From 277d1edfa17bf3719d90ddbac8e31f6181e952c3 Mon Sep 17 00:00:00 2001
From: Sandeep Gupta
Date: Sun, 18 Jun 2017 23:55:40 +0530
Subject: First commit
---
includes/bcm2835.h | 1625 +++++++++++++++++++++++++++++++++++++++++++++++++
includes/blas.h | 160 +++++
includes/constant.h | 34 ++
includes/f2c.h | 245 ++++++++
includes/lapack.h | 201 ++++++
includes/machine.h.in | 80 +++
includes/notFound.h | 18 +
includes/sci2clib.h | 616 +++++++++++++++++++
8 files changed, 2979 insertions(+)
create mode 100644 includes/bcm2835.h
create mode 100644 includes/blas.h
create mode 100644 includes/constant.h
create mode 100644 includes/f2c.h
create mode 100644 includes/lapack.h
create mode 100644 includes/machine.h.in
create mode 100644 includes/notFound.h
create mode 100644 includes/sci2clib.h
(limited to 'includes')
diff --git a/includes/bcm2835.h b/includes/bcm2835.h
new file mode 100644
index 0000000..ae41b3e
--- /dev/null
+++ b/includes/bcm2835.h
@@ -0,0 +1,1625 @@
+/* bcm2835.h
+
+ C and C++ support for Broadcom BCM 2835 as used in Raspberry Pi
+
+ Author: Mike McCauley
+ Copyright (C) 2011-2013 Mike McCauley
+ $Id: bcm2835.h,v 1.20 2015/03/31 04:55:41 mikem Exp mikem $
+*/
+
+/*! \mainpage C library for Broadcom BCM 2835 as used in Raspberry Pi
+
+ This is a C library for Raspberry Pi (RPi). It provides access to
+ GPIO and other IO functions on the Broadcom BCM 2835 chip,
+ allowing access to the GPIO pins on the
+ 26 pin IDE plug on the RPi board so you can control and interface with various external devices.
+
+ It provides functions for reading digital inputs and setting digital outputs, using SPI and I2C,
+ and for accessing the system timers.
+ Pin event detection is supported by polling (interrupts are not supported).
+
+ It is C++ compatible, and installs as a header file and non-shared library on
+ any Linux-based distro (but clearly is no use except on Raspberry Pi or another board with
+ BCM 2835).
+
+ The version of the package that this documentation refers to can be downloaded
+ from http://www.airspayce.com/mikem/bcm2835/bcm2835-1.48.tar.gz
+ You can find the latest version at http://www.airspayce.com/mikem/bcm2835
+
+ Several example programs are provided.
+
+ Based on data in http://elinux.org/RPi_Low-level_peripherals and
+ http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
+ and http://www.scribd.com/doc/101830961/GPIO-Pads-Control2
+
+ You can also find online help and discussion at http://groups.google.com/group/bcm2835
+ Please use that group for all questions and discussions on this topic.
+ Do not contact the author directly, unless it is to discuss commercial licensing.
+ Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
+
+ Tested on debian6-19-04-2012, 2012-07-15-wheezy-raspbian, 2013-07-26-wheezy-raspbian
+ and Occidentalisv01
+ CAUTION: it has been observed that when detect enables such as bcm2835_gpio_len()
+ are used and the pin is pulled LOW
+ it can cause temporary hangs on 2012-07-15-wheezy-raspbian, 2013-07-26-wheezy-raspbian
+ and Occidentalisv01.
+ Reason for this is not yet determined, but we suspect that an interrupt handler is
+ hitting a hard loop on those OSs.
+ If you must use bcm2835_gpio_len() and friends, make sure you disable the pins with
+ bcm2835_gpio_clr_len() and friends after use.
+
+ \par Installation
+
+ This library consists of a single non-shared library and header file, which will be
+ installed in the usual places by make install
+
+ \code
+ # download the latest version of the library, say bcm2835-1.xx.tar.gz, then:
+ tar zxvf bcm2835-1.xx.tar.gz
+ cd bcm2835-1.xx
+ ./configure
+ make
+ sudo make check
+ sudo make install
+ \endcode
+
+ \par Physical Addresses
+
+ The functions bcm2835_peri_read(), bcm2835_peri_write() and bcm2835_peri_set_bits()
+ are low level peripheral register access functions. They are designed to use
+ physical addresses as described in section 1.2.3 ARM physical addresses
+ of the BCM2835 ARM Peripherals manual.
+ Physical addresses range from 0x20000000 to 0x20FFFFFF for peripherals. The bus
+ addresses for peripherals are set up to map onto the peripheral bus address range starting at
+ 0x7E000000. Thus a peripheral advertised in the manual at bus address 0x7Ennnnnn is available at
+ physical address 0x20nnnnnn.
+
+ On RPI 2, the peripheral addresses are different and the bcm2835 library gets them
+ from reading /proc/device-tree/soc/ranges. This is only availble with recent versions of the kernel on RPI 2.
+
+ After initialisation, the base address of the various peripheral
+ registers are available with the following
+ externals:
+ bcm2835_gpio
+ bcm2835_pwm
+ bcm2835_clk
+ bcm2835_pads
+ bcm2835_spio0
+ bcm2835_st
+ bcm2835_bsc0
+ bcm2835_bsc1
+
+ \par Raspberry Pi 2 (RPI2)
+
+ For this library to work correctly on RPI2, you MUST have the device tree support enabled in the kernel.
+ You should also ensure you are using the latest version of Linux. The library has been tested on RPI2
+ with 2015-02-16-raspbian-wheezy and ArchLinuxARM-rpi-2 as of 2015-03-29.
+
+ When device tree suport is enabled, the file /proc/device-tree/soc/ranges will appear in the file system,
+ and the bcm2835 module relies on its presence to correctly run on RPI2 (it is optional for RPI1).
+ Without device tree support enabled and the presence of this file, it will not work on RPI2.
+
+ To enable device tree support:
+
+ \code
+ sudo raspi-config
+ under Advanced Options - enable Device Tree
+ Reboot.
+ \endcode
+
+ \par Pin Numbering
+
+ The GPIO pin numbering as used by RPi is different to and inconsistent with the underlying
+ BCM 2835 chip pin numbering. http://elinux.org/RPi_BCM2835_GPIOs
+
+ RPi has a 26 pin IDE header that provides access to some of the GPIO pins on the BCM 2835,
+ as well as power and ground pins. Not all GPIO pins on the BCM 2835 are available on the
+ IDE header.
+
+ RPi Version 2 also has a P5 connector with 4 GPIO pins, 5V, 3.3V and Gnd.
+
+ The functions in this library are designed to be passed the BCM 2835 GPIO pin number and _not_
+ the RPi pin number. There are symbolic definitions for each of the available pins
+ that you should use for convenience. See \ref RPiGPIOPin.
+
+ \par SPI Pins
+
+ The bcm2835_spi_* functions allow you to control the BCM 2835 SPI0 interface,
+ allowing you to send and received data by SPI (Serial Peripheral Interface).
+ For more information about SPI, see http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus
+
+ When bcm2835_spi_begin() is called it changes the bahaviour of the SPI interface pins from their
+ default GPIO behaviour in order to support SPI. While SPI is in use, you will not be able
+ to control the state of the SPI pins through the usual bcm2835_spi_gpio_write().
+ When bcm2835_spi_end() is called, the SPI pins will all revert to inputs, and can then be
+ configured and controled with the usual bcm2835_gpio_* calls.
+
+ The Raspberry Pi GPIO pins used for SPI are:
+
+ - P1-19 (MOSI)
+ - P1-21 (MISO)
+ - P1-23 (CLK)
+ - P1-24 (CE0)
+ - P1-26 (CE1)
+
+ \par I2C Pins
+
+ The bcm2835_i2c_* functions allow you to control the BCM 2835 BSC interface,
+ allowing you to send and received data by I2C ("eye-squared cee"; generically referred to as "two-wire interface") .
+ For more information about I?C, see http://en.wikipedia.org/wiki/I%C2%B2C
+
+ The Raspberry Pi V2 GPIO pins used for I2C are:
+
+ - P1-03 (SDA)
+ - P1-05 (SLC)
+
+ \par PWM
+
+ The BCM2835 supports hardware PWM on a limited subset of GPIO pins. This bcm2835 library provides
+ functions for configuring and controlling PWM output on these pins.
+
+ The BCM2835 contains 2 independent PWM channels (0 and 1), each of which be connnected to a limited subset of
+ GPIO pins. The following GPIO pins may be connected to the following PWM channels (from section 9.5):
+ \code
+ GPIO PIN RPi pin PWM Channel ALT FUN
+ 12 0 0
+ 13 1 0
+ 18 1-12 0 5
+ 19 1 5
+ 40 0 0
+ 41 1 0
+ 45 1 0
+ 52 0 1
+ 53 1 1
+ \endcode
+ In order for a GPIO pin to emit output from its PWM channel, it must be set to the Alt Function given above.
+ Note carefully that current versions of the Raspberry Pi only expose one of these pins (GPIO 18 = RPi Pin 1-12)
+ on the IO headers, and therefore this is the only IO pin on the RPi that can be used for PWM.
+ Further it must be set to ALT FUN 5 to get PWM output.
+
+ Both PWM channels are driven by the same PWM clock, whose clock dvider can be varied using
+ bcm2835_pwm_set_clock(). Each channel can be separately enabled with bcm2835_pwm_set_mode().
+ The average output of the PWM channel is determined by the ratio of DATA/RANGE for that channel.
+ Use bcm2835_pwm_set_range() to set the range and bcm2835_pwm_set_data() to set the data in that ratio
+
+ Each PWM channel can run in either Balanced or Mark-Space mode. In Balanced mode, the hardware
+ sends a combination of clock pulses that results in an overall DATA pulses per RANGE pulses.
+ In Mark-Space mode, the hardware sets the output HIGH for DATA clock pulses wide, followed by
+ LOW for RANGE-DATA clock pulses.
+
+ The PWM clock can be set to control the PWM pulse widths. The PWM clock is derived from
+ a 19.2MHz clock. You can set any divider, but some common ones are provided by the BCM2835_PWM_CLOCK_DIVIDER_*
+ values of \ref bcm2835PWMClockDivider.
+
+ For example, say you wanted to drive a DC motor with PWM at about 1kHz,
+ and control the speed in 1/1024 increments from
+ 0/1024 (stopped) through to 1024/1024 (full on). In that case you might set the
+ clock divider to be 16, and the RANGE to 1024. The pulse repetition frequency will be
+ 1.2MHz/1024 = 1171.875Hz.
+
+ \par SPI
+
+ In order for bcm2835 library SPI to work, you may need to disable the SPI kernel module using:
+
+ \code
+ sudo raspi-config
+ under Advanced Options - enable Device Tree
+ under Advanced Options - disable SPI
+ Reboot.
+ \endcode
+
+ \par Real Time performance constraints
+
+ The bcm2835 is a library for user programs (i.e. they run in 'userland').
+ Such programs are not part of the kernel and are usually
+ subject to paging and swapping by the kernel while it does other things besides running your program.
+ This means that you should not expect to get real-time performance or
+ real-time timing constraints from such programs. In particular, there is no guarantee that the
+ bcm2835_delay() and bcm2835_delayMicroseconds() will return after exactly the time requested.
+ In fact, depending on other activity on the host, IO etc, you might get significantly longer delay times
+ than the one you asked for. So please dont expect to get exactly the time delay you request.
+
+ Arjan reports that you can prevent swapping on Linux with the following code fragment:
+
+ \code
+ struct sched_param sp;
+ memset(&sp, 0, sizeof(sp));
+ sp.sched_priority = sched_get_priority_max(SCHED_FIFO);
+ sched_setscheduler(0, SCHED_FIFO, &sp);
+ mlockall(MCL_CURRENT | MCL_FUTURE);
+ \endcode
+
+ \par Bindings to other languages
+
+ mikem has made Perl bindings available at CPAN:
+ http://search.cpan.org/~mikem/Device-BCM2835-1.9/lib/Device/BCM2835.pm
+ Matthew Baker has kindly made Python bindings available at:
+ https: github.com/mubeta06/py-libbcm2835
+ Gary Marks has created a Serial Peripheral Interface (SPI) command-line utility
+ for Raspberry Pi, based on the bcm2835 library. The
+ utility, spincl, is licensed under Open Source GNU GPLv3 by iP Solutions (http://ipsolutionscorp.com), as a
+ free download with source included: http://ipsolutionscorp.com/raspberry-pi-spi-utility/
+
+ \par Open Source Licensing GPL V2
+
+ This is the appropriate option if you want to share the source code of your
+ application with everyone you distribute it to, and you also want to give them
+ the right to share who uses it. If you wish to use this software under Open
+ Source Licensing, you must contribute all your source code to the open source
+ community in accordance with the GPL Version 2 when your application is
+ distributed. See http://www.gnu.org/copyleft/gpl.html and COPYING
+
+ \par Acknowledgements
+
+ Some of this code has been inspired by Dom and Gert.
+ The I2C code has been inspired by Alan Barr.
+
+ \par Revision History
+
+ \version 1.0 Initial release
+
+ \version 1.1 Minor bug fixes
+
+ \version 1.2 Added support for SPI
+
+ \version 1.3 Added bcm2835_spi_transfern()
+
+ \version 1.4 Fixed a problem that prevented SPI CE1 being used. Reported by David Robinson.
+
+ \version 1.5 Added bcm2835_close() to deinit the library. Suggested by C?sar Ortiz
+
+ \version 1.6 Document testing on 2012-07-15-wheezy-raspbian and Occidentalisv01
+ Functions bcm2835_gpio_ren(), bcm2835_gpio_fen(), bcm2835_gpio_hen()
+ bcm2835_gpio_len(), bcm2835_gpio_aren() and bcm2835_gpio_afen() now
+ changes only the pin specified. Other pins that were already previously
+ enabled stay enabled.
+ Added bcm2835_gpio_clr_ren(), bcm2835_gpio_clr_fen(), bcm2835_gpio_clr_hen()
+ bcm2835_gpio_clr_len(), bcm2835_gpio_clr_aren(), bcm2835_gpio_clr_afen()
+ to clear the enable for individual pins, suggested by Andreas Sundstrom.
+
+ \version 1.7 Added bcm2835_spi_transfernb to support different buffers for read and write.
+
+ \version 1.8 Improvements to read barrier, as suggested by maddin.
+
+ \version 1.9 Improvements contributed by mikew:
+ I noticed that it was mallocing memory for the mmaps on /dev/mem.
+ It's not necessary to do that, you can just mmap the file directly,
+ so I've removed the mallocs (and frees).
+ I've also modified delayMicroseconds() to use nanosleep() for long waits,
+ and a busy wait on a high resolution timer for the rest. This is because
+ I've found that calling nanosleep() takes at least 100-200 us.
+ You need to link using '-lrt' using this version.
+ I've added some unsigned casts to the debug prints to silence compiler
+ warnings I was getting, fixed some typos, and changed the value of
+ BCM2835_PAD_HYSTERESIS_ENABLED to 0x08 as per Gert van Loo's doc at
+ http://www.scribd.com/doc/101830961/GPIO-Pads-Control2
+ Also added a define for the passwrd value that Gert says is needed to
+ change pad control settings.
+
+ \version 1.10 Changed the names of the delay functions to bcm2835_delay()
+ and bcm2835_delayMicroseconds() to prevent collisions with wiringPi.
+ Macros to map delay()-> bcm2835_delay() and
+ Macros to map delayMicroseconds()-> bcm2835_delayMicroseconds(), which
+ can be disabled by defining BCM2835_NO_DELAY_COMPATIBILITY
+
+ \version 1.11 Fixed incorrect link to download file
+
+ \version 1.12 New GPIO pin definitions for RPi version 2 (which has a different GPIO mapping)
+
+ \version 1.13 New GPIO pin definitions for RPi version 2 plug P5
+ Hardware base pointers are now available (after initialisation) externally as bcm2835_gpio
+ bcm2835_pwm bcm2835_clk bcm2835_pads bcm2835_spi0.
+
+ \version 1.14 Now compiles even if CLOCK_MONOTONIC_RAW is not available, uses CLOCK_MONOTONIC instead.
+ Fixed errors in documentation of SPI divider frequencies based on 250MHz clock.
+ Reported by Ben Simpson.
+
+ \version 1.15 Added bcm2835_close() to end of examples as suggested by Mark Wolfe.
+
+ \version 1.16 Added bcm2835_gpio_set_multi, bcm2835_gpio_clr_multi and bcm2835_gpio_write_multi
+ to allow a mask of pins to be set all at once. Requested by Sebastian Loncar.
+
+ \version 1.17 Added bcm2835_gpio_write_mask. Requested by Sebastian Loncar.
+
+ \version 1.18 Added bcm2835_i2c_* functions. Changes to bcm2835_delayMicroseconds:
+ now uses the RPi system timer counter, instead of clock_gettime, for improved accuracy.
+ No need to link with -lrt now. Contributed by Arjan van Vught.
+ \version 1.19 Removed inlines added by previous patch since they don't seem to work everywhere.
+ Reported by olly.
+
+ \version 1.20 Patch from Mark Dootson to close /dev/mem after access to the peripherals has been granted.
+
+ \version 1.21 delayMicroseconds is now not susceptible to 32 bit timer overruns.
+ Patch courtesy Jeremy Mortis.
+
+ \version 1.22 Fixed incorrect definition of BCM2835_GPFEN0 which broke the ability to set
+ falling edge events. Reported by Mark Dootson.
+
+ \version 1.23 Added bcm2835_i2c_set_baudrate and bcm2835_i2c_read_register_rs.
+ Improvements to bcm2835_i2c_read and bcm2835_i2c_write functions
+ to fix ocasional reads not completing. Patched by Mark Dootson.
+
+ \version 1.24 Mark Dootson p[atched a problem with his previously submitted code
+ under high load from other processes.
+
+ \version 1.25 Updated author and distribution location details to airspayce.com
+
+ \version 1.26 Added missing unmapmem for pads in bcm2835_close to prevent a memory leak.
+ Reported by Hartmut Henkel.
+
+ \version 1.27 bcm2835_gpio_set_pad() no longer needs BCM2835_PAD_PASSWRD: it is
+ now automatically included.
+ Added suport for PWM mode with bcm2835_pwm_* functions.
+
+ \version 1.28 Fixed a problem where bcm2835_spi_writenb() would have problems with transfers of more than
+ 64 bytes dues to read buffer filling. Patched by Peter Würtz.
+
+ \version 1.29 Further fix to SPI from Peter Würtz.
+
+ \version 1.30 10 microsecond delays from bcm2835_spi_transfer and bcm2835_spi_transfern for
+ significant performance improvements, Patch by Alan Watson.
+
+ \version 1.31 Fix a GCC warning about dummy variable, patched by Alan Watson. Thanks.
+
+ \version 1.32 Added option I2C_V1 definition to compile for version 1 RPi.
+ By default I2C code is generated for the V2 RPi which has SDA1 and SCL1 connected.
+ Contributed by Malcolm Wiles based on work by Arvi Govindaraj.
+
+ \version 1.33 Added command line utilities i2c and gpio to examples. Contributed by Shahrooz Shahparnia.
+
+ \version 1.34 Added bcm2835_i2c_write_read_rs() which writes an arbitrary number of bytes,
+ sends a repeat start, and reads from the device. Contributed by Eduardo Steinhorst.
+
+ \version 1.35 Fix build errors when compiled under Qt. Also performance improvements with SPI transfers. Contributed b Udo Klaas.
+
+ \version 1.36 Make automake's test runner detect that we're skipping tests when not root, the second
+ one makes us skip the test when using fakeroot (as used when building
+ Debian packages). Contributed by Guido Günther.
+
+ \version 1.37 Moved confiure.in to configure.ac as receommnded by autoreconf.
+ Improvements to bcm2835_st_read to account for possible timer overflow, contributed by 'Ed'.
+ Added definitions for Raspberry Pi B+ J8 header GPIO pins.
+
+ \version 1.38 Added bcm2835_regbase for the benefit of C# wrappers, patch by Frank Hommers
+
+ \version 1.39 Beta version of RPi2 compatibility. Not tested here on RPi2 hardware.
+ Testers please confirm correct operation on RPi2.
+ Unneccessary 'volatile' qualifiers removed from all variables and signatures.
+ Removed unsupportable PWM dividers, based on a report from Christophe Cecillon.
+ Minor improvements to spi.c example.
+
+ \version 1.40 Correct operation on RPi2 has been confirmed.
+ Fixed a number of compiler errors and warnings that occur when bcm2835.h is included
+ in code compiled with -Wall -Woverflow -Wstrict-overflow -Wshadow -Wextra -pedantic.
+ Reported by tlhackque.
+ Fixed a problem where calling bcm2835_delayMicroseconds loops forever when debug is set. Reported by tlhackque.
+ Reinstated use of volatile in 2 functions where there was a danger of lost reads or writes. Reported by tlhackque.
+
+ \version 1.41 Added BCM2835_VERSION macro and new function bcm2835_version(); Requested by tlhackque.
+ Improvements to peripheral memory barriers as suggested by tlhackque.
+ Reinstated some necessary volatile declarations as requested by tlhackque.
+
+ \version 1.42 Further improvements to memory barriers with the patient assistance and patches of tlhackque.
+
+ \version 1.43 Fixed problems with compiling barriers on RPI 2 with Arch Linux and gcc 4.9.2.
+ Reported and patched by Lars Christensen.
+ Testing on RPI 2, with ArchLinuxARM-rpi-2-latest and 2015-02-16-raspbian-wheezy.
+
+ \version 1.44 Added documention about the need for device tree to be enabled on RPI2.
+ Improvements to detection of availablity of DMB instruction based on value of __ARM_ARCH macro.
+
+ \version 1.45 Fixed an error in the pad group offsets that would prevent bcm2835_gpio_set_pad()
+ and bcm2835_gpio_pad() working correctly with non-0 pad groups. Reported by Guido.
+
+ \version 1.46 2015-09-18
+ Added symbolic definitions for remaining pins on 40 pin GPIO header on RPi 2.
+
+ \version 1.47 2015-11-18
+ Fixed possibly incorrect reads in bcm2835_i2c_read_register_rs, patch from Eckhardt Ulrich.
+
+ \version 1.48 2015-12-08
+ Added patch from Eckhardt Ulrich that fixed problems that could cause hanging with bcm2835_i2c_read_register_rs
+ and others.
+
+ \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
+*/
+
+
+/* Defines for BCM2835 */
+#ifndef BCM2835_H
+#define BCM2835_H
+
+#include
+
+#define BCM2835_VERSION 10048 /* Version 1.48 */
+
+/* RPi 2 is ARM v7, and has DMB instruction for memory barriers.
+ Older RPis are ARM v6 and don't, so a coprocessor instruction must be used instead.
+ However, not all versions of gcc in all distros support the dmb assembler instruction even on conmpatible processors.
+ This test is so any ARMv7 or higher processors with suitable GCC will use DMB.
+*/
+#if __ARM_ARCH >= 7
+#define BCM2835_HAVE_DMB
+#endif
+
+/*! \defgroup constants Constants for passing to and from library functions
+ The values here are designed to be passed to various functions in the bcm2835 library.
+ @{
+*/
+
+/*! This means pin HIGH, true, 3.3volts on a pin. */
+#define HIGH 0x1
+/*! This means pin LOW, false, 0volts on a pin. */
+#define LOW 0x0
+
+/*! Speed of the core clock core_clk */
+#define BCM2835_CORE_CLK_HZ 250000000 /*!< 250 MHz */
+
+/*! On RPi2 with BCM2836, and all recent OSs, the base of the peripherals is read from a /proc file */
+#define BMC2835_RPI2_DT_FILENAME "/proc/device-tree/soc/ranges"
+/*! Offset into BMC2835_RPI2_DT_FILENAME for the peripherals base address */
+#define BMC2835_RPI2_DT_PERI_BASE_ADDRESS_OFFSET 4
+/*! Offset into BMC2835_RPI2_DT_FILENAME for the peripherals size address */
+#define BMC2835_RPI2_DT_PERI_SIZE_OFFSET 8
+
+/*! Physical addresses for various peripheral register sets
+ Base Physical Address of the BCM 2835 peripheral registers
+ Note this is different for the RPi2 BCM2836, where this is derived from /proc/device-tree/soc/ranges
+ If /proc/device-tree/soc/ranges exists on a RPi 1 OS, it would be expected to contain the
+ following numbers:
+*/
+/*! Peripherals block base address on RPi 1 */
+#define BCM2835_PERI_BASE 0x20000000
+/*! Size of the peripherals block on RPi 1 */
+#define BCM2835_PERI_SIZE 0x01000000
+
+/*! Offsets for the bases of various peripherals within the peripherals block
+ / Base Address of the System Timer registers
+*/
+#define BCM2835_ST_BASE 0x3000
+/*! Base Address of the Pads registers */
+#define BCM2835_GPIO_PADS 0x100000
+/*! Base Address of the Clock/timer registers */
+#define BCM2835_CLOCK_BASE 0x101000
+/*! Base Address of the GPIO registers */
+#define BCM2835_GPIO_BASE 0x200000
+/*! Base Address of the SPI0 registers */
+#define BCM2835_SPI0_BASE 0x204000
+/*! Base Address of the BSC0 registers */
+#define BCM2835_BSC0_BASE 0x205000
+/*! Base Address of the PWM registers */
+#define BCM2835_GPIO_PWM 0x20C000
+/*! Base Address of the BSC1 registers */
+#define BCM2835_BSC1_BASE 0x804000
+
+/*! Physical address and size of the peripherals block
+ May be overridden on RPi2
+*/
+extern uint32_t *bcm2835_peripherals_base;
+/*! Size of the peripherals block to be mapped */
+extern uint32_t bcm2835_peripherals_size;
+
+/*! Virtual memory address of the mapped peripherals block */
+extern uint32_t *bcm2835_peripherals;
+
+/*! Base of the ST (System Timer) registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_st;
+
+/*! Base of the GPIO registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_gpio;
+
+/*! Base of the PWM registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_pwm;
+
+/*! Base of the CLK registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_clk;
+
+/*! Base of the PADS registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_pads;
+
+/*! Base of the SPI0 registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_spi0;
+
+/*! Base of the BSC0 registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_bsc0;
+
+/*! Base of the BSC1 registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_bsc1;
+
+/*! \brief bcm2835RegisterBase
+ Register bases for bcm2835_regbase()
+*/
+typedef enum
+{
+ BCM2835_REGBASE_ST = 1, /*!< Base of the ST (System Timer) registers. */
+ BCM2835_REGBASE_GPIO = 2, /*!< Base of the GPIO registers. */
+ BCM2835_REGBASE_PWM = 3, /*!< Base of the PWM registers. */
+ BCM2835_REGBASE_CLK = 4, /*!< Base of the CLK registers. */
+ BCM2835_REGBASE_PADS = 5, /*!< Base of the PADS registers. */
+ BCM2835_REGBASE_SPI0 = 6, /*! Base of the SPI0 registers. */
+ BCM2835_REGBASE_BSC0 = 7, /*!< Base of the BSC0 registers. */
+ BCM2835_REGBASE_BSC1 = 8 /*!< Base of the BSC1 registers. */
+} bcm2835RegisterBase;
+
+/*! Size of memory page on RPi */
+#define BCM2835_PAGE_SIZE (4*1024)
+/*! Size of memory block on RPi */
+#define BCM2835_BLOCK_SIZE (4*1024)
+
+
+/* Defines for GPIO
+ The BCM2835 has 54 GPIO pins.
+ BCM2835 data sheet, Page 90 onwards.
+*/
+/*! GPIO register offsets from BCM2835_GPIO_BASE.
