649 lines
24 KiB
C#
649 lines
24 KiB
C#
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namespace Unosquare.RaspberryIO.Gpio
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{
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using Native;
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using Swan;
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using System;
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using System.Linq;
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using System.Threading.Tasks;
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/// <summary>
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/// Represents a GPIO Pin, its location and its capabilities.
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/// Full pin reference available here:
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/// http://pinout.xyz/pinout/pin31_gpio6 and http://wiringpi.com/pins/
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/// </summary>
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public sealed partial class GpioPin
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{
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#region Property Backing
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private readonly object _syncLock = new object();
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private GpioPinDriveMode m_PinMode;
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private GpioPinResistorPullMode m_ResistorPullMode;
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private int m_PwmRegister;
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private PwmMode m_PwmMode = PwmMode.Balanced;
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private uint m_PwmRange = 1024;
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private int m_PwmClockDivisor = 1;
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private int m_SoftPwmValue = -1;
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private int m_SoftToneFrequency = -1;
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#endregion
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#region Constructor
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/// <summary>
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/// Initializes a new instance of the <see cref="GpioPin"/> class.
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/// </summary>
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/// <param name="wiringPiPinNumber">The wiring pi pin number.</param>
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/// <param name="headerPinNumber">The header pin number.</param>
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private GpioPin(WiringPiPin wiringPiPinNumber, int headerPinNumber)
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{
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PinNumber = (int)wiringPiPinNumber;
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WiringPiPinNumber = wiringPiPinNumber;
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BcmPinNumber = GpioController.WiringPiToBcmPinNumber((int)wiringPiPinNumber);
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HeaderPinNumber = headerPinNumber;
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Header = (PinNumber >= 17 && PinNumber <= 20) ? GpioHeader.P5 : GpioHeader.P1;
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}
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#endregion
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#region Pin Properties
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/// <summary>
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/// Gets or sets the Wiring Pi pin number as an integer.
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/// </summary>
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public int PinNumber { get; }
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/// <summary>
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/// Gets the WiringPi Pin number
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/// </summary>
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public WiringPiPin WiringPiPinNumber { get; }
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/// <summary>
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/// Gets the BCM chip (hardware) pin number.
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/// </summary>
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public int BcmPinNumber { get; }
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/// <summary>
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/// Gets or the physical header (physical board) pin number.
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/// </summary>
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public int HeaderPinNumber { get; }
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/// <summary>
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/// Gets the pin's header (physical board) location.
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/// </summary>
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public GpioHeader Header { get; }
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/// <summary>
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/// Gets the friendly name of the pin.
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/// </summary>
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public string Name { get; private set; }
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/// <summary>
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/// Gets the hardware mode capabilities of this pin.
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/// </summary>
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public PinCapability[] Capabilities { get; private set; }
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#endregion
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#region Hardware-Specific Properties
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/// <summary>
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/// Gets or sets the pin operating mode.
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/// </summary>
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/// <value>
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/// The pin mode.
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/// </value>
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/// <exception cref="NotSupportedException">Thrown when a pin does not support the given operation mode.</exception>
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public GpioPinDriveMode PinMode
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{
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get => m_PinMode;
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set
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{
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lock (_syncLock)
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{
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var mode = value;
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if ((mode == GpioPinDriveMode.GpioClock && Capabilities.Contains(PinCapability.GPCLK) == false) ||
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(mode == GpioPinDriveMode.PwmOutput && Capabilities.Contains(PinCapability.PWM) == false) ||
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(mode == GpioPinDriveMode.Input && Capabilities.Contains(PinCapability.GP) == false) ||
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(mode == GpioPinDriveMode.Output && Capabilities.Contains(PinCapability.GP) == false))
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{
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throw new NotSupportedException(
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$"Pin {WiringPiPinNumber} '{Name}' does not support mode '{mode}'. Pin capabilities are limited to: {string.Join(", ", Capabilities)}");
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}
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WiringPi.PinMode(PinNumber, (int)mode);
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m_PinMode = mode;
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}
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}
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}
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/// <summary>
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/// Gets the interrupt callback. Returns null if no interrupt
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/// has been registered.
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/// </summary>
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public InterruptServiceRoutineCallback InterruptCallback { get; private set; }
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/// <summary>
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/// Gets the interrupt edge detection mode.
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/// </summary>
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public EdgeDetection InterruptEdgeDetection { get; private set; } = EdgeDetection.ExternalSetup;
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#endregion
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#region Hardware PWM Members
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/// <summary>
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/// This sets or gets the pull-up or pull-down resistor mode on the pin, which should be set as an input.
