606 lines
21 KiB
C#
606 lines
21 KiB
C#
using Unosquare.RaspberryIO.Native;
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using Unosquare.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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namespace Unosquare.RaspberryIO.Gpio {
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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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#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 Int32 m_PwmRegister;
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private PwmMode m_PwmMode = PwmMode.Balanced;
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private UInt32 m_PwmRange = 1024;
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private Int32 m_PwmClockDivisor = 1;
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private Int32 m_SoftPwmValue = -1;
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private Int32 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, Int32 headerPinNumber) {
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this.PinNumber = (Int32)wiringPiPinNumber;
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this.WiringPiPinNumber = wiringPiPinNumber;
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this.BcmPinNumber = GpioController.WiringPiToBcmPinNumber((Int32)wiringPiPinNumber);
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this.HeaderPinNumber = headerPinNumber;
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this.Header = (this.PinNumber >= 17 && this.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 Int32 PinNumber {
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get;
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}
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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 {
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get;
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}
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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 Int32 BcmPinNumber {
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get;
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}
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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 Int32 HeaderPinNumber {
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get;
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}
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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 {
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get;
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}
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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 {
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get; private set;
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}
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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 {
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get; private set;
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}
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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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get => this.m_PinMode;
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set {
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lock(this._syncLock) {
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GpioPinDriveMode mode = value;
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if(mode == GpioPinDriveMode.GpioClock && this.Capabilities.Contains(PinCapability.GPCLK) == false ||
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mode == GpioPinDriveMode.PwmOutput && this.Capabilities.Contains(PinCapability.PWM) == false ||
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mode == GpioPinDriveMode.Input && this.Capabilities.Contains(PinCapability.GP) == false ||
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mode == GpioPinDriveMode.Output && this.Capabilities.Contains(PinCapability.GP) == false) {
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throw new NotSupportedException(
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$"Pin {this.WiringPiPinNumber} '{this.Name}' does not support mode '{mode}'. Pin capabilities are limited to: {String.Join(", ", this.Capabilities)}");
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}
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WiringPi.PinMode(this.PinNumber, (Int32)mode);
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this.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 {
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get; private set;
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}
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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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get => this.PinMode == GpioPinDriveMode.Input ? this.m_ResistorPullMode : GpioPinResistorPullMode.Off;
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set {
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lock(this._syncLock) {
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if(this.PinMode != GpioPinDriveMode.Input) {
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this.m_ResistorPullMode = GpioPinResistorPullMode.Off;
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throw new InvalidOperationException(
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$"Unable to set the {nameof(this.InputPullMode)} for pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Setting the {nameof(this.InputPullMode)} is only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.Input}");
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}
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WiringPi.PullUpDnControl(this.PinNumber, (Int32)value);
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this.m_ResistorPullMode = value;
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}
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}
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}
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/// <summary>
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/// Gets or sets the PWM register. Values should be between 0 and 1024
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/// </summary>
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/// <value>
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/// The PWM register.
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/// </value>
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public Int32 PwmRegister {
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get => this.m_PwmRegister;
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set {
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lock(this._syncLock) {
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if(this.PinMode != GpioPinDriveMode.PwmOutput) {
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this.m_PwmRegister = 0;
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throw new InvalidOperationException(
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$"Unable to write PWM register for pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Writing the PWM register is only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.PwmOutput}");
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}
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Int32 val = value.Clamp(0, 1024);
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WiringPi.PwmWrite(this.PinNumber, val);
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this.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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get => this.PinMode == GpioPinDriveMode.PwmOutput ? this.m_PwmMode : PwmMode.Balanced;
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set {
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lock(this._syncLock) {
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if(this.PinMode != GpioPinDriveMode.PwmOutput) {
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this.m_PwmMode = PwmMode.Balanced;
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throw new InvalidOperationException(
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$"Unable to set PWM mode for pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Setting the PWM mode is only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.PwmOutput}");
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}
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WiringPi.PwmSetMode((Int32)value);
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this.m_PwmMode = value;
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}
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}
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}
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/// <summary>
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/// This sets the range register in the PWM generator. The default is 1024.
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/// </summary>
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/// <value>
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/// The PWM range.
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/// </value>
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/// <exception cref="InvalidOperationException">When pin mode is not set to PWM output</exception>
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public UInt32 PwmRange {
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get => this.PinMode == GpioPinDriveMode.PwmOutput ? this.m_PwmRange : 0;
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set {
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lock(this._syncLock) {
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if(this.PinMode != GpioPinDriveMode.PwmOutput) {
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this.m_PwmRange = 1024;
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throw new InvalidOperationException(
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$"Unable to set PWM range for pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Setting the PWM range is only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.PwmOutput}");
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}
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WiringPi.PwmSetRange(value);
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this.m_PwmRange = value;
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}
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}
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}
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/// <summary>
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/// Gets or sets the PWM clock divisor.