+ Offsets into the GPIO Peripheral block in bytes per 6.1 Register View
+*/
+#define BCM2835_GPFSEL0 0x0000 /*!< GPIO Function Select 0 */
+#define BCM2835_GPFSEL1 0x0004 /*!< GPIO Function Select 1 */
+#define BCM2835_GPFSEL2 0x0008 /*!< GPIO Function Select 2 */
+#define BCM2835_GPFSEL3 0x000c /*!< GPIO Function Select 3 */
+#define BCM2835_GPFSEL4 0x0010 /*!< GPIO Function Select 4 */
+#define BCM2835_GPFSEL5 0x0014 /*!< GPIO Function Select 5 */
+#define BCM2835_GPSET0 0x001c /*!< GPIO Pin Output Set 0 */
+#define BCM2835_GPSET1 0x0020 /*!< GPIO Pin Output Set 1 */
+#define BCM2835_GPCLR0 0x0028 /*!< GPIO Pin Output Clear 0 */
+#define BCM2835_GPCLR1 0x002c /*!< GPIO Pin Output Clear 1 */
+#define BCM2835_GPLEV0 0x0034 /*!< GPIO Pin Level 0 */
+#define BCM2835_GPLEV1 0x0038 /*!< GPIO Pin Level 1 */
+#define BCM2835_GPEDS0 0x0040 /*!< GPIO Pin Event Detect Status 0 */
+#define BCM2835_GPEDS1 0x0044 /*!< GPIO Pin Event Detect Status 1 */
+#define BCM2835_GPREN0 0x004c /*!< GPIO Pin Rising Edge Detect Enable 0 */
+#define BCM2835_GPREN1 0x0050 /*!< GPIO Pin Rising Edge Detect Enable 1 */
+#define BCM2835_GPFEN0 0x0058 /*!< GPIO Pin Falling Edge Detect Enable 0 */
+#define BCM2835_GPFEN1 0x005c /*!< GPIO Pin Falling Edge Detect Enable 1 */
+#define BCM2835_GPHEN0 0x0064 /*!< GPIO Pin High Detect Enable 0 */
+#define BCM2835_GPHEN1 0x0068 /*!< GPIO Pin High Detect Enable 1 */
+#define BCM2835_GPLEN0 0x0070 /*!< GPIO Pin Low Detect Enable 0 */
+#define BCM2835_GPLEN1 0x0074 /*!< GPIO Pin Low Detect Enable 1 */
+#define BCM2835_GPAREN0 0x007c /*!< GPIO Pin Async. Rising Edge Detect 0 */
+#define BCM2835_GPAREN1 0x0080 /*!< GPIO Pin Async. Rising Edge Detect 1 */
+#define BCM2835_GPAFEN0 0x0088 /*!< GPIO Pin Async. Falling Edge Detect 0 */
+#define BCM2835_GPAFEN1 0x008c /*!< GPIO Pin Async. Falling Edge Detect 1 */
+#define BCM2835_GPPUD 0x0094 /*!< GPIO Pin Pull-up/down Enable */
+#define BCM2835_GPPUDCLK0 0x0098 /*!< GPIO Pin Pull-up/down Enable Clock 0 */
+#define BCM2835_GPPUDCLK1 0x009c /*!< GPIO Pin Pull-up/down Enable Clock 1 */
+
+/*! \brief bcm2835PortFunction
+ Port function select modes for bcm2835_gpio_fsel()
+*/
+typedef enum
+{
+ BCM2835_GPIO_FSEL_INPT = 0x00, /*!< Input 0b000 */
+ BCM2835_GPIO_FSEL_OUTP = 0x01, /*!< Output 0b001 */
+ BCM2835_GPIO_FSEL_ALT0 = 0x04, /*!< Alternate function 0 0b100 */
+ BCM2835_GPIO_FSEL_ALT1 = 0x05, /*!< Alternate function 1 0b101 */
+ BCM2835_GPIO_FSEL_ALT2 = 0x06, /*!< Alternate function 2 0b110, */
+ BCM2835_GPIO_FSEL_ALT3 = 0x07, /*!< Alternate function 3 0b111 */
+ BCM2835_GPIO_FSEL_ALT4 = 0x03, /*!< Alternate function 4 0b011 */
+ BCM2835_GPIO_FSEL_ALT5 = 0x02, /*!< Alternate function 5 0b010 */
+ BCM2835_GPIO_FSEL_MASK = 0x07 /*!< Function select bits mask 0b111 */
+} bcm2835FunctionSelect;
+
+/*! \brief bcm2835PUDControl
+ Pullup/Pulldown defines for bcm2835_gpio_pud()
+*/
+typedef enum
+{
+ BCM2835_GPIO_PUD_OFF = 0x00, /*!< Off ? disable pull-up/down 0b00 */
+ BCM2835_GPIO_PUD_DOWN = 0x01, /*!< Enable Pull Down control 0b01 */
+ BCM2835_GPIO_PUD_UP = 0x02 /*!< Enable Pull Up control 0b10 */
+} bcm2835PUDControl;
+
+/*! Pad control register offsets from BCM2835_GPIO_PADS */
+#define BCM2835_PADS_GPIO_0_27 0x002c /*!< Pad control register for pads 0 to 27 */
+#define BCM2835_PADS_GPIO_28_45 0x0030 /*!< Pad control register for pads 28 to 45 */
+#define BCM2835_PADS_GPIO_46_53 0x0034 /*!< Pad control register for pads 46 to 53 */
+
+/*! Pad Control masks */
+#define BCM2835_PAD_PASSWRD (0x5A << 24) /*!< Password to enable setting pad mask */
+#define BCM2835_PAD_SLEW_RATE_UNLIMITED 0x10 /*!< Slew rate unlimited */
+#define BCM2835_PAD_HYSTERESIS_ENABLED 0x08 /*!< Hysteresis enabled */
+#define BCM2835_PAD_DRIVE_2mA 0x00 /*!< 2mA drive current */
+#define BCM2835_PAD_DRIVE_4mA 0x01 /*!< 4mA drive current */
+#define BCM2835_PAD_DRIVE_6mA 0x02 /*!< 6mA drive current */
+#define BCM2835_PAD_DRIVE_8mA 0x03 /*!< 8mA drive current */
+#define BCM2835_PAD_DRIVE_10mA 0x04 /*!< 10mA drive current */
+#define BCM2835_PAD_DRIVE_12mA 0x05 /*!< 12mA drive current */
+#define BCM2835_PAD_DRIVE_14mA 0x06 /*!< 14mA drive current */
+#define BCM2835_PAD_DRIVE_16mA 0x07 /*!< 16mA drive current */
+
+/*! \brief bcm2835PadGroup
+ Pad group specification for bcm2835_gpio_pad()
+*/
+typedef enum
+{
+ BCM2835_PAD_GROUP_GPIO_0_27 = 0, /*!< Pad group for GPIO pads 0 to 27 */
+ BCM2835_PAD_GROUP_GPIO_28_45 = 1, /*!< Pad group for GPIO pads 28 to 45 */
+ BCM2835_PAD_GROUP_GPIO_46_53 = 2 /*!< Pad group for GPIO pads 46 to 53 */
+} bcm2835PadGroup;
+
+/*! \brief GPIO Pin Numbers
+
+ Here we define Raspberry Pin GPIO pins on P1 in terms of the underlying BCM GPIO pin numbers.
+ These can be passed as a pin number to any function requiring a pin.
+ Not all pins on the RPi 26 bin IDE plug are connected to GPIO pins
+ and some can adopt an alternate function.
+ RPi version 2 has some slightly different pinouts, and these are values RPI_V2_*.
+ RPi B+ has yet differnet pinouts and these are defined in RPI_BPLUS_*.
+ At bootup, pins 8 and 10 are set to UART0_TXD, UART0_RXD (ie the alt0 function) respectively
+ When SPI0 is in use (ie after bcm2835_spi_begin()), SPI0 pins are dedicated to SPI
+ and cant be controlled independently.
+ If you are using the RPi Compute Module, just use the GPIO number: there is no need to use one of these
+ symbolic names
+*/
+typedef enum
+{
+ RPI_GPIO_P1_03 = 0, /*!< Version 1, Pin P1-03 */
+ RPI_GPIO_P1_05 = 1, /*!< Version 1, Pin P1-05 */
+ RPI_GPIO_P1_07 = 4, /*!< Version 1, Pin P1-07 */
+ RPI_GPIO_P1_08 = 14, /*!< Version 1, Pin P1-08, defaults to alt function 0 UART0_TXD */
+ RPI_GPIO_P1_10 = 15, /*!< Version 1, Pin P1-10, defaults to alt function 0 UART0_RXD */
+ RPI_GPIO_P1_11 = 17, /*!< Version 1, Pin P1-11 */
+ RPI_GPIO_P1_12 = 18, /*!< Version 1, Pin P1-12, can be PWM channel 0 in ALT FUN 5 */
+ RPI_GPIO_P1_13 = 21, /*!< Version 1, Pin P1-13 */
+ RPI_GPIO_P1_15 = 22, /*!< Version 1, Pin P1-15 */
+ RPI_GPIO_P1_16 = 23, /*!< Version 1, Pin P1-16 */
+ RPI_GPIO_P1_18 = 24, /*!< Version 1, Pin P1-18 */
+ RPI_GPIO_P1_19 = 10, /*!< Version 1, Pin P1-19, MOSI when SPI0 in use */
+ RPI_GPIO_P1_21 = 9, /*!< Version 1, Pin P1-21, MISO when SPI0 in use */
+ RPI_GPIO_P1_22 = 25, /*!< Version 1, Pin P1-22 */
+ RPI_GPIO_P1_23 = 11, /*!< Version 1, Pin P1-23, CLK when SPI0 in use */
+ RPI_GPIO_P1_24 = 8, /*!< Version 1, Pin P1-24, CE0 when SPI0 in use */
+ RPI_GPIO_P1_26 = 7, /*!< Version 1, Pin P1-26, CE1 when SPI0 in use */
+
+ /* RPi Version 2 */
+ RPI_V2_GPIO_P1_03 = 2, /*!< Version 2, Pin P1-03 */
+ RPI_V2_GPIO_P1_05 = 3, /*!< Version 2, Pin P1-05 */
+ RPI_V2_GPIO_P1_07 = 4, /*!< Version 2, Pin P1-07 */
+ RPI_V2_GPIO_P1_08 = 14, /*!< Version 2, Pin P1-08, defaults to alt function 0 UART0_TXD */
+ RPI_V2_GPIO_P1_10 = 15, /*!< Version 2, Pin P1-10, defaults to alt function 0 UART0_RXD */
+ RPI_V2_GPIO_P1_11 = 17, /*!< Version 2, Pin P1-11 */
+ RPI_V2_GPIO_P1_12 = 18, /*!< Version 2, Pin P1-12, can be PWM channel 0 in ALT FUN 5 */
+ RPI_V2_GPIO_P1_13 = 27, /*!< Version 2, Pin P1-13 */
+ RPI_V2_GPIO_P1_15 = 22, /*!< Version 2, Pin P1-15 */
+ RPI_V2_GPIO_P1_16 = 23, /*!< Version 2, Pin P1-16 */
+ RPI_V2_GPIO_P1_18 = 24, /*!< Version 2, Pin P1-18 */
+ RPI_V2_GPIO_P1_19 = 10, /*!< Version 2, Pin P1-19, MOSI when SPI0 in use */
+ RPI_V2_GPIO_P1_21 = 9, /*!< Version 2, Pin P1-21, MISO when SPI0 in use */
+ RPI_V2_GPIO_P1_22 = 25, /*!< Version 2, Pin P1-22 */
+ RPI_V2_GPIO_P1_23 = 11, /*!< Version 2, Pin P1-23, CLK when SPI0 in use */
+ RPI_V2_GPIO_P1_24 = 8, /*!< Version 2, Pin P1-24, CE0 when SPI0 in use */
+ RPI_V2_GPIO_P1_26 = 7, /*!< Version 2, Pin P1-26, CE1 when SPI0 in use */
+ RPI_V2_GPIO_P1_29 = 5, /*!< Version 2, Pin P1-29 */
+ RPI_V2_GPIO_P1_31 = 6, /*!< Version 2, Pin P1-31 */
+ RPI_V2_GPIO_P1_32 = 12, /*!< Version 2, Pin P1-32 */
+ RPI_V2_GPIO_P1_33 = 13, /*!< Version 2, Pin P1-33 */
+ RPI_V2_GPIO_P1_35 = 19, /*!< Version 2, Pin P1-35 */
+ RPI_V2_GPIO_P1_36 = 16, /*!< Version 2, Pin P1-36 */
+ RPI_V2_GPIO_P1_37 = 26, /*!< Version 2, Pin P1-37 */
+ RPI_V2_GPIO_P1_38 = 20, /*!< Version 2, Pin P1-38 */
+ RPI_V2_GPIO_P1_40 = 21, /*!< Version 2, Pin P1-40 */
+
+ /* RPi Version 2, new plug P5 */
+ RPI_V2_GPIO_P5_03 = 28, /*!< Version 2, Pin P5-03 */
+ RPI_V2_GPIO_P5_04 = 29, /*!< Version 2, Pin P5-04 */
+ RPI_V2_GPIO_P5_05 = 30, /*!< Version 2, Pin P5-05 */
+ RPI_V2_GPIO_P5_06 = 31, /*!< Version 2, Pin P5-06 */
+
+ /* RPi B+ J8 header, also RPi 2 40 pin GPIO header */
+ RPI_BPLUS_GPIO_J8_03 = 2, /*!< B+, Pin J8-03 */
+ RPI_BPLUS_GPIO_J8_05 = 3, /*!< B+, Pin J8-05 */
+ RPI_BPLUS_GPIO_J8_07 = 4, /*!< B+, Pin J8-07 */
+ RPI_BPLUS_GPIO_J8_08 = 14, /*!< B+, Pin J8-08, defaults to alt function 0 UART0_TXD */
+ RPI_BPLUS_GPIO_J8_10 = 15, /*!< B+, Pin J8-10, defaults to alt function 0 UART0_RXD */
+ RPI_BPLUS_GPIO_J8_11 = 17, /*!< B+, Pin J8-11 */
+ RPI_BPLUS_GPIO_J8_12 = 18, /*!< B+, Pin J8-12, can be PWM channel 0 in ALT FUN 5 */
+ RPI_BPLUS_GPIO_J8_13 = 27, /*!< B+, Pin J8-13 */
+ RPI_BPLUS_GPIO_J8_15 = 22, /*!< B+, Pin J8-15 */
+ RPI_BPLUS_GPIO_J8_16 = 23, /*!< B+, Pin J8-16 */
+ RPI_BPLUS_GPIO_J8_18 = 24, /*!< B+, Pin J8-18 */
+ RPI_BPLUS_GPIO_J8_19 = 10, /*!< B+, Pin J8-19, MOSI when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_21 = 9, /*!< B+, Pin J8-21, MISO when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_22 = 25, /*!< B+, Pin J8-22 */
+ RPI_BPLUS_GPIO_J8_23 = 11, /*!< B+, Pin J8-23, CLK when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_24 = 8, /*!< B+, Pin J8-24, CE0 when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_26 = 7, /*!< B+, Pin J8-26, CE1 when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_29 = 5, /*!< B+, Pin J8-29, */
+ RPI_BPLUS_GPIO_J8_31 = 6, /*!< B+, Pin J8-31, */
+ RPI_BPLUS_GPIO_J8_32 = 12, /*!< B+, Pin J8-32, */
+ RPI_BPLUS_GPIO_J8_33 = 13, /*!< B+, Pin J8-33, */
+ RPI_BPLUS_GPIO_J8_35 = 19, /*!< B+, Pin J8-35, */
+ RPI_BPLUS_GPIO_J8_36 = 16, /*!< B+, Pin J8-36, */
+ RPI_BPLUS_GPIO_J8_37 = 26, /*!< B+, Pin J8-37, */
+ RPI_BPLUS_GPIO_J8_38 = 20, /*!< B+, Pin J8-38, */
+ RPI_BPLUS_GPIO_J8_40 = 21 /*!< B+, Pin J8-40, */
+} RPiGPIOPin;
+
+/* Defines for SPI
+ GPIO register offsets from BCM2835_SPI0_BASE.
+ Offsets into the SPI Peripheral block in bytes per 10.5 SPI Register Map
+*/
+#define BCM2835_SPI0_CS 0x0000 /*!< SPI Master Control and Status */
+#define BCM2835_SPI0_FIFO 0x0004 /*!< SPI Master TX and RX FIFOs */
+#define BCM2835_SPI0_CLK 0x0008 /*!< SPI Master Clock Divider */
+#define BCM2835_SPI0_DLEN 0x000c /*!< SPI Master Data Length */
+#define BCM2835_SPI0_LTOH 0x0010 /*!< SPI LOSSI mode TOH */
+#define BCM2835_SPI0_DC 0x0014 /*!< SPI DMA DREQ Controls */
+
+/* Register masks for SPI0_CS */
+#define BCM2835_SPI0_CS_LEN_LONG 0x02000000 /*!< Enable Long data word in Lossi mode if DMA_LEN is set */
+#define BCM2835_SPI0_CS_DMA_LEN 0x01000000 /*!< Enable DMA mode in Lossi mode */
+#define BCM2835_SPI0_CS_CSPOL2 0x00800000 /*!< Chip Select 2 Polarity */
+#define BCM2835_SPI0_CS_CSPOL1 0x00400000 /*!< Chip Select 1 Polarity */
+#define BCM2835_SPI0_CS_CSPOL0 0x00200000 /*!< Chip Select 0 Polarity */
+#define BCM2835_SPI0_CS_RXF 0x00100000 /*!< RXF - RX FIFO Full */
+#define BCM2835_SPI0_CS_RXR 0x00080000 /*!< RXR RX FIFO needs Reading (full) */
+#define BCM2835_SPI0_CS_TXD 0x00040000 /*!< TXD TX FIFO can accept Data */
+#define BCM2835_SPI0_CS_RXD 0x00020000 /*!< RXD RX FIFO contains Data */
+#define BCM2835_SPI0_CS_DONE 0x00010000 /*!< Done transfer Done */
+#define BCM2835_SPI0_CS_TE_EN 0x00008000 /*!< Unused */
+#define BCM2835_SPI0_CS_LMONO 0x00004000 /*!< Unused */
+#define BCM2835_SPI0_CS_LEN 0x00002000 /*!< LEN LoSSI enable */
+#define BCM2835_SPI0_CS_REN 0x00001000 /*!< REN Read Enable */
+#define BCM2835_SPI0_CS_ADCS 0x00000800 /*!< ADCS Automatically Deassert Chip Select */
+#define BCM2835_SPI0_CS_INTR 0x00000400 /*!< INTR Interrupt on RXR */
+#define BCM2835_SPI0_CS_INTD 0x00000200 /*!< INTD Interrupt on Done */
+#define BCM2835_SPI0_CS_DMAEN 0x00000100 /*!< DMAEN DMA Enable */
+#define BCM2835_SPI0_CS_TA 0x00000080 /*!< Transfer Active */
+#define BCM2835_SPI0_CS_CSPOL 0x00000040 /*!< Chip Select Polarity */
+#define BCM2835_SPI0_CS_CLEAR 0x00000030 /*!< Clear FIFO Clear RX and TX */
+#define BCM2835_SPI0_CS_CLEAR_RX 0x00000020 /*!< Clear FIFO Clear RX */
+#define BCM2835_SPI0_CS_CLEAR_TX 0x00000010 /*!< Clear FIFO Clear TX */
+#define BCM2835_SPI0_CS_CPOL 0x00000008 /*!< Clock Polarity */
+#define BCM2835_SPI0_CS_CPHA 0x00000004 /*!< Clock Phase */
+#define BCM2835_SPI0_CS_CS 0x00000003 /*!< Chip Select */
+
+/*! \brief bcm2835SPIBitOrder SPI Bit order
+ Specifies the SPI data bit ordering for bcm2835_spi_setBitOrder()
+*/
+typedef enum
+{
+ BCM2835_SPI_BIT_ORDER_LSBFIRST = 0, /*!< LSB First */
+ BCM2835_SPI_BIT_ORDER_MSBFIRST = 1 /*!< MSB First */
+}bcm2835SPIBitOrder;
+
+/*! \brief SPI Data mode
+ Specify the SPI data mode to be passed to bcm2835_spi_setDataMode()
+*/
+typedef enum
+{
+ BCM2835_SPI_MODE0 = 0, /*!< CPOL = 0, CPHA = 0 */
+ BCM2835_SPI_MODE1 = 1, /*!< CPOL = 0, CPHA = 1 */
+ BCM2835_SPI_MODE2 = 2, /*!< CPOL = 1, CPHA = 0 */
+ BCM2835_SPI_MODE3 = 3 /*!< CPOL = 1, CPHA = 1 */
+}bcm2835SPIMode;
+
+/*! \brief bcm2835SPIChipSelect
+ Specify the SPI chip select pin(s)
+*/
+typedef enum
+{
+ BCM2835_SPI_CS0 = 0, /*!< Chip Select 0 */
+ BCM2835_SPI_CS1 = 1, /*!< Chip Select 1 */
+ BCM2835_SPI_CS2 = 2, /*!< Chip Select 2 (ie pins CS1 and CS2 are asserted) */
+ BCM2835_SPI_CS_NONE = 3 /*!< No CS, control it yourself */
+} bcm2835SPIChipSelect;
+
+/*! \brief bcm2835SPIClockDivider
+ Specifies the divider used to generate the SPI clock from the system clock.
+ Figures below give the divider, clock period and clock frequency.
+ Clock divided is based on nominal base clock rate of 250MHz
+ It is reported that (contrary to the documentation) any even divider may used.
+ The frequencies shown for each divider have been confirmed by measurement
+*/
+typedef enum
+{
+ BCM2835_SPI_CLOCK_DIVIDER_65536 = 0, /*!< 65536 = 262.144us = 3.814697260kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_32768 = 32768, /*!< 32768 = 131.072us = 7.629394531kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_16384 = 16384, /*!< 16384 = 65.536us = 15.25878906kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_8192 = 8192, /*!< 8192 = 32.768us = 30/51757813kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_4096 = 4096, /*!< 4096 = 16.384us = 61.03515625kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_2048 = 2048, /*!< 2048 = 8.192us = 122.0703125kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_1024 = 1024, /*!< 1024 = 4.096us = 244.140625kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_512 = 512, /*!< 512 = 2.048us = 488.28125kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_256 = 256, /*!< 256 = 1.024us = 976.5625kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_128 = 128, /*!< 128 = 512ns = = 1.953125MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_64 = 64, /*!< 64 = 256ns = 3.90625MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_32 = 32, /*!< 32 = 128ns = 7.8125MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_16 = 16, /*!< 16 = 64ns = 15.625MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_8 = 8, /*!< 8 = 32ns = 31.25MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_4 = 4, /*!< 4 = 16ns = 62.5MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_2 = 2, /*!< 2 = 8ns = 125MHz, fastest you can get */
+ BCM2835_SPI_CLOCK_DIVIDER_1 = 1 /*!< 1 = 262.144us = 3.814697260kHz, same as 0/65536 */
+} bcm2835SPIClockDivider;
+
+/* Defines for I2C
+ GPIO register offsets from BCM2835_BSC*_BASE.
+ Offsets into the BSC Peripheral block in bytes per 3.1 BSC Register Map
+*/
+#define BCM2835_BSC_C 0x0000 /*!< BSC Master Control */
+#define BCM2835_BSC_S 0x0004 /*!< BSC Master Status */
+#define BCM2835_BSC_DLEN 0x0008 /*!< BSC Master Data Length */
+#define BCM2835_BSC_A 0x000c /*!< BSC Master Slave Address */
+#define BCM2835_BSC_FIFO 0x0010 /*!< BSC Master Data FIFO */
+#define BCM2835_BSC_DIV 0x0014 /*!< BSC Master Clock Divider */
+#define BCM2835_BSC_DEL 0x0018 /*!< BSC Master Data Delay */
+#define BCM2835_BSC_CLKT 0x001c /*!< BSC Master Clock Stretch Timeout */
+
+/* Register masks for BSC_C */
+#define BCM2835_BSC_C_I2CEN 0x00008000 /*!< I2C Enable, 0 = disabled, 1 = enabled */
+#define BCM2835_BSC_C_INTR 0x00000400 /*!< Interrupt on RX */
+#define BCM2835_BSC_C_INTT 0x00000200 /*!< Interrupt on TX */
+#define BCM2835_BSC_C_INTD 0x00000100 /*!< Interrupt on DONE */
+#define BCM2835_BSC_C_ST 0x00000080 /*!< Start transfer, 1 = Start a new transfer */
+#define BCM2835_BSC_C_CLEAR_1 0x00000020 /*!< Clear FIFO Clear */
+#define BCM2835_BSC_C_CLEAR_2 0x00000010 /*!< Clear FIFO Clear */
+#define BCM2835_BSC_C_READ 0x00000001 /*!< Read transfer */
+
+/* Register masks for BSC_S */
+#define BCM2835_BSC_S_CLKT 0x00000200 /*!< Clock stretch timeout */
+#define BCM2835_BSC_S_ERR 0x00000100 /*!< ACK error */
+#define BCM2835_BSC_S_RXF 0x00000080 /*!< RXF FIFO full, 0 = FIFO is not full, 1 = FIFO is full */
+#define BCM2835_BSC_S_TXE 0x00000040 /*!< TXE FIFO full, 0 = FIFO is not full, 1 = FIFO is full */
+#define BCM2835_BSC_S_RXD 0x00000020 /*!< RXD FIFO contains data */
+#define BCM2835_BSC_S_TXD 0x00000010 /*!< TXD FIFO can accept data */
+#define BCM2835_BSC_S_RXR 0x00000008 /*!< RXR FIFO needs reading (full) */
+#define BCM2835_BSC_S_TXW 0x00000004 /*!< TXW FIFO needs writing (full) */
+#define BCM2835_BSC_S_DONE 0x00000002 /*!< Transfer DONE */
+#define BCM2835_BSC_S_TA 0x00000001 /*!< Transfer Active */
+
+#define BCM2835_BSC_FIFO_SIZE 16 /*!< BSC FIFO size */
+
+/*! \brief bcm2835I2CClockDivider
+ Specifies the divider used to generate the I2C clock from the system clock.
+ Clock divided is based on nominal base clock rate of 250MHz
+*/
+typedef enum
+{
+ BCM2835_I2C_CLOCK_DIVIDER_2500 = 2500, /*!< 2500 = 10us = 100 kHz */
+ BCM2835_I2C_CLOCK_DIVIDER_626 = 626, /*!< 622 = 2.504us = 399.3610 kHz */
+ BCM2835_I2C_CLOCK_DIVIDER_150 = 150, /*!< 150 = 60ns = 1.666 MHz (default at reset) */
+ BCM2835_I2C_CLOCK_DIVIDER_148 = 148 /*!< 148 = 59ns = 1.689 MHz */
+} bcm2835I2CClockDivider;
+
+/*! \brief bcm2835I2CReasonCodes
+ Specifies the reason codes for the bcm2835_i2c_write and bcm2835_i2c_read functions.
+*/
+typedef enum
+{
+ BCM2835_I2C_REASON_OK = 0x00, /*!< Success */
+ BCM2835_I2C_REASON_ERROR_NACK = 0x01, /*!< Received a NACK */
+ BCM2835_I2C_REASON_ERROR_CLKT = 0x02, /*!< Received Clock Stretch Timeout */
+ BCM2835_I2C_REASON_ERROR_DATA = 0x04 /*!< Not all data is sent / received */
+} bcm2835I2CReasonCodes;
+
+/* Defines for ST
+ GPIO register offsets from BCM2835_ST_BASE.
+ Offsets into the ST Peripheral block in bytes per 12.1 System Timer Registers
+ The System Timer peripheral provides four 32-bit timer channels and a single 64-bit free running counter.
+ BCM2835_ST_CLO is the System Timer Counter Lower bits register.
+ The system timer free-running counter lower register is a read-only register that returns the current value
+ of the lower 32-bits of the free running counter.
+ BCM2835_ST_CHI is the System Timer Counter Upper bits register.
+ The system timer free-running counter upper register is a read-only register that returns the current value
+ of the upper 32-bits of the free running counter.