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/// Unlike the Arduino, the BCM2835 has both pull-up an down internal resistors.
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/// The parameter pud should be; PUD_OFF, (no pull up/down), PUD_DOWN (pull to ground) or PUD_UP (pull to 3.3v)
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/// The internal pull up/down resistors have a value of approximately 50KΩ on the Raspberry Pi.
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/// </summary>
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public GpioPinResistorPullMode InputPullMode
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{
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get => PinMode == GpioPinDriveMode.Input ? m_ResistorPullMode : GpioPinResistorPullMode.Off;
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set
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{
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lock (_syncLock)
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{
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if (PinMode != GpioPinDriveMode.Input)
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{
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m_ResistorPullMode = GpioPinResistorPullMode.Off;
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throw new InvalidOperationException(
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$"Unable to set the {nameof(InputPullMode)} for pin {PinNumber} because operating mode is {PinMode}."
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+ $" Setting the {nameof(InputPullMode)} is only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.Input}");
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}
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WiringPi.PullUpDnControl(PinNumber, (int)value);
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m_ResistorPullMode = value;
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}
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}
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}
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/// <summary>
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/// Gets or sets the PWM register. Values should be between 0 and 1024
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/// </summary>
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/// <value>
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/// The PWM register.
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/// </value>
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public int PwmRegister
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{
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get => m_PwmRegister;
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set
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{
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lock (_syncLock)
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{
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if (PinMode != GpioPinDriveMode.PwmOutput)
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{
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m_PwmRegister = 0;
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throw new InvalidOperationException(
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$"Unable to write PWM register for pin {PinNumber} because operating mode is {PinMode}."
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+ $" Writing the PWM register is only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.PwmOutput}");
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}
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var val = value.Clamp(0, 1024);
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WiringPi.PwmWrite(PinNumber, val);
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m_PwmRegister = val;
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}
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}
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}
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/// <summary>
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/// The PWM generator can run in 2 modes – “balanced” and “mark:space”. The mark:space mode is traditional,
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/// however the default mode in the Pi is “balanced”.
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/// </summary>
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/// <value>
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/// The PWM mode.
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/// </value>
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/// <exception cref="InvalidOperationException">When pin mode is not set a Pwn output</exception>
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public PwmMode PwmMode
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{
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get => PinMode == GpioPinDriveMode.PwmOutput ? m_PwmMode : PwmMode.Balanced;
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set
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{
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lock (_syncLock)
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{
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if (PinMode != GpioPinDriveMode.PwmOutput)
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{
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m_PwmMode = PwmMode.Balanced;
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throw new InvalidOperationException(
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$"Unable to set PWM mode for pin {PinNumber} because operating mode is {PinMode}."
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+ $" Setting the PWM mode is only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.PwmOutput}");
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}
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WiringPi.PwmSetMode((int)value);
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m_PwmMode = value;
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}
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}
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}
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/// <summary>
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/// This sets the range register in the PWM generator. The default is 1024.
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/// </summary>
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/// <value>
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/// The PWM range.
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/// </value>
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/// <exception cref="InvalidOperationException">When pin mode is not set to PWM output</exception>
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public uint PwmRange
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{
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get => PinMode == GpioPinDriveMode.PwmOutput ? m_PwmRange : 0;
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set
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{
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lock (_syncLock)
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{
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if (PinMode != GpioPinDriveMode.PwmOutput)
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{
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m_PwmRange = 1024;
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throw new InvalidOperationException(
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$"Unable to set PWM range for pin {PinNumber} because operating mode is {PinMode}."
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+ $" Setting the PWM range is only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.PwmOutput}");
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}
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WiringPi.PwmSetRange(value);
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m_PwmRange = value;
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}
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}
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}
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/// <summary>
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/// Gets or sets the PWM clock divisor.
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/// </summary>
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/// <value>
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/// The PWM clock divisor.
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/// </value>
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/// <exception cref="InvalidOperationException">When pin mode is not set to PWM output</exception>
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public int PwmClockDivisor
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{
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get => PinMode == GpioPinDriveMode.PwmOutput ? m_PwmClockDivisor : 0;
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set
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{
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lock (_syncLock)
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{
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if (PinMode != GpioPinDriveMode.PwmOutput)
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{
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m_PwmClockDivisor = 1;
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throw new InvalidOperationException(
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$"Unable to set PWM range for pin {PinNumber} because operating mode is {PinMode}."