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/// </summary>
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/// <value>
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/// The PWM clock divisor.
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/// </value>
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/// <exception cref="InvalidOperationException">When pin mode is not set to PWM output</exception>
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public Int32 PwmClockDivisor {
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get => this.PinMode == GpioPinDriveMode.PwmOutput ? this.m_PwmClockDivisor : 0;
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set {
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lock(this._syncLock) {
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if(this.PinMode != GpioPinDriveMode.PwmOutput) {
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this.m_PwmClockDivisor = 1;
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throw new InvalidOperationException(
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$"Unable to set PWM range for pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Setting the PWM range is only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.PwmOutput}");
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}
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WiringPi.PwmSetClock(value);
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this.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 Boolean IsInSoftToneMode => this.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 Int32 SoftToneFrequency {
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get => this.m_SoftToneFrequency;
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set {
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lock(this._syncLock) {
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if(this.IsInSoftToneMode == false) {
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Int32 setupResult = WiringPi.SoftToneCreate(this.PinNumber);
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if(setupResult != 0) {
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throw new InvalidOperationException(
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$"Unable to initialize soft tone on pin {this.PinNumber}. Error Code: {setupResult}");
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}
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}
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WiringPi.SoftToneWrite(this.PinNumber, value);
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this.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 Boolean IsInSoftPwmMode => this.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 Int32 SoftPwmValue {
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get => this.m_SoftPwmValue;
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set {
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lock(this._syncLock) {
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if(this.IsInSoftPwmMode && value >= 0) {
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WiringPi.SoftPwmWrite(this.PinNumber, value);
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this.m_SoftPwmValue = value;
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} else {
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throw new InvalidOperationException($"Software PWM requires a call to {nameof(StartSoftPwm)}.");
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}
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}
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}
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}
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/// <summary>
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/// Gets the software PWM range used upon starting the PWM.
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/// </summary>
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public Int32 SoftPwmRange { get; private set; } = -1;
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/// <summary>
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/// Starts the software based PWM on this pin.
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/// </summary>
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/// <param name="value">The value.</param>
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/// <param name="range">The range.</param>
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/// <exception cref="NotSupportedException">When the pin does not suppoert PWM</exception>
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/// <exception cref="InvalidOperationException">StartSoftPwm
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/// or</exception>
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public void StartSoftPwm(Int32 value, Int32 range) {
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lock(this._syncLock) {
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if(this.Capabilities.Contains(PinCapability.GP) == false) {
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throw new NotSupportedException($"Pin {this.PinNumber} does not support software PWM");
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}
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if(this.IsInSoftPwmMode) {
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throw new InvalidOperationException($"{nameof(StartSoftPwm)} has already been called.");
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}
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Int32 startResult = WiringPi.SoftPwmCreate(this.PinNumber, value, range);
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if(startResult == 0) {
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this.m_SoftPwmValue = value;
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this.SoftPwmRange = range;
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} else {
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throw new InvalidOperationException(
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$"Could not start software based PWM on pin {this.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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lock(this._syncLock) {
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if(this.PinMode != GpioPinDriveMode.Output) {
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throw new InvalidOperationException(
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$"Unable to write to pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Writes are only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.Output}");
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}
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WiringPi.DigitalWrite(this.PinNumber, (Int32)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>
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/// <returns>The awaitable task</returns>
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public Task WriteAsync(GpioPinValue value) => Task.Run(() => this.Write(value));
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/// <summary>
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/// Writes the specified bit value.
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/// This method performs a digital write
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/// </summary>
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/// <param name="value">if set to <c>true</c> [value].</param>
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public void Write(Boolean value)
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=> this.Write(value ? GpioPinValue.High : GpioPinValue.Low);
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/// <summary>
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/// Writes the specified bit 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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/// <returns>
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/// The awaitable task
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/// </returns>
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public Task WriteAsync(Boolean value) => Task.Run(() => this.Write(value));
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/// <summary>
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/// Writes the specified value. 0 for low, any other value for high
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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(Int32 value) => this.Write(value != 0 ? GpioPinValue.High : GpioPinValue.Low);
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/// <summary>
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/// Writes the specified value. 0 for low, any other value for high
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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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/// <returns>The awaitable task</returns>
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public Task WriteAsync(Int32 value) => Task.Run(() => this.Write(value));
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/// <summary>
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/// Writes the specified value as an analog level.
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/// You will need to register additional analog modules to enable this function for devices such as the Gertboard.
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/// </summary>
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/// <param name="value">The value.</param>
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public void WriteLevel(Int32 value) {
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lock(this._syncLock) {
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if(this.PinMode != GpioPinDriveMode.Output) {
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throw new InvalidOperationException(
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$"Unable to write to pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Writes are only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.Output}");
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}
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WiringPi.AnalogWrite(this.PinNumber, value);
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}
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}
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/// <summary>
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/// Writes the specified value as an analog level.
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/// You will need to register additional analog modules to enable this function for devices such as the Gertboard.