+*/
+#define BCM2835_ST_CS 0x0000 /*!< System Timer Control/Status */
+#define BCM2835_ST_CLO 0x0004 /*!< System Timer Counter Lower 32 bits */
+#define BCM2835_ST_CHI 0x0008 /*!< System Timer Counter Upper 32 bits */
+
+/*! @} */
+
+
+/* Defines for PWM, word offsets (ie 4 byte multiples) */
+#define BCM2835_PWM_CONTROL 0
+#define BCM2835_PWM_STATUS 1
+#define BCM2835_PWM_DMAC 2
+#define BCM2835_PWM0_RANGE 4
+#define BCM2835_PWM0_DATA 5
+#define BCM2835_PWM_FIF1 6
+#define BCM2835_PWM1_RANGE 8
+#define BCM2835_PWM1_DATA 9
+
+/* Defines for PWM Clock, word offsets (ie 4 byte multiples) */
+#define BCM2835_PWMCLK_CNTL 40
+#define BCM2835_PWMCLK_DIV 41
+#define BCM2835_PWM_PASSWRD (0x5A << 24) /*!< Password to enable setting PWM clock */
+
+#define BCM2835_PWM1_MS_MODE 0x8000 /*!< Run in Mark/Space mode */
+#define BCM2835_PWM1_USEFIFO 0x2000 /*!< Data from FIFO */
+#define BCM2835_PWM1_REVPOLAR 0x1000 /*!< Reverse polarity */
+#define BCM2835_PWM1_OFFSTATE 0x0800 /*!< Ouput Off state */
+#define BCM2835_PWM1_REPEATFF 0x0400 /*!< Repeat last value if FIFO empty */
+#define BCM2835_PWM1_SERIAL 0x0200 /*!< Run in serial mode */
+#define BCM2835_PWM1_ENABLE 0x0100 /*!< Channel Enable */
+
+#define BCM2835_PWM0_MS_MODE 0x0080 /*!< Run in Mark/Space mode */
+#define BCM2835_PWM_CLEAR_FIFO 0x0040 /*!< Clear FIFO */
+#define BCM2835_PWM0_USEFIFO 0x0020 /*!< Data from FIFO */
+#define BCM2835_PWM0_REVPOLAR 0x0010 /*!< Reverse polarity */
+#define BCM2835_PWM0_OFFSTATE 0x0008 /*!< Ouput Off state */
+#define BCM2835_PWM0_REPEATFF 0x0004 /*!< Repeat last value if FIFO empty */
+#define BCM2835_PWM0_SERIAL 0x0002 /*!< Run in serial mode */
+#define BCM2835_PWM0_ENABLE 0x0001 /*!< Channel Enable */
+
+/*! \brief bcm2835PWMClockDivider
+ Specifies the divider used to generate the PWM clock from the system clock.
+ Figures below give the divider, clock period and clock frequency.
+ Clock divided is based on nominal PWM base clock rate of 19.2MHz
+ The frequencies shown for each divider have been confirmed by measurement
+*/
+typedef enum
+{
+ BCM2835_PWM_CLOCK_DIVIDER_2048 = 2048, /*!< 2048 = 9.375kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_1024 = 1024, /*!< 1024 = 18.75kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_512 = 512, /*!< 512 = 37.5kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_256 = 256, /*!< 256 = 75kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_128 = 128, /*!< 128 = 150kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_64 = 64, /*!< 64 = 300kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_32 = 32, /*!< 32 = 600.0kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_16 = 16, /*!< 16 = 1.2MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_8 = 8, /*!< 8 = 2.4MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_4 = 4, /*!< 4 = 4.8MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_2 = 2, /*!< 2 = 9.6MHz, fastest you can get */
+ BCM2835_PWM_CLOCK_DIVIDER_1 = 1 /*!< 1 = 4.6875kHz, same as divider 4096 */
+} bcm2835PWMClockDivider;
+
+/* Historical name compatibility */
+#ifndef BCM2835_NO_DELAY_COMPATIBILITY
+#define delay(x) bcm2835_delay(x)
+#define delayMicroseconds(x) bcm2835_delayMicroseconds(x)
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+ /*! \defgroup init Library initialisation and management
+ These functions allow you to intialise and control the bcm2835 library
+ @{
+ */
+
+ /*! Initialise the library by opening /dev/mem and getting pointers to the
+ internal memory for BCM 2835 device registers. You must call this (successfully)
+ before calling any other
+ functions in this library (except bcm2835_set_debug).
+ If bcm2835_init() fails by returning 0,
+ calling any other function may result in crashes or other failures.
+ Prints messages to stderr in case of errors.
+ \return 1 if successful else 0
+ */
+ extern int bcm2835_init(void);
+
+ /*! Close the library, deallocating any allocated memory and closing /dev/mem
+ \return 1 if successful else 0
+ */
+ extern int bcm2835_close(void);
+
+ /*! Sets the debug level of the library.
+ A value of 1 prevents mapping to /dev/mem, and makes the library print out
+ what it would do, rather than accessing the GPIO registers.
+ A value of 0, the default, causes normal operation.
+ Call this before calling bcm2835_init();
+ \param[in] debug The new debug level. 1 means debug
+ */
+ extern void bcm2835_set_debug(uint8_t debug);
+
+ /*! Returns the version number of the library, same as BCM2835_VERSION
+ \return the current library version number
+ */
+ extern unsigned int bcm2835_version(void);
+
+ /*! @} */
+
+ /*! \defgroup lowlevel Low level register access
+ These functions provide low level register access, and should not generally
+ need to be used
+
+ @{
+ */
+
+ /*! Gets the base of a register
+ \param[in] regbase You can use one of the common values BCM2835_REGBASE_*
+ in \ref bcm2835RegisterBase
+ \return the register base
+ \sa Physical Addresses
+ */
+ extern uint32_t* bcm2835_regbase(uint8_t regbase);
+
+ /*! Reads 32 bit value from a peripheral address WITH a memory barrier before and after each read.
+ This is safe, but slow. The MB before protects this read from any in-flight reads that didn't
+ use a MB. The MB after protects subsequent reads from another peripheral.
+
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \return the value read from the 32 bit register
+ \sa Physical Addresses
+ */
+ extern uint32_t bcm2835_peri_read(volatile uint32_t* paddr);
+
+ /*! Reads 32 bit value from a peripheral address WITHOUT the read barriers
+ You should only use this when:
+ o your code has previously called bcm2835_peri_read() for a register
+ within the same peripheral, and no read or write to another peripheral has occurred since.
+ o your code has called bcm2835_memory_barrier() since the last access to ANOTHER peripheral.
+
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \return the value read from the 32 bit register
+ \sa Physical Addresses
+ */
+ extern uint32_t bcm2835_peri_read_nb(volatile uint32_t* paddr);
+
+
+ /*! Writes 32 bit value from a peripheral address WITH a memory barrier before and after each write
+ This is safe, but slow. The MB before ensures that any in-flight write to another peripheral
+ completes before this write is issued. The MB after ensures that subsequent reads and writes
+ to another peripheral will see the effect of this write.
+
+ This is a tricky optimization; if you aren't sure, use the barrier version.
+
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \param[in] value The 32 bit value to write
+ \sa Physical Addresses
+ */
+ extern void bcm2835_peri_write(volatile uint32_t* paddr, uint32_t value);
+
+ /*! Writes 32 bit value from a peripheral address without the write barrier
+ You should only use this when:
+ o your code has previously called bcm2835_peri_write() for a register
+ within the same peripheral, and no other peripheral access has occurred since.
+ o your code has called bcm2835_memory_barrier() since the last access to ANOTHER peripheral.
+
+ This is a tricky optimization; if you aren't sure, use the barrier version.
+
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \param[in] value The 32 bit value to write
+ \sa Physical Addresses
+ */
+ extern void bcm2835_peri_write_nb(volatile uint32_t* paddr, uint32_t value);
+
+ /*! Alters a number of bits in a 32 peripheral regsiter.
+ It reads the current valu and then alters the bits defines as 1 in mask,
+ according to the bit value in value.
+ All other bits that are 0 in the mask are unaffected.
+ Use this to alter a subset of the bits in a register.
+ Memory barriers are used. Note that this is not atomic; an interrupt
+ routine can cause unexpected results.
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \param[in] value The 32 bit value to write, masked in by mask.
+ \param[in] mask Bitmask that defines the bits that will be altered in the register.
+ \sa Physical Addresses
+ */
+ extern void bcm2835_peri_set_bits(volatile uint32_t* paddr, uint32_t value, uint32_t mask);
+ /*! @} end of lowlevel */
+
+ /*! \defgroup gpio GPIO register access
+ These functions allow you to control the GPIO interface. You can set the
+ function of each GPIO pin, read the input state and set the output state.
+ @{
+ */
+
+ /*! Sets the Function Select register for the given pin, which configures
+ the pin as Input, Output or one of the 6 alternate functions.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \param[in] mode Mode to set the pin to, one of BCM2835_GPIO_FSEL_* from \ref bcm2835FunctionSelect
+ */
+ extern void bcm2835_gpio_fsel(uint8_t pin, uint8_t mode);
+
+ /*! Sets the specified pin output to
+ HIGH.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \sa bcm2835_gpio_write()
+ */
+ extern void bcm2835_gpio_set(uint8_t pin);
+
+ /*! Sets the specified pin output to
+ LOW.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \sa bcm2835_gpio_write()
+ */
+ extern void bcm2835_gpio_clr(uint8_t pin);
+
+ /*! Sets any of the first 32 GPIO output pins specified in the mask to
+ HIGH.
+ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ \sa bcm2835_gpio_write_multi()
+ */
+ extern void bcm2835_gpio_set_multi(uint32_t mask);
+
+ /*! Sets any of the first 32 GPIO output pins specified in the mask to
+ LOW.
+ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ \sa bcm2835_gpio_write_multi()
+ */
+ extern void bcm2835_gpio_clr_multi(uint32_t mask);
+
+ /*! Reads the current level on the specified
+ pin and returns either HIGH or LOW. Works whether or not the pin
+ is an input or an output.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \return the current level either HIGH or LOW
+ */
+ extern uint8_t bcm2835_gpio_lev(uint8_t pin);
+
+ /*! Event Detect Status.
+ Tests whether the specified pin has detected a level or edge
+ as requested by bcm2835_gpio_ren(), bcm2835_gpio_fen(), bcm2835_gpio_hen(),
+ bcm2835_gpio_len(), bcm2835_gpio_aren(), bcm2835_gpio_afen().
+ Clear the flag for a given pin by calling bcm2835_gpio_set_eds(pin);
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \return HIGH if the event detect status for the given pin is true.
+ */
+ extern uint8_t bcm2835_gpio_eds(uint8_t pin);
+
+ /*! Sets the Event Detect Status register for a given pin to 1,
+ which has the effect of clearing the flag. Use this afer seeing
+ an Event Detect Status on the pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_set_eds(uint8_t pin);
+
+ /*! Enable Rising Edge Detect Enable for the specified pin.
+ When a rising edge is detected, sets the appropriate pin in Event Detect Status.
+ The GPRENn registers use
+ synchronous edge detection. This means the input signal is sampled using the
+ system clock and then it is looking for a ?011? pattern on the sampled signal. This
+ has the effect of suppressing glitches.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_ren(uint8_t pin);
+
+ /*! Disable Rising Edge Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_ren(uint8_t pin);
+
+ /*! Enable Falling Edge Detect Enable for the specified pin.
+ When a falling edge is detected, sets the appropriate pin in Event Detect Status.
+ The GPRENn registers use
+ synchronous edge detection. This means the input signal is sampled using the
+ system clock and then it is looking for a ?100? pattern on the sampled signal. This
+ has the effect of suppressing glitches.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_fen(uint8_t pin);
+
+ /*! Disable Falling Edge Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_fen(uint8_t pin);
+
+ /*! Enable High Detect Enable for the specified pin.
+ When a HIGH level is detected on the pin, sets the appropriate pin in Event Detect Status.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_hen(uint8_t pin);
+
+ /*! Disable High Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_hen(uint8_t pin);
+
+ /*! Enable Low Detect Enable for the specified pin.
+ When a LOW level is detected on the pin, sets the appropriate pin in Event Detect Status.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_len(uint8_t pin);
+
+ /*! Disable Low Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_len(uint8_t pin);
+
+ /*! Enable Asynchronous Rising Edge Detect Enable for the specified pin.
+ When a rising edge is detected, sets the appropriate pin in Event Detect Status.
+ Asynchronous means the incoming signal is not sampled by the system clock. As such
+ rising edges of very short duration can be detected.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_aren(uint8_t pin);
+
+ /*! Disable Asynchronous Rising Edge Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_aren(uint8_t pin);
+
+ /*! Enable Asynchronous Falling Edge Detect Enable for the specified pin.
+ When a falling edge is detected, sets the appropriate pin in Event Detect Status.
+ Asynchronous means the incoming signal is not sampled by the system clock. As such
+ falling edges of very short duration can be detected.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_afen(uint8_t pin);
+
+ /*! Disable Asynchronous Falling Edge Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_afen(uint8_t pin);
+
+ /*! Sets the Pull-up/down register for the given pin. This is
+ used with bcm2835_gpio_pudclk() to set the Pull-up/down resistor for the given pin.
+ However, it is usually more convenient to use bcm2835_gpio_set_pud().
+ \param[in] pud The desired Pull-up/down mode. One of BCM2835_GPIO_PUD_* from bcm2835PUDControl
+ \sa bcm2835_gpio_set_pud()
+ */
+ extern void bcm2835_gpio_pud(uint8_t pud);
+
+ /*! Clocks the Pull-up/down value set earlier by bcm2835_gpio_pud() into the pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \param[in] on HIGH to clock the value from bcm2835_gpio_pud() into the pin.
+ LOW to remove the clock.
+ \sa bcm2835_gpio_set_pud()
+ */
+ extern void bcm2835_gpio_pudclk(uint8_t pin, uint8_t on);
+
+ /*! Reads and returns the Pad Control for the given GPIO group.
+ \param[in] group The GPIO pad group number, one of BCM2835_PAD_GROUP_GPIO_*
+ \return Mask of bits from BCM2835_PAD_* from \ref bcm2835PadGroup
+ */
+ extern uint32_t bcm2835_gpio_pad(uint8_t group);
+
+ /*! Sets the Pad Control for the given GPIO group.
+ \param[in] group The GPIO pad group number, one of BCM2835_PAD_GROUP_GPIO_*
+ \param[in] control Mask of bits from BCM2835_PAD_* from \ref bcm2835PadGroup. Note
+ that it is not necessary to include BCM2835_PAD_PASSWRD in the mask as this
+ is automatically included.
+ */
+ extern void bcm2835_gpio_set_pad(uint8_t group, uint32_t control);
+
+ /*! Delays for the specified number of milliseconds.
+ Uses nanosleep(), and therefore does not use CPU until the time is up.
+ However, you are at the mercy of nanosleep(). From the manual for nanosleep():
+ If the interval specified in req is not an exact multiple of the granularity
+ underlying clock (see time(7)), then the interval will be
+ rounded up to the next multiple. Furthermore, after the sleep completes,
+ there may still be a delay before the CPU becomes free to once
+ again execute the calling thread.
+ \param[in] millis Delay in milliseconds
+ */
+ extern void bcm2835_delay (unsigned int millis);
+
+ /*! Delays for the specified number of microseconds.
+ Uses a combination of nanosleep() and a busy wait loop on the BCM2835 system timers,
+ However, you are at the mercy of nanosleep(). From the manual for nanosleep():
+ If the interval specified in req is not an exact multiple of the granularity
+ underlying clock (see time(7)), then the interval will be
+ rounded up to the next multiple. Furthermore, after the sleep completes,
+ there may still be a delay before the CPU becomes free to once
+ again execute the calling thread.
+ For times less than about 450 microseconds, uses a busy wait on the System Timer.
+ It is reported that a delay of 0 microseconds on RaspberryPi will in fact
+ result in a delay of about 80 microseconds. Your mileage may vary.
+ \param[in] micros Delay in microseconds
+ */
+ extern void bcm2835_delayMicroseconds (uint64_t micros);
+
+ /*! Sets the output state of the specified pin
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \param[in] on HIGH sets the output to HIGH and LOW to LOW.
+ */
+ extern void bcm2835_gpio_write(uint8_t pin, uint8_t on);
+
+ /*! Sets any of the first 32 GPIO output pins specified in the mask to the state given by on
+ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ \param[in] on HIGH sets the output to HIGH and LOW to LOW.
+ */
+ extern void bcm2835_gpio_write_multi(uint32_t mask, uint8_t on);
+
+ /*! Sets the first 32 GPIO output pins specified in the mask to the value given by value
+ \param[in] value values required for each bit masked in by mask, eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ */
+ extern void bcm2835_gpio_write_mask(uint32_t value, uint32_t mask);
+
+ /*! Sets the Pull-up/down mode for the specified pin. This is more convenient than
+ clocking the mode in with bcm2835_gpio_pud() and bcm2835_gpio_pudclk().
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \param[in] pud The desired Pull-up/down mode. One of BCM2835_GPIO_PUD_* from bcm2835PUDControl
+ */
+ extern void bcm2835_gpio_set_pud(uint8_t pin, uint8_t pud);
+
+ /*! @} */
+
+ /*! \defgroup spi SPI access
+ These functions let you use SPI0 (Serial Peripheral Interface) to
+ interface with an external SPI device.
+ @{
+ */
+
+ /*! Start SPI operations.
+ Forces RPi SPI0 pins P1-19 (MOSI), P1-21 (MISO), P1-23 (CLK), P1-24 (CE0) and P1-26 (CE1)
+ to alternate function ALT0, which enables those pins for SPI interface.
+ You should call bcm2835_spi_end() when all SPI funcitons are complete to return the pins to
+ their default functions
+ \sa bcm2835_spi_end()
+ */
+ extern void bcm2835_spi_begin(void);
+
+ /*! End SPI operations.
+ SPI0 pins P1-19 (MOSI), P1-21 (MISO), P1-23 (CLK), P1-24 (CE0) and P1-26 (CE1)
+ are returned to their default INPUT behaviour.
+ */
+ extern void bcm2835_spi_end(void);
+
+ /*! Sets the SPI bit order
+ NOTE: has no effect. Not supported by SPI0.
+ Defaults to
+ \param[in] order The desired bit order, one of BCM2835_SPI_BIT_ORDER_*,
+ see \ref bcm2835SPIBitOrder
+ */
+ extern void bcm2835_spi_setBitOrder(uint8_t order);
+
+ /*! Sets the SPI clock divider and therefore the
+ SPI clock speed.
+ \param[in] divider The desired SPI clock divider, one of BCM2835_SPI_CLOCK_DIVIDER_*,
+ see \ref bcm2835SPIClockDivider
+ */
+ extern void bcm2835_spi_setClockDivider(uint16_t divider);
+
+ /*! Sets the SPI data mode
+ Sets the clock polariy and phase
+ \param[in] mode The desired data mode, one of BCM2835_SPI_MODE*,
+ see \ref bcm2835SPIMode
+ */
+ extern void bcm2835_spi_setDataMode(uint8_t mode);
+
+ /*! Sets the chip select pin(s)
+ When an bcm2835_spi_transfer() is made, the selected pin(s) will be asserted during the
+ transfer.
+ \param[in] cs Specifies the CS pins(s) that are used to activate the desired slave.
+ One of BCM2835_SPI_CS*, see \ref bcm2835SPIChipSelect
+ */
+ extern void bcm2835_spi_chipSelect(uint8_t cs);
+
+ /*! Sets the chip select pin polarity for a given pin
+ When an bcm2835_spi_transfer() occurs, the currently selected chip select pin(s)
+ will be asserted to the
+ value given by active. When transfers are not happening, the chip select pin(s)
+ return to the complement (inactive) value.
+ \param[in] cs The chip select pin to affect
+ \param[in] active Whether the chip select pin is to be active HIGH
+ */
+ extern void bcm2835_spi_setChipSelectPolarity(uint8_t cs, uint8_t active);
+
+ /*! Transfers one byte to and from the currently selected SPI slave.
+ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect)
+ during the transfer.
+ Clocks the 8 bit value out on MOSI, and simultaneously clocks in data from MISO.
+ Returns the read data byte from the slave.
+ Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual
+ \param[in] value The 8 bit data byte to write to MOSI
+ \return The 8 bit byte simultaneously read from MISO
+ \sa bcm2835_spi_transfern()
+ */
+ extern uint8_t bcm2835_spi_transfer(uint8_t value);
+
+ /*! Transfers any number of bytes to and from the currently selected SPI slave.
+ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect)
+ during the transfer.
+ Clocks the len 8 bit bytes out on MOSI, and simultaneously clocks in data from MISO.
+ The data read read from the slave is placed into rbuf. rbuf must be at least len bytes long
+ Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual
+ \param[in] tbuf Buffer of bytes to send.
+ \param[out] rbuf Received bytes will by put in this buffer
+ \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send/received
+ \sa bcm2835_spi_transfer()
+ */
+ extern void bcm2835_spi_transfernb(char* tbuf, char* rbuf, uint32_t len);
+
+ /*! Transfers any number of bytes to and from the currently selected SPI slave
+ using bcm2835_spi_transfernb.
+ The returned data from the slave replaces the transmitted data in the buffer.
+ \param[in,out] buf Buffer of bytes to send. Received bytes will replace the contents
+ \param[in] len Number of bytes int eh buffer, and the number of bytes to send/received
+ \sa bcm2835_spi_transfer()
+ */
+ extern void bcm2835_spi_transfern(char* buf, uint32_t len);
+
+ /*! Transfers any number of bytes to the currently selected SPI slave.
+ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect)
+ during the transfer.
+ \param[in] buf Buffer of bytes to send.
+ \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send
+ */
+ extern void bcm2835_spi_writenb(char* buf, uint32_t len);
+
+ /*! @} */
+
+ /*! \defgroup i2c I2C access
+ These functions let you use I2C (The Broadcom Serial Control bus with the Philips
+ I2C bus/interface version 2.1 January 2000.) to interface with an external I2C device.
+ @{
+ */
+
+ /*! Start I2C operations.
+ Forces RPi I2C pins P1-03 (SDA) and P1-05 (SCL)
+ to alternate function ALT0, which enables those pins for I2C interface.
+ You should call bcm2835_i2c_end() when all I2C functions are complete to return the pins to
+ their default functions
+ \sa bcm2835_i2c_end()
+ */
+ extern void bcm2835_i2c_begin(void);
+
+ /*! End I2C operations.
+ I2C pins P1-03 (SDA) and P1-05 (SCL)
+ are returned to their default INPUT behaviour.
+ */
+ extern void bcm2835_i2c_end(void);
+
+ /*! Sets the I2C slave address.
+ \param[in] addr The I2C slave address.
+ */
+ extern void bcm2835_i2c_setSlaveAddress(uint8_t addr);
+
+ /*! Sets the I2C clock divider and therefore the I2C clock speed.
+ \param[in] divider The desired I2C clock divider, one of BCM2835_I2C_CLOCK_DIVIDER_*,
+ see \ref bcm2835I2CClockDivider
+ */
+ extern void bcm2835_i2c_setClockDivider(uint16_t divider);
+
+ /*! Sets the I2C clock divider by converting the baudrate parameter to
+ the equivalent I2C clock divider. ( see \sa bcm2835_i2c_setClockDivider)
+ For the I2C standard 100khz you would set baudrate to 100000
+ The use of baudrate corresponds to its use in the I2C kernel device
+ driver. (Of course, bcm2835 has nothing to do with the kernel driver)
+ */
+ extern void bcm2835_i2c_set_baudrate(uint32_t baudrate);
+
+ /*! Transfers any number of bytes to the currently selected I2C slave.
+ (as previously set by \sa bcm2835_i2c_setSlaveAddress)
+ \param[in] buf Buffer of bytes to send.
+ \param[in] len Number of bytes in the buf buffer, and the number of bytes to send.
+ \return reason see \ref bcm2835I2CReasonCodes
+ */
+ extern uint8_t bcm2835_i2c_write(const char * buf, uint32_t len);
+
+ /*! Transfers any number of bytes from the currently selected I2C slave.
+ (as previously set by \sa bcm2835_i2c_setSlaveAddress)
+ \param[in] buf Buffer of bytes to receive.
+ \param[in] len Number of bytes in the buf buffer, and the number of bytes to received.
+ \return reason see \ref bcm2835I2CReasonCodes
+ */
+ extern uint8_t bcm2835_i2c_read(char* buf, uint32_t len);
+
+ /*! Allows reading from I2C slaves that require a repeated start (without any prior stop)
+ to read after the required slave register has been set. For example, the popular
+ MPL3115A2 pressure and temperature sensor. Note that your device must support or
+ require this mode. If your device does not require this mode then the standard
+ combined:
+ \sa bcm2835_i2c_write
+ \sa bcm2835_i2c_read
+ are a better choice.
+ Will read from the slave previously set by \sa bcm2835_i2c_setSlaveAddress
+ \param[in] regaddr Buffer containing the slave register you wish to read from.
+ \param[in] buf Buffer of bytes to receive.
+ \param[in] len Number of bytes in the buf buffer, and the number of bytes to received.
+ \return reason see \ref bcm2835I2CReasonCodes
+ */
+ extern uint8_t bcm2835_i2c_read_register_rs(char* regaddr, char* buf, uint32_t len);
+
+ /*! Allows sending an arbitrary number of bytes to I2C slaves before issuing a repeated
+ start (with no prior stop) and reading a response.
+ Necessary for devices that require such behavior, such as the MLX90620.
+ Will write to and read from the slave previously set by \sa bcm2835_i2c_setSlaveAddress
+ \param[in] cmds Buffer containing the bytes to send before the repeated start condition.
+ \param[in] cmds_len Number of bytes to send from cmds buffer
+ \param[in] buf Buffer of bytes to receive.
+ \param[in] buf_len Number of bytes to receive in the buf buffer.
+ \return reason see \ref bcm2835I2CReasonCodes
+ */
+ extern uint8_t bcm2835_i2c_write_read_rs(char* cmds, uint32_t cmds_len, char* buf, uint32_t buf_len);
+
+ /*! @} */
+
+ /*! \defgroup st System Timer access
+ Allows access to and delays using the System Timer Counter.
+ @{
+ */
+
+ /*! Read the System Timer Counter register.
+ \return the value read from the System Timer Counter Lower 32 bits register
+ */
+ extern uint64_t bcm2835_st_read(void);
+
+ /*! Delays for the specified number of microseconds with offset.
+ \param[in] offset_micros Offset in microseconds
+ \param[in] micros Delay in microseconds
+ */
+ extern void bcm2835_st_delay(uint64_t offset_micros, uint64_t micros);
+
+ /*! @} */
+
+ /*! \defgroup pwm Pulse Width Modulation
+ Allows control of 2 independent PWM channels. A limited subset of GPIO pins
+ can be connected to one of these 2 channels, allowing PWM control of GPIO pins.
+ You have to set the desired pin into a particular Alt Fun to PWM output. See the PWM
+ documentation on the Main Page.
+ @{
+ */
+
+ /*! Sets the PWM clock divisor,
+ to control the basic PWM pulse widths.
+ \param[in] divisor Divides the basic 19.2MHz PWM clock. You can use one of the common
+ values BCM2835_PWM_CLOCK_DIVIDER_* in \ref bcm2835PWMClockDivider
+ */
+ extern void bcm2835_pwm_set_clock(uint32_t divisor);
+
+ /*! Sets the mode of the given PWM channel,
+ allowing you to control the PWM mode and enable/disable that channel
+ \param[in] channel The PWM channel. 0 or 1.
+ \param[in] markspace Set true if you want Mark-Space mode. 0 for Balanced mode.
+ \param[in] enabled Set true to enable this channel and produce PWM pulses.
+ */
+ extern void bcm2835_pwm_set_mode(uint8_t channel, uint8_t markspace, uint8_t enabled);
+
+ /*! Sets the maximum range of the PWM output.
+ The data value can vary between 0 and this range to control PWM output
+ \param[in] channel The PWM channel. 0 or 1.
