583 lines
20 KiB
C#
583 lines
20 KiB
C#
namespace Unosquare.WiringPi
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{
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using Native;
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using RaspberryIO.Abstractions;
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using Swan;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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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 the Raspberry Pi GPIO controller
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/// as an IReadOnlyCollection of GpioPins.
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///
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/// Low level operations are accomplished by using the Wiring Pi library.
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/// </summary>
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public sealed class GpioController : IGpioController
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{
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#region Private Declarations
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private const string WiringPiCodesEnvironmentVariable = "WIRINGPI_CODES";
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private static readonly object SyncRoot = new object();
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private readonly List<GpioPin> _pins;
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#endregion
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#region Constructors and Initialization
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/// <summary>
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/// Initializes static members of the <see cref="GpioController"/> class.
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/// </summary>
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static GpioController()
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{
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var wiringPiEdgeDetection = new Dictionary<EdgeDetection, int>
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{
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{EdgeDetection.FallingEdge, 21},
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{EdgeDetection.RisingEdge, 1},
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{EdgeDetection.FallingAndRisingEdge, 3},
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};
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WiringPiEdgeDetectionMapping = new ReadOnlyDictionary<EdgeDetection, int>(wiringPiEdgeDetection);
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}
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/// <summary>
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/// Initializes a new instance of the <see cref="GpioController"/> class.
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/// </summary>
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/// <exception cref="System.Exception">Unable to initialize the GPIO controller.</exception>
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internal GpioController()
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{
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if (_pins != null)
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return;
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if (IsInitialized == false)
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{
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var initResult = Initialize(ControllerMode.DirectWithBcmPins);
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if (initResult == false)
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throw new Exception("Unable to initialize the GPIO controller.");
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}
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_pins = new List<GpioPin>
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{
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GpioPin.Pin00.Value,
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GpioPin.Pin01.Value,
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GpioPin.Pin02.Value,
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GpioPin.Pin03.Value,
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GpioPin.Pin04.Value,
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GpioPin.Pin05.Value,
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GpioPin.Pin06.Value,
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GpioPin.Pin07.Value,
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GpioPin.Pin08.Value,
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GpioPin.Pin09.Value,
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GpioPin.Pin10.Value,
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GpioPin.Pin11.Value,
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GpioPin.Pin12.Value,
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GpioPin.Pin13.Value,
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GpioPin.Pin14.Value,
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GpioPin.Pin15.Value,
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GpioPin.Pin16.Value,
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GpioPin.Pin17.Value,
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GpioPin.Pin18.Value,
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GpioPin.Pin19.Value,
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GpioPin.Pin20.Value,
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GpioPin.Pin21.Value,
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GpioPin.Pin22.Value,
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GpioPin.Pin23.Value,
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GpioPin.Pin24.Value,
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GpioPin.Pin25.Value,
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GpioPin.Pin26.Value,
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GpioPin.Pin27.Value,
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GpioPin.Pin28.Value,
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GpioPin.Pin29.Value,
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GpioPin.Pin30.Value,
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GpioPin.Pin31.Value,
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};
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var headerP1 = new Dictionary<int, GpioPin>(_pins.Count);
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var headerP5 = new Dictionary<int, GpioPin>(_pins.Count);
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foreach (var pin in _pins)
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{
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if (pin.PhysicalPinNumber < 0)
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continue;
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var header = pin.Header == GpioHeader.P1 ? headerP1 : headerP5;
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header[pin.PhysicalPinNumber] = pin;
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}
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HeaderP1 = new ReadOnlyDictionary<int, GpioPin>(headerP1);
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HeaderP5 = new ReadOnlyDictionary<int, GpioPin>(headerP5);
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}
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/// <summary>
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/// Determines if the underlying GPIO controller has been initialized properly.
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/// </summary>
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/// <value>
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/// <c>true</c> if the controller is properly initialized; otherwise, <c>false</c>.
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/// </value>
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public static bool IsInitialized
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{
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get
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{
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lock (SyncRoot)
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{
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return Mode != ControllerMode.NotInitialized;
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}
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}
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}
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/// <summary>
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/// Gets the wiring pi edge detection mapping.
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/// </summary>
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internal static ReadOnlyDictionary<EdgeDetection, int> WiringPiEdgeDetectionMapping { get; }
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/// <inheritdoc />
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/// <summary>
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/// Gets the number of registered pins in the controller.
