Io.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
 
#pragma once
 
#include <arpirobot/core/io/IoProvider.hpp>
#include <arpirobot/core/io/IoDevice.hpp>
#include <arpirobot/core/io/exceptions.hpp>
 
namespace arpirobot{
 
    class Io{
    public:
 
        const static unsigned int GPIO_OUT = IoProvider::GPIO_OUT;
        const static unsigned int GPIO_IN = IoProvider::GPIO_IN;
        const static unsigned int GPIO_LOW = IoProvider::GPIO_LOW;
        const static unsigned int GPIO_HIGH = IoProvider::GPIO_HIGH;
 
        const static char *PROVIDER_PIGPIO;      // PIGPIO library
        const static char *PROVIDER_LIBSOC;  // libsoc library
        const static char *PROVIDER_DUMMY;       // Fake provider. Prints log messages.
        const static char *PROVIDER_SERIAL;      // UART only. Works on desktop platforms
 
 
        static void init(std::string provider = "");
 
        static void terminate();
 
        static void addDevice(IoDevice *device);
 
        static void removeDevice(IoDevice *device);
 
 
        // Provider independent (typically board specific)
 
        static int getDefaultI2cBus();
 
 
 
        static void gpioMode(unsigned int pin, unsigned int mode);
 
        static void gpioWrite(unsigned int pin, unsigned int state);
 
        static unsigned int gpioRead(unsigned int pin);
 
        static void gpioSetPwmFrequency(unsigned int pin, unsigned int frequency);
 
        static unsigned int gpioGetPwmFrequency(unsigned int pin);
 
        static void gpioPwm(unsigned int pin, unsigned int value);
 
 
        static unsigned int i2cOpen(unsigned int bus, unsigned int address);
 
        static void i2cClose(unsigned int handle);
 
        static void i2cWriteByte(unsigned int handle, uint8_t data);
 
        static uint8_t i2cReadByte(unsigned int handle);
 
        static void i2cWriteBytes(unsigned int handle, char *buf, unsigned int count);
 
        static unsigned int i2cReadBytes(unsigned int handle, char *buf, unsigned int count);
 
        static void i2cWriteReg8(unsigned int handle, uint8_t reg, uint8_t value);
 
        static uint8_t i2cReadReg8(unsigned int handle, uint8_t reg);
 
        static void i2cWriteReg16(unsigned int handle, uint8_t reg, uint16_t value);
 
        static uint16_t i2cReadReg16(unsigned int handle, uint8_t reg);
 
 
        
        // Bus = spi bus 
        // Channel = which builtin CS pin
        // Mode = SPI mode (0, 1, 2, 3)
        static unsigned int spiOpen(unsigned int bus, unsigned int channel, unsigned int baud, unsigned int mode);
 
        static void spiClose(unsigned int handle);
 
        static void spiWrite(unsigned int handle, char *buf, unsigned int count);
 
        static unsigned int spiRead(unsigned int handle, char *buf, unsigned int count);
 
 
        
        static unsigned int uartOpen(char *port, unsigned int baud);
    
        static void uartClose(unsigned int handle);
 
        static unsigned int uartAvailable(unsigned int handle);
 
        static void uartWrite(unsigned int handle, char* buf, unsigned int count);
 
        static unsigned int uartRead(unsigned int handle, char *buf, unsigned int count);
 
        static void uartWriteByte(unsigned int handle, uint8_t b);
 
        static uint8_t uartReadByte(unsigned int handle);
 
    private:
        static IoProvider *instance;
        static std::vector<IoDevice*> ioDevices;
        static std::mutex ioDevicesLock;
    };
 
}