+ \param[in] range The maximum value permitted for DATA.
+ */
+ extern void bcm2835_pwm_set_range(uint8_t channel, uint32_t range);
+
+ /*! Sets the PWM pulse ratio to emit to DATA/RANGE,
+ where RANGE is set by bcm2835_pwm_set_range().
+ \param[in] channel The PWM channel. 0 or 1.
+ \param[in] data Controls the PWM output ratio as a fraction of the range.
+ Can vary from 0 to RANGE.
+ */
+ extern void bcm2835_pwm_set_data(uint8_t channel, uint32_t data);
+
+ /*! @} */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BCM2835_H */
+
+/*! @example blink.c
+ Blinks RPi GPIO pin 11 on and off
+*/
+
+/*! @example input.c
+ Reads the state of an RPi input pin
+*/
+
+/*! @example event.c
+ Shows how to use event detection on an input pin
+*/
+
+/*! @example spi.c
+ Shows how to use SPI interface to transfer a byte to and from an SPI device
+*/
+
+/*! @example spin.c
+ Shows how to use SPI interface to transfer a number of bytes to and from an SPI device
+*/
+
+/*! @example pwm.c
+ Shows how to use PWM to control GPIO pins
+*/
+
+/*! @example i2c.c
+Command line utility for executing i2c commands with the
+Broadcom bcm2835. Contributed by Shahrooz Shahparnia.
+*/
+
+/*! example gpio.c
+ Command line utility for executing gpio commands with the
+ Broadcom bcm2835. Contributed by Shahrooz Shahparnia.
+*/
diff --git a/includes/blas.h b/includes/blas.h
new file mode 100644
index 0000000..f4b0bda
--- /dev/null
+++ b/includes/blas.h
@@ -0,0 +1,160 @@
+/*
+ * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ * Copyright (C) 2008-2008 - INRIA - Bruno JOFRET
+ *
+ * This file must be used under the terms of the CeCILL.
+ * This source file is licensed as described in the file COPYING, which
+ * you should have received as part of this distribution. The terms
+ * are also available at
+ * http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+
+#ifndef __BLAS_H__
+#define __BLAS_H__
+
+
+#ifndef _MACRO_C2F_
+#define _MACRO_C2F_
+#define C2F(name) name##_
+#endif
+/*
+ SUBROUTINE DGEMM ( TRANSA, TRANSB, M, N, K, ALPHA, A, LDA, B, LDB,
+ $ BETA, C, LDC )
+* .. Scalar Arguments ..
+ CHARACTER*1 TRANSA, TRANSB
+ INTEGER M, N, K, LDA, LDB, LDC
+ DOUBLE PRECISION ALPHA, BETA
+* .. Array Arguments ..
+ DOUBLE PRECISION A( LDA, * ), B( LDB, * ), C( LDC, * )
+* ..
+C WARNING : this routine has been modified for Scilab (see comments
+C Cscilab) because algorithm is not ok if A matrix contains NaN
+C (NaN*0 should be NaN, not 0)
+* Purpose
+* =======
+*
+* DGEMM performs one of the matrix-matrix operations
+*
+* C := alpha*op( A )*op( B ) + beta*C,
+*
+* where op( X ) is one of
+*
+* op( X ) = X or op( X ) = X',
+*
+* alpha and beta are scalars, and A, B and C are matrices, with op( A )
+* an m by k matrix, op( B ) a k by n matrix and C an m by n matrix.
+*
+* Parameters
+* ==========
+*
+* TRANSA - CHARACTER*1.
+* On entry, TRANSA specifies the form of op( A ) to be used in
+* the matrix multiplication as follows:
+*
+* TRANSA = 'N' or 'n', op( A ) = A.
+*
+* TRANSA = 'T' or 't', op( A ) = A'.
+*
+* TRANSA = 'C' or 'c', op( A ) = A'.
+*
+* Unchanged on exit.
+*
+* TRANSB - CHARACTER*1.
+* On entry, TRANSB specifies the form of op( B ) to be used in
+* the matrix multiplication as follows:
+*
+* TRANSB = 'N' or 'n', op( B ) = B.
+*
+* TRANSB = 'T' or 't', op( B ) = B'.
+*
+* TRANSB = 'C' or 'c', op( B ) = B'.
+*
+* Unchanged on exit.
+*
+* M - INTEGER.
+* On entry, M specifies the number of rows of the matrix
+* op( A ) and of the matrix C. M must be at least zero.
+* Unchanged on exit.
+*
+* N - INTEGER.
+* On entry, N specifies the number of columns of the matrix
+* op( B ) and the number of columns of the matrix C. N must be
+* at least zero.
+* Unchanged on exit.
+*
+* K - INTEGER.
+* On entry, K specifies the number of columns of the matrix
+* op( A ) and the number of rows of the matrix op( B ). K must
+* be at least zero.
+* Unchanged on exit.
+*
+* ALPHA - DOUBLE PRECISION.
+* On entry, ALPHA specifies the scalar alpha.
+* Unchanged on exit.
+*
+* A - DOUBLE PRECISION array of DIMENSION ( LDA, ka ), where ka is
+* k when TRANSA = 'N' or 'n', and is m otherwise.
+* Before entry with TRANSA = 'N' or 'n', the leading m by k
+* part of the array A must contain the matrix A, otherwise
+* the leading k by m part of the array A must contain the
+* matrix A.
+* Unchanged on exit.
+*
+* LDA - INTEGER.
+* On entry, LDA specifies the first dimension of A as declared
+* in the calling (sub) program. When TRANSA = 'N' or 'n' then
+* LDA must be at least max( 1, m ), otherwise LDA must be at
+* least max( 1, k ).
+* Unchanged on exit.
+*
+* B - DOUBLE PRECISION array of DIMENSION ( LDB, kb ), where kb is
+* n when TRANSB = 'N' or 'n', and is k otherwise.
+* Before entry with TRANSB = 'N' or 'n', the leading k by n
+* part of the array B must contain the matrix B, otherwise
+* the leading n by k part of the array B must contain the
+* matrix B.
+* Unchanged on exit.
+*
+* LDB - INTEGER.
+* On entry, LDB specifies the first dimension of B as declared
+* in the calling (sub) program. When TRANSB = 'N' or 'n' then
+* LDB must be at least max( 1, k ), otherwise LDB must be at
+* least max( 1, n ).
+* Unchanged on exit.
+*
+* BETA - DOUBLE PRECISION.
+* On entry, BETA specifies the scalar beta. When BETA is
+* supplied as zero then C need not be set on input.
+* Unchanged on exit.
+*
+* C - DOUBLE PRECISION array of DIMENSION ( LDC, n ).
+* Before entry, the leading m by n part of the array C must
+* contain the matrix C, except when beta is zero, in which
+* case C need not be set on entry.
+* On exit, the array C is overwritten by the m by n matrix
+* ( alpha*op( A )*op( B ) + beta*C ).
+*
+* LDC - INTEGER.
+* On entry, LDC specifies the first dimension of C as declared
+* in the calling (sub) program. LDC must be at least
+* max( 1, m ).
+* Unchanged on exit.
+*
+*
+* Level 3 Blas routine.
+*/
+/*
+void dgemm_(char *TRANSA, char* TRANSB, int *M, int *N, int *K,
+ double *ALPHA, double *A, int *LDA,
+ double *B, int *LDB, double *BETA,
+ double *C, int *LDC);*/
+
+extern int C2F(dgemm)(char *,char*,int*,int*,int*,double*,double*,int*,double*,int*,double*,double*,int*);
+extern int C2F(idamax)() ;/* could be transcribe easaly in c */
+extern int C2F(daxpy) () ;/* could be transcribe easaly in c */
+extern int C2F(dscal) () ;/* could be transcribe easaly in c */
+extern int C2F(dasum) () ;/* could be transcribe easaly in c */
+
+
+#endif /* !__BLAS_H__ */
diff --git a/includes/constant.h b/includes/constant.h
new file mode 100644
index 0000000..14543b6
--- /dev/null
+++ b/includes/constant.h
@@ -0,0 +1,34 @@
+/*
+ * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ * Copyright (C) 2006-2008 - INRIA - Bruno JOFRET
+ *
+ * This file must be used under the terms of the CeCILL.
+ * This source file is licensed as described in the file COPYING, which
+ * you should have received as part of this distribution. The terms
+ * are also available at
+ * http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+
+#ifndef __CONSTANT_H__
+#define __CONSTANT_H__
+
+#include
+
+#define FPI 3.1415926535897931159980f
+#define DPI 3.1415926535897931159980
+
+#define NEPER 2.7182818284590450907956
+
+#define PI DPI
+#define SCI2C_PI DPI
+#define SCI2C_E NEPER
+#define SCI2C_T 1
+#define SCI2C_F 0
+#define SCI2C_NAN nan("")
+#define SCI2C_INF 1e100000
+#define SCI2C_IMG_C FloatComplex(0,1)
+#define SCI2C_IMG_Z DoubleComplex(0,1)
+
+#endif /* !__CONSTANT_H__ */
+
diff --git a/includes/f2c.h b/includes/f2c.h
new file mode 100644
index 0000000..a90a1ef
--- /dev/null
+++ b/includes/f2c.h
@@ -0,0 +1,245 @@
+/* f2c.h -- Standard Fortran to C header file */
+
+/** barf [ba:rf] 2. "He suggested using FORTRAN, and everybody barfed."
+
+ - From The Shogakukan DICTIONARY OF NEW ENGLISH (Second edition) */
+
+#ifndef F2C_INCLUDE
+#define F2C_INCLUDE
+
+#ifdef FORDLL
+#define IMPORT extern __declspec (dllimport)
+#else
+#define IMPORT
+#endif
+
+#ifdef FORDLL
+#define Extern __declspec (dllimport)
+#else
+#define Extern
+#endif
+
+
+
+typedef long int integer;
+typedef unsigned long int uinteger;
+typedef char *address;
+typedef short int shortint;
+typedef float real;
+typedef double doublereal;
+typedef struct { real r, i; } complex;
+typedef struct { doublereal r, i; } doublecomplex;
+typedef long int logical;
+typedef short int shortlogical;
+typedef char logical1;
+typedef char integer1;
+#ifdef INTEGER_STAR_8 /* Adjust for integer*8. */
+typedef long long longint; /* system-dependent */
+typedef unsigned long long ulongint; /* system-dependent */
+#define qbit_clear(a,b) ((a) & ~((ulongint)1 << (b)))
+#define qbit_set(a,b) ((a) | ((ulongint)1 << (b)))
+#endif
+
+#define TRUE_ (1)
+#define FALSE_ (0)
+
+/* Extern is for use with -E */
+#ifndef Extern
+#define Extern extern
+#endif
+
+/* I/O stuff */
+
+#ifdef f2c_i2
+/* for -i2 */
+typedef short flag;
+typedef short ftnlen;
+typedef short ftnint;
+#else
+typedef long int flag;
+typedef long int ftnlen;
+typedef long int ftnint;
+#endif
+
+/*external read, write*/
+typedef struct
+{ flag cierr;
+ ftnint ciunit;
+ flag ciend;
+ char *cifmt;
+ ftnint cirec;
+} cilist;
+
+/*internal read, write*/
+typedef struct
+{ flag icierr;
+ char *iciunit;
+ flag iciend;
+ char *icifmt;
+ ftnint icirlen;
+ ftnint icirnum;
+} icilist;
+
+/*open*/
+typedef struct
+{ flag oerr;
+ ftnint ounit;
+ char *ofnm;
+ ftnlen ofnmlen;
+ char *osta;
+ char *oacc;
+ char *ofm;
+ ftnint orl;
+ char *oblnk;
+} olist;
+
+/*close*/
+typedef struct
+{ flag cerr;
+ ftnint cunit;
+ char *csta;
+} cllist;
+
+/*rewind, backspace, endfile*/
+typedef struct
+{ flag aerr;
+ ftnint aunit;
+} alist;
+
+/* inquire */
+typedef struct
+{ flag inerr;
+ ftnint inunit;
+ char *infile;
+ ftnlen infilen;
+ ftnint *inex; /*parameters in standard's order*/
+ ftnint *inopen;
+ ftnint *innum;
+ ftnint *innamed;
+ char *inname;
+ ftnlen innamlen;
+ char *inacc;
+ ftnlen inacclen;
+ char *inseq;
+ ftnlen inseqlen;
+ char *indir;
+ ftnlen indirlen;
+ char *infmt;
+ ftnlen infmtlen;
+ char *inform;
+ ftnint informlen;
+ char *inunf;
+ ftnlen inunflen;
+ ftnint *inrecl;
+ ftnint *innrec;
+ char *inblank;
+ ftnlen inblanklen;
+} inlist;
+
+#define VOID void
+
+union Multitype { /* for multiple entry points */
+ integer1 g;
+ shortint h;
+ integer i;
+ /* longint j; */
+ real r;
+ doublereal d;
+ complex c;
+ doublecomplex z;
+ };
+
+typedef union Multitype Multitype;
+
+/*typedef long int Long;*/ /* No longer used; formerly in Namelist */
+
+struct Vardesc { /* for Namelist */
+ char *name;
+ char *addr;
+ ftnlen *dims;
+ int type;
+ };
+typedef struct Vardesc Vardesc;
+
+struct Namelist {
+ char *name;
+ Vardesc **vars;
+ int nvars;
+ };
+typedef struct Namelist Namelist;
+
+#define abs(x) ((x) >= 0 ? (x) : -(x))
+#define dabs(x) (doublereal)abs(x)
+
+
+#ifndef min
+#define min(a,b) ((a) <= (b) ? (a) : (b))
+#endif
+
+#ifndef max
+#define max(a,b) ((a) >= (b) ? (a) : (b))
+#endif
+
+#define dmin(a,b) (doublereal)min(a,b)
+#define dmax(a,b) (doublereal)max(a,b)
+#define bit_test(a,b) ((a) >> (b) & 1)
+#define bit_clear(a,b) ((a) & ~((uinteger)1 << (b)))
+#define bit_set(a,b) ((a) | ((uinteger)1 << (b)))
+
+/* procedure parameter types for -A and -C++ */
+
+#define F2C_proc_par_types 1
+#ifdef __cplusplus
+typedef int /* Unknown procedure type */ (*U_fp)(...);
+typedef shortint (*J_fp)(...);
+typedef integer (*I_fp)(...);
+typedef real (*R_fp)(...);
+typedef doublereal (*D_fp)(...), (*E_fp)(...);
+typedef /* Complex */ VOID (*C_fp)(...);
+typedef /* Double Complex */ VOID (*Z_fp)(...);
+typedef logical (*L_fp)(...);
+typedef shortlogical (*K_fp)(...);
+typedef /* Character */ VOID (*H_fp)(...);
+typedef /* Subroutine */ int (*S_fp)(...);
+#else
+typedef int /* Unknown procedure type */ (*U_fp)();
+typedef shortint (*J_fp)();
+typedef integer (*I_fp)();
+typedef real (*R_fp)();
+typedef doublereal (*D_fp)(), (*E_fp)();
+typedef /* Complex */ VOID (*C_fp)();
+typedef /* Double Complex */ VOID (*Z_fp)();
+typedef logical (*L_fp)();
+typedef shortlogical (*K_fp)();
+typedef /* Character */ VOID (*H_fp)();
+typedef /* Subroutine */ int (*S_fp)();
+#endif
+/* E_fp is for real functions when -R is not specified */
+typedef VOID C_f; /* complex function */
+typedef VOID H_f; /* character function */
+typedef VOID Z_f; /* double complex function */
+typedef doublereal E_f; /* real function with -R not specified */
+
+/* undef any lower-case symbols that your C compiler predefines, e.g.: */
+
+#ifndef Skip_f2c_Undefs
+#undef cray
+#undef gcos
+#undef mc68010
+#undef mc68020
+#undef mips
+#undef pdp11
+#undef sgi
+#undef sparc
+#undef sun
+#undef sun2
+#undef sun3
+#undef sun4
+#undef u370
+#undef u3b
+#undef u3b2
+#undef u3b5
+#undef unix
+#undef vax
+#endif
+#endif
diff --git a/includes/lapack.h b/includes/lapack.h
new file mode 100644
index 0000000..5f12bc2
--- /dev/null
+++ b/includes/lapack.h
@@ -0,0 +1,201 @@
+/*
+ * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ * Copyright (C) 2007-2008 - INRIA - Bruno JOFRET
+ *
+ * This file must be used under the terms of the CeCILL.
+ * This source file is licensed as described in the file COPYING, which
+ * you should have received as part of this distribution. The terms
+ * are also available at
+ * http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+
+#ifndef __LAPACK_H__
+#define __LAPACK_H__
+
+#ifndef _MACRO_C2F_
+#define _MACRO_C2F_
+#define C2F(name) name##_
+#endif
+
+#include "doubleComplex.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef lapack_int
+#define lapack_int int
+#endif
+#ifndef lapack_logical
+#define lapack_logical lapack_int
+#endif
+
+typedef lapack_logical (*LAPACK_D_SELECT3) (double*, double*, double*);
+typedef lapack_logical (*LAPACK_D_SELECT2) (double*, double*);
+
+#define getRelativeMachinePrecision() dlamch_("e", 1L)
+#define getOverflowThreshold() dlamch_("o", 1L)
+#define getUnderflowThreshold() dlamch_("u", 1L)
+
+#define getOneNorm(lines,cols,in,work) dlange_("1", lines, cols, in, lines, work)
+#define resolveSystemLinear(cols1,row2,cpytranIn1,pIpiv, transposeOfIn2,info) \
+ dgetrs_ ("N" ,cols1, row2, cpytranIn1 , cols1, pIpiv,transposeOfIn2, cols1, info) ;
+
+
+
+
+/**
+ * -- LAPACK auxiliary routine (version 3.0) --
+ * Univ. of Tennessee, Univ. of California Berkeley, NAG Ltd.,
+ * Courant Institute, Argonne National Lab, and Rice University
+ * October 31, 1992
+ *
+ * Purpose
+ * =======
+ *
+ * DLAMCH determines double precision machine parameters.
+ *
+ * Arguments
+ * =========
+ *
+ * CMACH (input) CHARACTER*1
+ * Specifies the value to be returned by DLAMCH:
+ * = 'E' or 'e', DLAMCH := eps
+ * = 'S' or 's , DLAMCH := sfmin
+ * = 'B' or 'b', DLAMCH := base
+ * = 'P' or 'p', DLAMCH := eps*base
+ * = 'N' or 'n', DLAMCH := t
+ * = 'R' or 'r', DLAMCH := rnd
+ * = 'M' or 'm', DLAMCH := emin
+ * = 'U' or 'u', DLAMCH := rmin
+ * = 'L' or 'l', DLAMCH := emax
+ * = 'O' or 'o', DLAMCH := rmax
+ *
+ * where
+ *
+ * eps = relative machine precision
+ * sfmin = safe minimum, such that 1/sfmin does not overflow
+ * base = base of the machine
+ * prec = eps*base
+ * t = number of (base) digits in the mantissa
+ * rnd = 1.0 when rounding occurs in addition, 0.0 otherwise
+ * emin = minimum exponent before (gradual) underflow
+ * rmin = underflow threshold - base**(emin-1)
+ * emax = largest exponent before overflow
+ * rmax = overflow threshold - (base**emax)*(1-eps)
+ *
+ * =====================================================================
+ **/
+extern double dlamch_ (char *CMACH, unsigned long int i);
+
+extern double dlange_ (char* NORM, int* M, int* N, double* A, int* LDA , double* WORK);
+
+extern double dgetrf_ (int* M, int* N , double* A , int* LDA , int* IPIV , int* INFO);
+
+extern double dgecon_ (char* NORM, int* N, double* A, int* LDA, double* ANORM,
+ double* RCOND, double* WORK , int* IWORK, int* INFO ) ;
+
+extern double dgetrs_ (char* TRANS, int* N, int* NRHS, double* A, int* LDA,
+ int* IPIV, double* B, int* LDB, int* INFO ) ;
+
+extern double dgelsy_ (int* M, int* N, int* NRHS, double* A, int* LDA,
+ double* B, int* LDB, int* JPVT, double* RCOND, int* RANK,
+ double* WORK, int* LWORK, int* INFO) ;
+
+extern double dlacpy_ (char* NORM, int* M, int* N, double* A, int* LDA,
+ double* B, int* LDB );
+
+extern double dgetri_ (int* N , double* A , int* LDA , int* IPIV , double* WORK,
+ int* LWORK , int* INFO ) ;
+
+
+/****** doubleComplex fortran function ************/
+extern double zgelsy_ (int*,int*,int*,doubleComplex*,int*,doubleComplex*,int*,int*,double*,int*,doubleComplex*,int*,double*,int*) ;
+
+
+extern double zlamch_ ();
+
+extern double zlange_ (char*,int*,int*,doubleComplex*,int*,doubleComplex*);
+
+extern double zgetrf_ (int *, int *, doubleComplex *, int *, int *, int *);
+
+extern double zgecon_ ( char*,int*,doubleComplex*,int*,double*,double*,doubleComplex*,double*,int*) ;
+
+extern double zgetrs_ ( char *,int*,int*,doubleComplex*,int*,int*,doubleComplex*,int*,int*) ;
+
+extern double zlacpy_ (char*,int*,int*,doubleComplex*,int*,doubleComplex*,int*);
+
+extern double zgetri_ (int*,doubleComplex*,int*,int*,doubleComplex*,int*,int*) ;
+/*extern int zgelsy_ ();*/
+
+/*certainly have some blas functions in */
+extern int C2F(split)();
+extern int C2F(exch)();
+
+extern int C2F(balbak)();
+extern double C2F(ddot)();
+extern int C2F(pade)();
+extern int C2F(dcopy)();
+extern int C2F(dscal)();
+
+extern int C2F(dgeco)();
+extern int C2F(dgesl)();
+extern int C2F(coef)();
+extern int C2F(cerr)();
+extern int C2F(dclmat)();
+extern int C2F(dexpm1)();
+extern int C2F(wexpm1)();
+extern int C2F(drot)();
+
+extern int C2F(intexpm) ();
+
+extern int C2F(zcopy)(int*,doubleComplex *,int*,doubleComplex*,int*);
+
+extern int C2F(dgemm)(char *,char*,int*,int*,int*,double*,double*,int*,double*,int*,double*,double*,int*);
+extern int C2F(idamax)() ;/* could be transcribe easily in c */
+extern int C2F(daxpy) () ;/* could be transcribe easily in c */
+extern int C2F(dscal) () ;/* could be transcribe easily in c */
+extern int C2F(dasum) () ;/* could be transcribe easily in c */
+
+/* used in chol */
+extern int C2F(dpotrf)(char*,int*,double*,int*,int*);
+extern int C2F(zpotrf)(char*,int*,doubleComplex*,int*,int*);
+
+/* used in logm */
+extern int C2F(zgeev)(char*,char*,int*,doubleComplex*,int*,doubleComplex*,
+ doubleComplex*,int*,doubleComplex*,int*,doubleComplex*,int *,doubleComplex*,int*);
+
+extern int C2F(zheev)(char*,char*,int*,doubleComplex*,int*,double*,doubleComplex*,int*,double*,int*);
+
+/* used in spec */
+extern int C2F(dgeev)(char*,char*,int*,double*,int*,double*,double*,double*,int*,double*,int*,double*,int*,int*);
+extern int C2F(dsyev)(char*,char*,int*,double*,int*,double*,double*,int*,int*);
+
+/*used in schur*/
+extern int dgees_(char*,char*,LAPACK_D_SELECT2,int*,double*,int*,int*, \
+ double*,double*,double*,int*,double*,int*,int*,int*);
+
+extern int dgges_(char*,char*,char*,LAPACK_D_SELECT3,int*,double*,int*,double*,int*, \
+ int*,double*,double*,double*,double*,int*,double*,int*,double*, int*, \
+ int*,int*);
+
+/*used in matrix balancing*/
+extern int dgebal_(char*,int*,double*,int*,int*,int*,double*,int*);
+extern int dggbal_(char*,int*,double*,int*,double*,int*,int*,int*,double*, \
+ double*,double*,int*);
+extern int dgebak_(char*,char*,int*,int*,int*,double*,int*,double*,int*,int*);
+
+/*Used in SVD */
+extern double dgesvd_(char*,char*,int*,int*,double*,int*,double*,double*,int*,\
+ double*,int*,double *,int*,int*);
+
+/* Used in svd complex */
+extern doubleComplex zgesvd_( char* , char* , int* , int* ,doubleComplex *,\
+ int* , double* ,doubleComplex* , int* ,doubleComplex* , int* ,\
+ doubleComplex* , int* , double* , int* );
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+#endif /* !__LAPACK_H__ */
diff --git a/includes/machine.h.in b/includes/machine.h.in
new file mode 100644
index 0000000..c38655b
--- /dev/null
+++ b/includes/machine.h.in
@@ -0,0 +1,80 @@
+/* includes/machine.h.in. Generated from configure.ac by autoheader. */
+
+/* Define to 1 if your Fortran compiler doesn't accept -c and -o together. */
+#undef F77_NO_MINUS_C_MINUS_O
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_COMPLEX_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_DLFCN_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_INTTYPES_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_MEMORY_H
+
+/* Define to 1 if stdbool.h conforms to C99. */
+#undef HAVE_STDBOOL_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_STDINT_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_STDLIB_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_STRINGS_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_STRING_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_SYS_STAT_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_SYS_TYPES_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_UNISTD_H
+
+/* Define to 1 if the system has the type `_Bool'. */
+#undef HAVE__BOOL
+
+/* Define to the sub-directory in which libtool stores uninstalled libraries.
+ */
+#undef LT_OBJDIR
+
+/* Define to 1 if your C compiler doesn't accept -c and -o together. */
+#undef NO_MINUS_C_MINUS_O
+
+/* Name of package */
+#undef PACKAGE
+
+/* Define to the address where bug reports for this package should be sent. */
+#undef PACKAGE_BUGREPORT
+
+/* Define to the full name of this package. */
+#undef PACKAGE_NAME
+
+/* Define to the full name and version of this package. */
+#undef PACKAGE_STRING
+
+/* Define to the one symbol short name of this package. */
+#undef PACKAGE_TARNAME
+
+/* Define to the home page for this package. */
+#undef PACKAGE_URL
+
+/* Define to the version of this package. */
+#undef PACKAGE_VERSION
+
+/* Define to 1 if you have the ANSI C header files. */
+#undef STDC_HEADERS
+
+/* Version number of package */
+#undef VERSION
+
+/* With the Atlas Lib */
+#undef WITH_ATLAS
diff --git a/includes/notFound.h b/includes/notFound.h
new file mode 100644
index 0000000..2d5ee1c
--- /dev/null
+++ b/includes/notFound.h
@@ -0,0 +1,18 @@
+/*
+ * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ * Copyright (C) 2007-2008 - INRIA - Bruno JOFRET
+ *
+ * This file must be used under the terms of the CeCILL.
