readGPIO(gpio);
}
}
pthread_exit(0);
}
Page 143
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(2);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 2);
bcm2835_pwm_set_data(0, 1);
return (0);
}
Page 144
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_gpio_fsel(13, BCM2835_GPIO_FSEL_ALT0);
bcm2835_pwm_set_clock(2);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 2);
bcm2835_pwm_set_data(0, 1);
bcm2835_pwm_set_mode(1, 1, 1);
bcm2835_pwm_set_range(1, 8);
bcm2835_pwm_set_data(1, 2);
return (EXIT_SUCCESS);
}
Page 145
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(2);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 256);
for (;;)
{
bcm2835_pwm_set_data(0, 16);
bcm2835_delayMicroseconds((int)26.666 * 8);
bcm2835_pwm_set_data(0, 128);
bcm2835_delayMicroseconds((int)26.666 * 8);
}
return (EXIT_SUCCESS);
}
Page 147
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(2);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 256);
for (;;)
{
bcm2835_pwm_set_data(0, 16);
bcm2835_delayMicroseconds((int)26.666 * 8);
bcm2835_pwm_set_data(0, 128);
bcm2835_delayMicroseconds((int)26.666 * 8);
}
return (EXIT_SUCCESS);
}
Page 148
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(2);
bcm2835_pwm_set_mode(0, 1, 1);
int C = 34091;
bcm2835_pwm_set_range(0, C);
bcm2835_pwm_set_data(0, C / 2);
return (EXIT_SUCCESS);
}
Page 150
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv){
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(2);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 1024);
int w = 1;
int inc = 1;
for (;;)
{
bcm2835_pwm_set_data(0, w);
w = w + inc;
if (w > 1024 || w <= 0)
inc = -inc;
bcm2835_delayMicroseconds(5000);
}
return (EXIT_SUCCESS);
}
}
return (EXIT_SUCCESS);
}
Page 151
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(2);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 1024);
int w = 0;
int inc = 1;
for (;;)
{
bcm2835_pwm_set_data(0, w * w * w);
w = w + inc;
if (w > 10 || w <= 0)
inc = -inc;
bcm2835_delayMicroseconds(50000);
}
return (EXIT_SUCCESS);
}
Page 152
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(2);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 1024);
int w = 0;
int inc = 1;
for (;;)
{
bcm2835_pwm_set_data(0, (w * w * w) >> 3);
w = w + inc;
if (w > 20 || w <= 0)
inc = -inc;
bcm2835_delayMicroseconds(50000);
}
return (EXIT_SUCCESS);
}
Page 155
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(375);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 1024);
for (;;)
{
bcm2835_pwm_set_data(0, 25);
bcm2835_delayMicroseconds(2000000);
bcm2835_pwm_set_data(0, 50);
bcm2835_delayMicroseconds(2000000);
bcm2835_pwm_set_data(0, 128);
bcm2835_delayMicroseconds(2000000);
}
return (EXIT_SUCCESS);
}
Page 156
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(375);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 1024);
for (;;)
{
bcm2835_pwm_set_data(0, 52 * 0 / 180 + 920);
bcm2835_delayMicroseconds(2000000);
bcm2835_pwm_set_data(0, 52 * 90 / 180 + 920);
bcm2835_delayMicroseconds(2000000);
bcm2835_pwm_set_data(0, 52 * 180 / 180 + 920);
bcm2835_delayMicroseconds(2000000);
}
return (EXIT_SUCCESS);
}
Page 158
Function only - needs to run as root.
void bcm2835_pwm_set_clock_source(
uint32_t source,
uint32_t divisorI,
uint32_t divisorF)
{
divisorI &= 0xfff;
divisorF &= 0xfff;
source &= 0xf;
uint8_t mask = bcm2835_peri_read(bcm2835_clk + BCM2835_PWMCLK_CNTL) & 0xffffffef;
bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_CNTL, BCM2835_PWM_PASSWRD | mask);
while ((bcm2835_peri_read(bcm2835_clk + BCM2835_PWMCLK_CNTL) & 0x80) != 0)
{
};
bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_DIV, BCM2835_PWM_PASSWRD | (divisorI << 12) | divisorF);
bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_CNTL, BCM2835_PWM_PASSWRD | source | 0x200);
bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_CNTL, BCM2835_PWM_PASSWRD | 0x210 | source);
}
Page 160
This needs to be run as root.
#include <stdio.h>
#include <stdlib.h>
#include <sys/mman.h>
#include <bcm2835.h>
void bcm2835_pwm_set_clock_source(uint32_t source,uint32_t divisorI,uint32_t divisorF)
{
divisorI &= 0xfff;
divisorF &= 0xfff;
source &= 0xf;
uint8_t mask = bcm2835_peri_read(bcm2835_clk + BCM2835_PWMCLK_CNTL) & 0xffffffef;
bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_CNTL, BCM2835_PWM_PASSWRD | mask);
while ((bcm2835_peri_read(bcm2835_clk + BCM2835_PWMCLK_CNTL) & 0x80) != 0)
{
};
bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_DIV, BCM2835_PWM_PASSWRD | (divisorI << 12) | divisorF);
bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_CNTL, BCM2835_PWM_PASSWRD | source | 0x200);
bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_CNTL, BCM2835_PWM_PASSWRD | 0x210 | source);
}
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock_source(6, 2, 0);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 256);
int i;
for (;;)
{
for (i = 0; i < 256; i = i + 10)
{
bcm2835_pwm_set_data(0, i);
bcm2835_delayMicroseconds(2);
}
}
return (EXIT_SUCCESS);
}
Page 178
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
char buf[] = {0xE7};
bcm2835_i2c_begin();
bcm2835_i2c_setClockDivider(BCM2835_I2C_CLOCK_DIVIDER_148);
bcm2835_i2c_setSlaveAddress(0x40);
bcm2835_i2c_write(buf, 1);
bcm2835_i2c_read(buf, 1);
printf("User Register = %X \r\n", buf[0]);
bcm2835_i2c_end();
return (EXIT_SUCCESS);
}
Page 178
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
void setTimeout(uint32_t timeout) {
volatile uint32_t* stimeout = bcm2835_bsc1 + BCM2835_BSC_CLKT / 4;
bcm2835_peri_write(stimeout, timeout);
}
int main(int argc, char** argv) {
if (!bcm2835_init())
return 1;
bcm2835_i2c_begin();
bcm2835_i2c_setClockDivider(BCM2835_I2C_CLOCK_DIVIDER_150);
setTimeout(0);
char buf[4] = {0xE3};
uint8_t status = bcm2835_i2c_read_register_rs(buf, buf, 3);
uint8_t msb = buf[0];
uint8_t lsb = buf[1];
uint8_t check = buf[2];
printf("msb %d \n\r lsb %d \n\r checksum %d \n\r", msb, lsb, check);
bcm2835_i2c_end();
return (EXIT_SUCCESS);
}
Page 180
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
void setTimeout(uint32_t timeout)
{
volatile uint32_t *stimeout = bcm2835_bsc1 + BCM2835_BSC_CLKT / 4;
bcm2835_peri_write(stimeout, timeout);
}
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_i2c_begin();
bcm2835_i2c_setClockDivider(BCM2835_I2C_CLOCK_DIVIDER_2500);
setTimeout(20000);
char buf[3] = {0xE3};
uint8_t status = bcm2835_i2c_read_register_rs(buf, buf, 3);
uint8_t msb = buf[0];
uint8_t lsb = buf[1];
uint8_t check = buf[2];
printf("msb %d \n\r lsb %d \n\r checksum %d \n\r", msb, lsb, check);
bcm2835_i2c_end();
return (EXIT_SUCCESS);
}
Page 184
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
void setTimeout(uint16_t timeout);
uint8_t crcCheck(uint8_t msb, uint8_t lsb, uint8_t check);
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_i2c_begin();
bcm2835_i2c_setClockDivider(BCM2835_I2C_CLOCK_DIVIDER_2500);
setTimeout(20000);
char buf[4] = {0xE3};
uint8_t status = bcm2835_i2c_read_register_rs(buf, buf, 3);
uint8_t msb = buf[0];
uint8_t lsb = buf[1];
uint8_t check = buf[2];
printf("crc = %d\n\r", crcCheck(msb, lsb, check));
unsigned int data16 = ((unsigned int)msb << 8) | (unsigned int)(lsb & 0xFC);
float temp = (float)(-46.85 + (175.72 * data16 / (float)65536));
printf("Temperature %f C \n\r", temp);
buf[0] = 0xF5;
bcm2835_i2c_write(buf, 1);
while (bcm2835_i2c_read(buf, 3) == BCM2835_I2C_REASON_ERROR_NACK)
{
bcm2835_delayMicroseconds(500);
};
msb = buf[0];
lsb = buf[1];
check = buf[2];
printf("crc = %d\n\r", crcCheck(msb, lsb, check));
data16 = ((unsigned int)msb << 8) | (unsigned int)(lsb & 0xFC);
float hum = -6 + (125.0 * (float)data16) / 65536;
printf("Humidity %f %% \n\r", hum);
bcm2835_i2c_end();
return (EXIT_SUCCESS);
}
void setTimeout(uint16_t timeout)
{
volatile uint32_t *stimeout = bcm2835_bsc1 + BCM2835_BSC_CLKT / 4;
bcm2835_peri_write(stimeout, timeout);
}
uint8_t crcCheck(uint8_t msb, uint8_t lsb, uint8_t check)
{
uint32_t data32 = ((uint32_t)msb << 16) | ((uint32_t)lsb << 8) | (uint32_t)check;
uint32_t divisor = 0x988000;
for (int i = 0; i < 16; i++)
{
if (data32 & (uint32_t)1 << (23 - i))
data32 ^= divisor;
divisor >>= 1;
};
return (uint8_t)data32;
}
Page 195
#include <bcm2835.h>
#include <stdio.h>
#include <sched.h>
#include <sys/mman.h>
uint8_t getByte(int b, int buf[]);
void GetDHT22data(uint8_t pin);
int main(int argc, char **argv)
{
const struct sched_param priority = {1};
sched_setscheduler(0, SCHED_FIFO, &priority);
mlockall(MCL_CURRENT | MCL_FUTURE);
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
bcm2835_delayMicroseconds(1000);
GetDHT22data(RPI_BPLUS_GPIO_J8_07);
return 0;
}
void GetDHT22data(uint8_t pin)
{
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(pin, LOW);
bcm2835_delayMicroseconds(1000);
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_INPT);
int i;
for (i = 1; i < 2000; i++)
{
if (bcm2835_gpio_lev(pin) == 0)
break;
};
uint64_t t;
int buf[41];
int j;
bcm2835_delayMicroseconds(1);
for (j = 0; j < 41; j++)
{
for (i = 1; i < 2000; i++)
{
if (bcm2835_gpio_lev(pin) == 1)
break;
};
t = bcm2835_st_read();
for (i = 1; i < 2000; i++)
{
if (bcm2835_gpio_lev(pin) == 0)
break;
}
buf[j] = (bcm2835_st_read() - t) > 50;
}
int byte1 = getByte(1, buf);
int byte2 = getByte(2, buf);
int byte3 = getByte(3, buf);
int byte4 = getByte(4, buf);
int byte5 = getByte(5, buf);
printf("Checksum %d %d \n\r", byte5, (byte1 + byte2 + byte3 + byte4) & 0xFF);
float humidity = (float)(byte1 << 8 | byte2) / 10.0;
printf("Humidity= %f \n\r", humidity);
float temperature;
int neg = byte3 & 0x80;
byte3 = byte3 & 0x7F;
temperature = (float)(byte3 << 8 | byte4) / 10.0;
if (neg > 0)
temperature = -temperature;
printf("Temperature= %f \n\r", temperature);
return;
}
uint8_t getByte(int b, int buf[])
{
int i;
uint8_t result = 0;
b = (b - 1) * 8 + 1;
for (i = b; i <= b + 7; i++)
{
result = result << 1;
result = result | buf[i];
}
return result;
}
Page 216
#include <bcm2835.h>
#include <stdio.h>
#include <sched.h>
#include <sys/mman.h>
int presence(uint8_t pin);
void writeByte(uint8_t pin, int byte);
uint8_t crc8(uint8_t *data, uint8_t len);
int readByte(uint8_t pin);
int readiButton(uint8_t pin, uint8_t *data);
int main(int argc, char **argv)
{
const struct sched_param priority = {1};
sched_setscheduler(0, SCHED_FIFO, &priority);
mlockall(MCL_CURRENT | MCL_FUTURE);
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_INPT);
int i;
uint8_t code[8];
for (;;)
{
int p = readiButton(RPI_BPLUS_GPIO_J8_07, code);
if (p == 1)
{
for (i = 0; i < 8; i++)
{
printf("%hhX ", code[i]);
}
printf("\n\r");
fflush(stdout);
}
bcm2835_delayMicroseconds(100000);
};
bcm2835_close();
return 0;
}
int presence(uint8_t pin)
{
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(pin, LOW);
bcm2835_delayMicroseconds(480);
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_INPT);
bcm2835_delayMicroseconds(70);
uint8_t b = bcm2835_gpio_lev(pin);
bcm2835_delayMicroseconds(410);
return b;
}
void writeBit(uint8_t pin, int b)
{
int delay1, delay2;
if (b == 1)
{
delay1 = 6;
delay2 = 64;
}
else
{
delay1 = 80;
delay2 = 10;
}
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(pin, LOW);
bcm2835_delayMicroseconds(delay1);
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_INPT);
bcm2835_delayMicroseconds(delay2);
}
uint8_t readBit(uint8_t pin)
{
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(pin, LOW);
bcm2835_delayMicroseconds(6);
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_INPT);
bcm2835_delayMicroseconds(9);
uint8_t b = bcm2835_gpio_lev(pin);
bcm2835_delayMicroseconds(55);
return b;
}
void writeByte(uint8_t pin, int byte)
{
int i;
for (i = 0; i < 8; i++)
{
if (byte & 1)
{
writeBit(pin, 1);
}
else
{
writeBit(pin, 0);
}
byte = byte >> 1;
}
}
int readByte(uint8_t pin)
{
int byte = 0;
int i;
for (i = 0; i < 8; i++)
{
byte = byte | readBit(pin) << i;
};
return byte;
}
uint8_t crc8(uint8_t *data, uint8_t len)
{
uint8_t i;
uint8_t j;
uint8_t temp;
uint8_t databyte;
uint8_t crc = 0;
for (i = 0; i < len; i++)
{
databyte = data[i];
for (j = 0; j < 8; j++)
{
temp = (crc ^ databyte) & 0x01;
crc >>= 1;
if (temp)
crc ^= 0x8C;
databyte >>= 1;
}
}
return crc;
}
int readiButton(uint8_t pin, uint8_t *data)
{
int b = presence(pin);
if (b != 0)
return 0;
writeByte(pin, 0x33);
int i;
for (i = 0; i < 8; i++)
{
data[i] = readByte(pin);
}
uint8_t crc = crc8(data, 8);
if (crc == 0)
return 1;
return 0;
}
Page 227
#include <bcm2835.h>
#include <stdio.h>
int presence(uint8_t pin);
void writeBit(uint8_t pin, int b);
void writeByte(uint8_t pin, int byte);
uint8_t readBit(uint8_t pin);
int convert(uint8_t pin);
int readByte(uint8_t pin);
float getTemperature(uint8_t pin);
uint8_t crc8(uint8_t *data, uint8_t len);
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
if (presence(RPI_BPLUS_GPIO_J8_07) == 1)
{
printf("No device \n");
}
else
{
printf("Device present \n");
}
fflush(stdout);
float t;
for (;;)
{
do
{
t = getTemperature(RPI_BPLUS_GPIO_J8_07);
} while (t < -999);
printf("%f\r\n", t);
fflush(stdout);
};
bcm2835_close();
return 0;
}
int presence(uint8_t pin)
{
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(pin, LOW);
bcm2835_delayMicroseconds(480);
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_INPT);
bcm2835_delayMicroseconds(70);
uint8_t b = bcm2835_gpio_lev(pin);
bcm2835_delayMicroseconds(410);
return b;
}
void writeBit(uint8_t pin, int b)
{
int delay1, delay2;
if (b == 1)
{
delay1 = 6;
delay2 = 64;
}
else
{
delay1 = 60;
delay2 = 10;
}
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(pin, LOW);
bcm2835_delayMicroseconds(delay1);
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_INPT);
bcm2835_delayMicroseconds(delay2);
}
void writeByte(uint8_t pin, int byte)
{
int i;
for (i = 0; i < 8; i++)
{
if (byte & 1)
{
writeBit(pin, 1);
}
else
{
writeBit(pin, 0);
}
byte = byte >> 1;
}
}
uint8_t readBit(uint8_t pin)
{
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(pin, LOW);
bcm2835_delayMicroseconds(8);
bcm2835_gpio_fsel(pin, BCM2835_GPIO_FSEL_INPT);
bcm2835_delayMicroseconds(2);
uint8_t b = bcm2835_gpio_lev(pin);
bcm2835_delayMicroseconds(60);
return b;
}
int convert(uint8_t pin)
{
int i;
writeByte(pin, 0x44);
for (i = 0; i < 5000; i++)
{
bcm2835_delayMicroseconds(100000);
if (readBit(pin) == 1)
break;
}
return i;
}
float getTemperature(uint8_t pin)
{
if (presence(pin) == 1)
return -1000;
writeByte(pin, 0xCC);
if (convert(pin) == 5000)
return -3000;
presence(pin);
writeByte(pin, 0xCC);
writeByte(pin, 0xBE);
int i;
uint8_t data[9];
for (i = 0; i < 9; i++)
{
data[i] = readByte(pin);
}
uint8_t crc = crc8(data, 9);
if (crc != 0)
return -2000;
int t1 = data[0];
int t2 = data[1];
int16_t temp1 = (t2 << 8 | t1);
float temp = (float)temp1 / 16;
return temp;
}
int readByte(uint8_t pin)
{
int byte = 0;
int i;
for (i = 0; i < 8; i++)
{
byte = byte | readBit(pin) << i;
};
return byte;
}
uint8_t crc8(uint8_t *data, uint8_t len)
{
uint8_t i;
uint8_t j;
uint8_t temp;
uint8_t databyte;
uint8_t crc = 0;
for (i = 0; i < len; i++)
{
databyte = data[i];
for (j = 0; j < 8; j++)
{
temp = (crc ^ databyte) & 0x01;
crc >>= 1;
if (temp)
crc ^= 0x8C;
databyte >>= 1;
}
}
return crc;
}
Page 243
function only - needs a main program to call it
int oneWireScan(uint8_t pin, uint64_t serial[])
{
static int bitcount = 0;
static int deviceCount = 0;
if (bitcount > 63)
{
bitcount = 0;
deviceCount++;
return deviceCount;
}
if (bitcount == 0)
{
if (presence(pin) == 1)
{
bitcount = 0;
return deviceCount;
}
deviceCount = 0;
serial[deviceCount] = 0;
writeByte(pin, 0xF0);
};
int b1 = readBit(pin);
int b2 = readBit(pin);
if (b1 == 0 && b2 == 1)
{
serial[deviceCount] >>= 1;
writeBit(pin, 0);
bitcount++;
oneWireScan(pin, serial);
};
if (b1 == 1 && b2 == 0)
{
serial[deviceCount] >>= 1;
serial[deviceCount] |= 0x8000000000000000LL;
writeBit(pin, 1);
bitcount++;
oneWireScan(pin, serial);
};
if (b1 == 1 && b2 == 1)
{
bitcount = 0;
return deviceCount;
};
if (b1 == 0 && b2 == 0)
{
serial[deviceCount] >>= 1;
writeBit(pin, 0);
int bitposition = bitcount;
bitcount++;
oneWireScan(pin, serial);
bitcount = bitposition;
if (presence(pin) == 1)
{
bitposition = 0;
return 0;
}
writeByte(pin, 0xF0);
uint64_t temp = serial[deviceCount - 1] | (0x1LL << (bitcount));
int i;
uint64_t bit;
for (i = 0; i < bitcount + 1; i++)
{
bit = temp & 0x01LL;
temp >>= 1;
b1 = readBit(pin);
b2 = readBit(pin);
writeBit(pin, bit);
serial[deviceCount] >>= 1;
serial[deviceCount] |= (bit << 63);
}
bitcount++;
oneWireScan(pin, serial);
};
return deviceCount;
}
Page 265
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
int main(int argc, char **argv)
{
int sfd = open("/dev/serial0", O_RDWR | O_NOCTTY);
if (sfd == -1)
{
printf("Error no is : %d\n", errno);
printf("Error description is : %s\n", strerror(errno));
return (-1);
};
return 0;
}
Page 266
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <unistd.h>
int main(int argc, char **argv)
{
int sfd = open("/dev/serial0", O_RDWR | O_NOCTTY);
if (sfd == -1)
{
printf("Error no is : %d\n", errno);
printf("Error description is : %s\n", strerror(errno));
return (-1);
};
char buf[] = "hello world";
char buf2[11];
int count = write(sfd, buf, 11);
count = read(sfd, buf2, 11);
buf2[11] = 0;
printf("%s", buf2);
close(sfd);
return 0;
}
Page 275
#define _DEFAULT_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <errno.h>
#include <sys/ioctl.h>
int main(int argc, char **argv)
{
int sfd = open("/dev/ttyAMA1", O_RDWR | O_NOCTTY);
if (sfd == -1)
{
printf("Error no is : %d\n", errno);
printf("Error description is : %s\n", strerror(errno));
return (-1);
};
struct termios options;
tcgetattr(sfd, &options);
cfsetspeed(&options, B9600);
cfmakeraw(&options);
options.c_cflag &= ~CSTOPB;
options.c_cflag |= CLOCAL;
options.c_cflag |= CREAD;
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 1;
tcsetattr(sfd, TCSANOW, &options);
char buf[] = "hello world";
char buf2[11];
int count = write(sfd, buf, 11);
count = read(sfd, buf2, 11);
buf2[11] = 0;
printf("%s", buf2);
close(sfd);
return 0;
}
Page 276
#define _DEFAULT_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <errno.h>
#include <sys/ioctl.h>
int main(int argc, char **argv)
{
system("sudo systemctl stop serial-getty@serial0 .service");
int sfd = open("/dev/serial0", O_RDWR | O_NOCTTY);
if (sfd == -1)
{
printf("Error no is : %d\n", errno);
printf("Error description is : %s\n", strerror(errno));
return (-1);
};
struct termios options;
tcgetattr(sfd, &options);
cfsetspeed(&options, B9600);
cfmakeraw(&options);
options.c_cflag &= ~CSTOPB;
options.c_cflag |= CLOCAL;
options.c_cflag |= CREAD;
options.c_cc[VTIME] = 1;
options.c_cc[VMIN] = 100;
tcsetattr(sfd, TCSANOW, &options);
char buf[] = "hello world";
char buf2[100];
int count = write(sfd, buf, strlen(buf));
usleep(100000);
int bytes;
ioctl(sfd, FIONREAD, &bytes);
if (bytes != 0)
{
count = read(sfd, buf2, 100);
}
printf("%s\n\r", buf2);
close(sfd);
return (EXIT_SUCCESS);
}
Page 278
#define _DEFAULT_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <errno.h>
int main(int argc, char **argv)
{
system("sudo systemctl stop serial-getty@serial0 .service");
int sfd = open("/dev/serial0", O_RDWR | O_NOCTTY);
if (sfd == -1)
{
printf("Error no is : %d\n", errno);
printf("Error description is : %s\n", strerror(errno));
return (-1);
};
struct termios options;
tcgetattr(sfd, &options);
cfsetspeed(&options, B9600);
cfmakeraw(&options);
options.c_cflag &= ~CSTOPB;