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+ $" Setting the PWM range is only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.PwmOutput}");
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}
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WiringPi.PwmSetClock(value);
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m_PwmClockDivisor = value;
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}
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}
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}
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#endregion
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#region Software Tone Members
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/// <summary>
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/// Gets a value indicating whether this instance is in software based tone generator mode.
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/// </summary>
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/// <value>
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/// <c>true</c> if this instance is in soft tone mode; otherwise, <c>false</c>.
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/// </value>
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public bool IsInSoftToneMode => m_SoftToneFrequency >= 0;
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/// <summary>
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/// Gets or sets the soft tone frequency. 0 to 5000 Hz is typical
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/// </summary>
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/// <value>
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/// The soft tone frequency.
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/// </value>
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/// <exception cref="InvalidOperationException">When soft tones cannot be initialized on the pin</exception>
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public int SoftToneFrequency
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{
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get => m_SoftToneFrequency;
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set
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{
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lock (_syncLock)
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{
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if (IsInSoftToneMode == false)
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{
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var setupResult = WiringPi.SoftToneCreate(PinNumber);
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if (setupResult != 0)
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{
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throw new InvalidOperationException(
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$"Unable to initialize soft tone on pin {PinNumber}. Error Code: {setupResult}");
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}
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}
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WiringPi.SoftToneWrite(PinNumber, value);
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m_SoftToneFrequency = value;
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}
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}
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}
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#endregion
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#region Software PWM Members
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/// <summary>
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/// Gets a value indicating whether this pin is in software based PWM mode.
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/// </summary>
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/// <value>
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/// <c>true</c> if this instance is in soft PWM mode; otherwise, <c>false</c>.
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/// </value>
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public bool IsInSoftPwmMode => m_SoftPwmValue >= 0;
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/// <summary>
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/// Gets or sets the software PWM value on the pin.
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/// </summary>
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/// <value>
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/// The soft PWM value.
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/// </value>
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/// <exception cref="InvalidOperationException">StartSoftPwm</exception>
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public int SoftPwmValue
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{
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get => m_SoftPwmValue;
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set
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{
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lock (_syncLock)
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{
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if (IsInSoftPwmMode && value >= 0)
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{
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WiringPi.SoftPwmWrite(PinNumber, value);
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m_SoftPwmValue = value;
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}
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else
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{
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throw new InvalidOperationException($"Software PWM requires a call to {nameof(StartSoftPwm)}.");
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}
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}
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}
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}
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/// <summary>
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/// Gets the software PWM range used upon starting the PWM.
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/// </summary>
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public int SoftPwmRange { get; private set; } = -1;
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/// <summary>
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/// Starts the software based PWM on this pin.
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/// </summary>
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/// <param name="value">The value.</param>
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/// <param name="range">The range.</param>
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/// <exception cref="NotSupportedException">When the pin does not suppoert PWM</exception>
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/// <exception cref="InvalidOperationException">StartSoftPwm
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/// or</exception>
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public void StartSoftPwm(int value, int range)
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{
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lock (_syncLock)
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{
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if (Capabilities.Contains(PinCapability.GP) == false)
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throw new NotSupportedException($"Pin {PinNumber} does not support software PWM");
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if (IsInSoftPwmMode)
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throw new InvalidOperationException($"{nameof(StartSoftPwm)} has already been called.");
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var startResult = WiringPi.SoftPwmCreate(PinNumber, value, range);
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if (startResult == 0)
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{
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m_SoftPwmValue = value;
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SoftPwmRange = range;
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}
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else
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{
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throw new InvalidOperationException(
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$"Could not start software based PWM on pin {PinNumber}. Error code: {startResult}");
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}
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}
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}
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#endregion
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#region Output Mode (Write) Members
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/// <summary>
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/// Writes the specified pin value.
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/// This method performs a digital write
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/// </summary>
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/// <param name="value">The value.</param>
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public void Write(GpioPinValue value)
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{
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lock (_syncLock)
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{
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if (PinMode != GpioPinDriveMode.Output)
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{
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throw new InvalidOperationException(
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$"Unable to write to pin {PinNumber} because operating mode is {PinMode}."
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+ $" Writes are only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.Output}");
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}
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WiringPi.DigitalWrite(PinNumber, (int)value);
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}
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}
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/// <summary>
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/// Writes the value asynchronously.