+ * This source file is licensed as described in the file COPYING, which
+ * you should have received as part of this distribution. The terms
+ * are also available at
+ * http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+
+#ifndef __NOT_FOUND_H__
+#define __NOT_FOUND_H__
+
+#define NOT_FOUND -1
+
+#endif /* !__NOT_FOUND_H__ */
diff --git a/includes/sci2clib.h b/includes/sci2clib.h
new file mode 100644
index 0000000..3e1182d
--- /dev/null
+++ b/includes/sci2clib.h
@@ -0,0 +1,616 @@
+#ifndef __SCI2CLIB_H__
+#define __SCI2CLIB_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include
+#include
+#include
+
+/* CONSTANT */
+#include "constant.h"
+
+/* LIB */
+/* interfacing blas */
+#include "blas.h"
+/* interfacing lapack */
+#include "lapack.h"
+
+/* AUXILIARY FUNCTIONS */
+
+/* interfacing abs */
+#include "abs.h"
+#include "int_abs.h"
+/* interfacing conj */
+#include "conj.h"
+#include "int_conj.h"
+/* interfacing disp */
+#include "disp.h"
+#include "int_disp.h"
+/* interfacing find */
+#include "find.h"
+#include "find2d.h"
+#include "int_find.h"
+/* interfacing frexp */
+#include "frexp.h"
+/* interfacing isempty */
+#include "isempty.h"
+#include "int_isempty.h"
+/* interfacing isnan */
+#include "isnan.h"
+#include "int_isnan.h"
+/* interfacing length */
+#include "length.h"
+#include "int_length.h"
+/* interfacing max */
+#include "max.h"
+#include "int_max.h"
+/* interfacing min */
+#include "min.h"
+#include "int_min.h"
+/* interfacing pythag */
+#include "pythag.h"
+/* interfacing sign */
+#include "sign.h"
+#include "int_sign.h"
+/* interfacing size */
+#include "size.h"
+#include "int_size.h"
+/* interfacing type */
+#include "type.h"
+#include "int_type.h"
+/* interfacing rand */
+#include "rand.h"
+#include "int_rand.h"
+
+/* ELEMENTARY FUNCTIONS */
+
+/* interfacing atand */
+#include "atand.h"
+#include "int_atand.h"
+/* interfacing asind */
+#include "asind.h"
+#include "int_asind.h"
+/* interfacing asech */
+#include "asech.h"
+#include "int_asech.h"
+/* interfacing asecd */
+#include "asecd.h"
+#include "int_asecd.h"
+/* interfacing asec */
+#include "asec.h"
+#include "int_asec.h"
+/* interfacing acsch */
+#include "acsch.h"
+#include "int_acsch.h"
+/* interfacing acscd */
+#include "acscd.h"
+#include "int_acscd.h"
+/* interfacing acsc */
+#include "acsc.h"
+#include "int_acsc.h"
+/* interfacing acoth */
+#include "acoth.h"
+#include "int_acoth.h"
+/* interfacing acotd */
+#include "acotd.h"
+#include "int_acotd.h"
+/* interfacing acot */
+#include "acot.h"
+#include "int_acot.h"
+/* interfacing acos */
+#include "acos.h"
+#include "int_acos.h"
+/* interfacing acosd */
+#include "acosd.h"
+#include "int_acosd.h"
+/* interfacing acosh */
+#include "acosh.h"
+#include "int_acosh.h"
+/* interfacing asin */
+#include "asin.h"
+#include "int_asin.h"
+/* interfacing asinh */
+#include "asinh.h"
+#include "int_asinh.h"
+/* interfacing atan */
+#include "atan.h"
+#include "atan2.h"
+#include "int_atan.h"
+/* interfacing atanh */
+#include "atanh.h"
+#include "int_atanh.h"
+/* interfacing cos */
+#include "cos.h"
+#include "int_cos.h"
+/* interfacing ceil */
+#include "ceil.h"
+#include "int_ceil.h"
+/* interfacing cosh */
+#include "cosh.h"
+#include "int_cosh.h"
+/* interfacing exp */
+#include "exp.h"
+#include "int_exp.h"
+/* interfacing fix */
+#include "fix.h"
+#include "int_fix.h"
+/* interfacing floor */
+#include "floor.h"
+#include "int_floor.h"
+/* interfacing int */
+#include "int.h"
+#include "int_int.h"
+/* interfacing lnp1m1 */
+#include "lnp1m1.h"
+/* interfacing log */
+#include "log.h"
+#include "int_log.h"
+/* interfacing log10 */
+#include "log10.h"
+#include "int_log10.h"
+/* interfacing log1p */
+#include "log1p.h"
+#include "int_log1p.h"
+/* interfacing pow */
+#include "pow.h"
+#include "matrixPow.h"
+#include "int_OpHat.h"
+#include "int_OpDotHat.h"
+/* interfacing round */
+#include "round.h"
+#include "int_round.h"
+/* interfacing sin */
+#include "sin.h"
+#include "int_sin.h"
+/* interfacing sinh */
+#include "sinh.h"
+#include "int_sinh.h"
+/* interfacing sqrt */
+#include "sqrt.h"
+#include "int_sqrt.h"
+/* interfacing tan */
+#include "tan.h"
+#include "int_tan.h"
+/* interfacing tanh */
+#include "tanh.h"
+#include "int_tanh.h"
+/* interfacing uint8 */
+#include "uint8.h"
+#include "int_uint8.h"
+/* interfacing int8 */
+#include "int8.h"
+#include "int_int8.h"
+/* interfacing uint16 */
+#include "uint16.h"
+#include "int_uint16.h"
+/* interfacing int16 */
+#include "int16.h"
+#include "int_int16.h"
+
+/*interfacing bitand */
+#include "bitand.h"
+#include "int_bitand.h"
+
+/*interfacing bitor */
+#include "bitor.h"
+#include "int_bitor.h"
+
+/*interfacing bitxor */
+#include "bitxor.h"
+#include "int_bitxor.h"
+
+/*interfacing bitcmp */
+#include "bitcmp.h"
+#include "int_bitcmp.h"
+
+/*interfacing bitset */
+#include "bitset.h"
+#include "int_bitset.h"
+
+/*interfacing bitget */
+#include "bitget.h"
+#include "int_bitget.h"
+
+
+/*interfacing linspace */
+#include "linspace.h"
+#include "int_linspace.h"
+
+/*interfacing logspace */
+#include "logspace.h"
+#include "int_logspace.h"
+
+/*interfacing dec2base*/
+#include "dec2base.h"
+#include "int_dec2base.h"
+
+/*interfacing base2dec*/
+#include "base2dec.h"
+#include "int_base2dec.h"
+
+/*interfacing dec2bin*/
+#include "dec2bin.h"
+#include "int_dec2bin.h"
+/*interfacing dec2hex*/
+#include "dec2hex.h"
+#include "int_dec2hex.h"
+
+/*interfacing dec2oct*/
+#include "dec2oct.h"
+#include "int_dec2oct.h"
+/*interfacing oct2dec*/
+#include "oct2dec.h"
+#include "int_oct2dec.h"
+/*interfacing hex2dec*/
+#include "hex2dec.h"
+#include "int_hex2dec.h"
+/*interfacing bin2dec*/
+#include "bin2dec.h"
+#include "int_bin2dec.h"
+
+/*interfacing cosd*/
+#include "cosd.h"
+#include "int_cosd.h"
+
+
+/*interfacing cotd*/
+#include "cotd.h"
+#include "int_cotd.h"
+
+/*interfacing coth*/
+#include "coth.h"
+#include "int_coth.h"
+
+/*interfacing csc*/
+#include "csc.h"
+#include "int_csc.h"
+
+/*interfacing cscd*/
+#include "cscd.h"
+#include "int_cscd.h"
+
+/*interfacing csch*/
+#include "csch.h"
+#include "int_csch.h"
+
+/*interfacing sec*/
+#include "sec.h"
+#include "int_sec.h"
+
+/*interfacing sech*/
+#include "sech.h"
+#include "int_sech.h"
+
+/*interfacing secd*/
+#include "secd.h"
+#include "int_secd.h"
+
+/*interfacing float*/
+#include "float.h"
+#include "int_float.h"
+
+/*interfacing factorial*/
+#include "factorial.h"
+#include "int_factorial.h"
+
+/*interfacing primes*/
+#include "primes.h"
+#include "int_primes.h"
+
+/*interfacing factor*/
+#include "factor.h"
+#include "int_factor.h"
+
+/* IMPLICIT LISTS */
+/* interfacing implicitList/OpColon */
+#include "implicitList.h"
+#include "int_OpColon.h"
+
+/* OPERATIONS */
+/* interfacing assignation */
+#include "int_OpEqual.h"
+/* interfacing addition */
+#include "addition.h"
+#include "int_OpPlus.h"
+/* interfacing subtraction */
+#include "subtraction.h"
+#include "int_OpMinus.h"
+/* interfacing multiplication */
+#include "multiplication.h"
+#include "matrixMultiplication.h"
+#include "int_OpStar.h"
+#include "int_OpDotStar.h"
+/* interfacing division */
+#include "division.h"
+#include "matrixDivision.h"
+#include "int_OpSlash.h"
+#include "int_OpDotSlash.h"
+#include "int_OpBackSlash.h"
+#include "int_OpDotBackSlash.h"
+/* interfacing comparison */
+#include "int_OpLogNot.h"
+#include "int_OpLogEq.h"
+#include "int_OpLogNe.h"
+#include "int_OpLogGt.h"
+#include "int_OpLogGe.h"
+#include "int_OpLogLt.h"
+#include "int_OpLogLe.h"
+#include "int_OpLogAnd.h"
+#include "int_OpLogOr.h"
+/* interfacing insertion */
+#include "int_OpIns.h"
+
+
+/* MATRIX OPERATIONS */
+/* interfacing extraction */
+#include "int_OpExt.h"
+/* interfacing cat */
+#include "cat.h"
+#include "int_OpRc.h"
+#include "int_OpCc.h"
+/* interfacing chol */
+#include "chol.h"
+#include "int_chol.h"
+/* interfacing determinant */
+#include "determ.h"
+#include "int_det.h"
+/* interfacing expm */
+#include "matrixExponential.h"
+#include "int_expm.h"
+/* interfacing eye */
+#include "eye.h"
+#include "int_eye.h"
+/* interfacing fill */
+#include "fill.h"
+/* interfacing inversion */
+#include "matrixInversion.h"
+#include "int_invert.h"
+/* interfacing infinite norm */
+#include "infiniteNorm.h"
+/* interfacing ones */
+#include "ones.h"
+#include "int_ones.h"
+/* interfacing spec */
+#include "spec.h"
+#include "int_spec.h"
+/* interfacing trace */
+#include "matrixTrace.h"
+#include "int_trace.h"
+/* interfacing tranpose */
+#include "matrixTranspose.h"
+#include "int_OpApex.h"
+#include "int_OpDotApex.h"
+/* interfacing zeros */
+#include "zeros.h"
+#include "int_zeros.h"
+/* interfacing diag */
+#include "diag.h"
+#include "int_diag.h"
+/*interfacing cumsum*/
+#include "int_cumsum.h"
+#include "cumsum.h"
+/*interfacing cumprod*/
+#include "int_cumprod.h"
+#include "cumprod.h"
+/*interfacing triu*/
+#include "int_triu.h"
+#include "triu.h"
+/*interfacing tril*/
+#include "int_tril.h"
+#include "tril.h"
+/*interfacing kron*/
+#include "int_kron.h"
+#include "kron.h"
+/*interfacing flipdim*/
+#include "int_flipdim.h"
+#include "flipdim.h"
+/*interfacing norm*/
+#include "int_norm.h"
+#include "norm.h"
+
+/* SIGNAL PROCESSING */
+/* interfacing convol */
+#include "conv.h"
+#include "conv2d.h"
+#include "int_convol.h"
+/* interfacing fft */
+#include "fft.h"
+#include "fft_internal.h"
+#include "int_fft.h"
+/* interfacing fftshift */
+#include "fftshift.h"
+#include "int_fftshift.h"
+/* interfacing ifft */
+#include "ifft.h"
+#include "ifft_internal.h"
+#include "int_ifft.h"
+/* interfacing lev */
+#include "lev.h"
+#include "int_lev.h"
+
+
+
+/* STATISTICS FUNCTIONS */
+
+/* interfacing max */
+#include "statMax.h"
+/* interfacing min */
+#include "statMin.h"
+/* interfacing mean */
+#include "mean.h"
+#include "int_mean.h"
+/* interfacing stdevf */
+#include "stdevf.h"
+#include "int_stdevf.h"
+/* interfacing meanf */
+#include "meanf.h"
+#include "int_meanf.h"
+/* interfacing sum */
+#include "sum.h"
+#include "int_sum.h"
+/* interfacing prod */
+#include "prod.h"
+#include "int_prod.h"
+/* interfacing variance */
+#include "variance.h"
+#include "int_variance.h"
+
+/* TYPE */
+/* interfacing real */
+#include "int_real.h"
+/* interfacing imag */
+#include "int_imag.h"
+
+#include "types.h"
+
+/* STRING*/
+/* interface for String */
+#include "int_string.h"
+/*include for string */
+#include "str.h"
+
+/*ODE functions*/
+#include "ode.h"
+#include "int_ode.h"
+
+/*Diff function*/
+#include "diffc.h"
+#include "int_diffc.h"
+
+/*Functions related to file handling*/
+#include "files.h"
+#include "int_files.h"
+
+/*Functions related to strings*/
+#include "convstr.h"
+#include "int_convstr.h"
+
+/*interfacing strsubst*/
+#include "strsubst.h"
+#include "int_strsubst.h"
+
+/*interfacing strrev*/
+#include "strrev.h"
+#include "int_strrev.h"
+
+/*interfacing strrchr*/
+#include "strrchr.h"
+#include "int_strrchr.h"
+
+/*Functions related to strings*/
+#include "convstr.h"
+#include "int_convstr.h"
+
+
+#include "syslin.h"
+#include "int_syslin.h"
+
+#include "lqr.h"
+#include "int_lqr.h"
+
+#include "lqe.h"
+#include "int_lqe.h"
+
+#include "obscont.h"
+#include "int_obscont.h"
+
+#include "schur.h"
+#include "int_schur.h"
+
+#include "balanc.h"
+#include "int_balanc.h"
+
+#include "svd.h" /*Linear Alegbra - Singular value decompostion */
+#include "int_svd.h"
+
+#include "rcond.h"
+#include "int_rcond.h"
+
+#include "hess.h" /* Linear Algebra - Hess function */
+#include "int_hess.h"
+
+#include "sva.h"
+#include "int_sva.h" /*Linear Algebra - SVA function */
+
+/*Functions related to opencv*/
+/*#include "cvcore.hpp"
+#include "int_cvcore.hpp"
+#include "cvhighgui.hpp"
+#include "int_cvhighgui.hpp"
+#include "cvimgproc.hpp"
+#include "int_cvimgproc.hpp"
+*/
+/*Scilab-arduino toolbox*/
+#ifdef Arduino1
+#include "int_cmd_digital_out.h"
+#include "cmd_digital_out.h"
+#include "int_cmd_digital_in.h"
+#include "cmd_digital_in.h"
+#include "int_cmd_analog_out.h"
+#include "cmd_analog_out.h"
+#include "int_cmd_analog_in.h"
+#include "cmd_analog_in.h"
+#include "int_cmd_dcmotor.h"
+#include "cmd_dcmotor_run.h"
+#include "cmd_dcmotor_setup.h"
+#include "int_sleep.h"
+#include "sleep.h"
+/*#include "cmd_servo_attach.h"
+#include "cmd_servo_detach.h"
+#include "cmd_servo_move.h"
+#include "int_cmd_servo.h"
+*/
+#endif
+
+/*AVR*/
+#ifdef AVR1
+#include "int_AVRPeripheralGPIO.h"
+#include "AVRPeripheralGPIO.h"
+#include "int_AVRPeripheralADC.h"
+#include "AVRPeripheralADC.h"
+#include "int_AVRPeripheralPWM.h"
+#include "AVRPeripheralPWM.h"
+#include "int_AVRUtil.h"
+#include "AVRUtil.h"
+#include "int_AVRPeripheralTimer.h"
+#include "AVRPeripheralTimer.h"
+#include "int_AVRPeripheralUART.h"
+#include "AVRPeripheralUART.h"
+#endif
+
+/*RPi*/
+#ifdef RPi1
+#include "wiringPi.h"
+#include "int_RPIPeripheralDigital.h"
+#include "RPIPeripheralDigital.h"
+#include "int_RPIPeripheralTiming.h"
+#include "RPIPeripheralTiming.h"
+#include "int_RPIPeripheralSerial.h"
+#include "RPIPeripheralSerial.h"
+#include "int_RPIPeripheralThreading.h"
+#include "RPIPeripheralThreading.h"
+#include "int_RPIPeripheralPinISR.h"
+#include "RPIPeripheralPinISR.h"
+#include "int_RPIPeripheralPWM.h"
+#include "RPIPeripheralPWM.h"
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+// #ifdef opencv1
+// #include "cvcore.hpp"
+// #include "int_cvcore.hpp"
+// #include "cvhighgui.hpp"
+// #include "int_cvhighgui.hpp"
+// #include "cvimgproc.hpp"
+// #include "int_cvimgproc.hpp"
+// #endif
+
+#endif /* !__SCI2CLIB_H__ */
+
+
--
cgit
From 369c257b9ae0320621b43ca75b38ff66cc13f37b Mon Sep 17 00:00:00 2001
From: yash1112
Date: Mon, 19 Jun 2017 05:40:46 +0530
Subject: 1.3 new scilab-arduino functions added2. all functions have been
tested on hardware 3. 5 i2c library functions added 4. Now generates code for
27 Boards(arduino and lilypad). 5. New GUI
---
includes/sci2clib.h | 16 ++++++++++++++++
1 file changed, 16 insertions(+)
(limited to 'includes')
diff --git a/includes/sci2clib.h b/includes/sci2clib.h
index eae03eb..55b6a34 100644
--- a/includes/sci2clib.h
+++ b/includes/sci2clib.h
@@ -547,8 +547,24 @@ extern "C" {
#include "int_cmd_dcmotor.h"
#include "cmd_dcmotor_run.h"
#include "cmd_dcmotor_setup.h"
+#include "cmd_dcmotor_release.h"
#include "int_sleep.h"
#include "sleep.h"
+#include "int_cmd_analog_in_volt.h"
+#include "cmd_analog_in_volt.h"
+#include "int_cmd_analog_out_volt.h"
+#include "cmd_analog_out_volt.h"
+#include "cmd_i2c_dev.h"
+#include "int_cmd_i2c_dev.h"
+#include "cmd_i2c_write.h"
+#include "int_cmd_i2c_write.h"
+#include "cmd_i2c_read.h"
+#include "int_cmd_i2c_read.h"
+#include "cmd_i2c_write_register.h"
+#include "int_cmd_i2c_write_register.h"
+#include "cmd_i2c_read_register.h"
+#include "int_cmd_i2c_read_register.h"
+
/*#include "cmd_servo_attach.h"
#include "cmd_servo_detach.h"
#include "cmd_servo_move.h"
--
cgit
From 8e235230a4c16a042d2620fa7b58a9b0f4ba1914 Mon Sep 17 00:00:00 2001
From: ukashanoor
Date: Mon, 19 Jun 2017 10:42:03 +0530
Subject: after if and for
---
includes/sci2clib.h | 26 ++++++++++++++++++++++++++
1 file changed, 26 insertions(+)
(limited to 'includes')
diff --git a/includes/sci2clib.h b/includes/sci2clib.h
index eae03eb..7eb0d63 100644
--- a/includes/sci2clib.h
+++ b/includes/sci2clib.h
@@ -65,8 +65,22 @@ extern "C" {
#include "rand.h"
#include "int_rand.h"
+/* INTERPOLATION FUNCTIONS*/
+
+/*interfacing interp1*/
+#include "interp1.h"
+#include "int_interp1.h"
+
/* ELEMENTARY FUNCTIONS */
+#include "nextpow2.h"
+#include "int_nextpow2.h"
+/*interfacing gcd*/
+#include "gcd.h"
+#include "int_gcd.h"
+/* interfacing isreal*/
+#include "isreal.h"
+#include "int_isreal.h"
/* interfacing atand */
#include "atand.h"
#include "int_atand.h"
@@ -412,6 +426,18 @@ extern "C" {
#include "norm.h"
/* SIGNAL PROCESSING */
+
+
+#include "modk.h"
+#include "int_modk.h"
+/* interfacing idct */
+#include "idct.h"
+#include "int_idct.h"
+
+/* interfacing dct */
+#include "dct.h"
+#include "int_dct.h"
+
/* interfacing convol */
#include "conv.h"
#include "conv2d.h"
--
cgit
From 362bd2337910fec57d854ebb179772efe552f929 Mon Sep 17 00:00:00 2001
From: Sandeep Gupta
Date: Mon, 19 Jun 2017 17:02:45 +0530
Subject: 19-June-2017
---
includes/sci2clib.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
(limited to 'includes')
diff --git a/includes/sci2clib.h b/includes/sci2clib.h
index 3e1182d..5f9e17c 100644
--- a/includes/sci2clib.h
+++ b/includes/sci2clib.h
@@ -373,7 +373,7 @@ extern "C" {
/* interfacing ones */
#include "ones.h"
#include "int_ones.h"
-/* interfacing spec */
+/* Linear Algebra - spec */
#include "spec.h"
#include "int_spec.h"
/* interfacing trace */
--
cgit
From 958577cac90a99124cd673fde1926781d966d91f Mon Sep 17 00:00:00 2001
From: Ankit Raj
Date: Wed, 21 Jun 2017 10:26:59 +0530
Subject: Updated Scilab2C
---
includes/bcm2835.h | 1625 +++++++++++++++++++++++++++++++++++++++++++++++++
includes/blas.h | 160 +++++
includes/constant.h | 34 ++
includes/f2c.h | 245 ++++++++
includes/lapack.h | 192 ++++++
includes/machine.h.in | 80 +++
includes/notFound.h | 18 +
includes/sci2clib.h | 686 +++++++++++++++++++++
8 files changed, 3040 insertions(+)
create mode 100644 includes/bcm2835.h
create mode 100644 includes/blas.h
create mode 100644 includes/constant.h
create mode 100644 includes/f2c.h
create mode 100644 includes/lapack.h
create mode 100644 includes/machine.h.in
create mode 100644 includes/notFound.h
create mode 100644 includes/sci2clib.h
(limited to 'includes')
diff --git a/includes/bcm2835.h b/includes/bcm2835.h
new file mode 100644
index 0000000..ae41b3e
--- /dev/null
+++ b/includes/bcm2835.h
@@ -0,0 +1,1625 @@
+/* bcm2835.h
+
+ C and C++ support for Broadcom BCM 2835 as used in Raspberry Pi
+
+ Author: Mike McCauley
+ Copyright (C) 2011-2013 Mike McCauley
+ $Id: bcm2835.h,v 1.20 2015/03/31 04:55:41 mikem Exp mikem $
+*/
+
+/*! \mainpage C library for Broadcom BCM 2835 as used in Raspberry Pi
+
+ This is a C library for Raspberry Pi (RPi). It provides access to
+ GPIO and other IO functions on the Broadcom BCM 2835 chip,
+ allowing access to the GPIO pins on the
+ 26 pin IDE plug on the RPi board so you can control and interface with various external devices.
+
+ It provides functions for reading digital inputs and setting digital outputs, using SPI and I2C,
+ and for accessing the system timers.
+ Pin event detection is supported by polling (interrupts are not supported).
+
+ It is C++ compatible, and installs as a header file and non-shared library on
+ any Linux-based distro (but clearly is no use except on Raspberry Pi or another board with
+ BCM 2835).
+
+ The version of the package that this documentation refers to can be downloaded
+ from http://www.airspayce.com/mikem/bcm2835/bcm2835-1.48.tar.gz
+ You can find the latest version at http://www.airspayce.com/mikem/bcm2835
+
+ Several example programs are provided.
+
+ Based on data in http://elinux.org/RPi_Low-level_peripherals and
+ http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
+ and http://www.scribd.com/doc/101830961/GPIO-Pads-Control2
+
+ You can also find online help and discussion at http://groups.google.com/group/bcm2835
+ Please use that group for all questions and discussions on this topic.
+ Do not contact the author directly, unless it is to discuss commercial licensing.
+ Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
+
+ Tested on debian6-19-04-2012, 2012-07-15-wheezy-raspbian, 2013-07-26-wheezy-raspbian
+ and Occidentalisv01
+ CAUTION: it has been observed that when detect enables such as bcm2835_gpio_len()
+ are used and the pin is pulled LOW
+ it can cause temporary hangs on 2012-07-15-wheezy-raspbian, 2013-07-26-wheezy-raspbian
+ and Occidentalisv01.
+ Reason for this is not yet determined, but we suspect that an interrupt handler is
+ hitting a hard loop on those OSs.
+ If you must use bcm2835_gpio_len() and friends, make sure you disable the pins with
+ bcm2835_gpio_clr_len() and friends after use.
+
+ \par Installation
+
+ This library consists of a single non-shared library and header file, which will be
+ installed in the usual places by make install
+
+ \code
+ # download the latest version of the library, say bcm2835-1.xx.tar.gz, then:
+ tar zxvf bcm2835-1.xx.tar.gz
+ cd bcm2835-1.xx
+ ./configure
+ make
+ sudo make check
+ sudo make install
+ \endcode
+
+ \par Physical Addresses
+
+ The functions bcm2835_peri_read(), bcm2835_peri_write() and bcm2835_peri_set_bits()
+ are low level peripheral register access functions. They are designed to use
+ physical addresses as described in section 1.2.3 ARM physical addresses
+ of the BCM2835 ARM Peripherals manual.
+ Physical addresses range from 0x20000000 to 0x20FFFFFF for peripherals. The bus
+ addresses for peripherals are set up to map onto the peripheral bus address range starting at
+ 0x7E000000. Thus a peripheral advertised in the manual at bus address 0x7Ennnnnn is available at
+ physical address 0x20nnnnnn.
+
+ On RPI 2, the peripheral addresses are different and the bcm2835 library gets them
+ from reading /proc/device-tree/soc/ranges. This is only availble with recent versions of the kernel on RPI 2.
+
+ After initialisation, the base address of the various peripheral
+ registers are available with the following
+ externals:
+ bcm2835_gpio
+ bcm2835_pwm
+ bcm2835_clk
+ bcm2835_pads
+ bcm2835_spio0
+ bcm2835_st
+ bcm2835_bsc0
+ bcm2835_bsc1
+
+ \par Raspberry Pi 2 (RPI2)
+
+ For this library to work correctly on RPI2, you MUST have the device tree support enabled in the kernel.
+ You should also ensure you are using the latest version of Linux. The library has been tested on RPI2
+ with 2015-02-16-raspbian-wheezy and ArchLinuxARM-rpi-2 as of 2015-03-29.
+
+ When device tree suport is enabled, the file /proc/device-tree/soc/ranges will appear in the file system,
+ and the bcm2835 module relies on its presence to correctly run on RPI2 (it is optional for RPI1).
+ Without device tree support enabled and the presence of this file, it will not work on RPI2.
+
+ To enable device tree support:
+
+ \code
+ sudo raspi-config
+ under Advanced Options - enable Device Tree
+ Reboot.
+ \endcode
+
+ \par Pin Numbering
+
+ The GPIO pin numbering as used by RPi is different to and inconsistent with the underlying
+ BCM 2835 chip pin numbering. http://elinux.org/RPi_BCM2835_GPIOs
+
+ RPi has a 26 pin IDE header that provides access to some of the GPIO pins on the BCM 2835,
+ as well as power and ground pins. Not all GPIO pins on the BCM 2835 are available on the
+ IDE header.
+
+ RPi Version 2 also has a P5 connector with 4 GPIO pins, 5V, 3.3V and Gnd.
+
+ The functions in this library are designed to be passed the BCM 2835 GPIO pin number and _not_
+ the RPi pin number. There are symbolic definitions for each of the available pins
+ that you should use for convenience. See \ref RPiGPIOPin.
+
+ \par SPI Pins
+
+ The bcm2835_spi_* functions allow you to control the BCM 2835 SPI0 interface,
+ allowing you to send and received data by SPI (Serial Peripheral Interface).
+ For more information about SPI, see http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus
+
+ When bcm2835_spi_begin() is called it changes the bahaviour of the SPI interface pins from their
+ default GPIO behaviour in order to support SPI. While SPI is in use, you will not be able
+ to control the state of the SPI pins through the usual bcm2835_spi_gpio_write().
+ When bcm2835_spi_end() is called, the SPI pins will all revert to inputs, and can then be
+ configured and controled with the usual bcm2835_gpio_* calls.
+
+ The Raspberry Pi GPIO pins used for SPI are:
+
+ - P1-19 (MOSI)
+ - P1-21 (MISO)
+ - P1-23 (CLK)
+ - P1-24 (CE0)
+ - P1-26 (CE1)
+
+ \par I2C Pins
+
+ The bcm2835_i2c_* functions allow you to control the BCM 2835 BSC interface,
+ allowing you to send and received data by I2C ("eye-squared cee"; generically referred to as "two-wire interface") .