options.c_cflag |= CLOCAL;
options.c_cflag |= CREAD;
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
tcsetattr(sfd, TCSANOW, &options);
char buf[] = "hello world";
char buf2[100];
char c;
int count = write(sfd, buf, strlen(buf) + 1);
int i = 0;
while (1)
{
count = read(sfd, &c, 1);
if (count != 0)
{
buf2[i] = c;
i++;
if (c == 0)
break;
};
};
printf("%s\n\r", buf2);
close(sfd);
return (EXIT_SUCCESS);
}
Page 284
#define _DEFAULT_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <stdint.h>
int openPort(char port[]);
int presence(int sfd);
void writeBit(int sfd, int b);
uint8_t readBit(int sfd);
void writeByte(int sfd, int byte);
int readByte(int sfd);
int readByte(int sfd);
float getTemperature(int sfd);
int convert(int sfd);
uint8_t crc8(uint8_t *data, uint8_t len);
int main(int argc, char **argv)
{
int sfd = openPort("/dev/ttyAMA1");
if (presence(sfd) == 0)
{
printf("Device Present\n\r");
}
else
{
printf("No Device\n\r");
}
for (;;)
{
float temp = getTemperature(sfd);
printf("%f \n\r", temp);
fflush(stdout);
}
close(sfd);
return 0;
}
int openPort(char port[])
{
int sfd = open(port, O_RDWR | O_NOCTTY);
if (sfd == -1)
{
printf("Error no is : %d\n", errno);
printf("Error description is : %s\n", strerror(errno));
return (-1);
};
struct termios options;
tcgetattr(sfd, &options);
cfsetspeed(&options, B115200);
cfmakeraw(&options);
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
options.c_cflag |= PARENB;
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag |= CLOCAL;
options.c_cflag |= CREAD;
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 1;
tcsetattr(sfd, TCSADRAIN, &options);
return sfd;
}
int presence(int sfd)
{
struct termios options;
tcgetattr(sfd, &options);
cfsetspeed(&options, B9600);
tcsetattr(sfd, TCSADRAIN, &options);
char buf = 0xF0;
int count = write(sfd, &buf, 1);
count = read(sfd, &buf, 1);
tcgetattr(sfd, &options);
cfsetspeed(&options, B115200);
tcsetattr(sfd, TCSADRAIN, &options);
if (buf == 0xF0)
return -1;
return 0;
}
void writeBit(int sfd, int b)
{
char buf;
if (b == 0)
{
buf = 0x00;
}
else
{
buf = 0xFF;
}
int count = write(sfd, &buf, 1);
count = read(sfd, &buf, 1);
}
uint8_t readBit(int sfd)
{
char buf;
buf = 0xFF;
int count = write(sfd, &buf, 1);
count = read(sfd, &buf, 1);
if (buf == 0xFF)
return 1;
return 0;
}
void writeByte(int sfd, int byte)
{
for (int i = 0; i < 8; i++)
{
if (byte & 1)
{
writeBit(sfd, 1);
}
else
{
writeBit(sfd, 0);
}
byte = byte >> 1;
}
}
int readByte(int sfd)
{
int byte = 0;
for (int i = 0; i < 8; i++)
{
byte = byte | readBit(sfd) << i;
};
return byte;
}
int convert(int sfd)
{
int i;
writeByte(sfd, 0x44);
for (i = 0; i < 5000; i++)
{
usleep(100000);
if (readBit(sfd) != 0)
break;
}
return i;
}
uint8_t crc8(uint8_t *data, uint8_t len)
{
uint8_t i;
uint8_t j;
uint8_t temp;
uint8_t databyte;
uint8_t crc = 0;
for (i = 0; i < len; i++)
{
databyte = data[i];
for (j = 0; j < 8; j++)
{
temp = (crc ^ databyte) & 0x01;
crc >>= 1;
if (temp)
crc ^= 0x8C;
databyte >>= 1;
}
}
return crc;
}
float getTemperature(int sfd)
{
if (presence(sfd) == -1)
return -1000;
writeByte(sfd, 0xCC);
if (convert(sfd) == 5000)
return -3000;
presence(sfd);
writeByte(sfd, 0xCC);
writeByte(sfd, 0xBE);
uint8_t data[9];
for (int i = 0; i < 9; i++)
{
data[i] = readByte(sfd);
}
uint8_t crc = crc8(data, 9);
if (crc != 0)
return -2000;
int t1 = data[0];
int t2 = data[1];
int16_t temp1 = (t2 << 8 | t1);
float temp = (float)temp1 / 16;
return temp;
}
Page 299
#include <bcm2835.h>
#include <stdio.h>
#include <stdlib.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
{
return 1;
}
if (!bcm2835_spi_begin())
{
return 1;
}
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_65536);
bcm2835_spi_chipSelect(BCM2835_SPI_CS0);
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW);
uint8_t read_data = bcm2835_spi_transfer(0xAA);
if (read_data == 0xAA)
{
printf("data received correctly");
}
else
{
printf("data error");
};
bcm2835_spi_end();
bcm2835_close();
return (EXIT_SUCCESS);
}
Page 308
#include <bcm2835.h>
#include <stdio.h>
#include <stdlib.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
{
return 1;
}
if (!bcm2835_spi_begin())
{
return 1;
}
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_8192);
bcm2835_spi_chipSelect(BCM2835_SPI_CS0);
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW);
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
char buf[] = {0x01, 0x80, 0x00};
char readBuf[3];
bcm2835_spi_transfernb(buf, readBuf, 3);
int data = ((int)readBuf[1] & 0x03) << 8 | (int)readBuf[2];
float volts = (float)data * 3.3f / 1023.0f;
printf("%f", volts);
bcm2835_spi_end();
bcm2835_close();
return (EXIT_SUCCESS);
}
Page 320
#include <stdio.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <string.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <unistd.h>
int main(int argc, char **argv)
{
int sockfd = socket(AF_INET, SOCK_STREAM, 0);
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = htons(80);
addr.sin_addr.s_addr = 0x22d8b85d;
if (connect(sockfd, (struct sockaddr *)&addr, sizeof(addr)) < 0)
return -1;
char header[] = "GET /index.html HTTP/1.1\r\nHost:example.org\r\n\r\n";
int n = write(sockfd, header, strlen(header));
char buffer[2048];
n = read(sockfd, buffer, 2048);
printf("%s", buffer);
return (EXIT_SUCCESS);
}
Page 322
#define _DEFAULT_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <string.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <unistd.h>
#include <netdb.h>
int main(int argc, char **argv)
{
struct addrinfo hints;
memset(&hints, 0, sizeof hints);
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
struct addrinfo *servinfo;
int status = getaddrinfo("www.example.com", "80", &hints, &servinfo);
int sockfd = socket(servinfo->ai_family, servinfo->ai_socktype, servinfo->ai_protocol);
connect(sockfd, servinfo->ai_addr, servinfo->ai_addrlen);
char header[] = "GET /index.html HTTP/1.1\r\nHost:example.org\r\n\r\n";
int n = write(sockfd, header, strlen(header));
char buffer[2048];
n = read(sockfd, buffer, 2048);
printf("%s", buffer);
return (EXIT_SUCCESS);
}
Page 327
#define _DEFAULT_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <string.h>
#include <sys/types.h>
#include <unistd.h>
#include <netinet/in.h>
#include <netdb.h>
#include <time.h>
int main(int argc, char **argv)
{
struct addrinfo hints, *server;
memset(&hints, 0, sizeof hints);
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
hints.ai_flags = AI_PASSIVE;
getaddrinfo(NULL, "80", &hints, &server);
int sockfd = socket(server->ai_family, server->ai_socktype | SOCK_NONBLOCK, server->ai_protocol);
bind(sockfd, server->ai_addr, server->ai_addrlen);
listen(sockfd, 10);
char buffer[2048];
char html[] = "<html><head><title>Temperature</title></head><body><p>{\"humidity\":81%, \"airtemperature\":23.5C}</p></body></html>\r\n";
char headers[1024] = {0};
char Status[] = "HTTP/1.1 200 OK\r\nContent-Type: text/html; charset=UTF-8\r\nServer:CPi\r\n";
char Date[100];
time_t now = time(NULL);
struct tm *t = gmtime(&now);
strftime(Date, sizeof(Date), "Date: %a, %d %b %Y %k:%M:%S %Z\r\n", t);
char ContLen[100] = {0};
snprintf(ContLen, sizeof ContLen, "Content-Length:%d \r\n", strlen(html));
snprintf(headers, sizeof headers, "%s%s%s\r\n", Status, Date, ContLen);
char data[2048] = {0};
snprintf(data, sizeof data, "%s%s", headers, html);
for (;;)
{
struct sockaddr_storage client_addr;
socklen_t addr_size = sizeof client_addr;
int client_fd = accept(sockfd, (struct sockaddr *)&client_addr, &addr_size);
if (client_fd > 0)
{
int n = read(client_fd, buffer, 2048);
printf("%s", buffer);
fflush(stdout);
n = write(client_fd, data, strlen(data));
close(client_fd);
}
}
return (EXIT_SUCCESS);
}
Page 346
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
#include <sys/mman.h>
#include <fcntl.h>
#include <errno.h>
#include <string.h>
#include <unistd.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
int memfd = open("/dev/mem", O_RDWR | O_SYNC);
uint32_t *map = (uint32_t *)mmap(
NULL,
4 * 1024,
(PROT_READ | PROT_WRITE),
MAP_SHARED,
memfd,
(off_t)bcm2835_peripherals_base + BCM2835_GPIO_BASE);
if (map == MAP_FAILED)
printf("mmap failed: %s\n", strerror(errno));
close(memfd);
volatile uint32_t *paddr = map;
*paddr = 0x1000;
volatile uint32_t *paddr1 = map + 0x1C / 4;
volatile uint32_t *paddr2 = map + 0x28 / 4;
for (;;)
{
*paddr1 = 0x10;
*paddr2 = 0x10;
};
return (EXIT_SUCCESS);
}
Page 351
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
uint32_t *gpioBASE = bcm2835_regbase(BCM2835_REGBASE_GPIO);
bcm2835_peri_write(gpioBASE, 0x1000);
for (;;)
{
bcm2835_peri_write(gpioBASE + BCM2835_GPSET0 / 4, 0x10);
bcm2835_peri_write(gpioBASE + BCM2835_GPCLR0 / 4, 0x10);
}
return 0;
}
Page 365
#include <stdio.h>
#include <stdlib.h>
#include <bcm2835.h>
#define CLK_GP0_CTL 28
#define CLK_GP0_DIV 29
void bcm2835_GPIO4_set_clock_source(uint32_t, uint32_t, uint32_t);
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(4, BCM2835_GPIO_FSEL_ALT0);
bcm2835_GPIO4_set_clock_source(6, 50, 0);
}
void bcm2835_GPIO4_set_clock_source(
uint32_t source,
uint32_t divisorI,
uint32_t divisorF)
{
divisorI &= 0xfff;
divisorF &= 0xfff;
source &= 0xf;
uint8_t mask = bcm2835_peri_read(bcm2835_clk + CLK_GP0_CTL) & 0xffffffef;
bcm2835_peri_write(bcm2835_clk + CLK_GP0_CTL, BCM2835_PWM_PASSWRD | mask);
while ((bcm2835_peri_read(bcm2835_clk + CLK_GP0_CTL) & 0x80) != 0)
{
};
bcm2835_peri_write(bcm2835_clk + CLK_GP0_DIV, BCM2835_PWM_PASSWRD | (divisorI << 12) | divisorF);
bcm2835_peri_write(bcm2835_clk + CLK_GP0_CTL, BCM2835_PWM_PASSWRD | source | 0x200);
bcm2835_peri_write(bcm2835_clk + CLK_GP0_CTL, BCM2835_PWM_PASSWRD | 0x0210 | source);
}
Page 358
#include <bcm2835.h>
#include <stdio.h>
#include <stdlib.h>
#define BCM2835_SPI6_BASE 0x204C00
volatile uint32_t *bcm2835_spiOLD;
int bcm2835_spi6_begin(void)
{
volatile uint32_t *paddr;
bcm2835_spiOLD = bcm2835_spi0;
bcm2835_spi0 = bcm2835_peripherals + BCM2835_SPI6_BASE / 4;
bcm2835_gpio_fsel(27, BCM2835_GPIO_FSEL_ALT3); /* CE1 */
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_ALT3); /* CE0 */
bcm2835_gpio_fsel(19, BCM2835_GPIO_FSEL_ALT3); /* MISO */
bcm2835_gpio_fsel(20, BCM2835_GPIO_FSEL_ALT3); /* MOSI */
bcm2835_gpio_fsel(21, BCM2835_GPIO_FSEL_ALT3); /* CLK */
paddr = bcm2835_spi0 + BCM2835_SPI0_CS / 4;
bcm2835_peri_write(paddr, 0); /* All 0s */
bcm2835_peri_write_nb(paddr, BCM2835_SPI0_CS_CLEAR);
return 1;
}
void bcm2835_spi6_end(void)
{
bcm2835_spi0 = bcm2835_spiOLD;
/* Set all the SPI0 pins back to input */
bcm2835_gpio_fsel(27, BCM2835_GPIO_FSEL_INPT); /* CE1 */
bcm2835_gpio_fsel(18, BCM2835_GPIO_FSEL_INPT); /* CE0 */
bcm2835_gpio_fsel(19, BCM2835_GPIO_FSEL_INPT); /* MISO */
bcm2835_gpio_fsel(20, BCM2835_GPIO_FSEL_INPT); /* MOSI */
bcm2835_gpio_fsel(21, BCM2835_GPIO_FSEL_INPT); /* CLK */
}
int main(int argc, char **argv)
{
if (!bcm2835_init())
{
return 1;
}
if (!bcm2835_spi6_begin())
{
return 1;
}
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_8192);
bcm2835_spi_chipSelect(BCM2835_SPI_CS0);
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW);
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
char buf[] = {0x01, 0x80, 0x00};
char readBuf[3];
bcm2835_spi_transfernb(buf, readBuf, 3);
int data = ((int)readBuf[1] & 0x03) << 8 | (int)readBuf[2];
float volts = (float)data * 3.3f / 1023.0f;
printf("%f \n \r", volts);
bcm2835_spi6_end();
bcm2835_close();
return (EXIT_SUCCESS);
}
Page 370
#include <bcm2835.h>
#include <stdio.h>
#include <sched.h>
int main(int argc, char **argv)
{
const struct sched_param priority = {1};
sched_setscheduler(0, SCHED_FIFO, &priority);
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_OUTP);
while (1)
{
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, LOW);
}
bcm2835_close();
return 0;
}
Page 375
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <sys/syscall.h>
#include <unistd.h>
#include <linux/sched.h>
#include <pthread.h>
#include <stdint.h>
struct sched_attr
{
uint32_t size;
uint32_t sched_policy;
uint64_t sched_flags;
int32_t sched_nice;
uint32_t sched_priority;
uint64_t sched_runtime;
uint64_t sched_deadline;
uint64_t sched_period;
};
int sched_setattr(pid_t pid, const struct sched_attr *attr,
unsigned int flags)
{
return syscall(__NR_sched_setattr, pid, attr, flags);
}
void *threadA(void *p)
{
struct sched_attr attr = {
.size = sizeof(attr),
.sched_policy = SCHED_DEADLINE,
.sched_runtime = 10 * 1000 * 1000,
.sched_period = 2 * 1000 * 1000 * 1000,
.sched_deadline = 11 * 1000 * 1000};
sched_setattr(0, &attr, 0);
for (;;)
{
printf("sensor\n");
fflush(0);
sched_yield();
};
}
int main(int argc, char **argv)
{
pthread_t pthreadA;
pthread_create(&pthreadA, NULL, threadA, NULL);
pthread_exit(0);
return (EXIT_SUCCESS);
}
Page 379
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <pthread.h>
#include <sched.h>
#include <unistd.h>
volatile int j;
volatile int i;
void *threadA(void *p)
{
for (i = 0;; i++)
{
};
}
void *threadB(void *p)
{
for (j = 0;; j++)
{
};
}
int main(int argc, char **argv)
{
cpu_set_t cpuset;
CPU_ZERO(&cpuset);
CPU_SET(1, &cpuset);
pthread_t pthreadA;
pthread_create(&pthreadA, NULL, threadA, NULL);
pthread_setaffinity_np(pthreadA, sizeof(cpu_set_t), &cpuset);
CPU_ZERO(&cpuset);
CPU_SET(2, &cpuset);
pthread_t pthreadB;
pthread_create(&pthreadB, NULL, threadB, NULL);
pthread_setaffinity_np(pthreadB, sizeof(cpu_set_t), &cpuset);
sleep(5);
printf("%d %d", i, j);
return (EXIT_SUCCESS);
}
Page 382
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <sched.h>
#include <unistd.h>
#include <bcm2835.h>
#include <stdio.h>
int main(int argc, char **argv)
{
cpu_set_t cpuset;
CPU_ZERO(&cpuset);
CPU_SET(3, &cpuset);
int res = sched_setaffinity(getpid(), sizeof(cpu_set_t), &cpuset);
const struct sched_param priority = {1};
sched_setscheduler(0, SCHED_FIFO, &priority);
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(RPI_BPLUS_GPIO_J8_07, BCM2835_GPIO_FSEL_OUTP);
while (1)
{
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, HIGH);
bcm2835_gpio_write(RPI_BPLUS_GPIO_J8_07, LOW);
}
bcm2835_close();
return 0;
}
Page 386
#include <stdio.h>
#include <string.h>
int main(int argc, char** argv) {
int gpio = 4;
FILE* fd = fopen("/sys/class/gpio/export", "w");
fprintf(fd, "%d", gpio);
fclose(fd);
return 0;
}
Page 387
#include <stdio.h>
#include <string.h>
int main(int argc, char **argv)
{
int gpio = 4;
char buf[100];
FILE *fd = fopen("/sys/class/gpio/export", "w");
fprintf(fd, "%d", gpio);
fclose(fd);
sprintf(buf, "/sys/class/gpio/gpio%d/direction", gpio);
fd = fopen(buf, "w");
fprintf(fd, "out");
fclose(fd);
sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio);
fd = fopen(buf, "w");
for (;;)
{
fd = fopen(buf, "w");
fprintf(fd, "1");
fclose(fd);
fd = fopen(buf, "w");
fprintf(fd, "0");
fclose(fd);
}
return 0;
}
Appendix II
All files have to be stored in the .vscode folder
settings,json
{
"sshUser": "root",
"sshEndpoint": "192.168.11.151",
"remoteDirectory": "/home/pi/Documents/${workspaceFolderBasename}",
"std": "c99",
"libs":"-lbcm2835",
"header":"/usr/local/include/bcm2835.h"
}
launch.json
{
"configurations": [
{
"name": "Remote C Debug",
"type": "cppdbg",
"request": "launch",
"program": "${config:remoteDirectory}/${relativeFileDirname}/${fileBasenameNoExtension}.exe",
"args": [],
"stopAtEntry": false,
"cwd": "${config:remoteDirectory}/${relativeFileDirname}",
"environment": [],
"externalConsole": false,
"pipeTransport": {
"debuggerPath": "/usr/bin/gdb",
"pipeProgram": "C:/Windows/System32/OpenSSH/ssh",
"pipeArgs": [
"${config:sshUser}@${config:sshEndpoint}"
],
"pipeCwd": "${workspaceFolder}"
},
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
],
"sourceFileMap": {
"${config:remoteDirectory}/${relativeFileDirname}": "${fileDirname}"
},
"preLaunchTask": "CopyBuildRemote",
}
]
}
c_cpp_properties.json
{
"configurations": [
{
"name": "Win32",
"includePath": [
"${workspaceFolder}/**",
"C:/MinGW/include"
],
"defines": [
"_DEBUG",
"UNICODE",
"_UNICODE"
],
"cStandard":"c99",
"intelliSenseMode":"gcc-arm"
}
],
"version": 4
}
tasks.json
{
"version": "2.0.0",
"tasks": [
{
"label": "copyToRemote",
"type": "shell",
"command": "scp -r ${fileDirname} ${config:sshUser}@${config:sshEndpoint}:${config:remoteDirectory}/",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
"clear": true
}
},
{
"label": "copyHeader",
"type": "shell",
"command": "mkdir ${workspaceFolder}/headers/ ;scp -r ${config:sshUser}@${config:sshEndpoint}:${config:header} ${workspaceFolder}/headers/ ",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
"clear": true
}
},
{
"label": "buildRemote",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} 'gcc -g -std=${config:std} ${config:remoteDirectory}/${relativeFileDirname}/${fileBasename} ${config:libs} -o${config:remoteDirectory}/${relativeFileDirname}/${fileBasenameNoExtension}.exe'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
"clear": false
}
},
{
"label": "runRemote",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} '${config:remoteDirectory}/${relativeFileDirname}/${fileBasenameNoExtension}.exe'",
"problemMatcher": [
"$gcc"
],
"presentation": {
"showReuseMessage": true,
"clear": false
}
},
{
"label": "CopyBuildRunRemote",
"dependsOrder": "sequence",
"dependsOn": [
"copyToRemote",
"buildRemote",
"runRemote"
],
"problemMatcher": [],
"group": {
"kind": "build",
"isDefault": true
}
},
{
"label": "CopyBuildRemote",
"dependsOrder": "sequence",
"dependsOn": [
"copyToRemote",
"buildRemote",
],
"problemMatcher": [],
},
{
"label": "StopREmoteC",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} ;'pkill ${fileBasenameNoExtension}.exe'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": true,
}
},
{
"label": "copyARMheaders",
"type": "shell",
"command": "mkdir ${workspaceFolder}/include/;scp -r ${config:sshUser}@${config:sshEndpoint}:/usr/include ${workspaceFolder}/include/ ",
"problemMatcher": [],
"presentation": {
"showReuseMessage": true,
"clear": true
}
},
],
}
"showReuseMessage": true,
}
},
{
"label": "copyARMheaders",
"type": "shell",
"command": "mkdir ${workspaceFolder}/include/;scp -r ${config:sshUser}@${config:sshEndpoint}:/usr/include ${workspaceFolder}/include/ ",
"problemMatcher": [],
"presentation": {
"showReuseMessage": true,
"clear": true
}
},
],
}
IOT Raspberry Pi Programs
We have decided not to make the programs available as a download because this is not the point of the book - the programs are not finished production code but something you should type in and study.
The best solution is to provide the source code of the programs in a form that can be copied and pasted into a NetBeans of VS Code project.
Note: The VS Code task listings are at the very end of this page.
The only downside is that you have to create a project to paste the code into.
To do this follow the instructionin the book- in particular remember to add the bcm2835 library and also any library references that may be needed.
All of the programs below were copy and pasted from working programs in the IDE. They have been formatted using the built in formatter and hence are not identical in layout to the programs in the book. This is to make copy and pasting them easier. The programs in the book are formatted to be easy to read on the page.
If anything you consider important is missing or if you have any requests or comments contact:
This email address is being protected from spambots. You need JavaScript enabled to view it.