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/// </summary>
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|||
|
/// <param name="value">The value.</param>
|
|||
|
/// <returns>The awaitable task</returns>
|
|||
|
public Task WriteAsync(GpioPinValue value) => Task.Run(() => { Write(value); });
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Writes the specified bit value.
|
|||
|
/// This method performs a digital write
|
|||
|
/// </summary>
|
|||
|
/// <param name="value">if set to <c>true</c> [value].</param>
|
|||
|
public void Write(bool value)
|
|||
|
=> Write(value ? GpioPinValue.High : GpioPinValue.Low);
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Writes the specified bit value.
|
|||
|
/// This method performs a digital write
|
|||
|
/// </summary>
|
|||
|
/// <param name="value">The value.</param>
|
|||
|
/// <returns>
|
|||
|
/// The awaitable task
|
|||
|
/// </returns>
|
|||
|
public Task WriteAsync(bool value) => Task.Run(() => { Write(value); });
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Writes the specified value. 0 for low, any other value for high
|
|||
|
/// This method performs a digital write
|
|||
|
/// </summary>
|
|||
|
/// <param name="value">The value.</param>
|
|||
|
public void Write(int value) => Write(value != 0 ? GpioPinValue.High : GpioPinValue.Low);
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Writes the specified value. 0 for low, any other value for high
|
|||
|
/// This method performs a digital write
|
|||
|
/// </summary>
|
|||
|
/// <param name="value">The value.</param>
|
|||
|
/// <returns>The awaitable task</returns>
|
|||
|
public Task WriteAsync(int value) => Task.Run(() => { Write(value); });
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Writes the specified value as an analog level.
|
|||
|
/// You will need to register additional analog modules to enable this function for devices such as the Gertboard.
|
|||
|
/// </summary>
|
|||
|
/// <param name="value">The value.</param>
|
|||
|
public void WriteLevel(int value)
|
|||
|
{
|
|||
|
lock (_syncLock)
|
|||
|
{
|
|||
|
if (PinMode != GpioPinDriveMode.Output)
|
|||
|
{
|
|||
|
throw new InvalidOperationException(
|
|||
|
$"Unable to write to pin {PinNumber} because operating mode is {PinMode}."
|
|||
|
+ $" Writes are only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.Output}");
|
|||
|
}
|
|||
|
|
|||
|
WiringPi.AnalogWrite(PinNumber, value);
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Writes the specified value as an analog level.
|
|||
|
/// You will need to register additional analog modules to enable this function for devices such as the Gertboard.
|
|||
|
/// </summary>
|
|||
|
/// <param name="value">The value.</param>
|
|||
|
/// <returns>The awaitable task</returns>
|
|||
|
public Task WriteLevelAsync(int value) => Task.Run(() => { WriteLevel(value); });
|
|||
|
|
|||
|
#endregion
|
|||
|
|
|||
|
#region Input Mode (Read) Members
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Wait for specific pin status
|
|||
|
/// </summary>
|
|||
|
/// <param name="status">status to check</param>
|
|||
|
/// <param name="timeOutMillisecond">timeout to reach status</param>
|
|||
|
/// <returns>true/false</returns>
|
|||
|
public bool WaitForValue(GpioPinValue status, int timeOutMillisecond)
|
|||
|
{
|
|||
|
if (PinMode != GpioPinDriveMode.Input)
|
|||
|
{
|
|||
|
throw new InvalidOperationException(
|
|||
|
$"Unable to read from pin {PinNumber} because operating mode is {PinMode}."
|
|||
|
+ $" Reads are only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.Input}");
|
|||
|
}
|
|||
|
|
|||
|
var hrt = new HighResolutionTimer();
|
|||
|
hrt.Start();
|
|||
|
do
|
|||
|
{
|
|||
|
if (ReadValue() == status)
|
|||
|
return true;
|
|||
|
|
|||
|
Pi.Timing.SleepMicroseconds(101); // 101 uses nanosleep as opposed to a loop.
|
|||
|
}
|
|||
|
while (hrt.ElapsedMilliseconds <= timeOutMillisecond);
|
|||
|
|
|||
|
return false;
|
|||
|
}
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Reads the digital value on the pin as a boolean value.
|
|||
|
/// </summary>
|
|||
|
/// <returns>The state of the pin</returns>
|
|||
|
public bool Read()
|
|||
|
{
|
|||
|
lock (_syncLock)
|
|||
|
{
|
|||
|
if (PinMode != GpioPinDriveMode.Input && PinMode != GpioPinDriveMode.Output)
|
|||
|
{
|
|||
|
throw new InvalidOperationException(
|
|||
|
$"Unable to read from pin {PinNumber} because operating mode is {PinMode}."
|
|||
|
+ $" Reads are only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.Input} or {GpioPinDriveMode.Output}");
|
|||
|
}
|
|||
|
|
|||
|
return WiringPi.DigitalRead(PinNumber) != 0;
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Reads the digital value on the pin as a boolean value.