+ For more information about I?C, see http://en.wikipedia.org/wiki/I%C2%B2C
+
+ The Raspberry Pi V2 GPIO pins used for I2C are:
+
+ - P1-03 (SDA)
+ - P1-05 (SLC)
+
+ \par PWM
+
+ The BCM2835 supports hardware PWM on a limited subset of GPIO pins. This bcm2835 library provides
+ functions for configuring and controlling PWM output on these pins.
+
+ The BCM2835 contains 2 independent PWM channels (0 and 1), each of which be connnected to a limited subset of
+ GPIO pins. The following GPIO pins may be connected to the following PWM channels (from section 9.5):
+ \code
+ GPIO PIN RPi pin PWM Channel ALT FUN
+ 12 0 0
+ 13 1 0
+ 18 1-12 0 5
+ 19 1 5
+ 40 0 0
+ 41 1 0
+ 45 1 0
+ 52 0 1
+ 53 1 1
+ \endcode
+ In order for a GPIO pin to emit output from its PWM channel, it must be set to the Alt Function given above.
+ Note carefully that current versions of the Raspberry Pi only expose one of these pins (GPIO 18 = RPi Pin 1-12)
+ on the IO headers, and therefore this is the only IO pin on the RPi that can be used for PWM.
+ Further it must be set to ALT FUN 5 to get PWM output.
+
+ Both PWM channels are driven by the same PWM clock, whose clock dvider can be varied using
+ bcm2835_pwm_set_clock(). Each channel can be separately enabled with bcm2835_pwm_set_mode().
+ The average output of the PWM channel is determined by the ratio of DATA/RANGE for that channel.
+ Use bcm2835_pwm_set_range() to set the range and bcm2835_pwm_set_data() to set the data in that ratio
+
+ Each PWM channel can run in either Balanced or Mark-Space mode. In Balanced mode, the hardware
+ sends a combination of clock pulses that results in an overall DATA pulses per RANGE pulses.
+ In Mark-Space mode, the hardware sets the output HIGH for DATA clock pulses wide, followed by
+ LOW for RANGE-DATA clock pulses.
+
+ The PWM clock can be set to control the PWM pulse widths. The PWM clock is derived from
+ a 19.2MHz clock. You can set any divider, but some common ones are provided by the BCM2835_PWM_CLOCK_DIVIDER_*
+ values of \ref bcm2835PWMClockDivider.
+
+ For example, say you wanted to drive a DC motor with PWM at about 1kHz,
+ and control the speed in 1/1024 increments from
+ 0/1024 (stopped) through to 1024/1024 (full on). In that case you might set the
+ clock divider to be 16, and the RANGE to 1024. The pulse repetition frequency will be
+ 1.2MHz/1024 = 1171.875Hz.
+
+ \par SPI
+
+ In order for bcm2835 library SPI to work, you may need to disable the SPI kernel module using:
+
+ \code
+ sudo raspi-config
+ under Advanced Options - enable Device Tree
+ under Advanced Options - disable SPI
+ Reboot.
+ \endcode
+
+ \par Real Time performance constraints
+
+ The bcm2835 is a library for user programs (i.e. they run in 'userland').
+ Such programs are not part of the kernel and are usually
+ subject to paging and swapping by the kernel while it does other things besides running your program.
+ This means that you should not expect to get real-time performance or
+ real-time timing constraints from such programs. In particular, there is no guarantee that the
+ bcm2835_delay() and bcm2835_delayMicroseconds() will return after exactly the time requested.
+ In fact, depending on other activity on the host, IO etc, you might get significantly longer delay times
+ than the one you asked for. So please dont expect to get exactly the time delay you request.
+
+ Arjan reports that you can prevent swapping on Linux with the following code fragment:
+
+ \code
+ struct sched_param sp;
+ memset(&sp, 0, sizeof(sp));
+ sp.sched_priority = sched_get_priority_max(SCHED_FIFO);
+ sched_setscheduler(0, SCHED_FIFO, &sp);
+ mlockall(MCL_CURRENT | MCL_FUTURE);
+ \endcode
+
+ \par Bindings to other languages
+
+ mikem has made Perl bindings available at CPAN:
+ http://search.cpan.org/~mikem/Device-BCM2835-1.9/lib/Device/BCM2835.pm
+ Matthew Baker has kindly made Python bindings available at:
+ https: github.com/mubeta06/py-libbcm2835
+ Gary Marks has created a Serial Peripheral Interface (SPI) command-line utility
+ for Raspberry Pi, based on the bcm2835 library. The
+ utility, spincl, is licensed under Open Source GNU GPLv3 by iP Solutions (http://ipsolutionscorp.com), as a
+ free download with source included: http://ipsolutionscorp.com/raspberry-pi-spi-utility/
+
+ \par Open Source Licensing GPL V2
+
+ This is the appropriate option if you want to share the source code of your
+ application with everyone you distribute it to, and you also want to give them
+ the right to share who uses it. If you wish to use this software under Open
+ Source Licensing, you must contribute all your source code to the open source
+ community in accordance with the GPL Version 2 when your application is
+ distributed. See http://www.gnu.org/copyleft/gpl.html and COPYING
+
+ \par Acknowledgements
+
+ Some of this code has been inspired by Dom and Gert.
+ The I2C code has been inspired by Alan Barr.
+
+ \par Revision History
+
+ \version 1.0 Initial release
+
+ \version 1.1 Minor bug fixes
+
+ \version 1.2 Added support for SPI
+
+ \version 1.3 Added bcm2835_spi_transfern()
+
+ \version 1.4 Fixed a problem that prevented SPI CE1 being used. Reported by David Robinson.
+
+ \version 1.5 Added bcm2835_close() to deinit the library. Suggested by C?sar Ortiz
+
+ \version 1.6 Document testing on 2012-07-15-wheezy-raspbian and Occidentalisv01
+ Functions bcm2835_gpio_ren(), bcm2835_gpio_fen(), bcm2835_gpio_hen()
+ bcm2835_gpio_len(), bcm2835_gpio_aren() and bcm2835_gpio_afen() now
+ changes only the pin specified. Other pins that were already previously
+ enabled stay enabled.
+ Added bcm2835_gpio_clr_ren(), bcm2835_gpio_clr_fen(), bcm2835_gpio_clr_hen()
+ bcm2835_gpio_clr_len(), bcm2835_gpio_clr_aren(), bcm2835_gpio_clr_afen()
+ to clear the enable for individual pins, suggested by Andreas Sundstrom.
+
+ \version 1.7 Added bcm2835_spi_transfernb to support different buffers for read and write.
+
+ \version 1.8 Improvements to read barrier, as suggested by maddin.
+
+ \version 1.9 Improvements contributed by mikew:
+ I noticed that it was mallocing memory for the mmaps on /dev/mem.
+ It's not necessary to do that, you can just mmap the file directly,
+ so I've removed the mallocs (and frees).
+ I've also modified delayMicroseconds() to use nanosleep() for long waits,
+ and a busy wait on a high resolution timer for the rest. This is because
+ I've found that calling nanosleep() takes at least 100-200 us.
+ You need to link using '-lrt' using this version.
+ I've added some unsigned casts to the debug prints to silence compiler
+ warnings I was getting, fixed some typos, and changed the value of
+ BCM2835_PAD_HYSTERESIS_ENABLED to 0x08 as per Gert van Loo's doc at
+ http://www.scribd.com/doc/101830961/GPIO-Pads-Control2
+ Also added a define for the passwrd value that Gert says is needed to
+ change pad control settings.
+
+ \version 1.10 Changed the names of the delay functions to bcm2835_delay()
+ and bcm2835_delayMicroseconds() to prevent collisions with wiringPi.
+ Macros to map delay()-> bcm2835_delay() and
+ Macros to map delayMicroseconds()-> bcm2835_delayMicroseconds(), which
+ can be disabled by defining BCM2835_NO_DELAY_COMPATIBILITY
+
+ \version 1.11 Fixed incorrect link to download file
+
+ \version 1.12 New GPIO pin definitions for RPi version 2 (which has a different GPIO mapping)
+
+ \version 1.13 New GPIO pin definitions for RPi version 2 plug P5
+ Hardware base pointers are now available (after initialisation) externally as bcm2835_gpio
+ bcm2835_pwm bcm2835_clk bcm2835_pads bcm2835_spi0.
+
+ \version 1.14 Now compiles even if CLOCK_MONOTONIC_RAW is not available, uses CLOCK_MONOTONIC instead.
+ Fixed errors in documentation of SPI divider frequencies based on 250MHz clock.
+ Reported by Ben Simpson.
+
+ \version 1.15 Added bcm2835_close() to end of examples as suggested by Mark Wolfe.
+
+ \version 1.16 Added bcm2835_gpio_set_multi, bcm2835_gpio_clr_multi and bcm2835_gpio_write_multi
+ to allow a mask of pins to be set all at once. Requested by Sebastian Loncar.
+
+ \version 1.17 Added bcm2835_gpio_write_mask. Requested by Sebastian Loncar.
+
+ \version 1.18 Added bcm2835_i2c_* functions. Changes to bcm2835_delayMicroseconds:
+ now uses the RPi system timer counter, instead of clock_gettime, for improved accuracy.
+ No need to link with -lrt now. Contributed by Arjan van Vught.
+ \version 1.19 Removed inlines added by previous patch since they don't seem to work everywhere.
+ Reported by olly.
+
+ \version 1.20 Patch from Mark Dootson to close /dev/mem after access to the peripherals has been granted.
+
+ \version 1.21 delayMicroseconds is now not susceptible to 32 bit timer overruns.
+ Patch courtesy Jeremy Mortis.
+
+ \version 1.22 Fixed incorrect definition of BCM2835_GPFEN0 which broke the ability to set
+ falling edge events. Reported by Mark Dootson.
+
+ \version 1.23 Added bcm2835_i2c_set_baudrate and bcm2835_i2c_read_register_rs.
+ Improvements to bcm2835_i2c_read and bcm2835_i2c_write functions
+ to fix ocasional reads not completing. Patched by Mark Dootson.
+
+ \version 1.24 Mark Dootson p[atched a problem with his previously submitted code
+ under high load from other processes.
+
+ \version 1.25 Updated author and distribution location details to airspayce.com
+
+ \version 1.26 Added missing unmapmem for pads in bcm2835_close to prevent a memory leak.
+ Reported by Hartmut Henkel.
+
+ \version 1.27 bcm2835_gpio_set_pad() no longer needs BCM2835_PAD_PASSWRD: it is
+ now automatically included.
+ Added suport for PWM mode with bcm2835_pwm_* functions.
+
+ \version 1.28 Fixed a problem where bcm2835_spi_writenb() would have problems with transfers of more than
+ 64 bytes dues to read buffer filling. Patched by Peter Würtz.
+
+ \version 1.29 Further fix to SPI from Peter Würtz.
+
+ \version 1.30 10 microsecond delays from bcm2835_spi_transfer and bcm2835_spi_transfern for
+ significant performance improvements, Patch by Alan Watson.
+
+ \version 1.31 Fix a GCC warning about dummy variable, patched by Alan Watson. Thanks.
+
+ \version 1.32 Added option I2C_V1 definition to compile for version 1 RPi.
+ By default I2C code is generated for the V2 RPi which has SDA1 and SCL1 connected.
+ Contributed by Malcolm Wiles based on work by Arvi Govindaraj.
+
+ \version 1.33 Added command line utilities i2c and gpio to examples. Contributed by Shahrooz Shahparnia.
+
+ \version 1.34 Added bcm2835_i2c_write_read_rs() which writes an arbitrary number of bytes,
+ sends a repeat start, and reads from the device. Contributed by Eduardo Steinhorst.
+
+ \version 1.35 Fix build errors when compiled under Qt. Also performance improvements with SPI transfers. Contributed b Udo Klaas.
+
+ \version 1.36 Make automake's test runner detect that we're skipping tests when not root, the second
+ one makes us skip the test when using fakeroot (as used when building
+ Debian packages). Contributed by Guido Günther.
+
+ \version 1.37 Moved confiure.in to configure.ac as receommnded by autoreconf.
+ Improvements to bcm2835_st_read to account for possible timer overflow, contributed by 'Ed'.
+ Added definitions for Raspberry Pi B+ J8 header GPIO pins.
+
+ \version 1.38 Added bcm2835_regbase for the benefit of C# wrappers, patch by Frank Hommers
+
+ \version 1.39 Beta version of RPi2 compatibility. Not tested here on RPi2 hardware.
+ Testers please confirm correct operation on RPi2.
+ Unneccessary 'volatile' qualifiers removed from all variables and signatures.
+ Removed unsupportable PWM dividers, based on a report from Christophe Cecillon.
+ Minor improvements to spi.c example.
+
+ \version 1.40 Correct operation on RPi2 has been confirmed.
+ Fixed a number of compiler errors and warnings that occur when bcm2835.h is included
+ in code compiled with -Wall -Woverflow -Wstrict-overflow -Wshadow -Wextra -pedantic.
+ Reported by tlhackque.
+ Fixed a problem where calling bcm2835_delayMicroseconds loops forever when debug is set. Reported by tlhackque.
+ Reinstated use of volatile in 2 functions where there was a danger of lost reads or writes. Reported by tlhackque.
+
+ \version 1.41 Added BCM2835_VERSION macro and new function bcm2835_version(); Requested by tlhackque.
+ Improvements to peripheral memory barriers as suggested by tlhackque.
+ Reinstated some necessary volatile declarations as requested by tlhackque.
+
+ \version 1.42 Further improvements to memory barriers with the patient assistance and patches of tlhackque.
+
+ \version 1.43 Fixed problems with compiling barriers on RPI 2 with Arch Linux and gcc 4.9.2.
+ Reported and patched by Lars Christensen.
+ Testing on RPI 2, with ArchLinuxARM-rpi-2-latest and 2015-02-16-raspbian-wheezy.
+
+ \version 1.44 Added documention about the need for device tree to be enabled on RPI2.
+ Improvements to detection of availablity of DMB instruction based on value of __ARM_ARCH macro.
+
+ \version 1.45 Fixed an error in the pad group offsets that would prevent bcm2835_gpio_set_pad()
+ and bcm2835_gpio_pad() working correctly with non-0 pad groups. Reported by Guido.
+
+ \version 1.46 2015-09-18
+ Added symbolic definitions for remaining pins on 40 pin GPIO header on RPi 2.
+
+ \version 1.47 2015-11-18
+ Fixed possibly incorrect reads in bcm2835_i2c_read_register_rs, patch from Eckhardt Ulrich.
+
+ \version 1.48 2015-12-08
+ Added patch from Eckhardt Ulrich that fixed problems that could cause hanging with bcm2835_i2c_read_register_rs
+ and others.
+
+ \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
+*/
+
+
+/* Defines for BCM2835 */
+#ifndef BCM2835_H
+#define BCM2835_H
+
+#include
+
+#define BCM2835_VERSION 10048 /* Version 1.48 */
+
+/* RPi 2 is ARM v7, and has DMB instruction for memory barriers.
+ Older RPis are ARM v6 and don't, so a coprocessor instruction must be used instead.
+ However, not all versions of gcc in all distros support the dmb assembler instruction even on conmpatible processors.
+ This test is so any ARMv7 or higher processors with suitable GCC will use DMB.
+*/
+#if __ARM_ARCH >= 7
+#define BCM2835_HAVE_DMB
+#endif
+
+/*! \defgroup constants Constants for passing to and from library functions
+ The values here are designed to be passed to various functions in the bcm2835 library.
+ @{
+*/
+
+/*! This means pin HIGH, true, 3.3volts on a pin. */
+#define HIGH 0x1
+/*! This means pin LOW, false, 0volts on a pin. */
+#define LOW 0x0
+
+/*! Speed of the core clock core_clk */
+#define BCM2835_CORE_CLK_HZ 250000000 /*!< 250 MHz */
+
+/*! On RPi2 with BCM2836, and all recent OSs, the base of the peripherals is read from a /proc file */
+#define BMC2835_RPI2_DT_FILENAME "/proc/device-tree/soc/ranges"
+/*! Offset into BMC2835_RPI2_DT_FILENAME for the peripherals base address */
+#define BMC2835_RPI2_DT_PERI_BASE_ADDRESS_OFFSET 4
+/*! Offset into BMC2835_RPI2_DT_FILENAME for the peripherals size address */
+#define BMC2835_RPI2_DT_PERI_SIZE_OFFSET 8
+
+/*! Physical addresses for various peripheral register sets
+ Base Physical Address of the BCM 2835 peripheral registers
+ Note this is different for the RPi2 BCM2836, where this is derived from /proc/device-tree/soc/ranges
+ If /proc/device-tree/soc/ranges exists on a RPi 1 OS, it would be expected to contain the
+ following numbers:
+*/
+/*! Peripherals block base address on RPi 1 */
+#define BCM2835_PERI_BASE 0x20000000
+/*! Size of the peripherals block on RPi 1 */
+#define BCM2835_PERI_SIZE 0x01000000
+
+/*! Offsets for the bases of various peripherals within the peripherals block
+ / Base Address of the System Timer registers
+*/
+#define BCM2835_ST_BASE 0x3000
+/*! Base Address of the Pads registers */
+#define BCM2835_GPIO_PADS 0x100000
+/*! Base Address of the Clock/timer registers */
+#define BCM2835_CLOCK_BASE 0x101000
+/*! Base Address of the GPIO registers */
+#define BCM2835_GPIO_BASE 0x200000
+/*! Base Address of the SPI0 registers */
+#define BCM2835_SPI0_BASE 0x204000
+/*! Base Address of the BSC0 registers */
+#define BCM2835_BSC0_BASE 0x205000
+/*! Base Address of the PWM registers */
+#define BCM2835_GPIO_PWM 0x20C000
+/*! Base Address of the BSC1 registers */
+#define BCM2835_BSC1_BASE 0x804000
+
+/*! Physical address and size of the peripherals block
+ May be overridden on RPi2
+*/
+extern uint32_t *bcm2835_peripherals_base;
+/*! Size of the peripherals block to be mapped */
+extern uint32_t bcm2835_peripherals_size;
+
+/*! Virtual memory address of the mapped peripherals block */
+extern uint32_t *bcm2835_peripherals;
+
+/*! Base of the ST (System Timer) registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_st;
+
+/*! Base of the GPIO registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_gpio;
+
+/*! Base of the PWM registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_pwm;
+
+/*! Base of the CLK registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_clk;
+
+/*! Base of the PADS registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_pads;
+
+/*! Base of the SPI0 registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_spi0;
+
+/*! Base of the BSC0 registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_bsc0;
+
+/*! Base of the BSC1 registers.
+ Available after bcm2835_init has been called
+*/
+extern volatile uint32_t *bcm2835_bsc1;
+
+/*! \brief bcm2835RegisterBase
+ Register bases for bcm2835_regbase()
+*/
+typedef enum
+{
+ BCM2835_REGBASE_ST = 1, /*!< Base of the ST (System Timer) registers. */
+ BCM2835_REGBASE_GPIO = 2, /*!< Base of the GPIO registers. */
+ BCM2835_REGBASE_PWM = 3, /*!< Base of the PWM registers. */
+ BCM2835_REGBASE_CLK = 4, /*!< Base of the CLK registers. */
+ BCM2835_REGBASE_PADS = 5, /*!< Base of the PADS registers. */
+ BCM2835_REGBASE_SPI0 = 6, /*! Base of the SPI0 registers. */
+ BCM2835_REGBASE_BSC0 = 7, /*!< Base of the BSC0 registers. */
+ BCM2835_REGBASE_BSC1 = 8 /*!< Base of the BSC1 registers. */
+} bcm2835RegisterBase;
+
+/*! Size of memory page on RPi */
+#define BCM2835_PAGE_SIZE (4*1024)
+/*! Size of memory block on RPi */
+#define BCM2835_BLOCK_SIZE (4*1024)
+
+
+/* Defines for GPIO
+ The BCM2835 has 54 GPIO pins.
+ BCM2835 data sheet, Page 90 onwards.
+*/
+/*! GPIO register offsets from BCM2835_GPIO_BASE.
+ Offsets into the GPIO Peripheral block in bytes per 6.1 Register View
+*/
+#define BCM2835_GPFSEL0 0x0000 /*!< GPIO Function Select 0 */
+#define BCM2835_GPFSEL1 0x0004 /*!< GPIO Function Select 1 */
+#define BCM2835_GPFSEL2 0x0008 /*!< GPIO Function Select 2 */
+#define BCM2835_GPFSEL3 0x000c /*!< GPIO Function Select 3 */
+#define BCM2835_GPFSEL4 0x0010 /*!< GPIO Function Select 4 */
+#define BCM2835_GPFSEL5 0x0014 /*!< GPIO Function Select 5 */
+#define BCM2835_GPSET0 0x001c /*!< GPIO Pin Output Set 0 */
+#define BCM2835_GPSET1 0x0020 /*!< GPIO Pin Output Set 1 */
+#define BCM2835_GPCLR0 0x0028 /*!< GPIO Pin Output Clear 0 */
+#define BCM2835_GPCLR1 0x002c /*!< GPIO Pin Output Clear 1 */
+#define BCM2835_GPLEV0 0x0034 /*!< GPIO Pin Level 0 */
+#define BCM2835_GPLEV1 0x0038 /*!< GPIO Pin Level 1 */
+#define BCM2835_GPEDS0 0x0040 /*!< GPIO Pin Event Detect Status 0 */
+#define BCM2835_GPEDS1 0x0044 /*!< GPIO Pin Event Detect Status 1 */
+#define BCM2835_GPREN0 0x004c /*!< GPIO Pin Rising Edge Detect Enable 0 */
+#define BCM2835_GPREN1 0x0050 /*!< GPIO Pin Rising Edge Detect Enable 1 */
+#define BCM2835_GPFEN0 0x0058 /*!< GPIO Pin Falling Edge Detect Enable 0 */
+#define BCM2835_GPFEN1 0x005c /*!< GPIO Pin Falling Edge Detect Enable 1 */
+#define BCM2835_GPHEN0 0x0064 /*!< GPIO Pin High Detect Enable 0 */
+#define BCM2835_GPHEN1 0x0068 /*!< GPIO Pin High Detect Enable 1 */
+#define BCM2835_GPLEN0 0x0070 /*!< GPIO Pin Low Detect Enable 0 */
+#define BCM2835_GPLEN1 0x0074 /*!< GPIO Pin Low Detect Enable 1 */
+#define BCM2835_GPAREN0 0x007c /*!< GPIO Pin Async. Rising Edge Detect 0 */
+#define BCM2835_GPAREN1 0x0080 /*!< GPIO Pin Async. Rising Edge Detect 1 */
+#define BCM2835_GPAFEN0 0x0088 /*!< GPIO Pin Async. Falling Edge Detect 0 */
+#define BCM2835_GPAFEN1 0x008c /*!< GPIO Pin Async. Falling Edge Detect 1 */
+#define BCM2835_GPPUD 0x0094 /*!< GPIO Pin Pull-up/down Enable */
+#define BCM2835_GPPUDCLK0 0x0098 /*!< GPIO Pin Pull-up/down Enable Clock 0 */
+#define BCM2835_GPPUDCLK1 0x009c /*!< GPIO Pin Pull-up/down Enable Clock 1 */
+
+/*! \brief bcm2835PortFunction
+ Port function select modes for bcm2835_gpio_fsel()
+*/
+typedef enum
+{
+ BCM2835_GPIO_FSEL_INPT = 0x00, /*!< Input 0b000 */
+ BCM2835_GPIO_FSEL_OUTP = 0x01, /*!< Output 0b001 */
+ BCM2835_GPIO_FSEL_ALT0 = 0x04, /*!< Alternate function 0 0b100 */
+ BCM2835_GPIO_FSEL_ALT1 = 0x05, /*!< Alternate function 1 0b101 */
+ BCM2835_GPIO_FSEL_ALT2 = 0x06, /*!< Alternate function 2 0b110, */
+ BCM2835_GPIO_FSEL_ALT3 = 0x07, /*!< Alternate function 3 0b111 */
+ BCM2835_GPIO_FSEL_ALT4 = 0x03, /*!< Alternate function 4 0b011 */
+ BCM2835_GPIO_FSEL_ALT5 = 0x02, /*!< Alternate function 5 0b010 */
+ BCM2835_GPIO_FSEL_MASK = 0x07 /*!< Function select bits mask 0b111 */
+} bcm2835FunctionSelect;
+
+/*! \brief bcm2835PUDControl
+ Pullup/Pulldown defines for bcm2835_gpio_pud()
+*/
+typedef enum
+{
+ BCM2835_GPIO_PUD_OFF = 0x00, /*!< Off ? disable pull-up/down 0b00 */
+ BCM2835_GPIO_PUD_DOWN = 0x01, /*!< Enable Pull Down control 0b01 */
+ BCM2835_GPIO_PUD_UP = 0x02 /*!< Enable Pull Up control 0b10 */
+} bcm2835PUDControl;
+
+/*! Pad control register offsets from BCM2835_GPIO_PADS */
+#define BCM2835_PADS_GPIO_0_27 0x002c /*!< Pad control register for pads 0 to 27 */
+#define BCM2835_PADS_GPIO_28_45 0x0030 /*!< Pad control register for pads 28 to 45 */
+#define BCM2835_PADS_GPIO_46_53 0x0034 /*!< Pad control register for pads 46 to 53 */
+
+/*! Pad Control masks */
+#define BCM2835_PAD_PASSWRD (0x5A << 24) /*!< Password to enable setting pad mask */
+#define BCM2835_PAD_SLEW_RATE_UNLIMITED 0x10 /*!< Slew rate unlimited */
+#define BCM2835_PAD_HYSTERESIS_ENABLED 0x08 /*!< Hysteresis enabled */
+#define BCM2835_PAD_DRIVE_2mA 0x00 /*!< 2mA drive current */
+#define BCM2835_PAD_DRIVE_4mA 0x01 /*!< 4mA drive current */
+#define BCM2835_PAD_DRIVE_6mA 0x02 /*!< 6mA drive current */
+#define BCM2835_PAD_DRIVE_8mA 0x03 /*!< 8mA drive current */
+#define BCM2835_PAD_DRIVE_10mA 0x04 /*!< 10mA drive current */
+#define BCM2835_PAD_DRIVE_12mA 0x05 /*!< 12mA drive current */
+#define BCM2835_PAD_DRIVE_14mA 0x06 /*!< 14mA drive current */
+#define BCM2835_PAD_DRIVE_16mA 0x07 /*!< 16mA drive current */
+
+/*! \brief bcm2835PadGroup
+ Pad group specification for bcm2835_gpio_pad()
+*/
+typedef enum
+{
+ BCM2835_PAD_GROUP_GPIO_0_27 = 0, /*!< Pad group for GPIO pads 0 to 27 */
+ BCM2835_PAD_GROUP_GPIO_28_45 = 1, /*!< Pad group for GPIO pads 28 to 45 */
+ BCM2835_PAD_GROUP_GPIO_46_53 = 2 /*!< Pad group for GPIO pads 46 to 53 */
+} bcm2835PadGroup;
+
+/*! \brief GPIO Pin Numbers
+
+ Here we define Raspberry Pin GPIO pins on P1 in terms of the underlying BCM GPIO pin numbers.
+ These can be passed as a pin number to any function requiring a pin.
+ Not all pins on the RPi 26 bin IDE plug are connected to GPIO pins
+ and some can adopt an alternate function.
+ RPi version 2 has some slightly different pinouts, and these are values RPI_V2_*.
+ RPi B+ has yet differnet pinouts and these are defined in RPI_BPLUS_*.
+ At bootup, pins 8 and 10 are set to UART0_TXD, UART0_RXD (ie the alt0 function) respectively
+ When SPI0 is in use (ie after bcm2835_spi_begin()), SPI0 pins are dedicated to SPI
+ and cant be controlled independently.