Page 29
from gpiozero import LED
from time import sleep
led = LED(4)
while True:
led.on()
sleep(1)
led.off()
sleep(1)
Page 54
from gpiozero import LED
from signal import pause
led = LED(4)
led.blink(on_time=1,off_time=1,n=100)
print("Program Complete")
pause()
Page 55
from gpiozero import LED
from time import sleep
led = LED(4)
while True:
led.toggle()
sleep(1)
led.toggle()
sleep(1)
Page 57
from gpiozero import Buzzer
from signal import pause
buzz = Buzzer(4)
buzz.beep(on_time=1,off_time=1,n=100)
print("Program Complete")
pause()
Page 58
from gpiozero import DigitalOutputDevice
class Lock(DigitalOutputDevice):
def __init__(self,*args,**kwargs):
if 'active_high' in kwargs:
raise TypeError("active_high not supported")
super().__init__(*args,**kwargs)
def lock(self):
super().on()
def unlock(self):
super().off()
def on(self):
raise AttributeError("'Lock' object has no attribute 'on'")
def off(self):
raise AttributeError("'Lock' object has no attribute 'off'")
def blink(self):
raise AttributeError("'Lock' object has no attribute 'blink'")
Page 59
from gpiozero import LED
led1 = LED(4)
led2 = LED(17)
while True:
led1.on()
led2.on()
led1.off()
led2.off()
Page 65
from gpiozero import Device
from time import sleep
Device()
pin=Device.pin_factory.pin(4)
pin._set_function('output')
while True:
pin.state=1
sleep(1)
pin.state=0
sleep(1)
Page 92
from gpiozero import Button
from signal import pause
button = Button(4, bounce_time=0.25)
def pressed():
print(“Button pressed”)
def released():
print(“Button released”)
button.when_pressed = pressed
button.when_released = released
pause()
Page 95
from gpiozero import Button
from gpiozero import LED
from time import sleep
button = Button(4)
led1 = LED(17, initial_value=True)
led2 = LED(27)
led3 = LED(22)
state = 0
buttonState = button.value
while True:
buttonNow = button.value
buttonDelta = buttonNow-buttonState
buttonState = buttonNow
if state == 0:
if buttonDelta == 1:
state = 1
led1.off()
led2.on()
led3.off()
continue
if state == 1:
if buttonDelta == 1:
state = 2
led1.off()
led2.on()
led3.off()
continue
if state == 2:
if buttonDelta == 1:
state = 0
led1.on()
led2.off()
led3.off()
continue
sleep(0.1)
Page 96
from gpiozero import Button
from time import perf_counter_ns
button = Button(4)
while True:
button.wait_for_press()
button.wait_for_release()
t1 = perf_counter_ns()
button.wait_for_press()
t2 = perf_counter_ns()
print((t2-t1)/1000000)
Page 97
from gpiozero import Button
from time import perf_counter_ns
button = Button(4)
while True:
while not button.value:
pass
while button.value:
pass
t1 = perf_counter_ns()
while not button.value:
pass
t2 = perf_counter_ns()
print((t2-t1)/1000000)
Page 97
from gpiozero import DigitalInputDevice
from time import perf_counter_ns
pulse = DigitalInputDevice(4)
while True:
while not pulse.value:
pass
while pulse.value:
pass
t1 = perf_counter_ns()
while not pulse.value:
pass
t2 = perf_counter_ns()
print((t2-t1)/1000000)
Page 98
from gpiozero import Device
from time import perf_counter_ns
Device()
pulse = Device.pin_factory.pin(4)
pulse.input_with_pull("up")
while True:
while not pulse.state:
pass
while pulse.state:
pass
t1 = perf_counter_ns()
while not pulse.state:
pass
t2 = perf_counter_ns()
print((t2-t1)/1000000)
Page 98/99
from gpiozero import DigitalInputDevice
class Door(DigitalInputDevice):
def __init__(self, pin=None, pull_up=True, active_state=None,
bounce_time=None, pin_factory=None):
super(Door, self).__init__(
pin, pull_up=pull_up, active_state=active_state,
bounce_time=bounce_time, pin_factory=pin_factory)
@property
def value(self):
return super(Door, self).value
Door.is_closed = Door.is_active
Door.when_open = Door.when_deactivated
Door.when_closed = Door.when_activated
Door.wait_for_open = Door.wait_for_inactive
Door.wait_for_close = Door.wait_for_active
Page 110
from gpiozero import LightSensor
class Moisture(LightSensor):
def __init__(self, pin=None, queue_len=5, charge_time_limit=0.01, threshold=0.1, partial=False, pin_factory=None):
super(Moisture, self).__init__(pin, threshold=threshold, queue_len=queue_len,
charge_time_limit=charge_time_limit, pin_factory=pin_factory)
Moisture.wait_for_dry = Moisture.wait_for_light
Moisture.wait_for_wet = Moisture.wait_for_dark
Moisture.when_dry = Moisture.when_light
Moisture.when_wet = Moisture.when_dark
Page 114
from gpiozero import PWMLED, DistanceSensor
from gpiozero.tools import inverted
from signal import pause
led = PWMLED(4)
dist = DistanceSensor(5, 6)
led.source = inverted(dist)
pause
Page 115
from gpiozero import PWMLED, DistanceSensor
from gpiozero.tools import inverted, averaged
from signal import pause
led = PWMLED(4)
front = DistanceSensor(5, 6)
back = DistanceSensor(7, 8)
led.source = averaged(front, back)
pause
Page 116
from signal import pause
from gpiozero import PWMLED, DistanceSensor
from gpiozero.tools import _normalize
def mined(*values):
values = [_normalize(v) for v in values]
for v in zip(*values):
yield min(v)
led = PWMLED(4)
front = DistanceSensor(5, 6)
back = DistanceSensor(7, 8)
led.source = mined(front, back)
pause
Page 117
def PWM_values(period=360, duty=0.5):
_ontime = int(period*duty)
_offtime = period-_ontime
data = [1]*_ontime+[0]*_offtime
while True:
for i in range(_ontime):
print(1)
yield 1
for i in range(_offtime):
print(0)
yield 0
Page 119
import io
from gpiozero import InternalDevice
class MemoryFree(InternalDevice):
def __init__(self, threshold=0.9, memfile='/proc/meminfo',
pin_factory=None):
super(MemoryFree, self).__init__(pin_factory=pin_factory)
self._fire_events(self.pin_factory.ticks(), None)
self.memfile = memfile
self.threshold = threshold
self._totalmem = 0
self._availablemem = 0
@property
def free_mem(self):
with io.open(self.memfile, 'r') as f:
self._totalmem = int(f.readline().strip().split()[1])
freemem = int(f.readline().strip().split()[1])
self._availablemem =
int(f.readline().strip().split()[1])
return freemem
@property
def value(self):
return self.free_mem/self._availablemem
@property
def is_active(self):
return self.value < 1-self.threshold
Page 126
from gpiozero import PWMOutputDevice
from signal import pause
pwm = PWMOutputDevice(4)
pwm.frequency = 10000
pwm.value = 0.5
pause()
Page 129
from gpiozero import PWMOutputDevice
pwm = PWMOutputDevice(4)
pwm.frequency = 1000
while True:
pwm.value = 0.1
pwm.value = 0.9
Page 129
from gpiozero import PWMOutputDevice
from time import sleep
pwm = PWMOutputDevice(4)
pwm.frequency = 1000
pwm.value = 0.1
while True:
sleep(0.5)
pwm.toggle()
Page 131
from gpiozero import PWMOutputDevice
from time import sleep
pwm = PWMOutputDevice(4)
pwm.frequency = 1000
steps = 8
delay = 0.01
while True:
for d in range(steps):
pwm.value = d/steps
sleep(delay)
for d in range(steps):
pwm.value = (steps-d)/steps
sleep(delay)
Page 138
from gpiozero import PWMOutputDevice
from time import sleep
pwm = PWMOutputDevice(4)
pwm.frequency = 1000
steps = 8
delay = 0.001
while True:
for d in range(steps):
pwm.value = d/steps
sleep(delay)
for d in range(steps):
pwm.value = (steps-d)/steps
sleep(delay)
Page 145
class uniMotor(PWMOutputDevice):
def __init__(self, pin=None, active_high=True, initial_value=0, pin_factory=None):
super(uniMotor, self).__init__(pin, active_high,
initial_value, pin_factory=pin_factory)
def speed(self, value):
self._write(value)
motor = uniMotor(4)
motor.speed(0.5)
sleep(10)
Page 154
from gpiozero import Servo
from time import sleep
servo = Servo(4)
while True:
servo.min()
sleep(0.5)
servo.mid()
sleep(0.5)
servo.max()
sleep(0.5)
Page 155
from gpiozero import Servo
class ServoInvert(Servo):
@Servo.value.setter
def value(self, value):
if value is None:
self.pwm_device.pin.frequency = None
elif -1 <= value <= 1:
self.pwm_device.pin.frequency = int(1 / self.frame_width)
self.pwm_device.value = (self._min_dc + self._dc_range *((value - self._min_value) / self._value_range))
else:
raise OutputDeviceBadValue(
"Servo value must be between -1 and 1, or None")
Page 164
from gpiozero import DigitalOutputDevice
from time import sleep
class StepperBi4():
def __init__(self, A=None, Am=None, B=None, Bm=None):
self.phase = 0
self.gpios = tuple(DigitalOutputDevice(pin) for pin in (A, B, Am, Bm))
self.halfstepSeq = [
[1, 0, 0, 0],
[1, 1, 0, 0],
[0, 1, 0, 0],
[0, 1, 1, 0],
[0, 0, 1, 0],
[0, 0, 1, 1],
[0, 0, 0, 1],
[1, 0, 0, 1]
]
def setPhase(self, phase):
self.phase = phase
for gpio, state in zip(self.gpios, self.halfstepSeq[phase]):
gpio.value = state
def stepForward(self):
self.phase = (self.phase+1) % 8
self.setPhase(self.phase)
def stepReverse(self):
self.phase = (self.phase-1) % 8
self.setPhase(self.phase)
step = StepperBi4(4, 17, 27, 22)
step.setPhase(0)
while True:
sleep(0.001)
step.stepForward()
Page 170
from gpiozero import LED
from time import sleep
class TriLED():
def __init__(self, pin1=None, pin2=None, pin3=None):
self.LEDs = (LED(pin1), LED(pin2), LED(pin3))
def AllOn(self):
self.LEDs[0].on()
self.LEDs[1].on()
self.LEDs[2].on()
def AllOff(self):
self.LEDs[0].off()
self.LEDs[1].off()
self.LEDs[2].off()
Page 171
class TriLED(CompositeDevice):
def __init__(self, pin1=None, pin2=None, pin3=None):
super(TriLED, self).__init__(LED(pin1), LED(pin2), LED(pin3))
def AllOn(self):
self[0].on()
self[1].on()
self[2].on()
def AllOff(self):
self[0].off()
self[1].off()
self[2].off()
Page 183
from gpiozero import DigitalOutputDevice, CompositeDevice
class StepperBi4(CompositeDevice):
def __init__(self, A=None, Am=None, B=None, Bm=None):
if not all(p is not None for p in [A, Am, B, Bm]):
raise GPIOPinMissing(
'Four GPIO pins must be provided'
)
super(StepperUni4, self).__init__(DigitalOutputDevice(A), DigitalOutputDevice(
B), DigitalOutputDevice(Am), DigitalOutputDevice(Bm))
self.phase = 0
self.halfstepSeq = [
[1, 0, 0, 0],
[1, 1, 0, 0],
[0, 1, 0, 0],
[0, 1, 1, 0],
[0, 0, 1, 0],
[0, 0, 1, 1],
[0, 0, 0, 1],
[1, 0, 0, 1]
]
def setPhase(self, phase):
self.phase = phase
for gpio, state in zip(self, self.halfstepSeq[phase]):
gpio.pin._set_state(state)
def stepForward(self):
self.phase = (self.phase+1) % 8
self.setPhase(self.phase)
def stepReverse(self):
self.phase = (self.phase-1) % 8
self.setPhase(self.phase)
Page 186
from gpiozero import DigitalOutputDevice, CompositeDevice
from time import sleep
from gpiozero.threads import GPIOThread
class StepperBi4(CompositeDevice):
def __init__(self, A=None, Am=None, B=None, Bm=None):
if not all(p is not None for p in [A, Am, B, Bm]):
raise GPIOPinMissing('Four GPIO pins must be provided')
super(StepperUni4, self).__init__(DigitalOutputDevice(A), DigitalOutputDevice(
B), DigitalOutputDevice(Am), DigitalOutputDevice(Bm))
self.phase = 0
self._rotate_thread = None
self.halfstepSeq = [
[1, 0, 0, 0],
[1, 1, 0, 0],
[0, 1, 0, 0],
[0, 1, 1, 0],
[0, 0, 1, 0],
[0, 0, 1, 1],
[0, 0, 0, 1],
[1, 0, 0, 1]
]
def setPhase(self, phase):
self.phase = phase
for gpio, state in zip(self, self.halfstepSeq[phase]):
gpio.pin._set_state(state)
def stepForward(self):
self.phase = (self.phase+1) % 8
self.setPhase(self.phase)
def stepReverse(self):
self.phase = (self.phase-1) % 8
self.setPhase(self.phase)
def forward(self, speed=0):
self._stop_rotate()
if speed == 0:
return
self._rotate_thread = GPIOThread(
target=self._rotate, args=(+1, speed))
self._rotate_thread.start()
def reverse(self, speed=1):
self._stop_rotate()
if speed == 0:
return
self._rotate_thread = GPIOThread(
target=self._rotate, args=(-1, speed))
self._rotate_thread.start()
def _rotate(self, dir, speed):
delay = 60/(speed*400)-0.001
while True:
if dir == 1:
self.stepForward()
if dir == -1:
self.stepReverse()
if self._rotate_thread.stopping.wait(delay):
break
def _stop_rotate(self):
if getattr(self, '_rotate_thread', None):
self._rotate_thread.stop()
self._rotate_thread = None
Page 186
import subprocess
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
lastSPI = output.rfind("spi")
if lastSPI != -1:
lastSPI = output.find("spi=on", lastSPI)
if lastSPI == -1:
temp = subprocess.Popen(
["sudo", "dtparam", "spi=on"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print("adding", output)
else:
temp = subprocess.Popen(
["sudo", "dtparam", "spi=on"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print("adding", output)
Page 190
import subprocess
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
lastSPI = output.rfind("spi")
if lastSPI != -1:
lastSPI = output.find("spi=on", lastSPI)
if lastSPI == -1:
temp = subprocess.Popen(
["sudo", "dtparam", "spi=on"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print("adding", output)
else:
temp = subprocess.Popen(
["sudo", "dtparam", "spi=on"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print("adding", output)
Page 207
from gpiozero import SPIDevice
Dev = SPIDevice()
Dev.clock_mode = 0
Dev.select_high = False
Dev._spi._interface.max_speed_hz = 60000
words = Dev._spi.transfer([0x01, 0x80, 0x00])
data = (words[1] & 0x03) << 8 | words[2]
volts = data * 3.3 / 1023.0
print(volts)
Dev.close()
Page 212
class DS3234rtc(SPIDevice):
def __init__(self):
super(DS3234rtc, self).__init__()
self.clock_mode = 1
self.select_high = False
self._spi._interface.max_speed_hz = 5000000
def setDateTime(self, dateTime):
datetimetuple = dateTime.timetuple()
datetimetuple = (datetimetuple[0]-2000,)+datetimetuple[1:3] + \
(dateTime.isoweekday(),)+datetimetuple[3:6]
datetimetuple = datetimetuple[::-1]
for i in range(0, 7):
data = datetimetuple[i]
data = (data//10) << 4 | (data % 10)
words = self._spi.transfer([0x80+i, data])
def getDateTime(self):
datetimelist = []
for i in range(7):
words = self._spi.transfer([i, 0x00])
if i == 3:
continue
byte = words[1]
data = (byte & 0x0F)+(byte >> 4)*10
datetimelist.insert(0, data)
datetimelist[0] += 2000
return datetime(*datetimelist)
Page 227 Appendix
settings.json
{
"sshUser": "pi",
"sshEndpoint": "192.168.11.170",
"remoteDirectory": "/home/pi/Documents/${workspaceFolderBasename}",
}
tasks.json
{
"version": "2.0.0",
"tasks": [
{
"label": "copyToRemote",
"type": "shell",
"command": "scp -r ${fileDirname} ${config:sshUser}@${config:sshEndpoint}:${config:remoteDirectory}/",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
"clear": true
}
},
{
"label": "makeRemoteWorkSpace",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} ;'mkdir ${config:remoteDirectory}'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
}
},
{
"label": "RunR",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} ;'python3 ${config:remoteDirectory}/${relativeFileDirname}/${fileBasename}'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
}
},
{
"label": "RunRemote",
"dependsOrder": "sequence",
"dependsOn": [
"copyToRemote",
"RunR"
],
"problemMatcher": [],
"group": {
"kind": "build",
"isDefault": true
},
},
{
"label": "StopRemotePython",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} ;'pkill python3'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": true,
}
},
{
"label": "wait",
"type": "shell",
"command": "timeout 10"
},
{
"label": "tunnel",
"type": "shell",
"command": "ssh -2 -L 5678:localhost:5678 ${config:sshUser}@${config:sshEndpoint}",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
}
},
{
"label": "startDebug",
"type": "shell",
"command": "ssh -2 ${config:sshUser}@${config:sshEndpoint} ; 'nohup python3 -m debugpy --listen 0.0.0.0:5678 --wait-for-client ${config:remoteDirectory}/${relativeFileDirname}/${fileBasename} > /dev/null 2>&1 &'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
}
},
{
"label": "copyAndDebug",
"dependsOrder": "sequence",
"dependsOn": [
"copyToRemote",
"startDebug",
"wait"
],
"presentation": {
"showReuseMessage": false,
},
},
]
}
Micro:bit IoT In C Second Edition
We have decided not to make the programs available as a download because this is not the point of the book - the programs are not finished production code but something you should type in and study.
The best solution is to provide the source code of the programs in a form that can be copied and pasted into a NetBeans of VS Code project.
The only downside is that you have to create a project to paste the code into.
To do this follow the instructions in the book.
All of the programs below were copy and pasted from working programs in the IDE. They have been formatted using the built in formatter and hence are not identical in layout to the programs in the book. This is to make copy and pasting them easier. The programs in the book are formatted to be easy to read on the page.
If anything you consider important is missing or if you have any requests or comments contact:
This email address is being protected from spambots. You need JavaScript enabled to view it.
Page 29
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uBit.display.setDisplayMode(DISPLAY_MODE_GREYSCALE);
for (;;)
{
uBit.display.image.setPixelValue(2, 2, 255);
uBit.sleep(1000);
uBit.display.image.setPixelValue(2, 2, 0);
uBit.sleep(1000);
}
}
Page 38
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uBit.io.P0.setDigitalValue(1);
}
#include "MicroBit.h"
int main()
{
MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0,
PIN_CAPABILITY_ALL);
P0.setDigitalValue(1);
}
Page 44
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
while (1)
{
uBit.io.P0.setDigitalValue(1);
uBit.io.P0.setDigitalValue(0);
}
}
Page 45
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
while (1)
{
uBit.io.P0.setDigitalValue(1);
uBit.sleep(9);
uBit.io.P0.setDigitalValue(0);
uBit.sleep(9);
}
}
Page 46
MicroBit uBit;
int main()
{
uBit.init();
while (1)
{
uBit.io.P0.setDigitalValue(1);
wait_us(20);
uBit.io.P0.setDigitalValue(0);
wait_us(20);
}
}
Page 46
#include "MicroBit.h"
MicroBit uBit;
int main()
{
int i;
int n = 57;
while (1)
{
for (i = 0; i < n; i++)
{
};
uBit.io.P0.setDigitalValue(1);
for (i = 0; i < n; i++)
{
};
uBit.io.P0.setDigitalValue(0);
}
}
Page 47
#include "MicroBit.h"
MicroBit uBit;
int main()
{
int i;
uBit.init();
while (1)
{
uBit.io.P0.setDigitalValue(1);
uBit.io.P1.setDigitalValue(0);
uBit.io.P0.setDigitalValue(0);
uBit.io.P1.setDigitalValue(1);
}
}
Page 49
#include "MicroBit.h"
MicroBit uBit;
int main()
{
int i;
uBit.init();
while (1)
{
for (i = 0; i < 100; i++)
{
};
uBit.io.P0.setDigitalValue(1);
uBit.io.P1.setDigitalValue(0);
for (i = 0; i < 100; i++)
{
};
uBit.io.P0.setDigitalValue(0);
uBit.io.P1.setDigitalValue(1);
}
}
Page 52
#include "MicroBit.h"
MicroBit uBit;
int main()
{
int i;
uBit.init();
while (1)
{
while (1 == uBit.io.P0.getDigitalValue())
;
while (0 == uBit.io.P0.getDigitalValue())
;
for (i = 0; i < 1000; i++)
{
if (0 == uBit.io.P0.getDigitalValue())
break;
}
uBit.serial.printf("%d\n\r", i);
}
}
Page 54
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uint64_t t;
volatile int i;
while (1)
{
while (1 == uBit.io.P0.getDigitalValue())
;
while (0 == uBit.io.P0.getDigitalValue())
;
t = system_timer_current_time_us();
for (i = 0; i < 1000; i++)
{
if (0 == uBit.io.P0.getDigitalValue())
break;
}
t = system_timer_current_time_us() - t;
uBit.serial.printf("%d,%d\n\r", i, (int)t);
}
}
Page 56
#include "MicroBit.h"
MicroBit uBit;
uint64_t t[20];
uint64_t temp = 0;
int i = 0;
void onPulseEdge(MicroBitEvent evt)
{
t[i] = (evt.timestamp - temp);
i++;
temp = evt.timestamp;
if (i < 20)
return;
uBit.io.P0.eventOn(MICROBIT_PIN_EVENT_NONE);
}
int main()
{
uBit.init();
uBit.messageBus.listen(MICROBIT_ID_IO_P0,
MICROBIT_PIN_EVT_RISE,
onPulseEdge,
MESSAGE_BUS_LISTENER_IMMEDIATE);
uBit.messageBus.listen(MICROBIT_ID_IO_P0,
MICROBIT_PIN_EVT_FALL,
onPulseEdge,
MESSAGE_BUS_LISTENER_IMMEDIATE);
uBit.io.P0.eventOn(MICROBIT_PIN_EVENT_ON_EDGE);
}
uBit.sleep(1000);
for (i = 1; i < 20; i++)
{
printf("%d\n\r", (int)t[i]);
}
Page 63
int main()
{
int GPIO = 3;
// GPIO=2; //Uncomment for V2
volatile unsigned int *dirset = (unsigned int *)(0x50000000UL + 0x518);
volatile unsigned int *outset = (unsigned int *)(0x50000000UL + 0x508);
volatile unsigned int *outclr = (unsigned int *)(0x50000000UL + 0x50C);
unsigned int mask = 1 << GPIO;
*dirset = mask;
for (;;)
{
*outset = mask;
*outclr = mask;
}
}
Page 64
int main()
{
int GPIO = 3;
//GPIO = 2; // Uncomment for V2
volatile unsigned int *dirset = (unsigned int *)(0x50000000UL + 0x518);
volatile unsigned int *outset = (unsigned int *)(0x50000000UL + 0x508);
volatile unsigned int *outclr = (unsigned int *)(0x50000000UL + 0x50C);
unsigned int mask = 1 << GPIO;
*dirset = mask;
volatile int i;
int n = 200;
for (;;)
{
for (i = 0; i < n; i++)
{
};
*outset = mask;
for (i = 0; i < n; i++)
{
};
*outclr = mask;
}
}
Page 65
int main()
{
volatile unsigned int *dirset = (unsigned int *)(0x50000000UL + 0x518);
volatile unsigned int *outset = (unsigned int *)(0x50000000UL + 0x508);
volatile unsigned int *outclr = (unsigned int *)(0x50000000UL + 0x50C);
volatile int i;
int n = 200;
unsigned int mask = 1 << 2 | 1 << 3;
*dirset = mask;
for (;;)
{
*outset = mask;
for (i = 0; i < n; i++)
{
};
*outclr = mask;
for (i = 0; i < n; i++)
{
};
}
}
Page 66
int main()
{
volatile unsigned int *dirset = (unsigned int *)(0x50000000UL + 0x518);
volatile unsigned int *outset = (unsigned int *)(0x50000000UL + 0x508);
volatile unsigned int *outclr = (unsigned int *)(0x50000000UL + 0x50C);
volatile int i;
int n = 200;
unsigned int mask = 1 << 3 | 1 << 2;
unsigned int mask1 = 1 << 3;
unsigned int mask2 = 1 << 2;
*dirset = mask;
for (;;)
{
*outset = mask1;
*outclr = mask2;
for (i = 0; i < n; i++)
{
};
*outclr = mask1;
*outset = mask2;
for (i = 0; i < n; i++)
{
};
}
}
Page 67
int main()
{
volatile unsigned int *dirset = (unsigned int *)(0x50000000UL + 0x518);
volatile unsigned int *out = (unsigned int *)(0x50000000UL + 0x504);
volatile int i;
int n = 200;
unsigned int mask1 = 1 << 2;
unsigned int mask2 = 1 << 3;
*dirset = (1 << 2) | (1 << 3);
for (;;)
{
*out = mask1;
for (i = 0; i < n; i++)
{
};
*out = mask2;
for (i = 0; i < n; i++)
{
};
}
}
Page 68
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
int GPIO = 3;
GPIO = 2; // Uncomment for V2
volatile unsigned int *in = (unsigned int *)(0x50000000UL + 0x510);
volatile unsigned int *pinDir =
(unsigned int *)(0x50000000UL + 0x700 + GPIO * 4);
unsigned int mask = 1 << GPIO;
*pinDir = 0x0;
volatile int i;
uBit.serial.printf("Ready\n\r");
while (1)
{
while (mask == ((*in) & mask))
{
};
while (mask != ((*in) & mask))
{
};
for (i = 0; i < 5000; i++)
{
if (mask != ((*in) & mask))
break;
}
uBit.serial.printf("%d\n\r", i);
}
return 0;
}
Page 74
#include "MicroBit.h"
MicroBit uBit;
int main() {
uBit.init();
uBit.io.P0.setAnalogValue(511);
uBit.io.P0.setAnalogPeriod(1);
release_fiber();
return 0;
}
Page 75
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uBit.io.P0.setAnalogValue(200);
uBit.io.P1.setAnalogValue(511);
uBit.io.P2.setAnalogValue(800);
uBit.io.P0.setAnalogPeriod(1);
uBit.io.P1.setAnalogPeriod(1);
uBit.io.P2.setAnalogPeriod(1);
release_fiber();
return 0;
}
Page 76
#include "MicroBit.h"
MicroBit uBit;
int main()
{
volatile int i;
uBit.init();
uBit.io.P0.setAnalogValue(200);
uBit.io.P0.setAnalogPeriodUs(50);
for (;;)
{
for (i = 1; i < 100; i++)
{
};
uBit.io.P0.setAnalogValue(200);
for (i = 1; i < 100; i++)
{
};
uBit.io.P0.setAnalogValue(800);
}
}
Page 78
#include "MicroBit.h"
//#define wait_us system_timer_wait_us // uncomment for V2
MicroBit uBit;
int main()
{
int i;
uBit.init();
uBit.io.P0.setAnalogValue(200);
uBit.io.P0.setAnalogPeriodUs(50);
for (;;)
{
for (i = 0; i < 1024; i = i + 10)
{
uBit.io.P0.setAnalogValue(i);
wait_us(100);
}
}
release_fiber();
return 0;
}
Page 82
#include "MicroBit.h"
//#define wait_us system_timer_wait_us // uncomment for V2
MicroBit uBit;
int main()
{
uBit.init();
uBit.io.P0.setAnalogValue(511);
uBit.io.P0.setAnalogPeriodUs(1000);
int w = 1;
int inc = 1;
for (;;)
{
uBit.io.P0.setAnalogValue(w);
w = w + inc;
if (w > 1024 || w <= 0)
inc = -inc;
wait_us(5000);
}
release_fiber();
return 0;
}
Page 83
#include "MicroBit.h"
//#define wait_us system_timer_wait_us // uncomment for V2
MicroBit uBit;
int main()
{
uBit.init();
uBit.io.P0.setAnalogValue(511);
uBit.io.P0.setAnalogPeriodUs(1000);
int w = 0;
int inc = 1;
for (;;)
{
uBit.io.P0.setAnalogValue(w * w * w);
w = w + inc;
if (w > 10 || w <= 0)
inc = -inc;
wait_us(50000);
}
release_fiber();
return 0;
}
Page 86
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
for (;;)
{
uBit.io.P0.setServoValue(0);
uBit.sleep(1000);
uBit.io.P0.setServoValue(90);
uBit.sleep(1000);
uBit.io.P0.setServoValue(180);
uBit.sleep(1000);
}
release_fiber();
return 0;
}
Page 87
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uBit.io.P0.setAnalogValue(0);
uBit.io.P0.setAnalogPeriod(20);
for (;;)
{
uBit.io.P0.setAnalogValue(52 * 0 / 180 + 920);
uBit.sleep(1000);
uBit.io.P0.setAnalogValue(52 * 90 / 180 + 920);
uBit.sleep(1000);
uBit.io.P0.setAnalogValue(52 * 180 / 180 + 920);
uBit.sleep(1000);
}
release_fiber();
return 0;
}
Page 90
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
for (;;)
{
uBit.io.P0.setServoValue(0, 1000);
uBit.sleep(1000);
uBit.io.P0.setServoValue(90, 1000);
uBit.sleep(1000);
uBit.io.P0.setServoValue(180, 1000);
uBit.sleep(1000);
}
release_fiber();
return 0;
}
Page 102
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
char buf[] = {0x07};
uBit.i2c.write(0x1C, buf, 1, true);
uBit.i2c.read(0x1C, buf, 1);
printf("Id %X\r\n", (int)buf[0]);
release_fiber();
return 0;
}
Page 104
#include "MicroBit.h"
#define LSM303_ADDR 0x32
#define LSM303_WHO 0x0F
#define LSM303_VAL 0x33
#define FXOS8700_ADDR 0x3C
#define FXOS8700_WHO 0x0D
#define FXOS8700_VAL 0xC7
MicroBit uBit;
int main()
{