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/// </summary>
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/// <param name="value">The value.</param>
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/// <returns>The awaitable task</returns>
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public Task WriteLevelAsync(Int32 value) => Task.Run(() => this.WriteLevel(value));
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#endregion
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#region Input Mode (Read) Members
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/// <summary>
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/// Wait for specific pin status
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/// </summary>
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/// <param name="status">status to check</param>
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/// <param name="timeOutMillisecond">timeout to reach status</param>
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/// <returns>true/false</returns>
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public Boolean WaitForValue(GpioPinValue status, Int32 timeOutMillisecond) {
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if(this.PinMode != GpioPinDriveMode.Input) {
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throw new InvalidOperationException(
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$"Unable to read from pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Reads are only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.Input}");
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}
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HighResolutionTimer hrt = new HighResolutionTimer();
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hrt.Start();
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do {
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if(this.ReadValue() == status) {
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return true;
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}
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Pi.Timing.SleepMicroseconds(101); // 101 uses nanosleep as opposed to a loop.
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}
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while(hrt.ElapsedMilliseconds <= timeOutMillisecond);
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return false;
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}
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/// <summary>
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/// Reads the digital value on the pin as a boolean value.
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/// </summary>
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/// <returns>The state of the pin</returns>
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public Boolean Read() {
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lock(this._syncLock) {
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if(this.PinMode != GpioPinDriveMode.Input && this.PinMode != GpioPinDriveMode.Output) {
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throw new InvalidOperationException(
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$"Unable to read from pin {this.PinNumber} because operating mode is {this.PinMode}."
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+ $" Reads are only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.Input} or {GpioPinDriveMode.Output}");
|
||
}
|
||
|
||
return WiringPi.DigitalRead(this.PinNumber) != 0;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// Reads the digital value on the pin as a boolean value.
|
||
/// </summary>
|
||
/// <returns>The state of the pin</returns>
|
||
public Task<Boolean> ReadAsync() => Task.Run(() => this.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()
|
||
=> this.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(() => this.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 Int32 ReadLevel() {
|
||
lock(this._syncLock) {
|
||
if(this.PinMode != GpioPinDriveMode.Input) {
|
||
throw new InvalidOperationException(
|
||
$"Unable to read from pin {this.PinNumber} because operating mode is {this.PinMode}."
|
||
+ $" Reads are only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.Input}");
|
||
}
|
||
|
||
return WiringPi.AnalogRead(this.PinNumber);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// Reads the analog value on the pin.
|
||
/// This returns the value read on the supplied analog input pin. You will need to register
|
||
/// additional analog modules to enable this function for devices such as the Gertboard,
|
||
/// quick2Wire analog board, etc.
|
||
/// </summary>
|
||
/// <returns>The analog level</returns>
|
||
public Task<Int32> ReadLevelAsync() => Task.Run(() => this.ReadLevel());
|
||
|
||
#endregion
|
||
|
||
#region Interrupts
|
||
|
||
/// <summary>
|
||
/// Registers the interrupt callback on the pin. Pin mode has to be set to Input.
|
||
/// </summary>
|
||
/// <param name="edgeDetection">The edge detection.</param>
|
||
/// <param name="callback">The callback.</param>
|
||
/// <exception cref="ArgumentException">callback</exception>
|
||
/// <exception cref="InvalidOperationException">
|
||
/// An interrupt callback was already registered.
|
||
/// or
|
||
/// RegisterInterruptCallback
|
||
/// </exception>
|
||
public void RegisterInterruptCallback(EdgeDetection edgeDetection, InterruptServiceRoutineCallback callback) {
|
||
if(callback == null) {
|
||
throw new ArgumentException($"{nameof(callback)} cannot be null");
|
||
}
|
||
|
||
if(this.InterruptCallback != null) {
|
||
throw new InvalidOperationException("An interrupt callback was already registered.");
|
||
}
|
||
|
||
if(this.PinMode != GpioPinDriveMode.Input) {
|
||
throw new InvalidOperationException(
|
||
$"Unable to {nameof(RegisterInterruptCallback)} for pin {this.PinNumber} because operating mode is {this.PinMode}."
|
||
+ $" Calling {nameof(RegisterInterruptCallback)} is only allowed if {nameof(this.PinMode)} is set to {GpioPinDriveMode.Input}");
|
||
}
|
||
|
||
lock(this._syncLock) {
|
||
Int32 registerResult = WiringPi.WiringPiISR(this.PinNumber, (Int32)edgeDetection, callback);
|
||
if(registerResult == 0) {
|
||
this.InterruptEdgeDetection = edgeDetection;
|
||
this.InterruptCallback = callback;
|
||
} else {
|
||
HardwareException.Throw(nameof(GpioPin), nameof(RegisterInterruptCallback));
|
||
}
|
||
}
|
||
}
|
||
|
||
#endregion
|
||
}
|
||
}
|