|
|||
|
/// </summary>
|
|||
|
/// <returns>The state of the pin</returns>
|
|||
|
public Task<bool> ReadAsync() => Task.Run(() => Read());
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Reads the digital value on the pin as a High or Low value.
|
|||
|
/// </summary>
|
|||
|
/// <returns>The state of the pin</returns>
|
|||
|
public GpioPinValue ReadValue()
|
|||
|
=> Read() ? GpioPinValue.High : GpioPinValue.Low;
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Reads the digital value on the pin as a High or Low value.
|
|||
|
/// </summary>
|
|||
|
/// <returns>The state of the pin</returns>
|
|||
|
public Task<GpioPinValue> ReadValueAsync() => Task.Run(() => ReadValue());
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Reads the analog value on the pin.
|
|||
|
/// This returns the value read on the supplied analog input pin. You will need to register
|
|||
|
/// additional analog modules to enable this function for devices such as the Gertboard,
|
|||
|
/// quick2Wire analog board, etc.
|
|||
|
/// </summary>
|
|||
|
/// <returns>The analog level</returns>
|
|||
|
/// <exception cref="InvalidOperationException">When the pin mode is not configured as an input.</exception>
|
|||
|
public int ReadLevel()
|
|||
|
{
|
|||
|
lock (_syncLock)
|
|||
|
{
|
|||
|
if (PinMode != GpioPinDriveMode.Input)
|
|||
|
{
|
|||
|
throw new InvalidOperationException(
|
|||
|
$"Unable to read from pin {PinNumber} because operating mode is {PinMode}."
|
|||
|
+ $" Reads are only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.Input}");
|
|||
|
}
|
|||
|
|
|||
|
return WiringPi.AnalogRead(PinNumber);
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Reads the analog value on the pin.
|
|||
|
/// This returns the value read on the supplied analog input pin. You will need to register
|
|||
|
/// additional analog modules to enable this function for devices such as the Gertboard,
|
|||
|
/// quick2Wire analog board, etc.
|
|||
|
/// </summary>
|
|||
|
/// <returns>The analog level</returns>
|
|||
|
public Task<int> ReadLevelAsync() => Task.Run(() => ReadLevel());
|
|||
|
|
|||
|
#endregion
|
|||
|
|
|||
|
#region Interrupts
|
|||
|
|
|||
|
/// <summary>
|
|||
|
/// Registers the interrupt callback on the pin. Pin mode has to be set to Input.
|
|||
|
/// </summary>
|
|||
|
/// <param name="edgeDetection">The edge detection.</param>
|
|||
|
/// <param name="callback">The callback.</param>
|
|||
|
/// <exception cref="ArgumentException">callback</exception>
|
|||
|
/// <exception cref="InvalidOperationException">
|
|||
|
/// An interrupt callback was already registered.
|
|||
|
/// or
|
|||
|
/// RegisterInterruptCallback
|
|||
|
/// </exception>
|
|||
|
public void RegisterInterruptCallback(EdgeDetection edgeDetection, InterruptServiceRoutineCallback callback)
|
|||
|
{
|
|||
|
if (callback == null)
|
|||
|
throw new ArgumentException($"{nameof(callback)} cannot be null");
|
|||
|
|
|||
|
if (InterruptCallback != null)
|
|||
|
throw new InvalidOperationException("An interrupt callback was already registered.");
|
|||
|
|
|||
|
if (PinMode != GpioPinDriveMode.Input)
|
|||
|
{
|
|||
|
throw new InvalidOperationException(
|
|||
|
$"Unable to {nameof(RegisterInterruptCallback)} for pin {PinNumber} because operating mode is {PinMode}."
|
|||
|
+ $" Calling {nameof(RegisterInterruptCallback)} is only allowed if {nameof(PinMode)} is set to {GpioPinDriveMode.Input}");
|
|||
|
}
|
|||
|
|
|||
|
lock (_syncLock)
|
|||
|
{
|
|||
|
var registerResult = WiringPi.WiringPiISR(PinNumber, (int)edgeDetection, callback);
|
|||
|
if (registerResult == 0)
|
|||
|
{
|
|||
|
InterruptEdgeDetection = edgeDetection;
|
|||
|
InterruptCallback = callback;
|
|||
|
}
|
|||
|
else
|
|||
|
{
|
|||
|
HardwareException.Throw(nameof(GpioPin), nameof(RegisterInterruptCallback));
|
|||
|
}
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
#endregion
|
|||
|
}
|
|||
|
}
|