uBit.init();
uint8_t data[1];
int status = 0;
status = uBit._i2c.readRegister(LSM303_ADDR, LSM303_WHO, data, 1);
if (data[0] == LSM303_VAL)
uBit.serial.printf("LSM303 \n\r");
status = uBit._i2c.readRegister(FXOS8700_ADDR, FXOS8700_WHO, data, 1);
if (data[0] == FXOS8700_VAL)
uBit.serial.printf("FXOS8700 \n\r");
return 0;
}
Page 105
#include "MicroBit.h"
#define LSM303_ADDR 0x32
#define LSM303_WHO 0x0F
#define LSM303_VAL 0x33
#define FXOS8700_ADDR 0x3C
#define FXOS8700_WHO 0x0D
#define FXOS8700_VAL 0xC7
MicroBit uBit;
int main()
{
uBit.init();
uint8_t data[2];
int status = 0;
uBit.compass.requestUpdate();
int x = uBit.compass.getX();
uBit.serial.printf("X %d \n\r", x);
int y = uBit.compass.getY();
uBit.serial.printf("Y %d \n\r", y);
int z = uBit.compass.getZ();
uBit.serial.printf("Z %d \n\r", z);
status = uBit._i2c.readRegister(0x3C, 0x68, &data[0], 1);
status = uBit._i2c.readRegister(0x3C, 0x69, &data[1], 1);
int16_t X = data[1] << 8 | data[0];
uBit.serial.printf("X %d \n\r", X);
status = uBit._i2c.readRegister(0x3C, 0x6A, &data[0], 1);
status = uBit._i2c.readRegister(0x3C, 0x6B, &data[1], 1);
int16_t Y = data[1] << 8 | data[0];
uBit.serial.printf("Y %d \n\r", Y);
status = uBit._i2c.readRegister(0x3C, 0x6C, &data[0], 1);
status = uBit._i2c.readRegister(0x3C, 0x6D, &data[1], 1);
int16_t Z = data[1] << 8 | data[0];
uBit.serial.printf("Z %d \n\r", Z);
return 0;
}
Page 111
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uint8_t buf[] = {0xE7};
uBit.i2c.write(0x80, buf, 1);
uBit.i2c.read(0x80, buf, 1);
uBit.serial.printf("User Register = %X \r\n", buf[0]);
return 0;
}
Page 112
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uint8_t buf[] = {0};
uBit.i2c.readRegister(0x80, 0xE7, buf, 1);
uBit.serial.printf("User Register = %X \r\n", buf[0]);
return 0;
}
Page 114
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uint8_t buf[3] = {0};
uBit.i2c.readRegister(0x80, 0xE3, buf, 3);
uint8_t msb = buf[0];
uint8_t lsb = buf[1];
uint8_t check = buf[2];
uBit.serial.printf("msb %d \n lsb %d \n checksum %d \n\r",
msb, lsb, check);
return 0;
}
Page 117
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uint8_t buf[3] = {0};
uBit.i2c.readRegister(0x80, 0xE3, buf, 3);
uint8_t msb = buf[0];
uint8_t lsb = buf[1];
uint8_t check = buf[2];
unsigned int data16 = ((unsigned int)msb << 8) |
(unsigned int)(lsb & 0xFC);
int temp = -4685 + ((17572 * data16) >> 16);
uBit.serial.printf("Temperature %d.%d C \n\r",
temp / 100, temp % 100);
return 0;
}
Page 119
uint8_t crcCheck(uint8_t msb, uint8_t lsb, uint8_t check)
{
uint32_t data32 = ((uint32_t)msb << 16) |
((uint32_t)lsb << 8) | (uint32_t)check;
uint32_t divisor = 0x988000;
for (int i = 0; i < 16; i++)
{
if (data32 & (uint32_t)1 << (23 - i))
data32 ^= divisor;
divisor >>= 1;
};
return (uint8_t)data32;
}
Page 121
#include "MicroBit.h"
MicroBit uBit;
uint8_t crcCheck(uint8_t msb, uint8_t lsb, uint8_t check)
{
uint32_t data32 = ((uint32_t)msb << 16) | ((uint32_t)lsb << 8) |
(uint32_t)check;
uint32_t divisor = 0x988000;
for (int i = 0; i < 16; i++)
{
if (data32 & (uint32_t)1 << (23 - i))
data32 ^= divisor;
divisor >>= 1;
};
return (uint8_t)data32;
}
int main()
{
uBit.init();
uint8_t buf[3] = {0};
uBit.i2c.readRegister(0x80, 0xE3, buf, 3);
uint8_t msb = buf[0];
uint8_t lsb = buf[1];
uint8_t check = buf[2];
unsigned int data16 = ((unsigned int)msb << 8) |
(unsigned int)(lsb & 0xFC);
int temp = -4685 + ((17572 * data16) >> 16);
uBit.serial.printf("\n\rmsb %d \n\rlsb %d \n\rchecksum %d \n\r",
msb, lsb, check);
uBit.serial.printf("Temperature %d.%d C \n\r",
temp / 100, temp % 100);
uBit.serial.printf("crc %d \n ", crcCheck(msb, lsb, check));
uBit.i2c.readRegister(0x80, 0xE5, buf, 3);
msb = buf[0];
lsb = buf[1];
check = buf[2];
uBit.serial.printf("\n\rmsb %d \n\rlsb %d \n\rchecksum %d \n\r",
msb, lsb, check);
data16 = ((unsigned int)msb << 8) | (unsigned int)(lsb & 0xFC);
int hum = -600 + ((12500 * data16) >> 16);
uBit.serial.printf("Humidity %d.%d %% \n\r",
hum / 100, hum % 100);
uBit.serial.printf("crc %d \n ", crcCheck(msb, lsb, check));
return 0;
}
Page 128
#include "MicroBit.h"
MicroBit uBit;
MicroBitPin P0 = uBit.io.P0;
int main()
{
int n = 1200;
//n = 4400; // Uncomment for V2
volatile int i;
uBit.init();
P0.setDigitalValue(1);
P0.setDigitalValue(0);
for (i = 0; i < n; i++)
{
};
P0.setDigitalValue(1);
int b = P0.getDigitalValue();
}
Page 134
#include "MicroBit.h"
#include <cstdio>
MicroBit uBit;
MicroBitPin P0 = uBit.io.P0;
uint32_t getByte(int b, int buf[])
{
int i;
uint32_t result = 0;
b = (b - 1) * 8 + 1;
for (i = b; i <= b + 7; i++)
{
result = result << 1;
result = result | buf[i];
}
return result;
}
int main()
{
int n = 800;
int threshold = 11;
threshold = 40; // uncomment for V2
volatile int i;
uBit.init();
P0.setDigitalValue(1);
for (;;)
{
P0.setDigitalValue(0);
uBit.sleep(1);
P0.getDigitalValue();
for (i = 1; i < n; i++)
{
if (P0.getDigitalValue() == 0)
break;
};
int buf[41];
int j;
__disable_irq();
for (j = 0; j < 41; j++)
{
for (i = 1; i < n; i++)
{
if (P0.getDigitalValue() == 1)
break;
};
for (i = 1; i < n; i++)
{
if (P0.getDigitalValue() == 0)
break;
}
buf[j] = 0;
if (i > threshold)
buf[j] = 1;
}
__enable_irq();
uint32_t byte1 = getByte(1, buf);
uint32_t byte2 = getByte(2, buf);
uint32_t byte3 = getByte(3, buf);
uint32_t byte4 = getByte(4, buf);
uint32_t byte5 = getByte(5, buf);
int16_t humidity = (byte1 << 8) | byte2;
int16_t temperature = (byte3 << 8) | byte4;
if (temperature & 0x8000)
temperature = -(temperature & 0x7FFF);
uBit.serial.printf("Checksum %X %X \n\r", byte5,
(byte1 + byte2 + byte3 + byte4) & 0xFF);
uBit.serial.printf("Humidity %d.%d%%\n\r",
humidity / 10, abs(humidity % 10));
uBit.serial.printf("Temperature %d.%dC\n\r",
temperature / 10, abs(temperature % 10));
char buff[10];
sprintf(buff, "%d.%d%%", humidity / 10, abs(humidity % 10));
uBit.display.scroll(buff, 200);
sprintf(buff, "%hd.%dC", temperature / 10,
abs(temperature % 10));
uBit.display.scroll(buff, 200);
uBit.sleep(2500);
}
}
Page 150
#include "MicroBit.h"
#include <cstdio>
MicroBit uBit;
MicroBitPin P0 = uBit.io.P0;
MicroBitPin P1 = uBit.io.P1;
int init()
{
int reset = 700;
//reset = 2250; // uncomment V2
int gap = 60;
//gap = 200; // uncomment V2
volatile int i;
P0.setDigitalValue(1);
P0.setPull(Pull - up);
// P0.setPull(PullMode::Up); //V2
P1.getDigitalValue();
P0.setDigitalValue(0);
__disable_irq();
for (i = 0; i < reset; i++)
{
};
P0.setDigitalValue(1);
for (i = 0; i < gap; i++)
{
};
int b = P1.getDigitalValue();
for (i = 0; i < reset - gap; i++)
{
};
__enable_irq();
return b;
}
void sendZero()
{
int zero = 75;
//zero = 240; // uncomment for V2
int slot = 30;
//slot = 300;// uncomment for V2
volatile int i;
P0.setDigitalValue(0);
for (i = 1; i < zero; i++)
{
};
P0.setDigitalValue(1);
for (i = 1; i < slot - zero; i++)
{
};
}
void sendOne()
{
int one = 1;
//one = 8; // uncomment for V2
int slot = 30;
//slot = 300; // uncomment for V2
volatile int i;
P0.setDigitalValue(0);
for (i = 1; i < one; i++)
{
};
P0.setDigitalValue(1);
for (i = 1; i < slot - one; i++)
{
};
}
int readBit()
{
volatile int i;
int sample = 20;
//sample = 55; // uncomment for V2
int pulse = 1;
//pulse = 8; // uncomment for V2
int slot = 30;
//slot = 300; // uncomment for V2
__disable_irq();
P0.setDigitalValue(0);
for (i = 1; i < pulse; i++)
{
};
P0.setDigitalValue(1);
for (i = 1; i < sample; i++)
{
};
int b = P1.getDigitalValue();
__enable_irq();
for (i = 1; i < slot - sample - pulse; i++)
{
};
return b;
}
void writeBit(int b)
{
int zero = 75;
//zero = 240; // uncomment for V2
int one = 1;
//one = 8; // uncomment for V2
int slot = 30;
//slot = 300; // uncomment for V2
volatile int i;
int delay1, delay2;
if (b == 1)
{
delay1 = one;
}
else
{
delay1 = zero;
}
delay2 = slot - delay1;
__disable_irq();
P0.setDigitalValue(0);
for (i = 1; i < delay1; i++)
{
};
P0.setDigitalValue(1);
for (i = 1; i < delay2; i++)
{
};
__enable_irq();
}
void writeByte(int byte)
{
int i;
for (i = 0; i < 8; i++)
{
if (byte & 1)
{
writeBit(1);
}
else
{
writeBit(0);
}
byte = byte >> 1;
}
}
int readByte()
{
int byte = 0;
int i;
for (i = 0; i < 8; i++)
{
byte = byte | readBit() << i;
};
return byte;
}
void convert()
{
writeByte(0x44);
uBit.sleep(900);
}
int main()
{
uBit.init();
if (init() == 1)
{
uBit.serial.printf("No device \n\r");
}
else
{
uBit.serial.printf("Device detected \n\r");
}
while (1)
{
init();
writeByte(0xCC);
convert();
init();
writeByte(0xCC);
writeByte(0xBE);
int b1 = readByte();
int b2 = readByte();
uBit.serial.printf("bytes %X,%X\n\r", b1, b2);
int16_t temp = (b2 << 8 | b1);
temp = temp * 100 / 16;
uBit.serial.printf("Temperature %d.%d\n\r",
temp / 100, abs(temp % 100));
char buff[10];
sprintf(buff, "%d.%d", temp / 100, abs(temp % 100));
uBit.display.scroll(buff, 200);
uBit.sleep(2000);
}
}
Page 154
int readBit()
{
volatile int i;
int sample = 20;
sample = 55; // uncomment for V2
int pulse = 1;
pulse = 8; // uncomment for V2
int slot = 30;
slot = 300; // uncomment for V2
__disable_irq();
P0.setDigitalValue(0);
for (i = 1; i < pulse; i++)
{
};
P0.setDigitalValue(1);
for (i = 1; i < sample; i++)
{
};
*pinDir = 0x0;
unsigned int b = (*inp) & mask;
b = b >> GPIO;
*pinDir = 0x1;
__enable_irq();
for (i = 1; i < slot - sample - pulse; i++)
{
};
return b;
}
Page 162
int SPItransfer(uint8_t *txBuffer, uint32_t txSize,
uint8_t *rxBuffer, uint32_t rxSize)
{
CS.setDigitalValue(0);
uint32_t i;
for (i = 0; i < txSize; i++)
{
if (i < rxSize)
{
rxBuffer[i] = spi.write(txBuffer[i]);
}
else
{
spi.write(txBuffer[i]);
}
}
CS.setDigitalValue(1);
return 0;
}
Page 164
#include "MicroBit.h"
MicroBit uBit;
SPI spi(MOSI, MISO, SCK);
MicroBitPin CS(MICROBIT_ID_IO_P16, MICROBIT_PIN_P16,
PIN_CAPABILITY_DIGITAL);
//Used by V1 only
int SPItransfer(uint8_t *txBuffer, uint32_t txSize, uint8_t *rxBuffer, uint32_t rxSize)
{
CS.setDigitalValue(0);
uint32_t i;
for (i = 0; i < txSize; i++)
{
if (i < rxSize)
{
rxBuffer[i] = spi.write(txBuffer[i]);
}
else
{
spi.write(txBuffer[i]);
}
}
CS.setDigitalValue(1);
return 0;
}
int main()
{
CS.setDigitalValue(1);
spi.format(8, 0);
spi.frequency(1000000);
uint8_t buf[1] = {0xAA};
while (1)
{
CS.setDigitalValue(0);
SPItransfer(buf, 1, buf, 1); //comment out for V2
// spi.transfer(buf, 1, buf, 1); //uncomment for V1
CS.setDigitalValue(1);
uBit.serial.printf("data %X\n\r", buf[0]);
if (buf[0] == 0xAA)
uBit.serial.printf("data received correctly\n\r");
};
release_fiber();
return 0;
}
Page 174
#include "MicroBit.h"
MicroBit uBit;
SPI spi(MOSI, MISO, SCK);
MicroBitPin CS(MICROBIT_ID_IO_P16, MICROBIT_PIN_P16,
PIN_CAPABILITY_DIGITAL);
//SPItransfer function is only needed for V1
int SPItransfer(uint8_t *txBuffer, uint32_t txSize,
uint8_t *rxBuffer, uint32_t rxSize)
{
CS.setDigitalValue(0);
uint32_t i;
for (i = 0; i < txSize; i++)
{
if (i < rxSize)
{
rxBuffer[i] = spi.write(txBuffer[i]);
}
else
{
spi.write(txBuffer[i]);
}
}
CS.setDigitalValue(1);
return 0;
}
int main()
{
CS.setDigitalValue(1);
spi.format(8, 0);
spi.frequency(1000000);
uint8_t buf[] = {0x01, 0x80, 0x00};
uint8_t readBuf[3];
CS.setDigitalValue(0);
SPItransfer(buf, 3, readBuf, 3); // comment out for V2
//spi.transfer(buf, 3, readBuf, 3); //uncomment for V2
//uBit.sleep(1);//uncomment for V2
CS.setDigitalValue(1);
int data = ((int)readBuf[1] & 0x03) << 8 | (int)readBuf[2];
int volts = data * 330 / 1023;
uBit.serial.printf("data %d\n\r", volts);
release_fiber();
return 0;
}
Page 175
int readADC(uint8_t chan)
{
uint8_t buf[] = {0x01, (0x08 | chan) << 4, 0x00};
uint8_t readBuf[3];
CS.setDigitalValue(0);
SPItransfer(buf, 3, readBuf, 3); //Comment out for V2
//spi.transfer(buf, 3, readBuf, 3); //uncomment for V2
//uBit.sleep(1);//uncomment for V2
CS.setDigitalValue(1);
return (readBuf[1] & 0x03) << 8 | readBuf[2];
}
Page 177
volatile unsigned int *outset = (unsigned int *)(0x50000000UL + 0x508);
volatile unsigned int *outclr = (unsigned int *)(0x50000000UL + 0x50C);
unsigned int mask = 1 << 16;
void transferBytes(int *buf, int *readBuf, int len)
{
*outclr = mask;
readBuf[0] = spi.write(buf[0]);
readBuf[1] = spi.write(buf[1]);
readBuf[2] = spi.write(buf[2]);
*outset = mask;
}
Page 182
#include "MicroBit.h"
//#define baud setBaudrate // Uncomment for V2
MicroBit uBit;
int main()
{
uBit.init();
uBit.serial.baud(115200);
uBit.serial.send("A\r\n");
}
Page 182
#include "MicroBit.h"
/* Uncomment for V2
#define baud setBaudrate
#define USBTX MICROBIT_PIN_UART_TX
#define USBRX MICROBIT_PIN_UART_RX
*/
MicroBitSerial serial(USBTX, USBRX);
int main()
{
serial.baud(115200);
serial.send("A\r\n");
release_fiber();
}
Page 189
#include "MicroBit.h"
//#define baud setBaudrate //uncomment for V2
void onChar(MicroBitEvent e)
{
ManagedString s = uBit.serial.read(1);
uBit.serial.clearRxBuffer();
uBit.display.scroll(s);
uBit.serial.eventAfter(1);
};
MicroBit uBit;
int main()
{
uBit.init();
uBit.serial.(20);
uBit.messageBus.listen(MICROBIT_ID_SERIAL,
MICROBIT_SERIAL_EVT_HEAD_MATCH, onChar);
uBit.serial.eventAfter(1);
while (1)
uBit.sleep(1000);
release_fiber();
}
Page 198
#include "MicroBit.h"
MicroBit uBit;
void initWiFi();
int ATWiFi();
int find(ManagedString c, ManagedString s);
void debug(ManagedString s);
//Comment out for V2
#define Tx MICROBIT_PIN_P0
#define Rx MICROBIT_PIN_P1
//
/* Uncomment For V2
#define baud setBaudrate
#define USBTX uBit.io.usbTx
#define USBRX uBit.io.usbRx
#define Tx uBit.io.P0
#define Rx uBit.io.P1
*/
#define DEBUG 1
int main()
{
initWiFi();
ATWiFi();
while (1)
uBit.sleep(1000);
release_fiber();
}
void initWiFi()
{
uBit.serial.redirect(Tx, Rx);
uBit.serial.baud(115200);
uBit.serial.setRxBufferSize((uint8_t) + 500);
}
int ATWiFi()
{
uBit.serial.send("AT\r\n", SYNC_SPINWAIT);
uBit.sleep(150);
ManagedString s = uBit.serial.read(500, ASYNC);
if (DEBUG)
debug("\n\rAT \n\r" + s + "\n\r");
return find("OK", s);
}
void debug(ManagedString s)
{
uBit.serial.redirect(USBTX, USBRX);
uBit.serial.send(s, SYNC_SPINWAIT);
uBit.serial.redirect(Tx, Rx);
}
int find(ManagedString c, ManagedString s)
{
int i;
for (i = 0; i < (s.length() - c.length()); i++)
{
if (c == s.substring(i, c.length()))
break;
}
if (i == (s.length() - c.length()))
return 0;
return 1;
}
Page 211
#include "MicroBit.h"
MicroBit uBit;
void initWiFi();
int ATWiFi();
int find(ManagedString c, ManagedString s);
void debug(ManagedString s);
//Comment out for V2
#define Tx MICROBIT_PIN_P0
#define Rx MICROBIT_PIN_P1
//
/* Uncomment for V2
#define baud setBaudrate
#define USBTX uBit.io.usbTx
#define USBRX uBit.io.usbRx
#define Tx uBit.io.P0
#define Rx uBit.io.P1
*/
#define DEBUG 1
#include "MicroBit.h"
void initWiFi();
int ATWiFi();
int resetWiFi();
int setUARTWiFi();
int scanWiFi();
int getIPWiFi();
int modeWiFi(int mode);
int connectWiFi(ManagedString ssid, ManagedString pass);
int getWebPageWiFi(ManagedString URL, ManagedString page);
int getVersionWiFi();
int startServerWiFi();
int waitForWiFi(ManagedString target, int retry, int pause);
int find(ManagedString c, ManagedString s);
void debug(ManagedString s);
int main()
{
uBit.init();
initWiFi();
modeWiFi(1);
connectWiFi("ssid", "password");
getIPWiFi();
startServerWiFi();
release_fiber();
}
void initWiFi()
{
uBit.serial.redirect(Tx, Rx);
uBit.serial.baud(115200);
uBit.serial.setRxBufferSize((uint8_t) + 500);
}
int ATWiFi()
{
uBit.serial.send("AT\r\n", SYNC_SPINWAIT);
return waitForWiFi("OK", 150, 10);
}
int getVersionWiFi()
{
uBit.serial.send("AT+GMR\r\n", SYNC_SPINWAIT);
return waitForWiFi("OK", 200, 10);
}
int resetWiFi()
{
uBit.serial.send("AT+RST\r\n", SYNC_SPINWAIT);
return waitForWiFi("OK", 1000, 10);
}
int setUARTWiFi()
{
uBit.serial.send("AT+UART_CUR=115200,8,1,0,0\r\n", SYNC_SPINWAIT);
return waitForWiFi("OK", 200, 10);
}
int scanWiFi()
{
uBit.serial.send("AT+CWLAP\r\n", SYNC_SPINWAIT);
return waitForWiFi("OK", 500, 50);
}
int modeWiFi(int mode)
{
ManagedString cmd = "AT+CWMODE_CUR=" + ManagedString(mode) + "\r\n";
uBit.serial.send(cmd, SYNC_SPINWAIT);
return waitForWiFi("OK", 200, 10);
}
int connectWiFi(ManagedString ssid, ManagedString pass)
{
ManagedString cmd = "AT+CWJAP_CUR=\"" + ssid + "\",\"" + pass + "\"\r\n";
uBit.serial.send(cmd, SYNC_SPINWAIT);
return waitForWiFi("OK", 200, 20);
}
int getIPWiFi()
{
uBit.serial.send("AT+CIFSR\r\n", SYNC_SPINWAIT);
return waitForWiFi("OK", 200, 10);
}
int getWebPageWiFi(ManagedString URL, ManagedString page)
{
ManagedString cmd = "AT+CIPSTART=\"TCP\",\"" + URL + "\",80\r\n";
uBit.serial.send(cmd, SYNC_SPINWAIT);
if (waitForWiFi("OK", 100, 20) == 0)
return 0;
ManagedString http = "GET " + page + "HTTP/1.0\r\nHost:" + URL + "\r\n\r\n";
cmd = "AT+CIPSEND=" + ManagedString(http.length()) + "\r\n";
uBit.serial.send(cmd, SYNC_SPINWAIT);
int retry;
ManagedString s;
s = "";
retry = 40;
do
{
uBit.sleep(100);
s = s + uBit.serial.read(500, ASYNC);
retry--;
} while (find(">", s) == 0 && retry != 0);
uBit.serial.send(http, SYNC_SPINWAIT);
retry = 100;
do
{
uBit.sleep(100);
s = s + uBit.serial.read(500, ASYNC);
retry--;
} while (s.length() < 500 && retry != 0);
if (DEBUG)
debug("\n\rPage\n\r" + s + "\n\r");
return 1;
}
int startServerWiFi()
{
uBit.serial.send("AT+CIPMUX=1\r\n", SYNC_SPINWAIT);
if (waitForWiFi("OK", 100, 20) == 0)
return 0;
uBit.serial.send("AT+CIPSERVER=1,80\r\n", SYNC_SPINWAIT);
if (waitForWiFi("OK", 100, 20) == 0)
return 0;
ManagedString s;
for (;;)
{
s = "";
do
{
uBit.sleep(100);
if (s > 500)
s = "";
s = uBit.serial.read(500, ASYNC);
} while (find("+IPD", s) == 0);
if (DEBUG)
debug("\n\rClient Connected\n\r" + s + "\n\r");
int b = find("+IPD", s);
s = s.substring(b + 1, s.length());
b = find(",", s);
s = s.substring(b + 1, s.length());
b = find(",", s);
ManagedString id = s.substring(0, b);
if (DEBUG)
debug("\n\rTCP id:" + id + "\n\r");
ManagedString headers = "HTTP/1.0 200 OK\r\n";
headers = headers + "Server: micro:bit\r\n";
headers = headers + "Content-type: text/html\r\n\r\n";
ManagedString html =
"<html><head><title>Temperature</title></"
"head><body>{\"humidity\":81%,\"airtemperature\":23.5C}</p></body></html>\r\n";
ManagedString data = headers + html;
ManagedString cmd = "AT+CIPSEND=" + id + "," + ManagedString(data.length()) + "\r\n";
uBit.serial.send(cmd, SYNC_SPINWAIT);
s = "";
int retry = 40;
do
{
uBit.sleep(100);
s = s + uBit.serial.read(500, ASYNC);
retry--;
} while (find(">", s) == 0 && retry != 0);
uBit.serial.send(data, SYNC_SPINWAIT);
if (waitForWiFi("OK", 100, 100) == 0)
return 0;
if (DEBUG)
debug("\n\rData Sent\n\r");
cmd = "AT+CIPCLOSE=" + id + "\r\n";
uBit.serial.send(cmd, SYNC_SPINWAIT);
if (waitForWiFi("OK", 100, 100) == 0)
return 0;
}
}
void debug(ManagedString s)
{
uBit.serial.redirect(USBTX, USBRX);
uBit.serial.send(s, SYNC_SPINWAIT);
uBit.serial.redirect(Tx, Rx);
}
int find(ManagedString c, ManagedString s)
{
int i;
for (i = 0; i < (s.length() - c.length()); i++)
{
if (c == s.substring(i, c.length()))
break;
}
if (i == (s.length() - c.length()))
return 0;
return i;
}
int waitForWiFi(ManagedString target, int retry, int pause)
{
ManagedString s;
do
{
uBit.sleep(pause);
if (s.length() > 500)
s = "";
s = s + uBit.serial.read(500, ASYNC);
retry--;
} while (find(target, s) == 0 && retry != 0);
if (DEBUG)
debug("\n\r" + s + "\n\r");
return retry;
}
Page 222
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uBit.display.disable();
DigitalOut col3(P0_6, 0);
DigitalOut row2(P0_14);
while (1)
{
row2 = 1;
wait(0.2);
row2 = 0;
wait(0.2);
}
release_fiber();
return 0;
}
Page 224
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uBit.display.disable();
uBit.io.row3.setDigitalValue(1);
while (1)
{
uBit.io.col3.setDigitalValue(1);
uBit.sleep(100);
uBit.io.col3.setDigitalValue(0);
uBit.sleep(100);
}
release_fiber();
return 0;
}
Page 224
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uBit.display.disable();
while (1)
{
uBit.io.col1.setDigitalValue(0);
uBit.io.row1.setDigitalValue(1);
uBit.sleep(500);
uBit.io.col1.setDigitalValue(1);
uBit.io.row1.setDigitalValue(0);
uBit.io.col2.setDigitalValue(0);
uBit.io.row2.setDigitalValue(1);
uBit.sleep(500);
uBit.io.col2.setDigitalValue(1);
uBit.io.row2.setDigitalValue(0);
uBit.io.col3.setDigitalValue(0);
uBit.io.row3.setDigitalValue(1);
uBit.sleep(500);
uBit.io.col3.setDigitalValue(1);
uBit.io.row3.setDigitalValue(0);
uBit.io.col4.setDigitalValue(0);
uBit.io.row4.setDigitalValue(1);
uBit.sleep(500);
uBit.io.col4.setDigitalValue(1);
uBit.io.row4.setDigitalValue(0);
uBit.io.col5.setDigitalValue(0);
uBit.io.row5.setDigitalValue(1);
uBit.sleep(500);
uBit.io.col5.setDigitalValue(1);
uBit.io.row5.setDigitalValue(0);
}
release_fiber();
return 0;
}
Page 228
#include "MicroBit.h"
MicroBit uBit;
int clickCount = 0;
void startGame();
int playGame();
void endGame(int position);
void countDown();
void drawPlayArea();
void flashMan(int x, int y, int p, int vx, int vy);
void setUpButton();
void moveHorizontal();
void moveVertical(int x, int h);
void buttonClickCount(MicroBitEvent e);
int main()
{
uBit.init();
startGame();
int position = playGame();
endGame(position);
release_fiber();
return 0;
}
void startGame()
{
countDown();
uBit.display.setDisplayMode(DISPLAY_MODE_GREYSCALE);
drawPlayArea();
setUpButton();
}
void countDown()
{
int t;
for (t = 5; t >= 0; t--)
{
uBit.display.scroll(t);
}
uBit.display.scroll("!");
}
void drawPlayArea()
{
uBit.display.clear();
int y;
for (y = 1; y <= 5; y++)
{
uBit.display.image.setPixelValue(2, y, 255);
}
}
int playGame()
{
int position = 4;
clickCount = 0;
int t1 = uBit.systemTime();
while (uBit.systemTime() - t1 < 20000)
{
flashMan(4, position, clickCount, 0, -1);
if (clickCount > 10)
{
position = position - 1;
clickCount = 0;
if (position == 0)
break;
}
}
return position;
}
void endGame(int position)
{
if (position == 0)
{
moveHorizontal();
moveVertical(0, 0);
}
else
{
moveVertical(4, position);
}
}
void setUpButton()
{
uBit.buttonB.setEventConfiguration(MICROBIT_BUTTON_ALL_EVENTS);
uBit.messageBus.listen(MICROBIT_ID_BUTTON_B,
MICROBIT_BUTTON_EVT_CLICK,
buttonClickCount);
}
void buttonClickCount(MicroBitEvent e)
{
clickCount++;
}
void flashMan(int x, int y, int p, int vx, int vy)
{
uBit.display.image.setPixelValue(x, y, 0);
uBit.display.image.setPixelValue(x + vx, y + vy, 0);
uBit.sleep(100);
uBit.display.image.setPixelValue(x, y, 25 * (10 - p));
uBit.display.image.setPixelValue(x + vx, y + vy, 25 * p);
uBit.sleep(100);
}
void moveHorizontal()
{
int x, fraction;
for (x = 4; x >= 0; x--)
{
for (fraction = 0; fraction <= 10; fraction++)
{
flashMan(x, 0, fraction, -1, 0);
}
}
}
void moveVertical(int x, int h)
{
int y, fraction;
if (h != 0)
uBit.display.image.setPixelValue(x, h - 1, 0);
for (y = h; y <= 4; y++)
{
for (fraction = 0;
fraction <= 10; fraction++)
{
flashMan(x, y, fraction, 0, 1);
}
}
}
Page 238
void onData(MicroBitEvent e)
{
uBit.display.print("Click");
return;
}
int main()
{
uBit.init();
uBit.messageBus.listen(MICROBIT_ID_BUTTON_A,
MICROBIT_BUTTON_EVT_CLICK, onData);
uBit.radio.enable();
while (1)
{
uBit.sleep(1000);
}
}
Page 239
#include "MicroBit.h"
MicroBit uBit;
int main()
{
uBit.init();
uBit.radio.enable();
uBit.display.print("TX");
while (1)
{
if (uBit.buttonA.isPressed())
{
uBit.display.print("1");
uBit.radio.datagram.send("1");
}
uBit.sleep(100);
uBit.display.clear();
}
return 0;
}
Page 239
#include "MicroBit.h"
MicroBit uBit;
void onData(MicroBitEvent e)
{
ManagedString s = uBit.radio.datagram.recv();
uBit.display.print(s);
}
int main()
{
uBit.init();
uBit.messageBus.listen(MICROBIT_ID_RADIO,
MICROBIT_RADIO_EVT_DATAGRAM, onData);
uBit.radio.enable();
uBit.display.print("RX");
while (1)
{
uBit.sleep(100);
uBit.display.clear();
}
}
Page 243
#include "MicroBit.h"
MicroBit uBit;
ManagedString setSound(ManagedString audio,
ManagedString data, int s)
{
return audio.substring(0, s) + data +
audio.substring(s + data.length(),
audio.length() - s - data.length());
}
int main()
{
uBit.init();
// 72 characters
static ManagedString soundData(
"000000000000000000000000000000000000
000000000000000000000000000000000000");
soundData = setSound(soundData, "0", 0); // Wave
soundData = setSound(soundData, "1023", 1); // volume start
soundData = setSound(soundData, "1023", 26); // volume end
soundData = setSound(soundData, "1000", 5); // frequency start
soundData = setSound(soundData, "1000", 18); // frequency end
soundData = setSound(soundData, "00", 13); // shape
soundData = setSound(soundData, "500", 9); // duration
soundData = setSound(soundData, "0128", 30); // steps
uBit.audio.soundExpressions.play(soundData);
return 0;
}
Page 245
#include "MicroBit.h"
MicroBit uBit;
void beepOn(MicroBitEvent e)
{
uBit.io.P0.setAnalogValue(512);
uBit.io.P0.setAnalogPeriodUs(1000000 / 500);
uBit.display.image.setPixelValue(2, 2, 255);
}
void beepOff(MicroBitEvent e)
{
uBit.io.P0.setAnalogValue(0);
uBit.display.image.setPixelValue(2, 2, 0);
}
int main()
{
uBit.init();
uBit.display.setDisplayMode(DISPLAY_MODE_GREYSCALE);
uBit.radio.enable();
uBit.radio.event.listen(MICROBIT_ID_BUTTON_A,
MICROBIT_BUTTON_EVT_DOWN);
uBit.radio.event.listen(MICROBIT_ID_BUTTON_A,
MICROBIT_BUTTON_EVT_UP);
uBit.messageBus.listen(MICROBIT_ID_BUTTON_A,
MICROBIT_BUTTON_EVT_DOWN, beepOn);
uBit.messageBus.listen(MICROBIT_ID_BUTTON_A,
MICROBIT_BUTTON_EVT_UP, beepOff);
while (1)
{
uBit.sleep(100);
}
}
Raspberry Pi IoT In Python Using Linux Drivers
Programs
We have decided not to make the programs available as a download because this is not the point of the book - the programs are not finished production code but something you should type in and study.
