gpio_test.c

Basic GPIO test. Blinks LED D5 (SD-Card activity LED).

The blocks surrounded by #ifdef __XENO__ are used when compiling this example using Xenomai. Use these snippets in your program to get a single source file that can be compiled for both, regular Linux or Xenomai.

License

Copyright (c) 2013 OFFIS e.V.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
#include "raspi/hw.h"
#include "raspi/hw.c"

#ifdef __XENO__
#include <sys/mman.h>
#include <rtdk.h>
#define printf rt_printf
#endif

int main(int argc, char *argv[])
{
#ifdef __XENO__
    struct sched_param param = { 99 };
    mlockall(MCL_CURRENT | MCL_FUTURE);
    pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);
#endif

    if (!raspi_map_hw()) {
        perror("Could not map hardware registers");
        exit(1);
    }

#ifdef __XENO__
    pthread_set_mode_np(0, PTHREAD_WARNSW|PTHREAD_PRIMARY);
#endif

    gpio_configure(16, Output);

    for (;;) {
        gpio_set(16);
        sleep(1);
        gpio_clear(16);
        sleep(1);
    }

#ifdef __XENO__
    pthread_set_mode_np(PTHREAD_WARNSW, 0);
#endif

    return 1;
}