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/// </summary>
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public int Count => Pins.Count;
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/// <summary>
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/// Gets or sets the initialization mode.
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/// </summary>
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private static ControllerMode Mode { get; set; } = ControllerMode.NotInitialized;
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#endregion
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#region Pin Addressing
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/// <summary>
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/// Gets the PWM base frequency (in Hz).
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/// </summary>
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public int PwmBaseFrequency => 19200000;
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/// <summary>
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/// Gets a red-only collection of all pins.
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/// </summary>
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public ReadOnlyCollection<GpioPin> Pins => new ReadOnlyCollection<GpioPin>(_pins);
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/// <summary>
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/// Provides all the pins on Header P1 of the Pi as a lookup by physical header pin number.
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/// This header is the main header and it is the one commonly used.
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/// </summary>
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public ReadOnlyDictionary<int, GpioPin> HeaderP1 { get; }
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/// <summary>
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/// Provides all the pins on Header P5 of the Pi as a lookup by physical header pin number.
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/// This header is the secondary header and it is rarely used.
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/// </summary>
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public ReadOnlyDictionary<int, GpioPin> HeaderP5 { get; }
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#endregion
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#region Individual Pin Properties
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/// <summary>
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/// Provides direct access to Pin known as BCM0.
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/// </summary>
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public GpioPin Pin00 => GpioPin.Pin00.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM1.
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/// </summary>
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public GpioPin Pin01 => GpioPin.Pin01.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM2.
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/// </summary>
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public GpioPin Pin02 => GpioPin.Pin02.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM3.
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/// </summary>
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public GpioPin Pin03 => GpioPin.Pin03.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM4.
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/// </summary>
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public GpioPin Pin04 => GpioPin.Pin04.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM5.
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/// </summary>
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public GpioPin Pin05 => GpioPin.Pin05.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM6.
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/// </summary>
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public GpioPin Pin06 => GpioPin.Pin06.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM7.
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/// </summary>
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public GpioPin Pin07 => GpioPin.Pin07.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM8.
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/// </summary>
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public GpioPin Pin08 => GpioPin.Pin08.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM9.
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/// </summary>
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public GpioPin Pin09 => GpioPin.Pin09.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM10.
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/// </summary>
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public GpioPin Pin10 => GpioPin.Pin10.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM11.
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/// </summary>
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public GpioPin Pin11 => GpioPin.Pin11.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM12.
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/// </summary>
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public GpioPin Pin12 => GpioPin.Pin12.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM13.
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/// </summary>
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public GpioPin Pin13 => GpioPin.Pin13.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM14.
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/// </summary>
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public GpioPin Pin14 => GpioPin.Pin14.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM15.
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/// </summary>
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public GpioPin Pin15 => GpioPin.Pin15.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM16.
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/// </summary>
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public GpioPin Pin16 => GpioPin.Pin16.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM17.
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/// </summary>
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public GpioPin Pin17 => GpioPin.Pin17.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM18.
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/// </summary>
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public GpioPin Pin18 => GpioPin.Pin18.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM19.
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/// </summary>
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public GpioPin Pin19 => GpioPin.Pin19.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM20.
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/// </summary>
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public GpioPin Pin20 => GpioPin.Pin20.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM21.
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/// </summary>
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public GpioPin Pin21 => GpioPin.Pin21.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM22.
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/// </summary>
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public GpioPin Pin22 => GpioPin.Pin22.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM23.
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/// </summary>
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public GpioPin Pin23 => GpioPin.Pin23.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM24.
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/// </summary>
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public GpioPin Pin24 => GpioPin.Pin24.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM25.
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/// </summary>
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public GpioPin Pin25 => GpioPin.Pin25.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM26.
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/// </summary>
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public GpioPin Pin26 => GpioPin.Pin26.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM27.
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/// </summary>
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public GpioPin Pin27 => GpioPin.Pin27.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM28 (available on Header P5).
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/// </summary>
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public GpioPin Pin28 => GpioPin.Pin28.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM29 (available on Header P5).
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/// </summary>
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public GpioPin Pin29 => GpioPin.Pin29.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM30 (available on Header P5).
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/// </summary>
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public GpioPin Pin30 => GpioPin.Pin30.Value;
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/// <summary>
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/// Provides direct access to Pin known as BCM31 (available on Header P5).