The best solution is to provide the source code of the programs in a form that can be copied and pasted into a NetBeans of VS Code project.
Note: The VS Code task listings are at the very end of this page.
The only downside is that you have to create a project to paste the code into.
To do this follow the instructionin the book-- in particular make sure you have added any libraries to the link step and are running as root if required.
All of the programs below were copy and pasted from working programs in the IDE. They have been formatted using the built in formatter and hence are not identical in layout to the programs in the book. This is to make copy and pasting them easier. The programs in the book are formatted to be easy to read on the page.
If anything you consider important is missing or if you have any requests or comments contact:
This email address is being protected from spambots. You need JavaScript enabled to view it.
Page 32
import io
from time import sleep
fd = io.open("/sys/class/leds/led0/trigger", "w")
fd.write("none")
fd.close()
fd = io.open("/sys/class/leds/led0/brightness", "w")
while(True):
fd.write("0")
fd.flush()
sleep(1)
fd.write("1")
fd.flush()
sleep(1)
Page 33
import io
from time import sleep
fd = io.open("/sys/class/leds/led0/trigger", "w")
fd.write("timer")
fd.close()
fd = io.open("/sys/class/leds/led0/delay_on", "w")
fd.write("2000")
fd.close()
fd = io.open("/sys/class/leds/led0/delay_off", "w")
fd.write("3000")
fd.close()
Page 42
import gpiod
chip = gpiod.Chip("0")
print(chip.label())
print(chip.name())
print(chip.num_lines())
chip.close()
Page 45
import gpiod
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py",
type=gpiod.LINE_REQ_DIR_OUT, default_vals=[0])
while(True):
line.set_value(1)
line.set_value(0)
Page 46
import gpiod
chip = gpiod.Chip("0")
lines = chip.get_lines([4, 17])
lines.request(consumer="myprog.py", type=gpiod.LINE_REQ_DIR_OUT,
default_vals=[0, 1])
while(True):
lines.set_values([1, 0])
lines.set_values([0, 1])
Page 48
import gpiod
from time import sleep, time_ns
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="resistor.py", type=gpiod.LINE_REQ_DIR_IN)
sleep(0.010)
line.release()
line.request(consumer="resistor.py", type=gpiod.LINE_REQ_DIR_OUT,
default_vals=[0])
sleep(0.010)
line.release()
line.request(consumer="resistor.py", type=gpiod.LINE_REQ_DIR_IN)
t = time_ns()
while(line.get_value() == 0):
pass
print((time_ns()-t)/1000)
Page 55
import fcntl
import struct
import io
GPIO_GET_CHIPINFO_IOCTL = 0x8044B401
f = io.open("/dev/gpiochip0", "rb", buffering=0)
gpiochip_info = struct.Struct("32s 32s L")
buffer = gpiochip_info.pack(b' ', b' ', 0)
result = fcntl.ioctl(f, GPIO_GET_CHIPINFO_IOCTL, buffer)
name, label, lines = gpiochip_info.unpack(result)
print(name.rstrip(b'\0').decode("utf-8"))
print(label.rstrip(b'\0').decode("utf-8"))
print(lines)
Page 59
import fcntl
import struct
import io
GPIO_GET_CHIPINFO_IOCTL = 0x8044B401
GPIO_GET_LINEHANDLE_IOCTL = 0xC16CB403
GPIOHANDLE_SET_LINE_VALUES_IOCTL = 0xC040B409
GPIOHANDLE_GET_LINE_VALUES_IOCTL = 0xC040B408
GPIOHANDLE_REQUEST_OUTPUT = 0x02
GPIOHANDLE_REQUEST_INPUT = 0x01
GPIOHANDLE_REQUEST_ACTIVE_LOW = 0x04
GPIOHANDLE_REQUEST_OPEN_DRAIN = 0x08
GPIOHANDLE_REQUEST_OPEN_SOURCE = 0x10
gpiochip_info = struct.Struct("32s 32s L")
gpiohandle_request = struct.Struct("64L L 64B 32s L L")
gpiohandle_data = struct.Struct("64B")
lines = [0]*64
lines[0] = 4
lines[1] = 17
values = [0]*64
buffer = gpiohandle_request.pack(*lines, GPIOHANDLE_REQUEST_OUTPUT,
*values, b"Output test", 2, 0)
f = io.open("/dev/gpiochip0", "rb", buffering=0)
result = fcntl.ioctl(f, GPIO_GET_LINEHANDLE_IOCTL, buffer)
f.close()
fL = struct.unpack_from("L", buffer, 360)[0]
values[0] = 1
values[1] = 0
state1 = gpiohandle_data.pack(*values)
values[0] = 0
values[1] = 1
state2 = gpiohandle_data.pack(*values)
while(True):
result = fcntl.ioctl(fL, GPIOHANDLE_SET_LINE_VALUES_IOCTL, state1)
result = fcntl.ioctl(fL, GPIOHANDLE_SET_LINE_VALUES_IOCTL, state2)
Page 60
import fcntl
import struct
import io
import os
GPIO_GET_CHIPINFO_IOCTL = 0x8044B401
GPIO_GET_LINEHANDLE_IOCTL = 0xC16CB403
GPIOHANDLE_SET_LINE_VALUES_IOCTL = 0xC040B409
GPIOHANDLE_GET_LINE_VALUES_IOCTL = 0xC040B408
GPIOHANDLE_REQUEST_OUTPUT = 0x02
GPIOHANDLE_REQUEST_INPUT = 0x01
GPIOHANDLE_REQUEST_ACTIVE_LOW = 0x04
GPIOHANDLE_REQUEST_OPEN_DRAIN = 0x08
GPIOHANDLE_REQUEST_OPEN_SOURCE = 0x10
gpiochip_info = struct.Struct("32s 32s L")
gpiohandle_request = struct.Struct("64L L 64B 32s L L")
gpiohandle_data = struct.Struct("64B")
lines = [0]*64
lines[0] = 4
lines[1] = 17
values = [0]*64
buffer = gpiohandle_request.pack(*lines, GPIOHANDLE_REQUEST_INPUT,
*values, b"Input test", 2, 0)
f = io.open("/dev/gpiochip0", "rb", buffering=0)
result = fcntl.ioctl(f, GPIO_GET_LINEHANDLE_IOCTL, buffer)
f.close()
fL = struct.unpack_from("L", result, 360)[0]
inputBuffer = gpiohandle_data.pack(*values)
result = fcntl.ioctl(fL, GPIOHANDLE_GET_LINE_VALUES_IOCTL,
inputBuffer)
os.close(fL)
print(result[0], result[1])
Page 61
import fcntl
import struct
import io
import os
from time import sleep, time_ns
GPIO_GET_CHIPINFO_IOCTL = 0x8044B401
GPIO_GET_LINEHANDLE_IOCTL = 0xC16CB403
GPIOHANDLE_SET_LINE_VALUES_IOCTL = 0xC040B409
GPIOHANDLE_GET_LINE_VALUES_IOCTL = 0xC040B408
GPIOHANDLE_REQUEST_OUTPUT = 0x02
GPIOHANDLE_REQUEST_INPUT = 0x01
GPIOHANDLE_REQUEST_ACTIVE_LOW = 0x04
GPIOHANDLE_REQUEST_OPEN_DRAIN = 0x08
GPIOHANDLE_REQUEST_OPEN_SOURCE = 0x10
gpiochip_info = struct.Struct("32s 32s L")
gpiohandle_request = struct.Struct("64L L 64B 32s L L")
gpiohandle_data = struct.Struct("64B")
lines = [0]*64
lines[0] = 4
values = [0]*64
buffer = gpiohandle_request.pack(*lines, GPIOHANDLE_REQUEST_INPUT,
*values, b"Resistance test", 1, 0)
f = io.open("/dev/gpiochip0", "rb", buffering=0)
result = fcntl.ioctl(f, GPIO_GET_LINEHANDLE_IOCTL, buffer)
fL = struct.unpack_from("L", result, 360)[0]
state = gpiohandle_data.pack(*values)
result = fcntl.ioctl(fL, GPIOHANDLE_GET_LINE_VALUES_IOCTL, state)
sleep(0.01)
os.close(fL)
buffer = gpiohandle_request.pack(*lines, GPIOHANDLE_REQUEST_OUTPUT,
*values, b"Resistance test", 1, 0)
result = fcntl.ioctl(f, GPIO_GET_LINEHANDLE_IOCTL, buffer)
fL = struct.unpack_from("L", result, 360)[0]
fcntl.ioctl(fL, GPIOHANDLE_SET_LINE_VALUES_IOCTL, state)
sleep(0.01)
os.close(fL)
buffer = gpiohandle_request.pack(*lines, GPIOHANDLE_REQUEST_INPUT,
*values, b"Resistance test", 1, 0)
result = fcntl.ioctl(f, GPIO_GET_LINEHANDLE_IOCTL, buffer)
fL = struct.unpack_from("L", result, 360)[0]
t = time_ns()
result = fcntl.ioctl(fL, GPIOHANDLE_GET_LINE_VALUES_IOCTL, state)
while(result[0] == 0):
result = fcntl.ioctl(fL, GPIOHANDLE_GET_LINE_VALUES_IOCTL, state)
print((time_ns()-t)/1000)
os.close(fL)
f.close()
Page 68
import gpiod
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py", type=gpiod.LINE_REQ_EV_BOTH_EDGES)
event = line.event_wait(sec=1)
if event:
print("Event on line 4")
else:
print("Time out")
Page 69
import gpiod
from time import sleep, time_ns
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="resistor.py", type=gpiod.LINE_REQ_DIR_IN)
sleep(0.010)
line.release()
line.request(consumer="resistor.py",
type=gpiod.LINE_REQ_DIR_OUT, default_vals=[0])
sleep(0.010)
line.release()
line.request(consumer="resistor.py",
type=gpiod.LINE_REQ_EV_RISING_EDGE)
t = time_ns()
event = line.event_read()
print((event.sec*1000000000+event.nsec-t)/1000)
Page 70
import gpiod
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py", type=gpiod.LINE_REQ_EV_BOTH_EDGES)
while(True):
while True:
event1 = line.event_read()
if event1.type == event1.RISING_EDGE:
break
while True:
event2 = line.event_read()
if event2.type == gpiod.LineEvent.FALLING_EDGE:
break
print((event2.sec-event2.sec)*1000000000 +
(event2.nsec-event1.nsec))
Page 71a
import gpiod
from time import sleep
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py", type=gpiod.LINE_REQ_DIR_IN)
print("Press the button", flush=True)
sleep(20)
if line.get_value() == 1:
print("button pressed")
else:
print("button not pressed")
Page 71b
import gpiod
from time import sleep
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py", type=gpiod.LINE_REQ_EV_BOTH_EDGES)
print("Press the button", flush=True)
sleep(20)
event = line.event_wait(sec=0)
if event:
print("button pressed")
else:
print("button not pressed")
Page 72
import gpiod
def event_poll(line):
event = line.event_wait(sec=0)
if event:
event = line.event_read()
return event
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py", type=gpiod.LINE_REQ_EV_BOTH_EDGES)
while True:
event = event_poll(line)
if event:
print(event.sec, flush=True)
Page 75
import fcntl
import struct
import io
import os
from time import sleep, time_ns
import select
GPIO_GET_CHIPINFO_IOCTL = 0x8044B401
GPIO_GET_LINEHANDLE_IOCTL = 0xC16CB403
GPIOHANDLE_SET_LINE_VALUES_IOCTL = 0xC040B409
GPIOHANDLE_GET_LINE_VALUES_IOCTL = 0xC040B408
GPIO_GET_LINEEVENT_IOCTL = 0xC030B404
GPIOHANDLE_REQUEST_OUTPUT = 0x02
GPIOHANDLE_REQUEST_INPUT = 0x01
GPIOHANDLE_REQUEST_ACTIVE_LOW = 0x04
GPIOHANDLE_REQUEST_OPEN_DRAIN = 0x08
GPIOHANDLE_REQUEST_OPEN_SOURCE = 0x10
GPIOEVENT_REQUEST_RISING_EDGE = 0x01
GPIOEVENT_REQUEST_FALLING_EDGE = 0x02
GPIOEVENT_REQUEST_BOTH_EDGES = 0x03
gpiochip_info = struct.Struct("32s 32s L")
gpiohandle_request = struct.Struct("64L L 64B 32s L L")
gpiohandle_data = struct.Struct("64B")
gpioevent_request = struct.Struct("L L L 32s L")
gpioevent_data = struct.Struct("Q L")
buffer = gpioevent_request.pack(4, GPIOHANDLE_REQUEST_INPUT,
GPIOEVENT_REQUEST_BOTH_EDGES, b"Event test", 0)
f = io.open("/dev/gpiochip0", "rb", buffering=0)
result = fcntl.ioctl(f, GPIO_GET_LINEEVENT_IOCTL, buffer)
f.close()
fL = struct.unpack_from("L", result, 44)[0]
e = select.epoll()
e.register(fL)
while True:
events = e.poll(1)
if len(events) > 0:
buffer = os.read(fL, 100)
timestamp, id = gpioevent_data.unpack(buffer[0:12])
print(timestamp, id, flush=True)
Page 76
import gpiod
import struct
import io
import os
import select
gpioevent_data = struct.Struct("Q L")
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py", type=gpiod.LINE_REQ_EV_BOTH_EDGES)
fL = line.event_get_fd()
e = select.epoll()
e.register(fL)
while True:
events = e.poll(1)
if len(events) > 0:
buffer = os.read(fL, 100)
timestamp, id = gpioevent_data.unpack(buffer[0:12])
print(timestamp, id, flush=True)
Page 77
import gpiod
from time import sleep
import threading
def waitForInterrupt(line):
while(True):
event = line.event_read()
print(event.sec*1000000000+event.nsec, flush=True)
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py", type=gpiod.LINE_REQ_EV_BOTH_EDGES)
IntThread = threading.Thread(target=waitForInterrupt, args=(line,))
IntThread.start()
while True:
sleep(2)
print("running", flush=True)
Page 87
import io
fdr = io.open("/sys/bus/iio/devices/iio:device0/name", "rb", buffering=0)
name = fdr.readline().decode("utf-8")
print("name=", name)
fdr.close()
fdr = io.open("/sys/bus/iio/devices/iio:device0/in_temp_input",
"rb", buffering=0)
temp = fdr.readline().decode("utf-8")
print("temp=", int(temp)/1000, "C")
fdr.close()
fdr = io.open(
"/ sys/bus/iio/devices/iio: device0 /in_humidityrelative_input", "rb", buffering=0)
hum = fdr.readline().decode("utf-8")
print("Humidity=", int(hum)/1000, "%")
fdr.close()
Page 89
import subprocess
import io
import fcntl
def checkDht11():
indicator = "dht11 gpiopin=4"
command = ["sudo", "dtoverlay", "dht11", "gpiopin=4"]
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
if output.find(indicator) == -1:
temp = subprocess.Popen(command, stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
return
checkDht11()
fdr = io.open("/sys/bus/iio/devices/iio:device0/name", "rb", buffering=0)
name = fdr.readline().decode("utf-8")
print("name=", name)
fdr.close()
fdr = io.open("/sys/bus/iio/devices/iio:device0/in_temp_input",
"rb", buffering=0)
temp = fdr.readline().decode("utf-8")
print("temp=", int(temp)/1000, "C")
fdr.close()
fdr = io.open(
"/sys/bus/iio/devices/iio:device0/in_humidityrelative_input", "rb", buffering=0)
hum = fdr.readline().decode("utf-8")
print("Humidity=", int(hum)/1000, "%")
fdr.close()
Page 111a
import gpiod
from time import sleep
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py",
type=gpiod.LINE_REQ_DIR_OUT, default_vals=[0])
period = 20
duty = 25
ontime = period/1000 * duty / 100
offtime = period/1000 - ontime
while(True):
line.set_value(1)
sleep(ontime)
line.set_value(0)
sleep(offtime)
Page 111b
import gpiod
from time import sleep
import threading
def softPWM(line, period, duty):
ontime = period/1000 * duty / 100
offtime = period/1000 - ontime
while(True):
line.set_value(1)
sleep(ontime)
line.set_value(0)
sleep(offtime)
chip = gpiod.Chip("0")
line = chip.get_line(4)
line.request(consumer="myprog.py",
type=gpiod.LINE_REQ_DIR_OUT, default_vals=[0])
period = 20
duty = 75
IntThread = threading.Thread(target=softPWM, args=(line, period, duty))
IntThread.start()
while(True):
print("working", flush=True)
sleep(2)
Page 115
import subprocess
import io
def checkPWM():
indicator = "pwm-2chan"
command = ["sudo", "dtoverlay", "pwm-2chan"]
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
if output.find(indicator) == -1:
temp = subprocess.Popen(command, stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
return
checkPWM()
fdw = io.open("/sys/class/pwm/pwmchip0/export", "wb", buffering=0)
fdw.write(b"0")
fdw.close()
fdw = io.open("/sys/class/pwm/pwmchip0/pwm0/period", "wb", buffering=0)
fdw.write(b"10000000")
fdw.close()
fdw = io.open("/sys/class/pwm/pwmchip0/pwm0/duty_cycle", "wb", buffering=0)
fdw.write(b"8000000")
fdw.close()
fdw = io.open("/sys/class/pwm/pwmchip0/pwm0/enable", "wb", buffering=0)
fdw.write(b"1")
fdw.close()
Page 116
import subprocess
import io
from time import sleep
import os
class Pwm:
def __init__(self, channel, f, duty):
if not(channel == 0 or channel == 1):
return
self.chan = str(channel)
indicator = "pwm-2chan"
command = ["sudo", "dtoverlay", "pwm-2chan"]
temp = subprocess.Popen(
["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
if output.find(indicator) == -1:
temp = subprocess.Popen(command, stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
if not(os.path.exists("/sys/class/pwm/pwmchip0/pwm"+self.chan)):
fdw = io.open("/sys/class/pwm/pwmchip0/export", "w")
fdw.write(self.chan)
fdw.close()
while not(os.path.exists("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/enable")):
pass
self.fdwp = io.open("/sys/class/pwm/pwmchip0/pwm" +
self.chan+"/period", "w")
self.setFreq(f)
self.fdwd = io.open("/sys/class/pwm/pwmchip0/pwm" +
self.chan+"/duty_cycle", "w")
self.setDuty(duty)
def setFreq(self, f):
self.f = int(1000000000/f)
self.fdwp.write(str(self.f))
self.fdwp.flush()
def setDuty(self, duty):
self.duty = int(self.f*duty/100)
self.fdwd.write(str(self.duty))
self.fdwd.flush()
def enableChan(self):
fdw = io.open("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/enable", "w")
fdw.write("1")
fdw.close()
def disableChan(self):
fdw = io.open("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/enable", "w")
fdw.write("0")
fdw.close()
def closeChan(self):
self.fdwd.close()
self.fdwp.close()
fdw = io.open("/sys/class/pwm/pwmchip0/unexport", "w")
fdw.write(self.chan)
fdw.close()
Page 127
import subprocess
import io
from time import sleep
import os
class Pwm:
def __init__(self, channel, f, duty):
if not(channel == 0 or channel == 1):
return
self.chan = str(channel)
indicator = "pwm-2chan"
command = ["sudo", "dtoverlay", "pwm-2chan"]
temp = subprocess.Popen(
["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
if output.find(indicator) != -1:
temp = subprocess.Popen(
["sudo", "dtoverlay", "-r", "0"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
temp = subprocess.Popen(command, stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
if os.path.exists("/sys/class/pwm/pwmchip0/pwm"+self.chan):
fdw = io.open("/sys/class/pwm/pwmchip0/unexport", "w")
fdw.write(self.chan)
fdw.close()
while os.path.exists("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/enable"):
pass
fdw = io.open("/sys/class/pwm/pwmchip0/export", "w")
fdw.write(self.chan)
fdw.close()
while not(os.path.exists("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/period")):
pass
self.fdwp = io.open("/sys/class/pwm/pwmchip0/pwm" +
self.chan+"/period", "w")
self.setFreq(f)
self.fdwd = io.open("/sys/class/pwm/pwmchip0/pwm" +
self.chan+"/duty_cycle", "w")
self.setDuty(duty)
def setFreq(self, f):
self.fdwp.write("200")
self.fdwp.flush()
self.f = int(1000000000/f)
self.fdwp.write(str(self.f))
self.fdwp.flush()
def setDuty(self, duty):
self.duty = int(self.f*duty/100)
self.fdwd.write(str(self.duty))
self.fdwd.flush()
def enableChan(self):
fdw = io.open("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/enable", "w")
fdw.write("1")
fdw.close()
def disableChan(self):
fdw = io.open("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/enable", "w")
fdw.write("0")
fdw.close()
def closeChan(self):
self.fdwd.close()
self.fdwp.close()
fdw = io.open("/sys/class/pwm/pwmchip0/unexport", "w")
fdw.write(self.chan)
fdw.close()
def inverChan(self):
fdw = io.open("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/polarity", "w")
fdw.write("inversed")
fdw.close()
def normalChan(self):
fdw = io.open("/sys/class/pwm/pwmchip0/pwm"+self.chan+"/polarity", "w")
fdw.write("normal")
fdw.close()
Page 137
import subprocess
import spidev
from time import sleep
def checkSPI():
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
lastSPI = output.rfind("spi")
if lastSPI != -1:
lastSPI = output.find("spi=on", lastSPI)
if lastSPI == -1:
temp = subprocess.Popen(
["sudo", "dtparam", "spi=on"], stdout=subprocess.PIPE)
output = str(temp.communicate())
checkSPI()
spi = spidev.SpiDev()
spi.open(0, 0)
spi.max_speed_hz = 5000
Data = [0xAA]
print(hex(Data[0]))
data = spi.xfer(Data)
print(hex(Data[0]))
if Data == 0xAA:
print("match")
spi.close()
Page 146
import subprocess
import spidev
def checkSPI():
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
lastSPI = output.rfind("spi")
if lastSPI != -1:
lastSPI = output.find("spi=on", lastSPI)
