[Перевод] Учебное руководство по управлению светодиодами с помощью Robotics Development Kit31.10.2016 13:18

#include 
#include 
#include 
#include 
#include 
#include 

#define IN   0
#define OUT  1

#define LOW  0
#define HIGH 1

#define PIN  24 /* physical pin 18 */
#define POUT 4  /* physical pin 7  */

static int GPIOExport(int pin);
static int GPIOUnexport(int pin);
static int GPIODirection(int pin, int dir);
static int GPIORead(int pin);
static int GPIOWrite(int pin, int value);

int main(int argc, char *argv[])
{
	int repeat = 9;

	/*
	 * Enable GPIO pins
	 */
	if (-1 == GPIOExport(POUT) || -1 == GPIOExport(PIN))
		return(1);

	/*
	 * Set GPIO directions
	 */
	if (-1 == GPIODirection(POUT, OUT) || -1 == GPIODirection(PIN, IN))
		return(2);

	do {
		/*
		 * Write GPIO value
		 */
		if (-1 == GPIOWrite(POUT, repeat % 2))
			return(3);

		/*
		 * Read GPIO value
		 */
		printf("I'm reading %d in GPIO %d\n", GPIORead(PIN), PIN);

		usleep(500 * 1000);
	}
	while (repeat--);

	/*
	 * Disable GPIO pins
	 */
	if (-1 == GPIOUnexport(POUT) || -1 == GPIOUnexport(PIN))
		return(4);

	return(0);
}

Int GPIOExport(int pin)
{
#define BUFFER_MAX 3
	char buffer[BUFFER_MAX];
	ssize_t bytes_written;
	int fd;

	fd = open("/sys/class/gpio/export", O_WRONLY);
	if (-1 == fd) {
		fprintf(stderr, "Failed to open export for writing!\n");
		return(-1);
	}

	bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
	write(fd, buffer, bytes_written);
	close(fd);
	return(0);
}

Int GPIOUnexport(int pin)
{
	char buffer[BUFFER_MAX];
	ssize_t bytes_written;
	int fd;

	fd = open("/sys/class/gpio/unexport", O_WRONLY);
	if (-1 == fd) {
		fprintf(stderr, "Failed to open unexport for writing!\n");
		return(-1);
	}

	bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
	write(fd, buffer, bytes_written);
	close(fd);
	return(0);
}

Int GPIODirection(int pin, int dir)
{
	static const char s_directions_str[]  = "in\0out";

#define DIRECTION_MAX 35
	char path[DIRECTION_MAX];
	int fd;

	snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
	fd = open(path, O_WRONLY);
	if (-1 == fd) {
		fprintf(stderr, "Failed to open gpio direction for writing!\n");
		return(-1);
	}

	if (-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2 : 3)) {
		fprintf(stderr, "Failed to set direction!\n");
		return(-1);
	}

	close(fd);
	return(0);
}

Int GPIORead(int pin)
{
#define VALUE_MAX 30
	char path[VALUE_MAX];
	char value_str[3];
	int fd;

	snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
	fd = open(path, O_RDONLY);
	if (-1 == fd) {
		fprintf(stderr, "Failed to open gpio value for reading!\n");
		return(-1);
	}

	if (-1 == read(fd, value_str, 3)) {
		fprintf(stderr, "Failed to read value!\n");
		return(-1);
	}

	close(fd);

	return(atoi(value_str));
}

Int GPIOWrite(int pin, int value)
{
	static const char s_values_str[] = "01";

	char path[VALUE_MAX];
	int fd;

	snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
	fd = open(path, O_WRONLY);
	if (-1 == fd) {
		fprintf(stderr, "Failed to open gpio value for writing!\n");
		return(-1);
	}

	if (1 != write(fd, &s_values_str[LOW == value ? 0 : 1], 1)) {
		fprintf(stderr, "Failed to write value!\n");
		return(-1);
	}

	close(fd);
	return(0);
}