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/// </summary>
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public GpioPin Pin31 => GpioPin.Pin31.Value;
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#endregion
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#region Indexers
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/// <inheritdoc />
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public IGpioPin this[BcmPin bcmPin] => Pins[(int)bcmPin];
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/// <inheritdoc />
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public IGpioPin this[int bcmPinNumber]
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{
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get
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{
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if (!Enum.IsDefined(typeof(BcmPin), bcmPinNumber))
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throw new IndexOutOfRangeException($"Pin {bcmPinNumber} is not registered in the GPIO controller.");
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return Pins[bcmPinNumber];
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}
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}
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/// <inheritdoc />
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public IGpioPin this[P1 pinNumber] => HeaderP1[(int)pinNumber];
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/// <inheritdoc />
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public IGpioPin this[P5 pinNumber] => HeaderP5[(int)pinNumber];
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/// <summary>
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/// Gets the <see cref="GpioPin"/> with the specified Wiring Pi pin number.
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/// </summary>
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/// <value>
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/// The <see cref="GpioPin"/>.
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/// </value>
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/// <param name="pinNumber">The pin number.</param>
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/// <returns>A reference to the GPIO pin.</returns>
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public GpioPin this[WiringPiPin pinNumber]
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{
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get
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{
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if (pinNumber == WiringPiPin.Unknown)
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throw new InvalidOperationException("You can not get an unknown WiringPi pin.");
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return Pins.First(p => p.WiringPiPinNumber == pinNumber);
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}
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}
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#endregion
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#region Pin Group Methods (Read, Write, Pad Drive)
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/// <summary>
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/// This sets the “strength” of the pad drivers for a particular group of pins.
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/// There are 3 groups of pins and the drive strength is from 0 to 7.
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/// Do not use this unless you know what you are doing.
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/// </summary>
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/// <param name="group">The group.</param>
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/// <param name="value">The value.</param>
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public void SetPadDrive(int group, int value)
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{
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lock (SyncRoot)
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{
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WiringPi.SetPadDrive(group, value);
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}
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}
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/// <summary>
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/// This sets the “strength” of the pad drivers for a particular group of pins.
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/// There are 3 groups of pins and the drive strength is from 0 to 7.
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/// Do not use this unless you know what you are doing.
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/// </summary>
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/// <param name="group">The group.</param>
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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 SetPadDriveAsync(int group, int value) =>
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Task.Run(() => SetPadDrive(group, value));
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/// <summary>
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/// This writes the 8-bit byte supplied to the first 8 GPIO pins.
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/// It’s the fastest way to set all 8 bits at once to a particular value,
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/// although it still takes two write operations to the Pi’s GPIO hardware.
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/// </summary>
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/// <param name="value">The value.</param>
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/// <exception cref="InvalidOperationException">PinMode.</exception>
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public void WriteByte(byte value)
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{
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lock (SyncRoot)
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{
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if (this.Skip(0).Take(8).Any(p => p.PinMode != GpioPinDriveMode.Output))
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{
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throw new InvalidOperationException(
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$"All first 8 pins (0 to 7) need their {nameof(GpioPin.PinMode)} to be set to {GpioPinDriveMode.Output}");
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}
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WiringPi.DigitalWriteByte(value);
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}
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}
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/// <summary>
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/// This writes the 8-bit byte supplied to the first 8 GPIO pins.
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/// It’s the fastest way to set all 8 bits at once to a particular value,
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/// although it still takes two write operations to the Pi’s GPIO hardware.
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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 WriteByteAsync(byte value) =>
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Task.Run(() => WriteByte(value));
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/// <summary>
|
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/// This reads the 8-bit byte supplied to the first 8 GPIO pins.
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/// It’s the fastest way to get all 8 bits at once to a particular value.
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/// Please note this function is undocumented and unsupported.
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/// </summary>
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/// <returns>A byte from the GPIO.</returns>
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/// <exception cref="InvalidOperationException">PinMode.</exception>
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public byte ReadByte()
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{
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lock (SyncRoot)
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{
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if (this.Skip(0).Take(8).Any(p =>
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p.PinMode != GpioPinDriveMode.Input && p.PinMode != GpioPinDriveMode.Output))
|
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{
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throw new InvalidOperationException(
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$"All first 8 pins (0 to 7) need their {nameof(GpioPin.PinMode)} to be set to {GpioPinDriveMode.Input} or {GpioPinDriveMode.Output}");
|
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}
|
||
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return (byte)WiringPi.DigitalReadByte();
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// This reads the 8-bit byte supplied to the first 8 GPIO pins.