if lastSPI == -1:
temp = subprocess.Popen(
["sudo", "dtparam", "spi=on"], stdout=subprocess.PIPE)
output = str(temp.communicate())
checkSPI()
spi = spidev.SpiDev()
spi.open(0, 0)
spi.max_speed_hz = 100000
spi.mode = 0
spi.bits_per_word = 8
Data = [0x01, 0x80, 0x00]
spi.xfer(Data)
raw = (Data[1] & 0x03) << 8 | Data[2]
print(raw)
volts = raw * 3.3 / 1023.0
print(volts, "V")
spi.close()
Page 165
import subprocess
import io
import fcntl
def checkI2CBus():
temp = subprocess.Popen(["sudo", "dtparam", "-l"],
stdout=subprocess.PIPE)
output = str(temp.communicate())
lasti2c = output.rfind("i2c_arm")
if lasti2c != -1:
lasti2c = output.find("i2c_arm=on", lasti2c)
if lasti2c == -1:
temp = subprocess.Popen(["sudo", "dtparam", "i2c_arm=on"],
stdout=subprocess.PIPE)
output = str(temp.communicate())
return
checkI2CBus()
I2C_SLAVE = 0x0703
fdr = io.open("/dev/i2c-1", "rb", buffering=0)
fdw = io.open("/dev/i2c-1", "wb", buffering=0)
fcntl.ioctl(fdr, I2C_SLAVE, 0x40)
fcntl.ioctl(fdw, I2C_SLAVE, 0x40)
fdw.write(bytearray([0xE7]))
data = fdr.read(1)
print(data)
fdr.close()
fdw.close()
Page 167
import subprocess
import io
import fcntl
from time import sleep
checkI2CBus()
I2C_SLAVE = 0x0703
fdr = io.open("/dev/i2c-1", "rb", buffering=0)
fdw = io.open("/dev/i2c-1", "wb", buffering=0)
fcntl.ioctl(fdr, I2C_SLAVE, 0x40)
fcntl.ioctl(fdw, I2C_SLAVE, 0x40)
fdw.write(bytearray([0xF3]))
while(True):
try:
data = fdr.read(3)
break
except:
sleep(0.01)
msb = data[0]
lsb = data[1]
crc = data[2]
print("msb=", msb, " lsb=", lsb, " crc=", crc)
fdw.close()
fdr.close()
Page 171
import subprocess
import io
import fcntl
from time import sleep
def crcCheck(msb, lsb, check):
data32 = (msb << 16) | (lsb << 8) | check
divisor = 0x988000
for i in range(16):
if(data32 & 1 << (23 - i)):
data32 ^= divisor
divisor >>= 1
return data32
def checkI2CBus():
temp = subprocess.Popen(["sudo", "dtparam", "-l"],
stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
lasti2c = output.rfind("i2c_arm")
if lasti2c != -1:
lasti2c = output.find("i2c_arm=on", lasti2c)
if lasti2c == -1:
temp = subprocess.Popen(["sudo", "dtparam", "i2c_arm=on"],
stdout=subprocess.PIPE)
output = str(temp.communicate())
return
checkI2CBus()
I2C_SLAVE = 0x0703
fdr = io.open("/dev/i2c-1", "rb", buffering=0)
fdw = io.open("/dev/i2c-1", "wb", buffering=0)
fcntl.ioctl(fdr, I2C_SLAVE, 0x40)
fcntl.ioctl(fdw, I2C_SLAVE, 0x40)
fdw.write(bytearray([0xF3]))
while(True):
try:
data = fdr.read(3)
break
except:
sleep(0.01)
msb = data[0]
lsb = data[1]
crc = data[2]
data16 = (msb << 8) | (lsb & 0xFC)
temp = -46.85 + (175.72 * data16 / 65536)
print("Temperature=", temp, "C")
fdw.write(bytearray([0xF5]))
while(True):
try:
data = fdr.read(3)
break
except:
sleep(0.01)
msb = data[0]
lsb = data[1]
crc = data[2]
data16 = (msb << 8) | (lsb & 0xFC)
hum = -6 + 125.0 * data16 / 65536
print("humidity=", hum, "%")
print(crcCheck(msb, lsb, crc))
fdw.close()
fdr.close()
Page 183
import subprocess
import io
import struct
import fcntl
from time import sleep
import mmap
import os
def setTimeout(timeout):
# find base address
peripherals_base = 0x20000000
try:
with io.open('/proc/device-tree/soc/ranges', 'rb') as f:
buf = f.read(16)
peripherals_base = buf[4] << 24 | buf[5] << 16 | buf[6] << 8 | buf[7] << 0
if peripherals_base == 0:
peripherals_base = buf[8] << 24 | buf[9] << 16 | buf[10] << 8 | buf[11] << 0
except:
pass
#open /dev/mem
try:
memfd = os.open('/dev/mem', os.O_RDWR | os.O_SYNC)
except OSError:
print('unable to open /dev/mem upgrade your kernel or run as root')
# map file from start of BCS1 into memory
mem = mmap.mmap(memfd, 4096, offset=peripherals_base + 0x804000)
os.close(memfd)
# Write a value to the clock stretch timeout register
struct.pack_into('<L', mem, 0x1C, timeout)
mem.flush
mem.close()
def crcCheck(msb, lsb, check):
data32 = (msb << 16) | (lsb << 8) | check
divisor = 0x988000
for i in range(16):
if(data32 & 1 << (23 - i)):
data32 ^= divisor
divisor >>= 1
return data32
def checkI2CBus():
temp = subprocess.Popen(["sudo", "dtparam", "-l"],
stdout=subprocess.PIPE)
output = str(temp.communicate())
lasti2c = output.rfind("i2c_arm")
if lasti2c != -1:
lasti2c = output.find("i2c_arm=on", lasti2c)
if lasti2c == -1:
temp = subprocess.Popen(["sudo", "dtparam", "i2c_arm=on"],
stdout=subprocess.PIPE)
output = str(temp.communicate())
return
checkI2CBus()
I2C_SLAVE = 0x0703
fdr = io.open("/dev/i2c-1", "rb", buffering=0)
fdw = io.open("/dev/i2c-1", "wb", buffering=0)
setTimeout(10000)
fcntl.ioctl(fdr, I2C_SLAVE, 0x40)
fcntl.ioctl(fdw, I2C_SLAVE, 0x40)
fdw.write(bytearray([0xE3]))
data = fdr.read(3)
msb = data[0]
lsb = data[1]
crc = data[2]
data16 = (msb << 8) | (lsb & 0xFC)
temp = -46.85 + (175.72 * data16 / 65536)
print("Temperature=", temp, "C")
print(crcCheck(msb, lsb, crc))
fdw.write(bytearray([0xE5]))
data = fdr.read(3)
msb = data[0]
lsb = data[1]
crc = data[2]
data16 = (msb << 8) | (lsb & 0xFC)
hum = -6 + 125.0 * data16 / 65536
print("humidity=", hum, "%")
print(crcCheck(msb, lsb, crc))
fdw.close()
fdr.close()
Page 186
import subprocess
from ctypes import *
import os
import fcntl
import io
def checkI2CBus():
temp = subprocess.Popen(["sudo", "dtparam", "-l"],
stdout=subprocess.PIPE)
output = str(temp.communicate())
lasti2c = output.rfind("i2c_arm")
if lasti2c != -1:
lasti2c = output.find("i2c_arm=on", lasti2c)
if lasti2c == -1:
temp = subprocess.Popen(["sudo", "dtparam", "i2c_arm=on"],
stdout=subprocess.PIPE)
output = str(temp.communicate())
return
checkI2CBus()
I2C_SLAVE = 0x0703
I2C_FUNCS = 0x0705
I2C_FUNC_I2C = 0x00000001
I2C_FUNC_10BIT_ADDR = 0x00000002
I2C_FUNC_PROTOCOL_MANGLING = 0x00000004
I2C_FUNC_NOSTART = 0x00000010
I2C_FUNC_SLAVE = 0x00000020
i2cfd = os.open("/dev/i2c-1", os.O_RDWR | os.O_SYNC)
support = c_uint32(0)
fcntl.ioctl(i2cfd, I2C_FUNCS, support)
support = support.value
if support & I2C_FUNC_I2C:
print("I2C Support")
if support & I2C_FUNC_10BIT_ADDR:
print("10 bit address Support")
if support & I2C_FUNC_PROTOCOL_MANGLING:
print("I2C Mangling Support")
if support & I2C_FUNC_NOSTART:
print("I2C Nostart Support")
if support & I2C_FUNC_SLAVE:
print("I2C Slave Support")
Page 191
import fcntl
import os
from ctypes import *
class Msgs(Structure):
_fields_ = [("addr", c_uint16),
("flags", c_uint16),
("len", c_uint16),
("buf", POINTER(c_uint8))
]
class MsgSet(Structure):
_fields_ = [("msgs", POINTER(Msgs)),
("nmsgs", c_uint32)
]
def i2cReadRegister(i2cfd, slaveaddr, reg, n):
I2C_RDWR = 0x0707
I2C_M_RD = 0x0001
msgs = (Msgs*2)()
msgs[0].addr = c_uint16(slaveaddr)
msgs[0].flags = c_uint16(0)
msgs[0].len = c_uint16(1)
msgs[0].buf = POINTER(c_uint8)(c_uint8(reg))
msgs[1].addr = c_uint16(slaveaddr)
msgs[1].flags = c_uint16(I2C_M_RD)
msgs[1].len = c_uint16(n)
buf = (c_uint8*n)(0)
msgs[1].buf = POINTER(c_uint8)(buf)
msgset = MsgSet()
msgset.msgs = POINTER(Msgs)(msgs)
msgset.nmsgs = c_uint32(2)
libc = CDLL("libc.so.6")
libc.ioctl(i2cfd, I2C_RDWR, byref(msgset))
return msgs[1].buf
def crcCheck(msb, lsb, check):
data32 = (msb << 16) | (lsb << 8) | check
divisor = 0x988000
for i in range(16):
if(data32 & 1 << (23 - i)):
data32 ^= divisor
divisor >>= 1
return data32
i2cfd = os.open("/dev/i2c-1", os.O_RDWR | os.O_SYNC)
data = i2cReadRegister(i2cfd, 0x40, 0xE3, 3)
msb = data[0]
lsb = data[1]
crc = data[2]
data16 = (msb << 8) | (lsb & 0xFC)
temp = -46.85 + (175.72 * data16 / 65536)
print("Temperature=", temp, "C")
print(hex(msb), hex(lsb), hex(crc))
print(crcCheck(msb, lsb, crc))
Page 200
import subprocess
import io
def checkLM75():
indicator1 = "i2c_arm=on"
command1 = ["sudo", "dtparam", "i2c_arm=on"]
indicator2 = "lm75"
command2 = ["sudo", "dtoverlay", "i2c-sensor", "lm75", "addr=0x48"]
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
if output.find(indicator1) == -1:
temp = subprocess.Popen(command1, stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
if output.find(indicator2) == -1:
temp = subprocess.Popen(command2, stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
checkLM75()
fdr = io.open("/sys/class/hwmon/hwmon2/temp1_input", "r")
buf = fdr.read()
print(buf)
temp = int(buf) / 1000
print(temp)
fdr.close()
fdw = io.open("/sys/class/hwmon/hwmon2/temp1_max", "w")
fdw.write("19000")
fdw.close()
fdw = io.open("/sys/class/hwmon/hwmon2/temp1_max_hyst", "w")
fdw.write("18000")
fdw.close()
Page 204
import subprocess
import io
def loadHtu21():
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
if output.find("htu21") == -1:
temp = subprocess.Popen(
["sudo", "dtoverlay", "i2c-sensor", "htu21"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output)
return
loadHtu21()
fdrt = io.open("/sys/bus/iio/devices/iio:device0/in_temp_input", "r")
print(int(fdrt.read())/1000)
fdrh = io.open(
"/sys/bus/iio/devices/iio:device0/in_humidityrelative_input", "r")
print(int(fdrh.read())/1000)
Page 217
import subprocess
import io
def load1w(pin):
indicator = "w1-gpio"
command = ["sudo", "dtoverlay", "w1-gpio", "gpiopin="+str(pin)]
temp = subprocess.Popen(["sudo", "dtparam", "-l"], stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
if output.find(indicator) == -1:
temp = subprocess.Popen(command, stdout=subprocess.PIPE)
output = str(temp.communicate())
print(output, flush=True)
def getDevices():
fdr = io.open(
"/sys/bus/w1/drivers/w1_master_driver/w1_bus_master1/w1_master_slaves", "r")
buffer = fdr.read()
fdr.close()
return buffer.split()
def getData(dev, name):
fdr = io.open("/sys/bus/w1/devices/"+dev+"/"+name, "r")
data = fdr.read()
fdr.close()
return data
load1w(4)
devs = getDevices()
name = getData(devs[0], "name")
print("Name ", name)
resolution = getData(devs[0], "resolution")
print("Resolution ", resolution)
w1_slave = getData(devs[0], "w1_slave")
print("w1_slave ", w1_slave)
temperature = getData(devs[0], "temperature")
print("temperature ", temperature)
temperature = int(temperature) / 1000
print("temperature ", temperature, "C")
alarms = getData(devs[0], "alarms")
print("Alarms ", alarms)
Page 228
from ctypes import *
from socket import *
from struct import *
import os
import subprocess
import io
from time import sleep
NLMSG_DONE = 0x3
CN_W1_IDX = 0x3
CN_W1_VAL = 0x1
W1_SLAVE_ADD = 0
W1_SLAVE_REMOVE = 1
W1_MASTER_ADD = 2
W1_MASTER_REMOVE = 3
W1_MASTER_CMD = 4
W1_SLAVE_CMD = 5
W1_LIST_MASTERS = 6
W1_CMD_READ = 0
W1_CMD_WRITE = 1
W1_CMD_SEARCH = 2
W1_CMD_ALARM_SEARCH = 3
W1_CMD_TOUCH = 4
W1_CMD_RESET = 5
W1_CMD_SLAVE_ADD = 6
W1_CMD_SLAVE_REMOVE = 7
W1_CMD_LIST_SLAVES = 8
W1_CMD_MAX = 9
NETLINK_CONNECTOR = 11
nl_seq = 0
class nlmsghdr(Structure):
_fields_ = [("nlmsg_len", c_uint32),
("nlmsg_type", c_uint16),
("nlmsg_flags", c_uint16),
("nlmsg_seq", c_uint32),
("nlmsg_pid", c_uint32)
]
cnh = nlmsghdr()
cnh.nlmsg_seq = c_uint32(nl_seq)
nl_seq += 1
cnh.nlmsg_pid = c_uint32(os.getpid())
cnh.nlmsg_type = c_uint16(NLMSG_DONE)
cnh.nlmsg_flags = c_uint16(0)
class cn_msg(Structure):
_fields_ = [("idx", c_uint32),
("val", c_uint32),
("seq", c_uint32),
("ack", c_uint32),
("len", c_uint16),
("flags", c_uint16),
]
cmsg = cn_msg()
cmsg.idx = c_uint32(CN_W1_IDX)
cmsg.val = c_uint32(CN_W1_VAL)
cmsg.seq = c_uint32(cnh.nlmsg_seq)
cmsg.ack = c_uint32(0)
class w1_netlink_msg(Structure):
_fields_ = [("type", c_uint8),
("status", c_uint8),
("len", c_uint16),
("id", c_uint8*8),
]
msg = w1_netlink_msg()
msg.type = c_uint8(W1_MASTER_CMD)
msg.id = (c_uint8*8).from_buffer_copy(c_uint64(1))
class w1_netlink_cmd(Structure):
_fields_ = [("cmd", c_uint8),
("res", c_uint8),
("len", c_uint16),
]
w1_cmd = w1_netlink_cmd()
w1_cmd.cmd = c_uint8(W1_CMD_SEARCH)
w1_cmd.len = c_uint16(0)
msg.len = c_uint16(len(bytearray(w1_cmd)) + w1_cmd.len)
cmsg.len = c_uint16(len(bytearray(msg)) + msg.len)
cnh.nlmsg_len = c_uint32(len(bytearray(cnh))+len(bytearray(cmsg))+cmsg.len)
s = socket(AF_NETLINK, SOCK_DGRAM, NETLINK_CONNECTOR)
s.connect((0, AF_NETLINK))
buffer = bytearray(cnh)+bytearray(cmsg)+bytearray(msg)+bytearray(w1_cmd)
n = s.send(buffer)
print("Bytes sent", n, flush=True)
buffer2 = s.recv(65535)
print("Bytes received", len(buffer2), flush=True)
p = 0
cn_cnhr = nlmsghdr.from_buffer_copy(buffer2, p)
p = p+len(bytes(cn_cnhr))
cmsgr = cn_msg.from_buffer_copy(buffer2, p)
p = p+len(bytes(cmsgr))
msgr = w1_netlink_msg.from_buffer_copy(buffer2, p)
p = p+len(bytes(msgr))
w1_cmdr = w1_netlink_cmd.from_buffer_copy(buffer2, p)
num = int(w1_cmdr.len/8)
print("number of slaves", num)
p = p+len(bytes(w1_cmdr))
slaves = []
for i in range(num):
slaves.append(c_uint64.from_buffer_copy(buffer2, p+i*8).value)
print([hex(slave) for slave in slaves])
# GET ACK
buffer2 = s.recv(65535)
print("length of ack received ", len(buffer2), flush=True)
# READ TEMPERATURE
# SET UP SLAVE COMMAND
print()
print("Read Temperature")
msg.type = W1_SLAVE_CMD
id = slaves[0].to_bytes(8, "little")
msg.id = (c_uint8*8).from_buffer_copy(id)
# SETUP AND SEND WRITE 0x44 = CONVERT
w1_cmd.cmd = c_uint8(W1_CMD_WRITE)
w1_cmd_data = c_uint8(0x44)
cnh.nlmsg_seq = c_uint32(nl_seq)
nl_seq += 1
cmsg.seq = c_uint32(cnh.nlmsg_seq)
w1_cmd.len = c_uint16(1)
msg.len = c_uint16(len(bytearray(w1_cmd)) + w1_cmd.len)
cmsg.len = c_uint16(len(bytearray(msg)) + msg.len)
cnh.nlmsg_len = c_uint32(len(bytearray(cnh))+len(bytearray(cmsg))+cmsg.len)
buffer = bytearray(cnh)+bytearray(cmsg)+bytearray(msg) + \
bytearray(w1_cmd)+bytearray(w1_cmd_data)
n = s.send(buffer)
print("Bytes sent", n, flush=True)
buffer2 = s.recv(65535)
print("length of ack received ", len(buffer2), flush=True)
sleep(1)
# READ SCRATCH PAD
cnh.nlmsg_seq = nl_seq
nl_seq += 1
cmsg.seq = cnh.nlmsg_seq
w1_cmd.cmd = W1_CMD_WRITE
w1_cmd_data = c_uint8(0xBE)
w1_cmd2 = w1_netlink_cmd()
w1_cmd2.cmd = c_uint8(W1_CMD_READ)
w1_cmd.len = c_uint16(1)
w1_cmd2.len = c_uint16(9)
msg.len = c_uint16(len(bytearray(w1_cmd)) +
len(bytearray(w1_cmd2)) + w1_cmd.len+w1_cmd2.len)
cmsg.len = c_uint16(len(bytearray(msg)) + msg.len)
cnh.nlmsg_len = c_uint32(len(bytearray(cnh))+len(bytearray(cmsg))+cmsg.len)
w1_cmd2_data = (c_uint8*9)(0)
buffer = bytearray(cnh)+bytearray(cmsg)+bytearray(msg)+bytearray(w1_cmd) + \
bytearray(w1_cmd_data)+bytearray(w1_cmd2)+bytearray(w1_cmd2_data)
n = s.send(buffer)
print("Bytes sent", n, flush=True)
buffer2 = s.recv(65535)
print("length of ack received ", len(buffer2), flush=True)
buffer2 = s.recv(65535)
print("length of data received ", len(buffer2), flush=True)
p = 0
cn_cnhr = nlmsghdr.from_buffer_copy(buffer2, p)
# print(cn_cnhr.nlmsg_len)
p = p+len(bytes(cn_cnhr))
cmsgr = cn_msg.from_buffer_copy(buffer2, p)
p = p+len(bytes(cmsgr))
msgr = w1_netlink_msg.from_buffer_copy(buffer2, p)
p = p+len(bytes(msgr))
w1_cmdr = w1_netlink_cmd.from_buffer_copy(buffer2, p)
p = p+len(bytes(w1_cmdr))
temp = c_uint16.from_buffer_copy(buffer2, p)
print("number of bytes found ", w1_cmdr.len, flush=True)
print(temp.value/16)
VSCODE TASKS
settings.json
which has to be customized to your IP, user name and folder:
{
"sshUser": "mike",
"sshEndpoint": "192.168.253.20",
"remoteDirectory": "/home/mike/Documents/${workspaceFolderBasename}",
}
tasks.json
{
"version": "2.0.0",
"tasks": [
{
"label": "copyToRemote",
"type": "shell",
"command": "scp -r ${fileDirname} ${config:sshUser}@${config:sshEndpoint}:${config:remoteDirectory}/",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
"clear": true
}
},
{
"label": "makeRemoteWorkSpace",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} 'mkdir ${config:remoteDirectory}'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
}
},
{
"label": "RunR",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} 'python3 ${config:remoteDirectory}/${relativeFileDirname}/${fileBasename}'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
}
},
{
"label": "RunRemote",
"dependsOrder": "sequence",
"dependsOn": [
"copyToRemote",
"RunR"
],
"problemMatcher": [],
"group": {
"kind": "build",
"isDefault": true
},
},
{
"label": "StopREmotePython",
"type": "shell",
"command": "ssh ${config:sshUser}@${config:sshEndpoint} 'pkill python3'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": true,
}
},
{
"label": "wait",
"type": "shell",
"command": "timeout 10"
},
{
"label": "tunnel",
"type": "shell",
"command": "ssh -2 -L 5678:localhost:5678 ${config:sshUser}@${config:sshEndpoint}",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
}
},
{
"label": "startDebug",
"type": "shell",
"command": "ssh -2 ${config:sshUser}@${config:sshEndpoint} 'nohup python3 -m debugpy --listen 0.0.0.0:5678 --wait-for-client ${config:remoteDirectory}/${relativeFileDirname}/${fileBasename} > /dev/null 2>&1 &'",
"problemMatcher": [],
"presentation": {
"showReuseMessage": false,
}
},
{
"label": "copyAndDebug",
"dependsOrder": "sequence",
"dependsOn": [
"copyToRemote",
"startDebug",
"wait"
],
"presentation": {
"showReuseMessage": false,
},
},
]
}
launch.json
{
"version": "0.2.0",
"configurations": [
{
"name": "Python: Remote Attach",
"type": "python",
"request": "attach",
"connect": {
"host": "localhost",
"port": 5678
},
"pathMappings": [
{
"localRoot": "${workspaceFolder}/${relativeFileDirname}/",
"remoteRoot": "${config:remoteDirectory}/${relativeFileDirname}"
}
],
"preLaunchTask": "copyAndDebug",
"postDebugTask": "StopREmotePython"
}
]
}
Programming the Raspberry Pi Pico in C
We have decided not to make the programs available as a download because this is not the point of the book - the programs are not finished production code but something you should type in and study.
The best solution is to provide the source code of the programs in a form that can be copied and pasted into a NetBeans of VS Code project.
The only downside is that you have to create a project to paste the code into.
To do this follow the instructions in the book.
All of the programs below were copy and pasted from working programs in the IDE. They have been formatted using the built in formatter and hence are not identical in layout to the programs in the book. This is to make copy and pasting them easier. The programs in the book are formatted to be easy to read on the page.
If anything you consider important is missing or if you have any requests or comments contact:
This email address is being protected from spambots. You need JavaScript enabled to view it.