+ If you are using the RPi Compute Module, just use the GPIO number: there is no need to use one of these
+ symbolic names
+*/
+typedef enum
+{
+ RPI_GPIO_P1_03 = 0, /*!< Version 1, Pin P1-03 */
+ RPI_GPIO_P1_05 = 1, /*!< Version 1, Pin P1-05 */
+ RPI_GPIO_P1_07 = 4, /*!< Version 1, Pin P1-07 */
+ RPI_GPIO_P1_08 = 14, /*!< Version 1, Pin P1-08, defaults to alt function 0 UART0_TXD */
+ RPI_GPIO_P1_10 = 15, /*!< Version 1, Pin P1-10, defaults to alt function 0 UART0_RXD */
+ RPI_GPIO_P1_11 = 17, /*!< Version 1, Pin P1-11 */
+ RPI_GPIO_P1_12 = 18, /*!< Version 1, Pin P1-12, can be PWM channel 0 in ALT FUN 5 */
+ RPI_GPIO_P1_13 = 21, /*!< Version 1, Pin P1-13 */
+ RPI_GPIO_P1_15 = 22, /*!< Version 1, Pin P1-15 */
+ RPI_GPIO_P1_16 = 23, /*!< Version 1, Pin P1-16 */
+ RPI_GPIO_P1_18 = 24, /*!< Version 1, Pin P1-18 */
+ RPI_GPIO_P1_19 = 10, /*!< Version 1, Pin P1-19, MOSI when SPI0 in use */
+ RPI_GPIO_P1_21 = 9, /*!< Version 1, Pin P1-21, MISO when SPI0 in use */
+ RPI_GPIO_P1_22 = 25, /*!< Version 1, Pin P1-22 */
+ RPI_GPIO_P1_23 = 11, /*!< Version 1, Pin P1-23, CLK when SPI0 in use */
+ RPI_GPIO_P1_24 = 8, /*!< Version 1, Pin P1-24, CE0 when SPI0 in use */
+ RPI_GPIO_P1_26 = 7, /*!< Version 1, Pin P1-26, CE1 when SPI0 in use */
+
+ /* RPi Version 2 */
+ RPI_V2_GPIO_P1_03 = 2, /*!< Version 2, Pin P1-03 */
+ RPI_V2_GPIO_P1_05 = 3, /*!< Version 2, Pin P1-05 */
+ RPI_V2_GPIO_P1_07 = 4, /*!< Version 2, Pin P1-07 */
+ RPI_V2_GPIO_P1_08 = 14, /*!< Version 2, Pin P1-08, defaults to alt function 0 UART0_TXD */
+ RPI_V2_GPIO_P1_10 = 15, /*!< Version 2, Pin P1-10, defaults to alt function 0 UART0_RXD */
+ RPI_V2_GPIO_P1_11 = 17, /*!< Version 2, Pin P1-11 */
+ RPI_V2_GPIO_P1_12 = 18, /*!< Version 2, Pin P1-12, can be PWM channel 0 in ALT FUN 5 */
+ RPI_V2_GPIO_P1_13 = 27, /*!< Version 2, Pin P1-13 */
+ RPI_V2_GPIO_P1_15 = 22, /*!< Version 2, Pin P1-15 */
+ RPI_V2_GPIO_P1_16 = 23, /*!< Version 2, Pin P1-16 */
+ RPI_V2_GPIO_P1_18 = 24, /*!< Version 2, Pin P1-18 */
+ RPI_V2_GPIO_P1_19 = 10, /*!< Version 2, Pin P1-19, MOSI when SPI0 in use */
+ RPI_V2_GPIO_P1_21 = 9, /*!< Version 2, Pin P1-21, MISO when SPI0 in use */
+ RPI_V2_GPIO_P1_22 = 25, /*!< Version 2, Pin P1-22 */
+ RPI_V2_GPIO_P1_23 = 11, /*!< Version 2, Pin P1-23, CLK when SPI0 in use */
+ RPI_V2_GPIO_P1_24 = 8, /*!< Version 2, Pin P1-24, CE0 when SPI0 in use */
+ RPI_V2_GPIO_P1_26 = 7, /*!< Version 2, Pin P1-26, CE1 when SPI0 in use */
+ RPI_V2_GPIO_P1_29 = 5, /*!< Version 2, Pin P1-29 */
+ RPI_V2_GPIO_P1_31 = 6, /*!< Version 2, Pin P1-31 */
+ RPI_V2_GPIO_P1_32 = 12, /*!< Version 2, Pin P1-32 */
+ RPI_V2_GPIO_P1_33 = 13, /*!< Version 2, Pin P1-33 */
+ RPI_V2_GPIO_P1_35 = 19, /*!< Version 2, Pin P1-35 */
+ RPI_V2_GPIO_P1_36 = 16, /*!< Version 2, Pin P1-36 */
+ RPI_V2_GPIO_P1_37 = 26, /*!< Version 2, Pin P1-37 */
+ RPI_V2_GPIO_P1_38 = 20, /*!< Version 2, Pin P1-38 */
+ RPI_V2_GPIO_P1_40 = 21, /*!< Version 2, Pin P1-40 */
+
+ /* RPi Version 2, new plug P5 */
+ RPI_V2_GPIO_P5_03 = 28, /*!< Version 2, Pin P5-03 */
+ RPI_V2_GPIO_P5_04 = 29, /*!< Version 2, Pin P5-04 */
+ RPI_V2_GPIO_P5_05 = 30, /*!< Version 2, Pin P5-05 */
+ RPI_V2_GPIO_P5_06 = 31, /*!< Version 2, Pin P5-06 */
+
+ /* RPi B+ J8 header, also RPi 2 40 pin GPIO header */
+ RPI_BPLUS_GPIO_J8_03 = 2, /*!< B+, Pin J8-03 */
+ RPI_BPLUS_GPIO_J8_05 = 3, /*!< B+, Pin J8-05 */
+ RPI_BPLUS_GPIO_J8_07 = 4, /*!< B+, Pin J8-07 */
+ RPI_BPLUS_GPIO_J8_08 = 14, /*!< B+, Pin J8-08, defaults to alt function 0 UART0_TXD */
+ RPI_BPLUS_GPIO_J8_10 = 15, /*!< B+, Pin J8-10, defaults to alt function 0 UART0_RXD */
+ RPI_BPLUS_GPIO_J8_11 = 17, /*!< B+, Pin J8-11 */
+ RPI_BPLUS_GPIO_J8_12 = 18, /*!< B+, Pin J8-12, can be PWM channel 0 in ALT FUN 5 */
+ RPI_BPLUS_GPIO_J8_13 = 27, /*!< B+, Pin J8-13 */
+ RPI_BPLUS_GPIO_J8_15 = 22, /*!< B+, Pin J8-15 */
+ RPI_BPLUS_GPIO_J8_16 = 23, /*!< B+, Pin J8-16 */
+ RPI_BPLUS_GPIO_J8_18 = 24, /*!< B+, Pin J8-18 */
+ RPI_BPLUS_GPIO_J8_19 = 10, /*!< B+, Pin J8-19, MOSI when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_21 = 9, /*!< B+, Pin J8-21, MISO when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_22 = 25, /*!< B+, Pin J8-22 */
+ RPI_BPLUS_GPIO_J8_23 = 11, /*!< B+, Pin J8-23, CLK when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_24 = 8, /*!< B+, Pin J8-24, CE0 when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_26 = 7, /*!< B+, Pin J8-26, CE1 when SPI0 in use */
+ RPI_BPLUS_GPIO_J8_29 = 5, /*!< B+, Pin J8-29, */
+ RPI_BPLUS_GPIO_J8_31 = 6, /*!< B+, Pin J8-31, */
+ RPI_BPLUS_GPIO_J8_32 = 12, /*!< B+, Pin J8-32, */
+ RPI_BPLUS_GPIO_J8_33 = 13, /*!< B+, Pin J8-33, */
+ RPI_BPLUS_GPIO_J8_35 = 19, /*!< B+, Pin J8-35, */
+ RPI_BPLUS_GPIO_J8_36 = 16, /*!< B+, Pin J8-36, */
+ RPI_BPLUS_GPIO_J8_37 = 26, /*!< B+, Pin J8-37, */
+ RPI_BPLUS_GPIO_J8_38 = 20, /*!< B+, Pin J8-38, */
+ RPI_BPLUS_GPIO_J8_40 = 21 /*!< B+, Pin J8-40, */
+} RPiGPIOPin;
+
+/* Defines for SPI
+ GPIO register offsets from BCM2835_SPI0_BASE.
+ Offsets into the SPI Peripheral block in bytes per 10.5 SPI Register Map
+*/
+#define BCM2835_SPI0_CS 0x0000 /*!< SPI Master Control and Status */
+#define BCM2835_SPI0_FIFO 0x0004 /*!< SPI Master TX and RX FIFOs */
+#define BCM2835_SPI0_CLK 0x0008 /*!< SPI Master Clock Divider */
+#define BCM2835_SPI0_DLEN 0x000c /*!< SPI Master Data Length */
+#define BCM2835_SPI0_LTOH 0x0010 /*!< SPI LOSSI mode TOH */
+#define BCM2835_SPI0_DC 0x0014 /*!< SPI DMA DREQ Controls */
+
+/* Register masks for SPI0_CS */
+#define BCM2835_SPI0_CS_LEN_LONG 0x02000000 /*!< Enable Long data word in Lossi mode if DMA_LEN is set */
+#define BCM2835_SPI0_CS_DMA_LEN 0x01000000 /*!< Enable DMA mode in Lossi mode */
+#define BCM2835_SPI0_CS_CSPOL2 0x00800000 /*!< Chip Select 2 Polarity */
+#define BCM2835_SPI0_CS_CSPOL1 0x00400000 /*!< Chip Select 1 Polarity */
+#define BCM2835_SPI0_CS_CSPOL0 0x00200000 /*!< Chip Select 0 Polarity */
+#define BCM2835_SPI0_CS_RXF 0x00100000 /*!< RXF - RX FIFO Full */
+#define BCM2835_SPI0_CS_RXR 0x00080000 /*!< RXR RX FIFO needs Reading (full) */
+#define BCM2835_SPI0_CS_TXD 0x00040000 /*!< TXD TX FIFO can accept Data */
+#define BCM2835_SPI0_CS_RXD 0x00020000 /*!< RXD RX FIFO contains Data */
+#define BCM2835_SPI0_CS_DONE 0x00010000 /*!< Done transfer Done */
+#define BCM2835_SPI0_CS_TE_EN 0x00008000 /*!< Unused */
+#define BCM2835_SPI0_CS_LMONO 0x00004000 /*!< Unused */
+#define BCM2835_SPI0_CS_LEN 0x00002000 /*!< LEN LoSSI enable */
+#define BCM2835_SPI0_CS_REN 0x00001000 /*!< REN Read Enable */
+#define BCM2835_SPI0_CS_ADCS 0x00000800 /*!< ADCS Automatically Deassert Chip Select */
+#define BCM2835_SPI0_CS_INTR 0x00000400 /*!< INTR Interrupt on RXR */
+#define BCM2835_SPI0_CS_INTD 0x00000200 /*!< INTD Interrupt on Done */
+#define BCM2835_SPI0_CS_DMAEN 0x00000100 /*!< DMAEN DMA Enable */
+#define BCM2835_SPI0_CS_TA 0x00000080 /*!< Transfer Active */
+#define BCM2835_SPI0_CS_CSPOL 0x00000040 /*!< Chip Select Polarity */
+#define BCM2835_SPI0_CS_CLEAR 0x00000030 /*!< Clear FIFO Clear RX and TX */
+#define BCM2835_SPI0_CS_CLEAR_RX 0x00000020 /*!< Clear FIFO Clear RX */
+#define BCM2835_SPI0_CS_CLEAR_TX 0x00000010 /*!< Clear FIFO Clear TX */
+#define BCM2835_SPI0_CS_CPOL 0x00000008 /*!< Clock Polarity */
+#define BCM2835_SPI0_CS_CPHA 0x00000004 /*!< Clock Phase */
+#define BCM2835_SPI0_CS_CS 0x00000003 /*!< Chip Select */
+
+/*! \brief bcm2835SPIBitOrder SPI Bit order
+ Specifies the SPI data bit ordering for bcm2835_spi_setBitOrder()
+*/
+typedef enum
+{
+ BCM2835_SPI_BIT_ORDER_LSBFIRST = 0, /*!< LSB First */
+ BCM2835_SPI_BIT_ORDER_MSBFIRST = 1 /*!< MSB First */
+}bcm2835SPIBitOrder;
+
+/*! \brief SPI Data mode
+ Specify the SPI data mode to be passed to bcm2835_spi_setDataMode()
+*/
+typedef enum
+{
+ BCM2835_SPI_MODE0 = 0, /*!< CPOL = 0, CPHA = 0 */
+ BCM2835_SPI_MODE1 = 1, /*!< CPOL = 0, CPHA = 1 */
+ BCM2835_SPI_MODE2 = 2, /*!< CPOL = 1, CPHA = 0 */
+ BCM2835_SPI_MODE3 = 3 /*!< CPOL = 1, CPHA = 1 */
+}bcm2835SPIMode;
+
+/*! \brief bcm2835SPIChipSelect
+ Specify the SPI chip select pin(s)
+*/
+typedef enum
+{
+ BCM2835_SPI_CS0 = 0, /*!< Chip Select 0 */
+ BCM2835_SPI_CS1 = 1, /*!< Chip Select 1 */
+ BCM2835_SPI_CS2 = 2, /*!< Chip Select 2 (ie pins CS1 and CS2 are asserted) */
+ BCM2835_SPI_CS_NONE = 3 /*!< No CS, control it yourself */
+} bcm2835SPIChipSelect;
+
+/*! \brief bcm2835SPIClockDivider
+ Specifies the divider used to generate the SPI clock from the system clock.
+ Figures below give the divider, clock period and clock frequency.
+ Clock divided is based on nominal base clock rate of 250MHz
+ It is reported that (contrary to the documentation) any even divider may used.
+ The frequencies shown for each divider have been confirmed by measurement
+*/
+typedef enum
+{
+ BCM2835_SPI_CLOCK_DIVIDER_65536 = 0, /*!< 65536 = 262.144us = 3.814697260kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_32768 = 32768, /*!< 32768 = 131.072us = 7.629394531kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_16384 = 16384, /*!< 16384 = 65.536us = 15.25878906kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_8192 = 8192, /*!< 8192 = 32.768us = 30/51757813kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_4096 = 4096, /*!< 4096 = 16.384us = 61.03515625kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_2048 = 2048, /*!< 2048 = 8.192us = 122.0703125kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_1024 = 1024, /*!< 1024 = 4.096us = 244.140625kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_512 = 512, /*!< 512 = 2.048us = 488.28125kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_256 = 256, /*!< 256 = 1.024us = 976.5625kHz */
+ BCM2835_SPI_CLOCK_DIVIDER_128 = 128, /*!< 128 = 512ns = = 1.953125MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_64 = 64, /*!< 64 = 256ns = 3.90625MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_32 = 32, /*!< 32 = 128ns = 7.8125MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_16 = 16, /*!< 16 = 64ns = 15.625MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_8 = 8, /*!< 8 = 32ns = 31.25MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_4 = 4, /*!< 4 = 16ns = 62.5MHz */
+ BCM2835_SPI_CLOCK_DIVIDER_2 = 2, /*!< 2 = 8ns = 125MHz, fastest you can get */
+ BCM2835_SPI_CLOCK_DIVIDER_1 = 1 /*!< 1 = 262.144us = 3.814697260kHz, same as 0/65536 */
+} bcm2835SPIClockDivider;
+
+/* Defines for I2C
+ GPIO register offsets from BCM2835_BSC*_BASE.
+ Offsets into the BSC Peripheral block in bytes per 3.1 BSC Register Map
+*/
+#define BCM2835_BSC_C 0x0000 /*!< BSC Master Control */
+#define BCM2835_BSC_S 0x0004 /*!< BSC Master Status */
+#define BCM2835_BSC_DLEN 0x0008 /*!< BSC Master Data Length */
+#define BCM2835_BSC_A 0x000c /*!< BSC Master Slave Address */
+#define BCM2835_BSC_FIFO 0x0010 /*!< BSC Master Data FIFO */
+#define BCM2835_BSC_DIV 0x0014 /*!< BSC Master Clock Divider */
+#define BCM2835_BSC_DEL 0x0018 /*!< BSC Master Data Delay */
+#define BCM2835_BSC_CLKT 0x001c /*!< BSC Master Clock Stretch Timeout */
+
+/* Register masks for BSC_C */
+#define BCM2835_BSC_C_I2CEN 0x00008000 /*!< I2C Enable, 0 = disabled, 1 = enabled */
+#define BCM2835_BSC_C_INTR 0x00000400 /*!< Interrupt on RX */
+#define BCM2835_BSC_C_INTT 0x00000200 /*!< Interrupt on TX */
+#define BCM2835_BSC_C_INTD 0x00000100 /*!< Interrupt on DONE */
+#define BCM2835_BSC_C_ST 0x00000080 /*!< Start transfer, 1 = Start a new transfer */
+#define BCM2835_BSC_C_CLEAR_1 0x00000020 /*!< Clear FIFO Clear */
+#define BCM2835_BSC_C_CLEAR_2 0x00000010 /*!< Clear FIFO Clear */
+#define BCM2835_BSC_C_READ 0x00000001 /*!< Read transfer */
+
+/* Register masks for BSC_S */
+#define BCM2835_BSC_S_CLKT 0x00000200 /*!< Clock stretch timeout */
+#define BCM2835_BSC_S_ERR 0x00000100 /*!< ACK error */
+#define BCM2835_BSC_S_RXF 0x00000080 /*!< RXF FIFO full, 0 = FIFO is not full, 1 = FIFO is full */
+#define BCM2835_BSC_S_TXE 0x00000040 /*!< TXE FIFO full, 0 = FIFO is not full, 1 = FIFO is full */
+#define BCM2835_BSC_S_RXD 0x00000020 /*!< RXD FIFO contains data */
+#define BCM2835_BSC_S_TXD 0x00000010 /*!< TXD FIFO can accept data */
+#define BCM2835_BSC_S_RXR 0x00000008 /*!< RXR FIFO needs reading (full) */
+#define BCM2835_BSC_S_TXW 0x00000004 /*!< TXW FIFO needs writing (full) */
+#define BCM2835_BSC_S_DONE 0x00000002 /*!< Transfer DONE */
+#define BCM2835_BSC_S_TA 0x00000001 /*!< Transfer Active */
+
+#define BCM2835_BSC_FIFO_SIZE 16 /*!< BSC FIFO size */
+
+/*! \brief bcm2835I2CClockDivider
+ Specifies the divider used to generate the I2C clock from the system clock.
+ Clock divided is based on nominal base clock rate of 250MHz
+*/
+typedef enum
+{
+ BCM2835_I2C_CLOCK_DIVIDER_2500 = 2500, /*!< 2500 = 10us = 100 kHz */
+ BCM2835_I2C_CLOCK_DIVIDER_626 = 626, /*!< 622 = 2.504us = 399.3610 kHz */
+ BCM2835_I2C_CLOCK_DIVIDER_150 = 150, /*!< 150 = 60ns = 1.666 MHz (default at reset) */
+ BCM2835_I2C_CLOCK_DIVIDER_148 = 148 /*!< 148 = 59ns = 1.689 MHz */
+} bcm2835I2CClockDivider;
+
+/*! \brief bcm2835I2CReasonCodes
+ Specifies the reason codes for the bcm2835_i2c_write and bcm2835_i2c_read functions.
+*/
+typedef enum
+{
+ BCM2835_I2C_REASON_OK = 0x00, /*!< Success */
+ BCM2835_I2C_REASON_ERROR_NACK = 0x01, /*!< Received a NACK */
+ BCM2835_I2C_REASON_ERROR_CLKT = 0x02, /*!< Received Clock Stretch Timeout */
+ BCM2835_I2C_REASON_ERROR_DATA = 0x04 /*!< Not all data is sent / received */
+} bcm2835I2CReasonCodes;
+
+/* Defines for ST
+ GPIO register offsets from BCM2835_ST_BASE.
+ Offsets into the ST Peripheral block in bytes per 12.1 System Timer Registers
+ The System Timer peripheral provides four 32-bit timer channels and a single 64-bit free running counter.
+ BCM2835_ST_CLO is the System Timer Counter Lower bits register.
+ The system timer free-running counter lower register is a read-only register that returns the current value
+ of the lower 32-bits of the free running counter.
+ BCM2835_ST_CHI is the System Timer Counter Upper bits register.
+ The system timer free-running counter upper register is a read-only register that returns the current value
+ of the upper 32-bits of the free running counter.
+*/
+#define BCM2835_ST_CS 0x0000 /*!< System Timer Control/Status */
+#define BCM2835_ST_CLO 0x0004 /*!< System Timer Counter Lower 32 bits */
+#define BCM2835_ST_CHI 0x0008 /*!< System Timer Counter Upper 32 bits */
+
+/*! @} */
+
+
+/* Defines for PWM, word offsets (ie 4 byte multiples) */
+#define BCM2835_PWM_CONTROL 0
+#define BCM2835_PWM_STATUS 1
+#define BCM2835_PWM_DMAC 2
+#define BCM2835_PWM0_RANGE 4
+#define BCM2835_PWM0_DATA 5
+#define BCM2835_PWM_FIF1 6
+#define BCM2835_PWM1_RANGE 8
+#define BCM2835_PWM1_DATA 9
+
+/* Defines for PWM Clock, word offsets (ie 4 byte multiples) */
+#define BCM2835_PWMCLK_CNTL 40
+#define BCM2835_PWMCLK_DIV 41
+#define BCM2835_PWM_PASSWRD (0x5A << 24) /*!< Password to enable setting PWM clock */
+
+#define BCM2835_PWM1_MS_MODE 0x8000 /*!< Run in Mark/Space mode */
+#define BCM2835_PWM1_USEFIFO 0x2000 /*!< Data from FIFO */
+#define BCM2835_PWM1_REVPOLAR 0x1000 /*!< Reverse polarity */
+#define BCM2835_PWM1_OFFSTATE 0x0800 /*!< Ouput Off state */
+#define BCM2835_PWM1_REPEATFF 0x0400 /*!< Repeat last value if FIFO empty */
+#define BCM2835_PWM1_SERIAL 0x0200 /*!< Run in serial mode */
+#define BCM2835_PWM1_ENABLE 0x0100 /*!< Channel Enable */
+
+#define BCM2835_PWM0_MS_MODE 0x0080 /*!< Run in Mark/Space mode */
+#define BCM2835_PWM_CLEAR_FIFO 0x0040 /*!< Clear FIFO */
+#define BCM2835_PWM0_USEFIFO 0x0020 /*!< Data from FIFO */
+#define BCM2835_PWM0_REVPOLAR 0x0010 /*!< Reverse polarity */
+#define BCM2835_PWM0_OFFSTATE 0x0008 /*!< Ouput Off state */
+#define BCM2835_PWM0_REPEATFF 0x0004 /*!< Repeat last value if FIFO empty */
+#define BCM2835_PWM0_SERIAL 0x0002 /*!< Run in serial mode */
+#define BCM2835_PWM0_ENABLE 0x0001 /*!< Channel Enable */
+
+/*! \brief bcm2835PWMClockDivider
+ Specifies the divider used to generate the PWM clock from the system clock.
+ Figures below give the divider, clock period and clock frequency.
+ Clock divided is based on nominal PWM base clock rate of 19.2MHz
+ The frequencies shown for each divider have been confirmed by measurement
+*/
+typedef enum
+{
+ BCM2835_PWM_CLOCK_DIVIDER_2048 = 2048, /*!< 2048 = 9.375kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_1024 = 1024, /*!< 1024 = 18.75kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_512 = 512, /*!< 512 = 37.5kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_256 = 256, /*!< 256 = 75kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_128 = 128, /*!< 128 = 150kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_64 = 64, /*!< 64 = 300kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_32 = 32, /*!< 32 = 600.0kHz */
+ BCM2835_PWM_CLOCK_DIVIDER_16 = 16, /*!< 16 = 1.2MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_8 = 8, /*!< 8 = 2.4MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_4 = 4, /*!< 4 = 4.8MHz */
+ BCM2835_PWM_CLOCK_DIVIDER_2 = 2, /*!< 2 = 9.6MHz, fastest you can get */
+ BCM2835_PWM_CLOCK_DIVIDER_1 = 1 /*!< 1 = 4.6875kHz, same as divider 4096 */
+} bcm2835PWMClockDivider;
+
+/* Historical name compatibility */
+#ifndef BCM2835_NO_DELAY_COMPATIBILITY
+#define delay(x) bcm2835_delay(x)
+#define delayMicroseconds(x) bcm2835_delayMicroseconds(x)
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+ /*! \defgroup init Library initialisation and management
+ These functions allow you to intialise and control the bcm2835 library
+ @{
+ */
+
+ /*! Initialise the library by opening /dev/mem and getting pointers to the
+ internal memory for BCM 2835 device registers. You must call this (successfully)
+ before calling any other
+ functions in this library (except bcm2835_set_debug).
+ If bcm2835_init() fails by returning 0,
+ calling any other function may result in crashes or other failures.
+ Prints messages to stderr in case of errors.
+ \return 1 if successful else 0
+ */
+ extern int bcm2835_init(void);
+
+ /*! Close the library, deallocating any allocated memory and closing /dev/mem
+ \return 1 if successful else 0
+ */
+ extern int bcm2835_close(void);
+
+ /*! Sets the debug level of the library.
+ A value of 1 prevents mapping to /dev/mem, and makes the library print out
+ what it would do, rather than accessing the GPIO registers.
+ A value of 0, the default, causes normal operation.
+ Call this before calling bcm2835_init();
+ \param[in] debug The new debug level. 1 means debug
+ */
+ extern void bcm2835_set_debug(uint8_t debug);
+
+ /*! Returns the version number of the library, same as BCM2835_VERSION
+ \return the current library version number
+ */
+ extern unsigned int bcm2835_version(void);
+
+ /*! @} */
+
+ /*! \defgroup lowlevel Low level register access
+ These functions provide low level register access, and should not generally
+ need to be used
+
+ @{
+ */
+
+ /*! Gets the base of a register
+ \param[in] regbase You can use one of the common values BCM2835_REGBASE_*
+ in \ref bcm2835RegisterBase
+ \return the register base
+ \sa Physical Addresses
+ */
+ extern uint32_t* bcm2835_regbase(uint8_t regbase);
+
+ /*! Reads 32 bit value from a peripheral address WITH a memory barrier before and after each read.
+ This is safe, but slow. The MB before protects this read from any in-flight reads that didn't
+ use a MB. The MB after protects subsequent reads from another peripheral.
+
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \return the value read from the 32 bit register
+ \sa Physical Addresses
+ */
+ extern uint32_t bcm2835_peri_read(volatile uint32_t* paddr);
+
+ /*! Reads 32 bit value from a peripheral address WITHOUT the read barriers
+ You should only use this when:
+ o your code has previously called bcm2835_peri_read() for a register
+ within the same peripheral, and no read or write to another peripheral has occurred since.
+ o your code has called bcm2835_memory_barrier() since the last access to ANOTHER peripheral.
+
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \return the value read from the 32 bit register
+ \sa Physical Addresses
+ */
+ extern uint32_t bcm2835_peri_read_nb(volatile uint32_t* paddr);
+
+
+ /*! Writes 32 bit value from a peripheral address WITH a memory barrier before and after each write
+ This is safe, but slow. The MB before ensures that any in-flight write to another peripheral
+ completes before this write is issued. The MB after ensures that subsequent reads and writes
+ to another peripheral will see the effect of this write.
+
+ This is a tricky optimization; if you aren't sure, use the barrier version.
