Example added for FreeRTOS on Raspberry Pi

1 files changed, 134 insertions, 0 deletions

diff --git a/boards/base/RaspberryPi/example-FreeRTOS/Drivers/gpio.c b/boards/base/RaspberryPi/example-FreeRTOS/Drivers/gpio.c
new file mode 100644
index 00000000..485de897
--- /dev/null
+++ b/boards/base/RaspberryPi/example-FreeRTOS/Drivers/gpio.c
@@ -0,0 +1,134 @@
+/**
+ *	Quick and very Dirty GPIO API.
+ *
+ **/
+
+#include "gpio.h"
+
+typedef struct {
+	unsigned long	GPFSEL[6];	///< Function selection registers.
+	unsigned long	Reserved_1;
+	unsigned long	GPSET[2];
+	unsigned long	Reserved_2;
+	unsigned long	GPCLR[2];
+	unsigned long	Reserved_3;
+	unsigned long	GPLEV[2];
+	unsigned long	Reserved_4;
+	unsigned long	GPEDS[2];
+	unsigned long	Reserved_5;
+	unsigned long	GPREN[2];
+	unsigned long	Reserved_6;
+	unsigned long	GPFEN[2];
+	unsigned long	Reserved_7;
+	unsigned long	GPHEN[2];
+	unsigned long	Reserved_8;
+	unsigned long	GPLEN[2];
+	unsigned long	Reserved_9;
+	unsigned long	GPAREN[2];
+	unsigned long	Reserved_A;
+	unsigned long	GPAFEN[2];
+	unsigned long	Reserved_B;
+	unsigned long	GPPUD[1];
+	unsigned long	GPPUDCLK[2];
+	//Ignoring the reserved and test bytes
+} BCM2835_GPIO_REGS;
+
+volatile BCM2835_GPIO_REGS * const pRegs = (BCM2835_GPIO_REGS *) (0x20200000);
+
+
+void SetGpioFunction(unsigned int pinNum, unsigned int funcNum) {
+
+	int offset = pinNum / 10;
+
+	unsigned long val = pRegs->GPFSEL[offset];	// Read in the original register value.
+
+	int item = pinNum % 10;
+	val &= ~(0x7 << (item * 3));
+	val |= ((funcNum & 0x7) << (item * 3));
+	pRegs->GPFSEL[offset] = val;
+}
+
+void SetGpioDirection(unsigned int pinNum, enum GPIO_DIR dir) {
+	SetGpioFunction(pinNum,dir);
+}
+
+void SetGpio(unsigned int pinNum, unsigned int pinVal) {
+	unsigned long offset=pinNum/32;
+	unsigned long mask=(1<<(pinNum%32));
+
+	if(pinVal) {
+		pRegs->GPSET[offset]|=mask;
+	} else {
+		pRegs->GPCLR[offset]|=mask;
+	}
+}
+
+int ReadGpio(unsigned int pinNum) {
+	return ((pRegs->GPLEV[pinNum/32])>>(pinNum%32))&1;
+}
+
+void EnableGpioDetect(unsigned int pinNum, enum DETECT_TYPE type)
+{
+	unsigned long mask=(1<<pinNum);
+	unsigned long offset=pinNum/32;
+	
+	switch(type) {
+	case DETECT_RISING:
+		pRegs->GPREN[offset]|=mask;
+		break;
+	case DETECT_FALLING:
+		pRegs->GPFEN[offset]|=mask;
+		break;
+	case DETECT_HIGH:
+		pRegs->GPHEN[offset]|=mask;
+		break;
+	case DETECT_LOW:
+		pRegs->GPLEN[offset]|=mask;
+		break;
+	case DETECT_RISING_ASYNC:
+		pRegs->GPAREN[offset]|=mask;
+		break;
+	case DETECT_FALLING_ASYNC:
+		pRegs->GPAFEN[offset]|=mask;
+		break;
+	case DETECT_NONE:
+		break;
+	}
+}
+
+void DisableGpioDetect(unsigned int pinNum, enum DETECT_TYPE type)
+{
+	unsigned long mask=~(1<<(pinNum%32));
+	unsigned long offset=pinNum/32;
+	
+	switch(type) {
+	case DETECT_RISING:
+		pRegs->GPREN[offset]&=mask;
+		break;
+	case DETECT_FALLING:
+		pRegs->GPFEN[offset]&=mask;
+		break;
+	case DETECT_HIGH:
+		pRegs->GPHEN[offset]&=mask;
+		break;
+	case DETECT_LOW:
+		pRegs->GPLEN[offset]&=mask;
+		break;
+	case DETECT_RISING_ASYNC:
+		pRegs->GPAREN[offset]&=mask;
+		break;
+	case DETECT_FALLING_ASYNC:
+		pRegs->GPAFEN[offset]&=mask;
+		break;
+	case DETECT_NONE:
+		break;
+	}
+}
+
+void ClearGpioInterrupt(unsigned int pinNum)
+{
+	unsigned long mask=(1<<(pinNum%32));
+	unsigned long offset=pinNum/32;
+
+	pRegs->GPEDS[offset]=mask;
+}