Page 28
#include "pico/stdlib.h"
int main() {
gpio_init(25);
gpio_set_dir(25, GPIO_OUT);
while (true) {
gpio_put(25, 1);
sleep_ms(500);
gpio_put(25, 0);
sleep_ms(500);
}
}
Page 29
cmake_minimum_required(VERSION 3.13)
include(pico_sdk_import.cmake)
project(blinky C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
pico_sdk_init()
add_executable(blinky
blinky.c
)
target_link_libraries(blinky pico_stdlib)
pico_add_extra_outputs(blinky)
Page 34
{
"version": "0.2.0",
"configurations": [
{
"name": "Cortex Debug",
"cwd": "${workspaceRoot}",
"executable": "${command:cmake.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "openocd",
"gdbPath": "gdb-multiarch",
"device": "RP2040",
"configFiles": [
"interface/raspberrypi-swd.cfg",
"target/rp2040.cfg"
],
"svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
"runToMain": true,
// Give restart the same functionality as runToMain
"postRestartCommands": [
"break main",
"continue"
]
}
]
}
"version": "0.2.0",
"configurations": [
{
"name": "Cortex Debug",
"cwd": "${workspaceRoot}",
"executable": "${command:cmake.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "openocd",
"gdbPath": "gdb-multiarch",
"device": "RP2040",
"configFiles": [
"interface/raspberrypi-swd.cfg",
"target/rp2040.cfg"
],
"svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
"runToMain": true,
// Give restart the same functionality as runToMain
"postRestartCommands": [
"break main",
"continue"
]
}
]
}
Page 38
{
"version": "0.2.0",
"configurations": [
{
"name": "Pico Debug",
"cwd": "${workspaceRoot}",
"executable": "${command:cmake.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "openocd",
"gdbPath": "arm-none-eabi-gdb",
"device": "RP2040",
"configFiles": [
"interface/picoprobe.cfg",
"target/rp2040.cfg"
],
"svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
"runToMain": true,
// Work around for stopping at main on restart
"postRestartCommands": [
"break main",
"continue"
]
}
]
}
Page 46
#include "pico/stdlib.h"
int main()
{
gpio_init(22);
gpio_set_dir(22, true);
while (true)
{
gpio_put(22, 1);
sleep_ms(1000);
gpio_put(22, 0);
sleep_ms(1000);
}
}
Page 81
#include "pico/stdlib.h"
int main()
{
gpio_set_function(21, GPIO_FUNC_SIO);
gpio_set_dir(21, false);
gpio_pull_up(21);
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, true);
while (true)
{
if (gpio_get(21))
{
gpio_put(22, 0);
}
else
{
gpio_put(22, 1);
}
}
}
Page 83
#include "pico/stdlib.h"
int main()
{
gpio_set_function(21, GPIO_FUNC_SIO);
gpio_set_dir(21, false);
gpio_pull_down(21);
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, true);
gpio_put(22, 0);
while (true)
{
while (gpio_get(21) == 0)
{
};
while (gpio_get(21) == 1)
{
};
gpio_put(22, 1);
sleep_ms(1000);
gpio_put(22, 0);
}
}
Page 84
#include "pico/stdlib.h"
int main()
{
gpio_set_function(21, GPIO_FUNC_SIO);
gpio_set_dir(21, false);
gpio_pull_down(21);
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, true);
gpio_put(22, 0);
uint64_t t;
while (true)
{
while (gpio_get(21) == 0)
{
};
t = time_us_64();
sleep_ms(1);
while (gpio_get(21) == 1)
{
};
t = (uint64_t)(time_us_64() - t);
if (t < 2000 * 1000)
{
gpio_put(22, 1);
sleep_ms(1000);
gpio_put(22, 0);
}
else
{
for (int i = 0; i < 10; i++)
{
gpio_put(22, 1);
sleep_ms(100);
gpio_put(22, 0);
sleep_ms(100);
}
}
}
}
Page 86
#include <stdio.h>
#include "pico/stdlib.h"
int main()
{
stdio_init_all();
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, false);
uint64_t t;
while (true)
{
while (gpio_get(22) == 1)
{
};
while (gpio_get(22) == 0)
{
};
t = time_us_64();
while (gpio_get(22) == 1)
{
};
t = (uint64_t)(time_us_64() - t);
printf("%llu\n", t);
sleep_ms(1000);
}
}
Page 89
#include <stdio.h>
#include "pico/stdlib.h"
int main()
{
stdio_init_all();
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, false);
uint64_t t;
int s = 0;
int i;
int count = 0;
while (true)
{
i = gpio_get(22);
t = time_us_64() + 100;
switch (s)
{
case 0: //button not pushed
if (i)
{
s = 1;
count++;
printf("Button Push %d \n\r", count);
}
break;
case 1: //Button pushed
if (!i)
{
s = 0;
}
break;
default:
s = 0;
}
sleep_until((absolute_time_t){t});
}
}
Page 91
#include <stdio.h>
#include "pico/stdlib.h"
int main()
{
stdio_init_all();
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, false);
uint64_t t;
uint64_t tpush, twait;
int s = 0, i;
int count = 0;
while (true)
{
i = gpio_get(22);
t = time_us_64();
switch (s)
{
case 0: //button not pushed
if (i)
{
s = 1;
tpush = t;
}
break;
case 1: //Button pushed
if (!i)
{
s = 0;
if ((t - tpush) > 2000000)
{
printf("Button held \n\r");
}
else
{
printf("Button pushed \n\r");
}
fflush(stdout);
}
break;
default:
s = 0;
}
sleep_until((absolute_time_t){t + 1000});
}
}
Page 93
#include <stdio.h>
#include "pico/stdlib.h"
int main()
{
stdio_init_all();
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, false);
gpio_set_function(21, GPIO_FUNC_SIO);
gpio_set_dir(21, true);
gpio_set_function(20, GPIO_FUNC_SIO);
gpio_set_dir(20, true);
gpio_set_function(19, GPIO_FUNC_SIO);
gpio_set_dir(19, true);
gpio_put(19, 1);
gpio_put(20, 0);
gpio_put(21, 0);
uint64_t t, tpush, twait;
int s = 0;
int buttonState = gpio_get(22);
int edge;
int buttonNow;
while (true)
{
t = time_us_64();
buttonNow = gpio_get(22);
edge = buttonState - buttonNow;
buttonState = buttonNow;
switch (s)
{
case 0:
if (edge == 1)
{
s = 1;
gpio_put(19, 0);
gpio_put(20, 1);
gpio_put(21, 0);
}
break;
case 1:
if (edge == 1)
{
s = 2;
gpio_put(19, 0);
gpio_put(20, 0);
gpio_put(21, 1);
}
break;
case 2:
if (edge == 1)
{
s = 0;
gpio_put(19, 1);
gpio_put(20, 0);
gpio_put(21, 0);
}
break;
default:
s = 0;
}
sleep_until((absolute_time_t){t + 1000});
}
}
Page 100
uint32_t gpio_get_events(uint gpio)
{
int32_t mask = 0xF << 4 * (gpio % 8);
return (iobank0_hw->intr[gpio / 8] & mask) >> 4 * (gpio % 8);
}
void gpio_clear_events(uint gpio, uint32_t events)
{
gpio_acknowledge_irq(gpio, events);
}
Page 101
#include <stdio.h>
#include "pico/stdlib.h"
int main()
{
stdio_init_all();
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, false);
gpio_pull_down(22);
printf("Press Button\n");
sleep_ms(20000);
if (gpio_get(22))
{
printf("Button Pressed\n");
}
else
{
printf("Button Not Pressed\n");
}
}
Page 101
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/structs/iobank0.h"
uint32_t gpio_get_events(uint gpio)
{
int32_t mask = 0xF << 4 * (gpio % 8);
return (iobank0_hw->intr[gpio / 8] & mask) >> 4 * (gpio % 8);
}
void gpio_clear_events(uint gpio, uint32_t events)
{
gpio_acknowledge_irq(gpio, events);
}
int main()
{
stdio_init_all();
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, false);
gpio_pull_down(22);
printf("Press Button\n");
gpio_clear_events(22, GPIO_IRQ_EDGE_RISE);
sleep_ms(20000);
int32_t event = gpio_get_events(22);
gpio_clear_events(22, GPIO_IRQ_EDGE_RISE);
if (event & GPIO_IRQ_EDGE_RISE)
{
printf("Button Pressed\n");
}
else
{
printf("Button Not Pressed\n");
}
}
Page 103
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/structs/iobank0.h"
uint32_t gpio_get_events(uint gpio)
{
int32_t mask = 0xF << 4 * (gpio % 8);
return (iobank0_hw->intr[gpio / 8] & mask) >> 4 * (gpio % 8);
}
void gpio_clear_events(uint gpio, uint32_t events)
{
gpio_acknowledge_irq(gpio, events);
}
int main()
{
uint64_t t;
stdio_init_all();
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, false);
gpio_pull_down(22);
while (true)
{
gpio_clear_events(22, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL);
while (!(gpio_get_events(22) & GPIO_IRQ_EDGE_RISE))
{
};
t = time_us_64();
gpio_clear_events(22, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL);
while (!(gpio_get_events(22) & GPIO_IRQ_EDGE_FALL))
{
};
t = (uint64_t)(time_us_64() - t);
printf("%llu\n", t);
sleep_ms(1000);
}
}
Page 105
#include <stdio.h>
#include "pico/stdlib.h"
static uint64_t t;
void MyIRQHandler(uint gpio, uint32_t events)
{
t = time_us_64() - t;
printf("GPIO %d %X %d \n", gpio, events, t);
}
int main()
{
stdio_init_all();
gpio_set_function(22, GPIO_FUNC_SIO);
gpio_set_dir(22, false);
gpio_pull_down(22);
gpio_set_irq_enabled_with_callback(22, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL, true, &MyIRQHandler);
while (1)
{
};
return 0;
}
Page 122 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan, uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
int main()
{
gpio_set_function(22, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(22);
uint chan = pwm_gpio_to_channel(22);
pwm_set_freq_duty(slice_num, chan, 50, 75);
pwm_set_enabled(slice_num, true);
return 0;
}
Page 124 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num,uint chan,
uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16/16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num){
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
int main()
{
gpio_set_function(20, GPIO_FUNC_PWM);
gpio_set_function(21, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(20);
uint chan20 = pwm_gpio_to_channel(20);
uint chan21 = pwm_gpio_to_channel(21);
uint wrap = pwm_set_freq_duty(slice_num, chan20, 50, 75);
pwm_set_duty(slice_num, chan21, 25);
pwm_set_enabled(slice_num, true);
return 0;
}
Page 126 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan,
uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
int main()
{
gpio_set_function(20, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(20);
uint chan20 = pwm_gpio_to_channel(20);
uint wrap = pwm_set_freq_duty(slice_num, chan20, 50, 50);
pwm_set_enabled(slice_num, true);
while (true)
{
pwm_set_duty(slice_num, chan20, 25);
pwm_set_duty(slice_num, chan20, 50);
}
return 0;
}
Page 122 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan,
uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
int main()
{
gpio_set_function(20, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(20);
uint chan20 = pwm_gpio_to_channel(20);
uint wrap = pwm_set_freq_duty(slice_num, chan20, 50, 50);
pwm_set_enabled(slice_num, true);
while (true)
{
pwm_set_duty(slice_num, chan20, 25);
while (pwm_get_counter(slice_num))
{
};
pwm_set_duty(slice_num, chan20, 50);
while (pwm_get_counter(slice_num))
{
};
}
return 0;
}
Page 129 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
#include "hardware/irq.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan, uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
uint slice_num;
uint chan20;
uint state = 0;
void MyIRQHandler()
{
pwm_clear_irq(slice_num);
if (state)
{
pwm_set_duty(slice_num, chan20, 25);
}
else
{
pwm_set_duty(slice_num, chan20, 50);
}
state = ~state;
}
int main()
{
gpio_set_function(20, GPIO_FUNC_PWM);
slice_num = pwm_gpio_to_slice_num(20);
chan20 = pwm_gpio_to_channel(20);
pwm_clear_irq(slice_num);
pwm_set_irq_enabled(slice_num, true);
irq_set_exclusive_handler(PWM_IRQ_WRAP, MyIRQHandler);
irq_set_enabled(PWM_IRQ_WRAP, true);
uint wrap = pwm_set_freq_duty(slice_num, chan20, 100000, 25);
pwm_set_enabled(slice_num, true);
while (true)
{
}
return 0;
}
Page 131 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
#include "hardware/irq.h"
#include "math.h"
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
uint slice_num;
uint chan20;
uint state = 0;
uint8_t wave[256];
void MyIRQHandler()
{
pwm_clear_irq(slice_num);
pwm_set_duty(slice_num, chan20, wave[state]);
state = (state + 1) % 256;
}
int main()
{
for (int i = 0; i < 256; i++)
{
wave[i] = (uint8_t)((128.0 + sinf((float)i * 2.0 * 3.14159 / 256.0) * 128.0) * 100.0 / 256.0);
}
gpio_set_function(22, GPIO_FUNC_PWM);
slice_num = pwm_gpio_to_slice_num(22);
uint chan22 = pwm_gpio_to_channel(22);
pwm_clear_irq(slice_num);
pwm_set_irq_enabled(slice_num, true);
irq_set_exclusive_handler(PWM_IRQ_WRAP, MyIRQHandler);
irq_set_enabled(PWM_IRQ_WRAP, true);
pwm_set_clkdiv_int_frac(slice_num, 1, 0);
pwm_set_wrap(slice_num, 255);
pwm_set_enabled(slice_num, true);
while (true)
{
}
return 0;
}
Page 134 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan, uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
int main()
{
gpio_set_function(22, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(22);
uint chan22 = pwm_gpio_to_channel(22);
pwm_set_freq_duty(slice_num, chan22, 281, 50);
pwm_set_enabled(slice_num, true);
}
Page 134 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan, uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
int main()
{
gpio_set_function(25, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(25);
uint chan = pwm_gpio_to_channel(25);
pwm_set_freq_duty(slice_num, chan, 2000, 0);
pwm_set_enabled(slice_num, true);
while (true)
{
for (int d = 0; d <= 100; d++)
{
pwm_set_duty(slice_num, chan, d);
sleep_ms(50);
}
}
}
Page 136 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan, uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
int main()
{
gpio_set_function(25, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(25);
uint chan = pwm_gpio_to_channel(25);
pwm_set_freq_duty(slice_num, chan, 2000, 0);
pwm_set_enabled(slice_num, true);
int d = 0;
while (true)
{
for (int b = 0; b <= 100; b++)
{
d = (b * b * b) / 10000;
pwm_set_duty(slice_num, chan, d);
sleep_ms(50);
}
}
}
Page 138 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
int main()
{
gpio_set_function(20, GPIO_FUNC_PWM);
gpio_set_function(21, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(20);
uint chanA = pwm_gpio_to_channel(20);
uint chanB = pwm_gpio_to_channel(21);
pwm_set_clkdiv_int_frac(slice_num, 2, 0);
pwm_set_wrap(slice_num, 127);
pwm_set_chan_level(slice_num, chanA, 63);
pwm_set_clkdiv_mode(slice_num, PWM_DIV_B_RISING);
pwm_set_enabled(slice_num, true);
}
Page 140 remember to add hardware_pwm to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/pwm.h"
int main()
{
stdio_init_all();
gpio_set_function(20, GPIO_FUNC_PWM);
gpio_set_function(21, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(20);
uint chanA = pwm_gpio_to_channel(20);
uint chanB = pwm_gpio_to_channel(21);
pwm_set_clkdiv_int_frac(slice_num, 20, 0);
int maxcount = 125000000 * 10 / 20 / 1000;
pwm_set_wrap(slice_num, 65535);
pwm_set_chan_level(slice_num, chanA, 100);
pwm_set_clkdiv_mode(slice_num, PWM_DIV_B_HIGH);
while (true)
{
pwm_set_enabled(slice_num, true);
sleep_ms(10);
pwm_set_enabled(slice_num, false);
uint16_t count = pwm_get_counter(slice_num);
pwm_set_counter(slice_num, 0);
printf("count= %u duty cycle=%d %%\n",
count, (int)count * 100 / maxcount);
sleep_ms(1000);
}
}
Page 29 remember to add hardware_pwm to the CMakeLists.txt file
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan, uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
typedef struct
{
uint gpio;
uint slice;
uint chan;
uint speed;
uint freq;
uint resolution;
bool on;
} Motor;
void motorInit(Motor *m, uint gpio, uint freq)
{
gpio_set_function(gpio, GPIO_FUNC_PWM);
m->gpio = gpio;
m->slice = pwm_gpio_to_slice_num(gpio);
m->chan = pwm_gpio_to_channel(gpio);
m->freq = freq;
m->speed = 0;
m->resolution = pwm_set_freq_duty(m->slice, m->chan, m->freq, m->speed);
m->on = false;
}
void motorspeed(Motor *m, int s)
{
pwm_set_duty(m->slice, m->chan, s);
m->speed = s;
}
void motorOn(Motor *m)
{
pwm_set_enabled(m->slice, true);
m->on = true;
}
void motorOff(Motor *m)
{
pwm_set_enabled(m->slice, false);
m->on = false;
}
int main()
{
Motor mot1;
motorInit(&mot1, 21, 2000);
motorspeed(&mot1, 50);
motorOn(&mot1);
return 0;
}
Page 157 remember to add hardware_pwm to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan, uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
typedef struct
{
uint gpioForward;
uint gpioBackward;
uint slice;
uint Fchan;
uint Bchan;
bool forward;
uint speed;
uint freq;
uint resolution;
bool on;
} BiMotor;
void BiMotorInit(BiMotor *m, uint gpioForward, uint gpioBackward, uint freq)
{
gpio_set_function(gpioForward, GPIO_FUNC_PWM);
m->gpioForward = gpioForward;
m->slice = pwm_gpio_to_slice_num(gpioForward);
m->Fchan = pwm_gpio_to_channel(gpioForward);
gpio_set_function(gpioBackward, GPIO_FUNC_PWM);
m->gpioBackward = gpioBackward;
m->Bchan = pwm_gpio_to_channel(gpioBackward);
m->freq = freq;
m->speed = 0;
m->forward = true;
m->resolution = pwm_set_freq_duty(m->slice, m->Fchan, m->freq, 0);
pwm_set_duty(m->slice, m->Bchan, 0);
m->on = false;
}
void BiMotorspeed(BiMotor *m, int s, bool forward)
{
if (forward)
{
pwm_set_duty(m->slice, m->Bchan, 0);
pwm_set_duty(m->slice, m->Fchan, s);
m->forward = true;
}
else
{
pwm_set_duty(m->slice, m->Fchan, 0);
pwm_set_duty(m->slice, m->Bchan, s);
m->forward = true;
}
m->speed = s;
}
void BiMotorOn(BiMotor *m)
{
pwm_set_enabled(m->slice, true);
m->on = true;
}
void BiMotorOff(BiMotor *m)
{
pwm_set_enabled(m->slice, false);
m->on = false;
}
int main()
{
BiMotor mot1;
BiMotorInit(&mot1, 20, 21, 2000);
BiMotorOn(&mot1);
while (true)
{
BiMotorspeed(&mot1, 50, true);
sleep_ms(2000);
BiMotorspeed(&mot1, 25, false);
sleep_ms(2000);
}
return 0;
}
Page 162 remember to add hardware_pwm to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/pwm.h"
uint32_t pwm_set_freq_duty(uint slice_num, uint chan, uint32_t f, int d)
{
uint32_t clock = 125000000;
uint32_t divider16 = clock / f / 4096 + (clock % (f * 4096) != 0);
if (divider16 / 16 == 0)
divider16 = 16;
uint32_t wrap = clock * 16 / divider16 / f - 1;
pwm_set_clkdiv_int_frac(slice_num, divider16 / 16, divider16 & 0xF);
pwm_set_wrap(slice_num, wrap);
pwm_set_chan_level(slice_num, chan, wrap * d / 100);
return wrap;
}
uint32_t pwm_get_wrap(uint slice_num)
{
valid_params_if(PWM, slice_num >= 0 && slice_num < NUM_PWM_SLICES);
return pwm_hw->slice[slice_num].top;
}
void pwm_set_duty(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 100);
}
void pwm_set_dutyH(uint slice_num, uint chan, int d)
{
pwm_set_chan_level(slice_num, chan, pwm_get_wrap(slice_num) * d / 10000);
}
typedef struct
{
uint gpio;
uint slice;
uint chan;
uint speed;
uint resolution;
bool on;
bool invert;
} Servo;
void ServoInit(Servo *s, uint gpio, bool invert)
{
gpio_set_function(gpio, GPIO_FUNC_PWM);
s->gpio = gpio;
s->slice = pwm_gpio_to_slice_num(gpio);
s->chan = pwm_gpio_to_channel(gpio);
pwm_set_enabled(s->slice, false);
s->on = false;
s->speed = 0;
s->resolution = pwm_set_freq_duty(s->slice, s->chan, 50, 0);
pwm_set_dutyH(s->slice, s->chan, 250);
if (s->chan)
{
pwm_set_output_polarity(s->slice, false, invert);
}
else
{
pwm_set_output_polarity(s->slice, invert, false);
}
s->invert = invert;
}
void ServoOn(Servo *s)
{
pwm_set_enabled(s->slice, true);
s->on = true;
}
void ServoOff(Servo *s)
{
pwm_set_enabled(s->slice, false);
s->on = false;
}
void ServoPosition(Servo *s, uint p)
{
pwm_set_dutyH(s->slice, s->chan, p * 10 + 250);
}
int main()
{
Servo s1;
ServoInit(&s1, 20, false);
ServoOn(&s1);
while (true)
{
ServoPosition(&s1, 0);
sleep_ms(500);
ServoPosition(&s1, 100);
sleep_ms(500);
}
return 0;
}
Page 173 remember to add hardware_pwm to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
typedef struct
{
uint gpio;
uint speed;
bool forward;
uint32_t gpiomask;
uint phase;
} StepperBi;
uint32_t stepTable[8] = (uint32_t[8]){0x8, 0xC, 0x4, 0x6, 0x2, 0x3, 0x1, 0x9};
/*
{1, 0, 0, 0},
{1, 1, 0, 0},
{0, 1, 0, 0},
{0, 1, 1, 0},
{0, 0, 1, 0},
{0, 0, 1, 1},
{0, 0, 0, 1},
{1, 0, 0, 1}
*/
void StepperBiInit(StepperBi *s, uint gpio)
{
s->gpio = gpio;
for (int i = 0; i < 4; i++)
{
gpio_set_function((s->gpio) + i, GPIO_FUNC_SIO);
gpio_set_dir((s->gpio) + i, true);
}
s->gpiomask = 0x0F << gpio;
volatile uint32_t mask = stepTable[0] << gpio;
gpio_put_masked(s->gpiomask, mask);
s->phase = 0;
s->speed = 0;
s->forward = true;
}
void setPhase(StepperBi *s, uint p)
{
uint32_t mask = stepTable[p] << (s->gpio);
gpio_put_masked(s->gpiomask, mask);
}
void stepForward(StepperBi *s)
{
s->phase = (s->phase + 1) % 8;
setPhase(s, s->phase);
}
void stepReverse(StepperBi *s)
{
s->phase = (s->phase - 1) % 8;
setPhase(s, s->phase);
}
void rotate(StepperBi *s, bool dir, int speed)
{
s->forward = dir;
s->speed = speed;
}
int main()
{
stdio_init_all();
StepperBi s1;
StepperBiInit(&s1, 18);
while (true)
{
stepForward(&s1);
sleep_ms(1);
}
return 0;
}
Page 178 remember to add hardware_pwm to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
typedef struct
{
uint gpio;
uint speed;
bool forward;
uint32_t gpiomask;
uint phase;
} StepperBi;
uint32_t stepTable[8] = (uint32_t[8]){0x8, 0xC, 0x4, 0x6, 0x2, 0x3, 0x1, 0x9};
/*
{1, 0, 0, 0},
{1, 1, 0, 0},
{0, 1, 0, 0},
{0, 1, 1, 0},
{0, 0, 1, 0},
{0, 0, 1, 1},
{0, 0, 0, 1},
{1, 0, 0, 1}
*/
void StepperBiInit(StepperBi *s, uint gpio)
{
s->gpio = gpio;
for (int i = 0; i < 4; i++)
{
gpio_set_function((s->gpio) + i, GPIO_FUNC_SIO);
gpio_set_dir((s->gpio) + i, true);
}
s->gpiomask = 0x0F << gpio;
volatile uint32_t mask = stepTable[0] << gpio;
gpio_put_masked(s->gpiomask, mask);
s->phase = 0;
s->speed = 0;
s->forward = true;
}
void setPhase(StepperBi *s, uint p)
{
uint32_t mask = stepTable[p] << (s->gpio);
gpio_put_masked(s->gpiomask, mask);
}
void stepForward(StepperBi *s)
{
s->phase = (s->phase + 1) % 8;
setPhase(s, s->phase);
}
void stepReverse(StepperBi *s)
{
s->phase = (s->phase - 1) % 8;
setPhase(s, s->phase);
}
bool step(struct repeating_timer *t)
{
StepperBi *s = (StepperBi *)(t->user_data);
if (s->forward)
{
stepForward(s);
}
else
{
stepReverse(s);
}
return true;
}
struct repeating_timer timer;
void rotate(StepperBi *s, bool dir, int speed)
{
cancel_repeating_timer(&timer);
s->forward = dir;
if (speed == 0)
{
s->speed = 0;
return;
}
s->speed = 1000 * 1000 / (4 * speed);
add_repeating_timer_us(s->speed, step, s, &timer);
}
int main()
{
static StepperBi s1;
StepperBiInit(&s1, 18);
rotate(&s1, true, 250);
while (true)
{
rotate(&s1, true, 250);
sleep_ms(100);
rotate(&s1, true, 00);
sleep_ms(100);
}
return 0;
}
Page 189 remember to add hardware_spi to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/spi.h"
int main()
{
stdio_init_all();
spi_init(spi0, 500 * 1000);
gpio_set_function(4, GPIO_FUNC_SPI);
gpio_set_function(6, GPIO_FUNC_SPI);
gpio_set_function(7, GPIO_FUNC_SPI);
spi_set_format(spi0, 8, SPI_CPOL_0, SPI_CPHA_0, SPI_MSB_FIRST);
uint16_t wBuff[1] = {0xAA};
uint16_t rBuff[1];
int n = spi_write16_read16_blocking(spi0, wBuff, rBuff, 1);
spi_deinit(spi0);
printf(" %X %X %d ", wBuff[0], rBuff[0], n);
}
Page 197 remember to add hardware_spi to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/spi.h"
int main()
{
stdio_init_all();
spi_init(spi0, 500 * 1000);
spi_set_format(spi0, 8, SPI_CPOL_0, SPI_CPHA_0, SPI_MSB_FIRST);
gpio_set_function(16, GPIO_FUNC_SPI);
gpio_set_function(18, GPIO_FUNC_SPI);
gpio_set_function(19, GPIO_FUNC_SPI);
gpio_init(17);
gpio_set_dir(17, GPIO_OUT);
gpio_put(17, 1);
sleep_ms(1);
uint8_t wBuff[1] = {0xD0};
uint8_t rBuff[8];
gpio_put(17, 0);
sleep_us(1);
spi_write_blocking(spi0, wBuff, 1);
spi_read_blocking(spi0, 0, rBuff, 1);
sleep_us(1);
gpio_put(17, 1);
printf("Chip ID is 0x%x\n", rBuff[0]);
gpio_put(17, 0);
sleep_us(1);
wBuff[0] = 0xF2;
wBuff[1] = 0x1;
spi_write_blocking(spi0, wBuff, 2);
wBuff[0] = 0xF4;
wBuff[1] = 0x27;
spi_write_blocking(spi0, wBuff, 2);
gpio_put(17, 1);
sleep_us(1);
wBuff[0] = 0xF7;
gpio_put(17, 0);
sleep_us(1);
spi_write_blocking(spi0, wBuff, 1);
spi_read_blocking(spi0, 0, rBuff, 8);
sleep_us(1);
gpio_put(17, 1);
uint32_t pressure = ((uint32_t)rBuff[0] << 12) | ((uint32_t)rBuff[1] << 4) | (rBuff[2] >> 4);
uint32_t temperature = ((uint32_t)rBuff[3] << 12) | ((uint32_t)rBuff[4] << 4) | (rBuff[5] >> 4);
uint32_t humidity = (uint32_t)rBuff[6] << 8 | rBuff[7];
printf("Humidity = %d\n", humidity);
printf("Pressure = %d\n", pressure);
printf("Temp. = %d\n", temperature);
}
Page 203 remember to add hardware_adc to the CMakeLists.txt file
#include
#include "pico/stdlib.h"
#include "hardware/adc.h"
int main()
{
stdio_init_all();
adc_init();
adc_gpio_init(26);
adc_gpio_init(27);
while (1)
{
const float conversion_factor = 3.3f / (1 << 12);
adc_select_input(0);
uint16_t result = adc_read();
printf("Raw value 0: 0x%03x, voltage: %f V\n",
result, result * conversion_factor);
adc_select_input(1);
result = adc_read();
printf("Raw value 1: 0x%03x, voltage: %f V\n",
result, result * conversion_factor);
sleep_ms(500);
}
}
Page 205 remember to add hardware_adc to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/adc.h"
int main()
{
stdio_init_all();
adc_init();
adc_gpio_init(26);
adc_gpio_init(27);
adc_set_round_robin(0x03);
adc_fifo_setup(true, false, 0, false, false);
adc_run(true);
const float conversion_factor = 3.3f / (1 << 12);
while (1)
{
uint16_t result = adc_fifo_get();
printf("Raw value 0: 0x%03x, voltage: %f V\n", result, result * conversion_factor);
int level = adc_fifo_get_level();
printf("level: %d \n", level);
}
}
Page 211 remember to add hardware_spi to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/spi.h"