|
||
/// It’s the fastest way to get all 8 bits at once to a particular value.
|
||
/// Please note this function is undocumented and unsupported.
|
||
/// </summary>
|
||
/// <returns>A byte from the GPIO.</returns>
|
||
public Task<byte> ReadByteAsync() =>
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Task.Run(ReadByte);
|
||
|
||
#endregion
|
||
|
||
#region IReadOnlyCollection Implementation
|
||
|
||
/// <summary>
|
||
/// Returns an enumerator that iterates through the collection.
|
||
/// </summary>
|
||
/// <returns>
|
||
/// A <see cref="T:System.Collections.Generic.IEnumerator`1" /> that can be used to iterate through the collection.
|
||
/// </returns>
|
||
public IEnumerator<GpioPin> GetEnumerator() => Pins.GetEnumerator();
|
||
|
||
/// <inheritdoc />
|
||
IEnumerator<IGpioPin> IEnumerable<IGpioPin>.GetEnumerator() => Pins.GetEnumerator();
|
||
|
||
/// <inheritdoc />
|
||
IEnumerator IEnumerable.GetEnumerator() => Pins.GetEnumerator();
|
||
|
||
#endregion
|
||
|
||
#region Helper and Init Methods
|
||
|
||
/// <summary>
|
||
/// Converts the Wirings Pi pin number to the BCM pin number.
|
||
/// </summary>
|
||
/// <param name="wiringPiPinNumber">The wiring pi pin number.</param>
|
||
/// <returns>The converted pin.</returns>
|
||
internal static int WiringPiToBcmPinNumber(int wiringPiPinNumber)
|
||
{
|
||
lock (SyncRoot)
|
||
{
|
||
return WiringPi.WpiPinToGpio(wiringPiPinNumber);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// Converts the Physical (Header) pin number to BCM pin number.
|
||
/// </summary>
|
||
/// <param name="headerPinNumber">The header pin number.</param>
|
||
/// <returns>The converted pin.</returns>
|
||
internal static int HaderToBcmPinNumber(int headerPinNumber)
|
||
{
|
||
lock (SyncRoot)
|
||
{
|
||
return WiringPi.PhysPinToGpio(headerPinNumber);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// Initializes the controller given the initialization mode and pin numbering scheme.
|
||
/// </summary>
|
||
/// <param name="mode">The mode.</param>
|
||
/// <returns>True when successful.</returns>
|
||
/// <exception cref="PlatformNotSupportedException">
|
||
/// This library does not support the platform.
|
||
/// </exception>
|
||
/// <exception cref="InvalidOperationException">Library was already Initialized.</exception>
|
||
/// <exception cref="ArgumentException">The init mode is invalid.</exception>
|
||
private bool Initialize(ControllerMode mode)
|
||
{
|
||
if (SwanRuntime.OS != Swan.OperatingSystem.Unix)
|
||
throw new PlatformNotSupportedException("This library does not support the platform");
|
||
|
||
lock (SyncRoot)
|
||
{
|
||
if (IsInitialized)
|
||
throw new InvalidOperationException($"Cannot call {nameof(Initialize)} more than once.");
|
||
|
||
Environment.SetEnvironmentVariable(WiringPiCodesEnvironmentVariable, "1");
|
||
int setupResult;
|
||
|
||
switch (mode)
|
||
{
|
||
case ControllerMode.DirectWithWiringPiPins:
|
||
{
|
||
setupResult = WiringPi.WiringPiSetup();
|
||
break;
|
||
}
|
||
|
||
case ControllerMode.DirectWithBcmPins:
|
||
{
|
||
setupResult = WiringPi.WiringPiSetupGpio();
|
||
break;
|
||
}
|
||
|
||
case ControllerMode.DirectWithHeaderPins:
|
||
{
|
||
setupResult = WiringPi.WiringPiSetupPhys();
|
||
break;
|
||
}
|
||
|
||
case ControllerMode.FileStreamWithHardwarePins:
|
||
{
|
||
setupResult = WiringPi.WiringPiSetupSys();
|
||
break;
|
||
}
|
||
|
||
default:
|
||
{
|
||
throw new ArgumentException($"'{mode}' is not a valid initialization mode.");
|
||
}
|
||
}
|
||
|
||
Mode = setupResult == 0 ? mode : ControllerMode.NotInitialized;
|
||
return IsInitialized;
|
||
}
|
||
}
|
||
#endregion
|
||
|
||
}
|
||
}
|