int main()
{
stdio_init_all();
spi_init(spi0, 500 * 1000);
spi_set_format(spi0, 8, SPI_CPOL_0, SPI_CPHA_0, SPI_MSB_FIRST);
gpio_set_function(16, GPIO_FUNC_SPI);
gpio_set_function(18, GPIO_FUNC_SPI);
gpio_set_function(19, GPIO_FUNC_SPI);
gpio_init(17);
gpio_set_dir(17, GPIO_OUT);
gpio_put(17, 1);
sleep_ms(1);
uint16_t wBuff[3] = {0x01, 0x80, 0x00};
uint16_t rBuff[3];
gpio_put(17, 0);
int n = spi_write16_read16_blocking(spi0, wBuff, rBuff, 3);
sleep_us(1);
gpio_put(17, 1);
int data = ((int)rBuff[1] & 0x03) << 8 | (int)rBuff[2];
float volts = (float)data * 3.3f / 1023.0f;
printf("%f V\n", volts);
}
Page 228 remember to add hardware_i2c to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/i2c.h"
int main()
{
stdio_init_all();
i2c_init(i2c0, 100 * 1000);
gpio_set_function(4, GPIO_FUNC_I2C);
gpio_set_function(5, GPIO_FUNC_I2C);
uint8_t buf[] = {0xE7};
i2c_write_blocking(i2c0, 0x40, buf, 1, false);
i2c_read_blocking(i2c0, 0x40, buf, 1, false);
printf("User Register = %X \r\n", buf[0]);
}
Page 230 remember to add hardware_i2c to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/i2c.h"
int main()
{
stdio_init_all();
i2c_init(i2c0, 100 * 1000);
gpio_set_function(4, GPIO_FUNC_I2C);
gpio_set_function(5, GPIO_FUNC_I2C);
uint8_t buf[4] = {0xE3};
i2c_write_blocking(i2c0, 0x40, buf, 1, true);
i2c_read_blocking(i2c0, 0x40, buf, 3, false);
uint8_t msb = buf[0];
uint8_t lsb = buf[1];
uint8_t check = buf[2];
printf("msb %d \n\r lsb %d \n\r checksum %d \n\r", msb, lsb, check);
};
Page 234 remember to add hardware_i2c to the CMakeLists.txt file
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/i2c.h"
uint8_t crcCheck(uint8_t msb, uint8_t lsb, uint8_t check)
{
uint32_t data32 = ((uint32_t)msb << 16) | ((uint32_t)lsb << 8) |
(uint32_t)check;
uint32_t divisor = 0x988000;
for (int i = 0; i < 16; i++)
{
if (data32 & (uint32_t)1 << (23 - i))
data32 ^= divisor;
divisor >>= 1;
};
return (uint8_t)data32;
}
int main()
{
stdio_init_all();
i2c_init(i2c0, 100 * 1000);
gpio_set_function(4, GPIO_FUNC_I2C);
gpio_set_function(5, GPIO_FUNC_I2C);
uint8_t buf[4] = {0xE3};
i2c_write_blocking(i2c0, 0x40, buf, 1, true);
i2c_read_blocking(i2c0, 0x40, buf, 3, false);
uint8_t msb = buf[0];
uint8_t lsb = buf[1];
uint8_t check = buf[2];
printf("msb %d \n\r lsb %d \n\r checksum %d \n\r", msb, lsb, check);
unsigned int data16 = ((unsigned int)msb << 8) | (unsigned int)(lsb & 0xFC);
printf("crc = %d\n\r", crcCheck(msb, lsb, check));
float temp = (float)(-46.85 + (175.72 * data16 / (float)65536));
printf("Temperature %f C \n\r", temp);
buf[0] = 0xF5;
i2c_write_blocking(i2c0, 0x40, buf, 1, true);
while (i2c_read_blocking(i2c0, 0x40, buf, 3, false) < 0)
{
sleep_ms(1);
};
msb = buf[0];
lsb = buf[1];
check = buf[2];
printf("msb %d \n\r lsb %d \n\r checksum %d \n\r", msb, lsb, check);
printf("crc = %d\n\r", crcCheck(msb, lsb, check));
data16 = ((unsigned int)msb << 8) | (unsigned int)(lsb & 0xFC);
float hum = -6 + (125.0 * (float)data16) / 65536;
printf("Humidity %f %% \n\r", hum);
}
Page 240
.program squarewave
set pindirs, 1 ; Set pin to output
again:
set pins, 1 ; Drive pin high
set pins, 0 ; Drive pin low
jmp again ; Set PC to label `again`
Page 241
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
include(pico_sdk_import.cmake)
pico_sdk_init()
project(pioBlinky C CXX ASM)
add_executable(pio
pio.c
)
pico_generate_pio_header(pio ${CMAKE_CURRENT_LIST_DIR}/sqwave.pio)
target_link_libraries(pio pico_stdlib hardware_pio)
pico_add_extra_outputs(pio)
Page 189 remember to use the CMakeLists.txt file and the PIO program given earlier
#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "sqwave.pio.h"
int main()
{
uint offset = pio_add_program(pio0, &squarewave_program);
uint sm = pio_claim_unused_sm(pio0, true);
pio_sm_config c = squarewave_program_get_default_config(offset);
sm_config_set_set_pins(&c, 2, 1);
pio_gpio_init(pio0, 2);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
return 0;
}
Page 247-248
PIO Program
.program squarewave
set pindirs, 1
pull block
again:
set pins, 1
mov x, osr
loop1:
jmp x--,loop1
set pins, 0
mov x, osr
loop2:
jmp x--,loop2
jmp again
C Program
#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "sqwave.pio.h"
int main()
{
uint offset = pio_add_program(pio0, &squarewave_program);
uint sm = pio_claim_unused_sm(pio0, true);
pio_sm_config c = squarewave_program_get_default_config(offset);
sm_config_set_set_pins(&c, 2, 1);
pio_gpio_init(pio0, 2);
sm_config_set_clkdiv_int_frac(&c, 255, 0);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
pio_sm_put_blocking(pio0, sm, 0xFFFF);
return 0;
}
Page 249-250
PIO Program
.program squarewave
set pindirs, 3
pull block
again:
out pins,2
jmp again
C Program
#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "sqwave.pio.h"
int main()
{
uint offset = pio_add_program(pio0, &squarewave_program);
uint sm = pio_claim_unused_sm(pio0, true);
pio_sm_config c = squarewave_program_get_default_config(offset);
sm_config_set_set_pins(&c, 2, 2);
sm_config_set_out_pins(&c, 2, 2);
pio_gpio_init(pio0, 2);
pio_gpio_init(pio0, 3);
sm_config_set_clkdiv_int_frac(&c, 255, 0);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
pio_sm_put_blocking(pio0, sm, 0xFEDCBA98);
return 0;
}
Page 252
PIO Program
.program squarewave
again:
out pins,2
jmp again
C Program
#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "sqwave.pio.h"
int main()
{
uint offset = pio_add_program(pio0, &squarewave_program);
uint sm = pio_claim_unused_sm(pio0, true);
pio_sm_config c = squarewave_program_get_default_config(offset);
sm_config_set_set_pins(&c, 2, 2);
sm_config_set_out_pins(&c, 2, 2);
pio_gpio_init(pio0, 2);
pio_gpio_init(pio0, 3);
pio_sm_set_consecutive_pindirs(pio0, sm, 2, 2, true);
sm_config_set_clkdiv_int_frac(&c, 255, 0);
sm_config_set_out_shift(&c, true, true, 6);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
while (true)
{
pio_sm_put_blocking(pio0, sm, 0xFEDCBA98);
}
return 0;
}
Page 254
PIO Program
.program squarewave
.side_set 1 opt
again:
nop side 1
jmp again side 0
C Program
#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "sqwave.pio.h"
int main()
{
uint offset = pio_add_program(pio0, &squarewave_program);
uint sm = pio_claim_unused_sm(pio0, true);
pio_sm_config c = squarewave_program_get_default_config(offset);
sm_config_set_sideset_pins(&c, 2);
pio_gpio_init(pio0, 2);
pio_sm_set_consecutive_pindirs(pio0, sm, 2, 1, true);
sm_config_set_clkdiv_int_frac(&c, 255, 0);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
return 0;
}
Page 257
PIO Program
.program light
again:
in pins,1
push block
jmp again
C Program
#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "light.pio.h"
int main()
{
uint offset = pio_add_program(pio0, &light_program);
uint sm = pio_claim_unused_sm(pio0, true);
pio_sm_config c = light_program_get_default_config(offset);
sm_config_set_in_pins(&c, 2);
pio_gpio_init(pio0, 2);
pio_sm_set_consecutive_pindirs(pio0, sm, 2, 1, false);
sm_config_set_clkdiv_int_frac(&c, 255, 0);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
gpio_init(25);
gpio_set_dir(25, GPIO_OUT);
while (true)
{
uint32_t flag = pio_sm_get_blocking(pio0, sm);
if (flag == 0)
{
gpio_put(25, 0);
}
else
{
gpio_put(25, 1);
}
}
return 0;
}
Page 259
PIO Program
.program squarewave
again:
wait 0 pin 0
wait 1 pin 0
set pins, 1
set pins, 0
jmp again
CProgram
#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "sqwave.pio.h"
int main()
{
uint offset = pio_add_program(pio0, &squarewave_program);
uint sm = pio_claim_unused_sm(pio0, true);
pio_sm_config c = squarewave_program_get_default_config(offset);
sm_config_set_set_pins(&c, 3, 1);
sm_config_set_in_pins(&c, 2);
pio_gpio_init(pio0, 2);
pio_gpio_init(pio0, 3);
pio_sm_set_consecutive_pindirs(pio0, sm, 2, 1, false);
pio_sm_set_consecutive_pindirs(pio0, sm, 3, 1, true);
sm_config_set_clkdiv_int_frac(&c, 255, 0);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
return 0;
}
Page 189
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
int main()
{
stdio_init_all();
gpio_init(2);
gpio_set_dir(2, GPIO_OUT);
gpio_put(2, 1);
sleep_ms(1);
gpio_put(2, 0);
sleep_ms(1);
gpio_set_dir(2, GPIO_IN);
return 0;
}
Page 267
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
int main()
{
stdio_init_all();
gpio_init(2);
gpio_set_dir(2, GPIO_OUT);
gpio_put(2, 1);
sleep_ms(1);
gpio_put(2, 0);
sleep_ms(1);
gpio_set_dir(2, GPIO_IN);
return 0;
}
Page 270
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
inline static void WaitFallingEdge(uint gpio)
{
while (gpio_get(gpio) == 1)
{
};
while (gpio_get(gpio) == 0)
{
};
}
uint32_t getData(uint gpio)
{
uint32_t t2;
uint32_t data = 0;
uint32_t t1 = time_us_32();
for (int i = 0; i < 32; i++)
{
WaitFallingEdge(2);
t2 = time_us_32();
data = data << 1;
data = data | ((t2 - t1) > 100);
t1 = t2;
}
return data;
}
uint8_t getCheck(uint gpio)
{
uint8_t checksum = 0;
uint32_t t2;
uint32_t t1 = time_us_32();
for (int i = 0; i < 8; i++)
{
WaitFallingEdge(2);
t2 = time_us_32();
checksum = checksum << 1;
checksum = checksum | (t2 - t1) > 100;
t1 = t2;
}
return checksum;
}
void dhtInitalize(uint gpio)
{
gpio_init(gpio);
gpio_set_dir(gpio, GPIO_OUT);
gpio_put(gpio, 1);
sleep_ms(1);
gpio_put(gpio, 0);
sleep_ms(1);
gpio_set_dir(gpio, GPIO_IN);
for (int i = 0; i < 2; i++)
{
WaitFallingEdge(gpio);
}
}
typedef struct
{
float temperature;
float humidity;
bool error;
} dhtData;
void dhtread(uint gpio, dhtData *reading)
{
dhtInitalize(gpio);
uint32_t data = getData(gpio);
uint8_t checksum = getCheck(gpio);
uint8_t byte1 = (data >> 24 & 0xFF);
uint8_t byte2 = (data >> 16 & 0xFF);
uint8_t byte3 = (data >> 8 & 0xFF);
uint8_t byte4 = (data & 0xFF);
reading->error = (checksum != ((byte1 + byte2 + byte3 + byte4) & 0xFF));
reading->humidity = (float)((byte1 << 8) | byte2) / 10.0;
int neg = byte3 & 0x80;
byte3 = byte3 & 0x7F;
reading->temperature = (float)(byte3 << 8 | byte4) / 10.0;
if (neg > 0)
reading->temperature = -reading->temperature;
}
int main()
{
stdio_init_all();
printf("data^^^^^\n");
dhtData reading;
dhtread(2, &reading);
printf("Humidity= %f %\n", reading.humidity);
printf("Temperature= %f C\n", reading.temperature);
return 0;
}
Page 275
PIO Program
.program dht
set pins, 1
set pindirs, 1
again:
pull block
set pins, 0
mov x, osr
loop1:
jmp x--,loop1
set pindirs, 0
wait 1 pin 0
wait 0 pin 0
wait 1 pin 0
wait 0 pin 0
set y,31
bits:
wait 1 pin 0
set x, 0
loop2:
jmp x--,continue
continue: jmp pin,loop2
in x,4
jmp y--,bits
set y,7
check:
wait 1 pin 0
set x, 0
loop3:
jmp x--,continue2
continue2: jmp pin,loop3
in x,4
jmp y--,check
jmp again
C Program
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
#include "hardware/pio.h"
#include "DHT.pio.h"
uint dhtInitalize(PIO pio, int gpio)
{
uint offset = pio_add_program(pio, &dht_program);
uint sm = pio_claim_unused_sm(pio, true);
pio_gpio_init(pio, gpio);
pio_sm_config c = dht_program_get_default_config(offset);
sm_config_set_clkdiv_int_frac(&c, 128, 0);
sm_config_set_set_pins(&c, gpio, 1);
sm_config_set_in_pins(&c, gpio);
sm_config_set_jmp_pin(&c, gpio);
sm_config_set_in_shift(&c, true, true, 32);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
return sm;
}
uint8_t getByte(PIO pio, uint sm)
{
uint32_t count = pio_sm_get_blocking(pio0, sm);
uint8_t byte = 0;
for (int i = 0; i < 8; i++)
{
byte = byte << 1;
if (((count >> i * 4) & 0x0F) > 8)
{
byte = byte | 1;
}
}
return byte;
}
typedef struct
{
float temperature;
float humidity;
bool error;
} dhtData;
void dhtread(PIO pio, uint sm, dhtData *reading)
{
pio_sm_put_blocking(pio, sm, 1000);
uint8_t byte1 = getByte(pio, sm);
uint8_t byte2 = getByte(pio, sm);
uint8_t byte3 = getByte(pio, sm);
uint8_t byte4 = getByte(pio, sm);
uint8_t checksum = getByte(pio, sm);
reading->error = (checksum == (byte1 + byte2 + byte3 + byte4) & 0xFF);
reading->humidity = (float)((byte1 << 8) | byte2) / 10.0;
int neg = byte3 & 0x80;
byte3 = byte3 & 0x7F;
reading->temperature = (float)(byte3 << 8 | byte4) / 10.0;
if (neg > 0)
reading->temperature = -reading->temperature;
}
int main()
{
stdio_init_all();
uint sm = dhtInitalize(pio0, 2);
dhtData reading;
dhtread(pio0, sm, &reading);
printf("Humidity= %f %\n", reading.humidity);
printf("Temperature= %f C\n", reading.temperature);
return 0;
}
Page 280
PIO Program.program dht
set pins, 1
set pindirs, 1
again:
pull block
set pins, 0
mov x, osr
loop1:
jmp x--,loop1
set pindirs, 0
wait 1 pin 0
wait 0 pin 0
wait 1 pin 0
wait 0 pin 0
set y,31
bits:
wait 1 pin 0 [25]
in pins,1
wait 0 pin 0
jmp y--,bits
set y,7
check:
wait 1 pin 0 [25]
in pins,1
wait 0 pin 0
jmp y--,check
push block
jmp again
C Program
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
#include "hardware/pio.h"
#include "DHT.pio.h"
uint dhtInitalize(PIO pio, int gpio)
{
uint offset = pio_add_program(pio, &dht_program);
uint sm = pio_claim_unused_sm(pio, true);
pio_gpio_init(pio, gpio);
pio_sm_config c = dht_program_get_default_config(offset);
sm_config_set_clkdiv_int_frac(&c, 255, 0);
sm_config_set_set_pins(&c, gpio, 1);
sm_config_set_in_pins(&c, gpio);
sm_config_set_in_shift(&c, false, true, 32);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
return sm;
}
typedef struct
{
float temperature;
float humidity;
bool error;
} dhtData;
void dhtread(PIO pio, uint sm, dhtData *reading)
{
pio_sm_put_blocking(pio, sm, 500);
uint32_t data = pio_sm_get_blocking(pio0, sm);
uint8_t byte1 = (data >> 24 & 0xFF);
uint8_t byte2 = (data >> 16 & 0xFF);
uint8_t byte3 = (data >> 8 & 0xFF);
uint8_t byte4 = (data & 0xFF);
uint8_t checksum = pio_sm_get_blocking(pio0, sm) & 0xFF;
reading->error = (checksum != ((byte1 + byte2 + byte3 + byte4) & 0xFF));
reading->humidity = (float)((byte1 << 8) | byte2) / 10.0;
int neg = byte3 & 0x80;
byte3 = byte3 & 0x7F;
reading->temperature = (float)(byte3 << 8 | byte4) / 10.0;
if (neg > 0)
reading->temperature = -reading->temperature;
}
int main()
{
stdio_init_all();
uint sm = dhtInitalize(pio0, 2);
dhtData reading;
dhtread(pio0, sm, &reading);
printf("Humidity= %f %\n", reading.humidity);
printf("Temperature= %f C\n", reading.temperature);
return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
include(pico_sdk_import.cmake)
project(dht C CXX ASM)
pico_sdk_init()
add_executable(dht
DHT.c
)
pico_generate_pio_header(dht ${CMAKE_CURRENT_LIST_DIR}/DHT.pio)
target_link_libraries(dht pico_stdlib hardware_pio)
pico_add_extra_outputs(dht)
Page 300
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
int presence(uint8_t pin)
{
gpio_set_dir(2, GPIO_OUT);
gpio_put(pin, 1);
sleep_ms(1);
gpio_put(pin, 0);
sleep_us(480);
gpio_set_dir(pin, GPIO_IN);
sleep_us(70);
int b = gpio_get(pin);
sleep_us(410);
return b;
}
void writeBit(uint8_t pin, int b)
{
int delay1, delay2;
if (b == 1)
{
delay1 = 6;
delay2 = 64;
}
else
{
delay1 = 60;
delay2 = 10;
}
gpio_set_dir(pin, GPIO_OUT);
gpio_put(pin, 0);
sleep_us(delay1);
gpio_set_dir(pin, GPIO_IN);
sleep_us(delay2);
}
void writeByte(uint8_t pin, int byte)
{
for (int i = 0; i < 8; i++)
{
if (byte & 1)
{
writeBit(pin, 1);
}
else
{
writeBit(pin, 0);
}
byte = byte >> 1;
}
}
uint8_t readBit(uint8_t pin)
{
gpio_set_dir(pin, GPIO_OUT);
gpio_put(pin, 0);
sleep_us(8);
gpio_set_dir(pin, GPIO_IN);
sleep_us(2);
uint8_t b = gpio_get(pin);
sleep_us(60);
return b;
}
int readByte(uint8_t pin)
{
int byte = 0;
int i;
for (i = 0; i < 8; i++)
{
byte = byte | readBit(pin) << i;
};
return byte;
}
int convert(uint8_t pin)
{
writeByte(pin, 0x44);
int i;
for (i = 0; i < 500; i++)
{
sleep_ms(10);
if (readBit(pin) == 1)
break;
}
return i;
}
uint8_t crc8(uint8_t *data, uint8_t len)
{
uint8_t i;
uint8_t j;
uint8_t temp;
uint8_t databyte;
uint8_t crc = 0;
for (i = 0; i < len; i++)
{
databyte = data[i];
for (j = 0; j < 8; j++)
{
temp = (crc ^ databyte) & 0x01;
crc >>= 1;
if (temp)
crc ^= 0x8C;
databyte >>= 1;
}
}
return crc;
}
float getTemperature(uint8_t pin)
{
if (presence(pin) == 1)
return -1000;
writeByte(pin, 0xCC);
if (convert(pin) == 500)
return -3000;
presence(pin);
writeByte(pin, 0xCC);
writeByte(pin, 0xBE);
int i;
uint8_t data[9];
for (i = 0; i < 9; i++)
{
data[i] = readByte(pin);
}
uint8_t crc = crc8(data, 9);
if (crc != 0)
return -2000;
int t1 = data[0];
int t2 = data[1];
int16_t temp1 = (t2 << 8 | t1);
float temp = (float)temp1 / 16;
return temp;
}
int main()
{
stdio_init_all();
gpio_init(2);
if (presence(2) == 1)
{
printf("No device \n");
}
float t;
for (;;)
{
do
{
t = getTemperature(2);
} while (t < -999);
printf("%f\r\n", t);
sleep_ms(500);
};
return 0;
}
Page 309
PIO Program
.program DS1820
.wrap_target
again:
pull block
mov x, osr
jmp !x, read
write: set pindirs, 1
set pins, 0
loop1:
jmp x--,loop1
set pindirs, 0 [31]
wait 1 pin 0 [31]
pull block
mov x, osr
bytes1:
pull block
set y, 7
set pindirs, 1
bit1:
set pins, 0 [1]
out pins,1 [31]
set pins, 1 [20]
jmp y--,bit1
jmp x--,bytes1
set pindirs, 0 [31]
jmp again
read:
pull block
mov x, osr
bytes2:
set y, 7
bit2:
set pindirs, 1
set pins, 0 [1]
set pindirs, 0 [5]
in pins,1 [10]
jmp y--,bit2
jmp x--,bytes2
.wrap
C Program
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
#include "DS1820.pio.h"
uint8_t crc8(uint8_t *data, uint8_t len)
{
uint8_t i;
uint8_t j;
uint8_t temp;
uint8_t databyte;
uint8_t crc = 0;
for (i = 0; i < len; i++)
{
databyte = data[i];
for (j = 0; j < 8; j++)
{
temp = (crc ^ databyte) & 0x01;
crc >>= 1;
if (temp)
crc ^= 0x8C;
databyte >>= 1;
}
}
return crc;
}
void writeBytes(PIO pio, uint sm, uint8_t bytes[], int len)
{
pio_sm_put_blocking(pio, sm, 250);
pio_sm_put_blocking(pio, sm, len - 1);
for (int i = 0; i < len; i++)
{
pio_sm_put_blocking(pio, sm, bytes[i]);
}
}
void readBytes(PIO pio, uint sm, uint8_t bytes[], int len)
{
pio_sm_put_blocking(pio, sm, 0);
pio_sm_put_blocking(pio, sm, len - 1);
for (int i = 0; i < len; i++)
{
bytes[i] = pio_sm_get_blocking(pio, sm) >> 24;
}
}
float getTemperature(PIO pio, uint sm)
{
writeBytes(pio, sm, (uint8_t[]){0xCC, 0x44}, 2);
sleep_ms(1000);
writeBytes(pio, sm, (uint8_t[]){0xCC, 0xBE}, 2);
uint8_t data[9];
readBytes(pio, sm, data, 9);
uint8_t crc = crc8(data, 9);
if (crc != 0)
return -2000;
int t1 = data[0];
int t2 = data[1];
int16_t temp1 = (t2 << 8 | t1);
volatile float temp = (float)temp1 / 16;
return temp;
}
uint DS18Initalize(PIO pio, int gpio)
{
uint offset = pio_add_program(pio, &DS1820_program);
uint sm = pio_claim_unused_sm(pio, true);
pio_gpio_init(pio, gpio);
pio_sm_config c = DS1820_program_get_default_config(offset);
sm_config_set_clkdiv_int_frac(&c, 255, 0);
sm_config_set_set_pins(&c, gpio, 1);
sm_config_set_out_pins(&c, gpio, 1);
sm_config_set_in_pins(&c, gpio);
sm_config_set_in_shift(&c, true, true, 8);
pio_sm_init(pio0, sm, offset, &c);
pio_sm_set_enabled(pio0, sm, true);
return sm;
}
int main()
{
stdio_init_all();
uint sm = DS18Initalize(pio0, 2);
float t;
for (;;)
{
do
{
t = getTemperature(pio0, sm);
} while (t < -999);
printf("temperature %f\r\n", t);
sleep_ms(500);
};
return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
include(pico_sdk_import.cmake)
project(ds18 C CXX ASM)
pico_sdk_init()
add_executable(ds18
DS1820.c
)
pico_generate_pio_header(ds18 ${CMAKE_CURRENT_LIST_DIR}/DS1820.pio)
target_link_libraries(ds18 pico_stdlib hardware_gpio hardware_pio)
pico_add_extra_outputs(ds18)
Page 322
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
int main()
{
stdio_init_all();
uart_init(uart1, 9600);
gpio_set_function(4, GPIO_FUNC_UART);
gpio_set_function(5, GPIO_FUNC_UART);
uart_set_format(uart1, 8, 1, UART_PARITY_EVEN);
uint8_t SendData[] = "Hello World";
uint8_t RecData[20];
uart_write_blocking(uart1, SendData, 11);
uart_read_blocking(uart1, RecData, 11);
RecData[11] = 0;
printf("%s", RecData);
}
Page 334
#include "pico/stdlib.h"
#include "hardware/gpio.h"
#define Debug true
int initWiFi()
{
uart_init(uart1, 115200);
gpio_set_function(4, GPIO_FUNC_UART);
gpio_set_function(5, GPIO_FUNC_UART);
uart_set_format(uart1, 8, 1, UART_PARITY_NONE);
sleep_ms(100);
return 0;
}
int getBlock(uint8_t buf[], int len)
{
int count = 0;
while (count < len - 1)
{
if (uart_is_readable_within_us(uart1, 10000))
{
buf[count++] = uart_getc(uart1);
if (Debug)
uart_putc(uart0, buf[count - 1]);
}
else
{
break;
}
}
buf[count] = 0;
return count;
}
int ATWiFi(uint8_t buf[], int len)
{
uint8_t SendData[] = "AT\r\n";
uart_write_blocking(uart1, SendData, 4);
return getBlock(buf, len);
}
int main()
{
stdio_init_all();
initWiFi();
uint8_t buf[512];
ATWiFi(buf, 512);
sleep_ms(1000);
}
Page 347
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
#include <string.h>
#define Debug true
int initWiFi()
{
uart_init(uart1, 115200);
gpio_set_function(4, GPIO_FUNC_UART);
gpio_set_function(5, GPIO_FUNC_UART);
uart_set_format(uart1, 8, 1, UART_PARITY_NONE);
uart_set_translate_crlf(uart0, true);
sleep_ms(100);
return 0;
}
int getBlock(uint8_t buf[], int len)
{
int count = 0;
while (count < len - 1)
{
if (uart_is_readable_within_us(uart1, 10000))
{
buf[count++] = uart_getc(uart1);
if (Debug)
uart_putc(uart0, buf[count - 1]);
}
else
{
break;
}
}
buf[count] = 0;
return count;
}
int ATWiFi(uint8_t buf[], int len)
{
uint8_t SendData[] = "AT\r\n";
uart_write_blocking(uart1, SendData, 4);
return getBlock(buf, len);
}
int getVersionWiFi(uint8_t buf[], int len)
{
uint8_t SendData[] = "AT+GMR\r\n";
uart_write_blocking(uart1, SendData, 8);
return getBlock(buf, len);
}
int resetWiFi(uint8_t buf[], int len)
{
uint8_t SendData[] = "AT+RST\r\n";
uart_write_blocking(uart1, SendData, 8);
return getBlock(buf, len);
}
int setUARTWiFi(uint8_t buf[], int len)
{
uint8_t SendData[] = "AT+UART_CUR=115200,8,1,0,0\r\n";
uart_write_blocking(uart1, SendData, 28);
return getBlock(buf, len);
}
int modeWiFi(uint8_t buf[], int len, int mode)
{
uint8_t command[32];
int count = snprintf(command, 32, "AT+CWMODE_CUR=%d\r\n", mode);
uart_write_blocking(uart1, command, count);
return getBlock(buf, len);
}
int getBlocks(uint8_t buf[], int len, int num, char target[])
{
for (int i = 0; i < num; i++)
{
if (uart_is_readable_within_us(uart1, 1000 * 1000))
{
getBlock(buf, len);
if (strstr(buf, target))
return i;
}
}
return -1;
}
int scanWiFi(uint8_t buf[], int len)
{
uint8_t SendData[] = "AT+CWLAP\r\n";
uart_write_blocking(uart1, SendData, 18);
return getBlocks(buf, len, 20, "OK");
}
int connectWiFi(uint8_t buf[], int len, char ssid[], char pass[])
{
uint8_t command[128];
int count = snprintf(command, 128, "AT+CWJAP_CUR=\"%s\",\"%s\"\r\n", ssid, pass);
uart_write_blocking(uart1, command, count);
return getBlocks(buf, len, 20, "OK");
}
int getIPWiFi(uint8_t buf[], int len)
{
uint8_t SendData[] = "AT+CIFSR\r\n";
uart_write_blocking(uart1, SendData, 10);
return getBlocks(buf, len, 20, "OK");
}
int getWebPageWiFi(uint8_t buf[], int len, char URL[], char page[])
{
uint8_t command[128];
int count = snprintf(command, 128, "AT+CIPSTART=\"TCP\",\"%s\",80\r\n", URL);
uart_write_blocking(uart1, command, count);
if (getBlocks(buf, len, 20, "OK") < 0)
return -1;
char http[150];
sprintf(http, "GET %s HTTP/1.1\r\nHost:%s\r\n\r\n", page, URL);
count = snprintf(command, 128, "AT+CIPSEND=%d\r\n", strlen(http));
uart_write_blocking(uart1, command, count);
if (getBlocks(buf, len, 20, ">") < 0)
return -1;
uart_write_blocking(uart1, http, strlen(http));
return getBlocks(buf, len, 20, "</html>");
}
int startServerWiFi(uint8_t buf[], int len)
{
char temp[256];
char id[10];
uart_write_blocking(uart1, "AT+CIPMUX=1\r\n", 13);
if (getBlocks(buf, len, 10, "OK") < 0)
return -1;
uart_write_blocking(uart1, "AT+CIPSERVER=1,80\r\n", 19);
if (getBlocks(buf, len, 10, "OK") < 0)
return -1;
for (;;)
{
if (getBlocks(buf, len, 1, "+IPD") < 0)
continue;
char *b = strstr(buf, "+IPD");
b += 5;
strncpy(temp, b, sizeof(temp));
char *e = strstr(temp, ",");
int d = e - temp;
memset(id, '\0', sizeof(id));
strncpy(id, temp, d);
char data[] = "HTTP/1.0 200 OK\r\nServer: Pico\r\nContent-type: text/html\r\n\r\n<html><head><title>Temperature</title></head><body><p>{\"humidity\":81%,\"airtemperature\":23.5C}</p></body></html>\r\n";
uint8_t command[128];
int count = snprintf(command, 128, "AT+CIPSEND=%s,%d\r\n", id, strlen(data));
uart_write_blocking(uart1, command, count);
if (getBlocks(buf, len, 10, ">") < 0)
return -1;
uart_write_blocking(uart1, data, strlen(data));
if (getBlocks(buf, len, 10, "OK") < 0)
return -1;
count = snprintf(command, 128, "AT+CIPCLOSE=%s\r\n", id);
uart_write_blocking(uart1, command, count);
if (getBlocks(buf, len, 10, "OK") < 0)
return -1;
}
return 0;
}
int main()
{
stdio_init_all();
uint8_t buf[512];
initWiFi();
modeWiFi(buf, 512, 1);
connectWiFi(buf, 512, "ssid", "password");
getIPWiFi(buf, 512);
startServerWiFi(buf, 512);
sleep_ms(1000);
}