+
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \param[in] value The 32 bit value to write
+ \sa Physical Addresses
+ */
+ extern void bcm2835_peri_write(volatile uint32_t* paddr, uint32_t value);
+
+ /*! Writes 32 bit value from a peripheral address without the write barrier
+ You should only use this when:
+ o your code has previously called bcm2835_peri_write() for a register
+ within the same peripheral, and no other peripheral access has occurred since.
+ o your code has called bcm2835_memory_barrier() since the last access to ANOTHER peripheral.
+
+ This is a tricky optimization; if you aren't sure, use the barrier version.
+
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \param[in] value The 32 bit value to write
+ \sa Physical Addresses
+ */
+ extern void bcm2835_peri_write_nb(volatile uint32_t* paddr, uint32_t value);
+
+ /*! Alters a number of bits in a 32 peripheral regsiter.
+ It reads the current valu and then alters the bits defines as 1 in mask,
+ according to the bit value in value.
+ All other bits that are 0 in the mask are unaffected.
+ Use this to alter a subset of the bits in a register.
+ Memory barriers are used. Note that this is not atomic; an interrupt
+ routine can cause unexpected results.
+ \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc.
+ \param[in] value The 32 bit value to write, masked in by mask.
+ \param[in] mask Bitmask that defines the bits that will be altered in the register.
+ \sa Physical Addresses
+ */
+ extern void bcm2835_peri_set_bits(volatile uint32_t* paddr, uint32_t value, uint32_t mask);
+ /*! @} end of lowlevel */
+
+ /*! \defgroup gpio GPIO register access
+ These functions allow you to control the GPIO interface. You can set the
+ function of each GPIO pin, read the input state and set the output state.
+ @{
+ */
+
+ /*! Sets the Function Select register for the given pin, which configures
+ the pin as Input, Output or one of the 6 alternate functions.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \param[in] mode Mode to set the pin to, one of BCM2835_GPIO_FSEL_* from \ref bcm2835FunctionSelect
+ */
+ extern void bcm2835_gpio_fsel(uint8_t pin, uint8_t mode);
+
+ /*! Sets the specified pin output to
+ HIGH.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \sa bcm2835_gpio_write()
+ */
+ extern void bcm2835_gpio_set(uint8_t pin);
+
+ /*! Sets the specified pin output to
+ LOW.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \sa bcm2835_gpio_write()
+ */
+ extern void bcm2835_gpio_clr(uint8_t pin);
+
+ /*! Sets any of the first 32 GPIO output pins specified in the mask to
+ HIGH.
+ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ \sa bcm2835_gpio_write_multi()
+ */
+ extern void bcm2835_gpio_set_multi(uint32_t mask);
+
+ /*! Sets any of the first 32 GPIO output pins specified in the mask to
+ LOW.
+ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ \sa bcm2835_gpio_write_multi()
+ */
+ extern void bcm2835_gpio_clr_multi(uint32_t mask);
+
+ /*! Reads the current level on the specified
+ pin and returns either HIGH or LOW. Works whether or not the pin
+ is an input or an output.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \return the current level either HIGH or LOW
+ */
+ extern uint8_t bcm2835_gpio_lev(uint8_t pin);
+
+ /*! Event Detect Status.
+ Tests whether the specified pin has detected a level or edge
+ as requested by bcm2835_gpio_ren(), bcm2835_gpio_fen(), bcm2835_gpio_hen(),
+ bcm2835_gpio_len(), bcm2835_gpio_aren(), bcm2835_gpio_afen().
+ Clear the flag for a given pin by calling bcm2835_gpio_set_eds(pin);
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \return HIGH if the event detect status for the given pin is true.
+ */
+ extern uint8_t bcm2835_gpio_eds(uint8_t pin);
+
+ /*! Sets the Event Detect Status register for a given pin to 1,
+ which has the effect of clearing the flag. Use this afer seeing
+ an Event Detect Status on the pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_set_eds(uint8_t pin);
+
+ /*! Enable Rising Edge Detect Enable for the specified pin.
+ When a rising edge is detected, sets the appropriate pin in Event Detect Status.
+ The GPRENn registers use
+ synchronous edge detection. This means the input signal is sampled using the
+ system clock and then it is looking for a ?011? pattern on the sampled signal. This
+ has the effect of suppressing glitches.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_ren(uint8_t pin);
+
+ /*! Disable Rising Edge Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_ren(uint8_t pin);
+
+ /*! Enable Falling Edge Detect Enable for the specified pin.
+ When a falling edge is detected, sets the appropriate pin in Event Detect Status.
+ The GPRENn registers use
+ synchronous edge detection. This means the input signal is sampled using the
+ system clock and then it is looking for a ?100? pattern on the sampled signal. This
+ has the effect of suppressing glitches.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_fen(uint8_t pin);
+
+ /*! Disable Falling Edge Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_fen(uint8_t pin);
+
+ /*! Enable High Detect Enable for the specified pin.
+ When a HIGH level is detected on the pin, sets the appropriate pin in Event Detect Status.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_hen(uint8_t pin);
+
+ /*! Disable High Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_hen(uint8_t pin);
+
+ /*! Enable Low Detect Enable for the specified pin.
+ When a LOW level is detected on the pin, sets the appropriate pin in Event Detect Status.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_len(uint8_t pin);
+
+ /*! Disable Low Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_len(uint8_t pin);
+
+ /*! Enable Asynchronous Rising Edge Detect Enable for the specified pin.
+ When a rising edge is detected, sets the appropriate pin in Event Detect Status.
+ Asynchronous means the incoming signal is not sampled by the system clock. As such
+ rising edges of very short duration can be detected.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_aren(uint8_t pin);
+
+ /*! Disable Asynchronous Rising Edge Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_aren(uint8_t pin);
+
+ /*! Enable Asynchronous Falling Edge Detect Enable for the specified pin.
+ When a falling edge is detected, sets the appropriate pin in Event Detect Status.
+ Asynchronous means the incoming signal is not sampled by the system clock. As such
+ falling edges of very short duration can be detected.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_afen(uint8_t pin);
+
+ /*! Disable Asynchronous Falling Edge Detect Enable for the specified pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ */
+ extern void bcm2835_gpio_clr_afen(uint8_t pin);
+
+ /*! Sets the Pull-up/down register for the given pin. This is
+ used with bcm2835_gpio_pudclk() to set the Pull-up/down resistor for the given pin.
+ However, it is usually more convenient to use bcm2835_gpio_set_pud().
+ \param[in] pud The desired Pull-up/down mode. One of BCM2835_GPIO_PUD_* from bcm2835PUDControl
+ \sa bcm2835_gpio_set_pud()
+ */
+ extern void bcm2835_gpio_pud(uint8_t pud);
+
+ /*! Clocks the Pull-up/down value set earlier by bcm2835_gpio_pud() into the pin.
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \param[in] on HIGH to clock the value from bcm2835_gpio_pud() into the pin.
+ LOW to remove the clock.
+ \sa bcm2835_gpio_set_pud()
+ */
+ extern void bcm2835_gpio_pudclk(uint8_t pin, uint8_t on);
+
+ /*! Reads and returns the Pad Control for the given GPIO group.
+ \param[in] group The GPIO pad group number, one of BCM2835_PAD_GROUP_GPIO_*
+ \return Mask of bits from BCM2835_PAD_* from \ref bcm2835PadGroup
+ */
+ extern uint32_t bcm2835_gpio_pad(uint8_t group);
+
+ /*! Sets the Pad Control for the given GPIO group.
+ \param[in] group The GPIO pad group number, one of BCM2835_PAD_GROUP_GPIO_*
+ \param[in] control Mask of bits from BCM2835_PAD_* from \ref bcm2835PadGroup. Note
+ that it is not necessary to include BCM2835_PAD_PASSWRD in the mask as this
+ is automatically included.
+ */
+ extern void bcm2835_gpio_set_pad(uint8_t group, uint32_t control);
+
+ /*! Delays for the specified number of milliseconds.
+ Uses nanosleep(), and therefore does not use CPU until the time is up.
+ However, you are at the mercy of nanosleep(). From the manual for nanosleep():
+ If the interval specified in req is not an exact multiple of the granularity
+ underlying clock (see time(7)), then the interval will be
+ rounded up to the next multiple. Furthermore, after the sleep completes,
+ there may still be a delay before the CPU becomes free to once
+ again execute the calling thread.
+ \param[in] millis Delay in milliseconds
+ */
+ extern void bcm2835_delay (unsigned int millis);
+
+ /*! Delays for the specified number of microseconds.
+ Uses a combination of nanosleep() and a busy wait loop on the BCM2835 system timers,
+ However, you are at the mercy of nanosleep(). From the manual for nanosleep():
+ If the interval specified in req is not an exact multiple of the granularity
+ underlying clock (see time(7)), then the interval will be
+ rounded up to the next multiple. Furthermore, after the sleep completes,
+ there may still be a delay before the CPU becomes free to once
+ again execute the calling thread.
+ For times less than about 450 microseconds, uses a busy wait on the System Timer.
+ It is reported that a delay of 0 microseconds on RaspberryPi will in fact
+ result in a delay of about 80 microseconds. Your mileage may vary.
+ \param[in] micros Delay in microseconds
+ */
+ extern void bcm2835_delayMicroseconds (uint64_t micros);
+
+ /*! Sets the output state of the specified pin
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \param[in] on HIGH sets the output to HIGH and LOW to LOW.
+ */
+ extern void bcm2835_gpio_write(uint8_t pin, uint8_t on);
+
+ /*! Sets any of the first 32 GPIO output pins specified in the mask to the state given by on
+ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ \param[in] on HIGH sets the output to HIGH and LOW to LOW.
+ */
+ extern void bcm2835_gpio_write_multi(uint32_t mask, uint8_t on);
+
+ /*! Sets the first 32 GPIO output pins specified in the mask to the value given by value
+ \param[in] value values required for each bit masked in by mask, eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05)
+ */
+ extern void bcm2835_gpio_write_mask(uint32_t value, uint32_t mask);
+
+ /*! Sets the Pull-up/down mode for the specified pin. This is more convenient than
+ clocking the mode in with bcm2835_gpio_pud() and bcm2835_gpio_pudclk().
+ \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin.
+ \param[in] pud The desired Pull-up/down mode. One of BCM2835_GPIO_PUD_* from bcm2835PUDControl
+ */
+ extern void bcm2835_gpio_set_pud(uint8_t pin, uint8_t pud);
+
+ /*! @} */
+
+ /*! \defgroup spi SPI access
+ These functions let you use SPI0 (Serial Peripheral Interface) to
+ interface with an external SPI device.
+ @{
+ */
+
+ /*! Start SPI operations.
+ Forces RPi SPI0 pins P1-19 (MOSI), P1-21 (MISO), P1-23 (CLK), P1-24 (CE0) and P1-26 (CE1)
+ to alternate function ALT0, which enables those pins for SPI interface.
+ You should call bcm2835_spi_end() when all SPI funcitons are complete to return the pins to
+ their default functions
+ \sa bcm2835_spi_end()
+ */
+ extern void bcm2835_spi_begin(void);
+
+ /*! End SPI operations.
+ SPI0 pins P1-19 (MOSI), P1-21 (MISO), P1-23 (CLK), P1-24 (CE0) and P1-26 (CE1)
+ are returned to their default INPUT behaviour.
+ */
+ extern void bcm2835_spi_end(void);
+
+ /*! Sets the SPI bit order
+ NOTE: has no effect. Not supported by SPI0.
+ Defaults to
+ \param[in] order The desired bit order, one of BCM2835_SPI_BIT_ORDER_*,
+ see \ref bcm2835SPIBitOrder
+ */
+ extern void bcm2835_spi_setBitOrder(uint8_t order);
+
+ /*! Sets the SPI clock divider and therefore the
+ SPI clock speed.
+ \param[in] divider The desired SPI clock divider, one of BCM2835_SPI_CLOCK_DIVIDER_*,
+ see \ref bcm2835SPIClockDivider
+ */
+ extern void bcm2835_spi_setClockDivider(uint16_t divider);
+
+ /*! Sets the SPI data mode
+ Sets the clock polariy and phase
+ \param[in] mode The desired data mode, one of BCM2835_SPI_MODE*,
+ see \ref bcm2835SPIMode
+ */
+ extern void bcm2835_spi_setDataMode(uint8_t mode);
+
+ /*! Sets the chip select pin(s)
+ When an bcm2835_spi_transfer() is made, the selected pin(s) will be asserted during the
+ transfer.
+ \param[in] cs Specifies the CS pins(s) that are used to activate the desired slave.
+ One of BCM2835_SPI_CS*, see \ref bcm2835SPIChipSelect
+ */
+ extern void bcm2835_spi_chipSelect(uint8_t cs);
+
+ /*! Sets the chip select pin polarity for a given pin
+ When an bcm2835_spi_transfer() occurs, the currently selected chip select pin(s)
+ will be asserted to the
+ value given by active. When transfers are not happening, the chip select pin(s)
+ return to the complement (inactive) value.
+ \param[in] cs The chip select pin to affect
+ \param[in] active Whether the chip select pin is to be active HIGH
+ */
+ extern void bcm2835_spi_setChipSelectPolarity(uint8_t cs, uint8_t active);
+
+ /*! Transfers one byte to and from the currently selected SPI slave.
+ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect)
+ during the transfer.
+ Clocks the 8 bit value out on MOSI, and simultaneously clocks in data from MISO.
+ Returns the read data byte from the slave.
+ Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual
+ \param[in] value The 8 bit data byte to write to MOSI
+ \return The 8 bit byte simultaneously read from MISO
+ \sa bcm2835_spi_transfern()
+ */
+ extern uint8_t bcm2835_spi_transfer(uint8_t value);
+
+ /*! Transfers any number of bytes to and from the currently selected SPI slave.
+ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect)
+ during the transfer.
+ Clocks the len 8 bit bytes out on MOSI, and simultaneously clocks in data from MISO.
+ The data read read from the slave is placed into rbuf. rbuf must be at least len bytes long
+ Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual
+ \param[in] tbuf Buffer of bytes to send.
+ \param[out] rbuf Received bytes will by put in this buffer
+ \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send/received
+ \sa bcm2835_spi_transfer()
+ */
+ extern void bcm2835_spi_transfernb(char* tbuf, char* rbuf, uint32_t len);
+
+ /*! Transfers any number of bytes to and from the currently selected SPI slave
+ using bcm2835_spi_transfernb.
+ The returned data from the slave replaces the transmitted data in the buffer.
+ \param[in,out] buf Buffer of bytes to send. Received bytes will replace the contents
+ \param[in] len Number of bytes int eh buffer, and the number of bytes to send/received
+ \sa bcm2835_spi_transfer()
+ */
+ extern void bcm2835_spi_transfern(char* buf, uint32_t len);
+
+ /*! Transfers any number of bytes to the currently selected SPI slave.
+ Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect)
+ during the transfer.
+ \param[in] buf Buffer of bytes to send.
+ \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send
+ */
+ extern void bcm2835_spi_writenb(char* buf, uint32_t len);
+
+ /*! @} */
+
+ /*! \defgroup i2c I2C access
+ These functions let you use I2C (The Broadcom Serial Control bus with the Philips
+ I2C bus/interface version 2.1 January 2000.) to interface with an external I2C device.
+ @{
+ */
+
+ /*! Start I2C operations.
+ Forces RPi I2C pins P1-03 (SDA) and P1-05 (SCL)
+ to alternate function ALT0, which enables those pins for I2C interface.
+ You should call bcm2835_i2c_end() when all I2C functions are complete to return the pins to
+ their default functions
+ \sa bcm2835_i2c_end()
+ */
+ extern void bcm2835_i2c_begin(void);
+
+ /*! End I2C operations.
+ I2C pins P1-03 (SDA) and P1-05 (SCL)
+ are returned to their default INPUT behaviour.
+ */
+ extern void bcm2835_i2c_end(void);
+
+ /*! Sets the I2C slave address.
+ \param[in] addr The I2C slave address.
+ */
+ extern void bcm2835_i2c_setSlaveAddress(uint8_t addr);
+
+ /*! Sets the I2C clock divider and therefore the I2C clock speed.
+ \param[in] divider The desired I2C clock divider, one of BCM2835_I2C_CLOCK_DIVIDER_*,
+ see \ref bcm2835I2CClockDivider
+ */
+ extern void bcm2835_i2c_setClockDivider(uint16_t divider);
+
+ /*! Sets the I2C clock divider by converting the baudrate parameter to
+ the equivalent I2C clock divider. ( see \sa bcm2835_i2c_setClockDivider)
+ For the I2C standard 100khz you would set baudrate to 100000
+ The use of baudrate corresponds to its use in the I2C kernel device
+ driver. (Of course, bcm2835 has nothing to do with the kernel driver)
+ */
+ extern void bcm2835_i2c_set_baudrate(uint32_t baudrate);
+
+ /*! Transfers any number of bytes to the currently selected I2C slave.
+ (as previously set by \sa bcm2835_i2c_setSlaveAddress)
+ \param[in] buf Buffer of bytes to send.
+ \param[in] len Number of bytes in the buf buffer, and the number of bytes to send.
+ \return reason see \ref bcm2835I2CReasonCodes
+ */
+ extern uint8_t bcm2835_i2c_write(const char * buf, uint32_t len);
+
+ /*! Transfers any number of bytes from the currently selected I2C slave.
+ (as previously set by \sa bcm2835_i2c_setSlaveAddress)
+ \param[in] buf Buffer of bytes to receive.
+ \param[in] len Number of bytes in the buf buffer, and the number of bytes to received.
+ \return reason see \ref bcm2835I2CReasonCodes
+ */
+ extern uint8_t bcm2835_i2c_read(char* buf, uint32_t len);
+
+ /*! Allows reading from I2C slaves that require a repeated start (without any prior stop)
+ to read after the required slave register has been set. For example, the popular
+ MPL3115A2 pressure and temperature sensor. Note that your device must support or
+ require this mode. If your device does not require this mode then the standard
+ combined:
+ \sa bcm2835_i2c_write
+ \sa bcm2835_i2c_read
+ are a better choice.
+ Will read from the slave previously set by \sa bcm2835_i2c_setSlaveAddress
+ \param[in] regaddr Buffer containing the slave register you wish to read from.
+ \param[in] buf Buffer of bytes to receive.
+ \param[in] len Number of bytes in the buf buffer, and the number of bytes to received.
+ \return reason see \ref bcm2835I2CReasonCodes
+ */
+ extern uint8_t bcm2835_i2c_read_register_rs(char* regaddr, char* buf, uint32_t len);
+
+ /*! Allows sending an arbitrary number of bytes to I2C slaves before issuing a repeated
+ start (with no prior stop) and reading a response.
+ Necessary for devices that require such behavior, such as the MLX90620.
+ Will write to and read from the slave previously set by \sa bcm2835_i2c_setSlaveAddress
+ \param[in] cmds Buffer containing the bytes to send before the repeated start condition.
+ \param[in] cmds_len Number of bytes to send from cmds buffer
+ \param[in] buf Buffer of bytes to receive.
+ \param[in] buf_len Number of bytes to receive in the buf buffer.
+ \return reason see \ref bcm2835I2CReasonCodes
+ */
+ extern uint8_t bcm2835_i2c_write_read_rs(char* cmds, uint32_t cmds_len, char* buf, uint32_t buf_len);
+
+ /*! @} */
+
+ /*! \defgroup st System Timer access
+ Allows access to and delays using the System Timer Counter.
+ @{
+ */
+
+ /*! Read the System Timer Counter register.
+ \return the value read from the System Timer Counter Lower 32 bits register
+ */
+ extern uint64_t bcm2835_st_read(void);
+
+ /*! Delays for the specified number of microseconds with offset.
+ \param[in] offset_micros Offset in microseconds
+ \param[in] micros Delay in microseconds
+ */
+ extern void bcm2835_st_delay(uint64_t offset_micros, uint64_t micros);
+
+ /*! @} */
+
+ /*! \defgroup pwm Pulse Width Modulation
+ Allows control of 2 independent PWM channels. A limited subset of GPIO pins
+ can be connected to one of these 2 channels, allowing PWM control of GPIO pins.
+ You have to set the desired pin into a particular Alt Fun to PWM output. See the PWM
+ documentation on the Main Page.
+ @{
+ */
+
+ /*! Sets the PWM clock divisor,
+ to control the basic PWM pulse widths.
+ \param[in] divisor Divides the basic 19.2MHz PWM clock. You can use one of the common
+ values BCM2835_PWM_CLOCK_DIVIDER_* in \ref bcm2835PWMClockDivider
+ */
+ extern void bcm2835_pwm_set_clock(uint32_t divisor);
+
+ /*! Sets the mode of the given PWM channel,
+ allowing you to control the PWM mode and enable/disable that channel
+ \param[in] channel The PWM channel. 0 or 1.
+ \param[in] markspace Set true if you want Mark-Space mode. 0 for Balanced mode.
+ \param[in] enabled Set true to enable this channel and produce PWM pulses.
+ */
+ extern void bcm2835_pwm_set_mode(uint8_t channel, uint8_t markspace, uint8_t enabled);
+
+ /*! Sets the maximum range of the PWM output.
+ The data value can vary between 0 and this range to control PWM output
+ \param[in] channel The PWM channel. 0 or 1.
+ \param[in] range The maximum value permitted for DATA.
+ */
+ extern void bcm2835_pwm_set_range(uint8_t channel, uint32_t range);
+
+ /*! Sets the PWM pulse ratio to emit to DATA/RANGE,
+ where RANGE is set by bcm2835_pwm_set_range().
+ \param[in] channel The PWM channel. 0 or 1.
+ \param[in] data Controls the PWM output ratio as a fraction of the range.
+ Can vary from 0 to RANGE.
+ */
+ extern void bcm2835_pwm_set_data(uint8_t channel, uint32_t data);
+
+ /*! @} */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BCM2835_H */
+
+/*! @example blink.c
+ Blinks RPi GPIO pin 11 on and off
+*/
+
+/*! @example input.c
+ Reads the state of an RPi input pin
+*/
+
+/*! @example event.c
+ Shows how to use event detection on an input pin
+*/
+
+/*! @example spi.c
+ Shows how to use SPI interface to transfer a byte to and from an SPI device
+*/
+
+/*! @example spin.c
+ Shows how to use SPI interface to transfer a number of bytes to and from an SPI device
+*/
+
+/*! @example pwm.c
+ Shows how to use PWM to control GPIO pins
+*/
+
+/*! @example i2c.c
+Command line utility for executing i2c commands with the
+Broadcom bcm2835. Contributed by Shahrooz Shahparnia.
+*/
+
+/*! example gpio.c
+ Command line utility for executing gpio commands with the
+ Broadcom bcm2835. Contributed by Shahrooz Shahparnia.
+*/
diff --git a/includes/blas.h b/includes/blas.h
new file mode 100644
index 0000000..f4b0bda
--- /dev/null
+++ b/includes/blas.h
@@ -0,0 +1,160 @@
+/*
+ * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ * Copyright (C) 2008-2008 - INRIA - Bruno JOFRET
+ *
+ * This file must be used under the terms of the CeCILL.
+ * This source file is licensed as described in the file COPYING, which
+ * you should have received as part of this distribution. The terms
+ * are also available at
+ * http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+
+#ifndef __BLAS_H__
+#define __BLAS_H__
+
+
+#ifndef _MACRO_C2F_
+#define _MACRO_C2F_
+#define C2F(name) name##_
+#endif
+/*
+ SUBROUTINE DGEMM ( TRANSA, TRANSB, M, N, K, ALPHA, A, LDA, B, LDB,
+ $ BETA, C, LDC )
+* .. Scalar Arguments ..
+ CHARACTER*1 TRANSA, TRANSB
+ INTEGER M, N, K, LDA, LDB, LDC
+ DOUBLE PRECISION ALPHA, BETA
+* .. Array Arguments ..
+ DOUBLE PRECISION A( LDA, * ), B( LDB, * ), C( LDC, * )
+* ..
+C WARNING : this routine has been modified for Scilab (see comments
+C Cscilab) because algorithm is not ok if A matrix contains NaN
+C (NaN*0 should be NaN, not 0)
+* Purpose
+* =======
+*
+* DGEMM performs one of the matrix-matrix operations
+*
+* C := alpha*op( A )*op( B ) + beta*C,
+*
+* where op( X ) is one of
+*
+* op( X ) = X or op( X ) = X',
+*
+* alpha and beta are scalars, and A, B and C are matrices, with op( A )
+* an m by k matrix, op( B ) a k by n matrix and C an m by n matrix.
+*
+* Parameters
+* ==========
+*
+* TRANSA - CHARACTER*1.
+* On entry, TRANSA specifies the form of op( A ) to be used in
+* the matrix multiplication as follows:
+*
+* TRANSA = 'N' or 'n', op( A ) = A.
+*
+* TRANSA = 'T' or 't', op( A ) = A'.
+*
+* TRANSA = 'C' or 'c', op( A ) = A'.
+*
+* Unchanged on exit.
+*
+* TRANSB - CHARACTER*1.
+* On entry, TRANSB specifies the form of op( B ) to be used in
+* the matrix multiplication as follows:
+*
+* TRANSB = 'N' or 'n', op( B ) = B.
+*
+* TRANSB = 'T' or 't', op( B ) = B'.
+*
+* TRANSB = 'C' or 'c', op( B ) = B'.
+*
+* Unchanged on exit.
+*
+* M - INTEGER.
+* On entry, M specifies the number of rows of the matrix
+* op( A ) and of the matrix C. M must be at least zero.
+* Unchanged on exit.
+*
+* N - INTEGER.
+* On entry, N specifies the number of columns of the matrix
+* op( B ) and the number of columns of the matrix C. N must be
+* at least zero.
+* Unchanged on exit.
+*
+* K - INTEGER.
+* On entry, K specifies the number of columns of the matrix
+* op( A ) and the number of rows of the matrix op( B ). K must
+* be at least zero.
+* Unchanged on exit.
+*
+* ALPHA - DOUBLE PRECISION.
+* On entry, ALPHA specifies the scalar alpha.
+* Unchanged on exit.
+*
+* A - DOUBLE PRECISION array of DIMENSION ( LDA, ka ), where ka is
+* k when TRANSA = 'N' or 'n', and is m otherwise.
+* Before entry with TRANSA = 'N' or 'n', the leading m by k
+* part of the array A must contain the matrix A, otherwise
+* the leading k by m part of the array A must contain the
+* matrix A.
+* Unchanged on exit.
+*
+* LDA - INTEGER.
+* On entry, LDA specifies the first dimension of A as declared
+* in the calling (sub) program. When TRANSA = 'N' or 'n' then
+* LDA must be at least max( 1, m ), otherwise LDA must be at
+* least max( 1, k ).
+* Unchanged on exit.
+*
+* B - DOUBLE PRECISION array of DIMENSION ( LDB, kb ), where kb is
+* n when TRANSB = 'N' or 'n', and is k otherwise.
+* Before entry with TRANSB = 'N' or 'n', the leading k by n
+* part of the array B must contain the matrix B, otherwise
+* the leading n by k part of the array B must contain the
+* matrix B.
+* Unchanged on exit.
+*
+* LDB - INTEGER.
+* On entry, LDB specifies the first dimension of B as declared
+* in the calling (sub) program. When TRANSB = 'N' or 'n' then
+* LDB must be at least max( 1, k ), otherwise LDB must be at
+* least max( 1, n ).
+* Unchanged on exit.
+*
+* BETA - DOUBLE PRECISION.
+* On entry, BETA specifies the scalar beta. When BETA is
+* supplied as zero then C need not be set on input.
+* Unchanged on exit.
+*
+* C - DOUBLE PRECISION array of DIMENSION ( LDC, n ).
+* Before entry, the leading m by n part of the array C must
+* contain the matrix C, except when beta is zero, in which
+* case C need not be set on entry.
+* On exit, the array C is overwritten by the m by n matrix
+* ( alpha*op( A )*op( B ) + beta*C ).
+*
+* LDC - INTEGER.
+* On entry, LDC specifies the first dimension of C as declared
+* in the calling (sub) program. LDC must be at least
+* max( 1, m ).
+* Unchanged on exit.
+*
+*
+* Level 3 Blas routine.
+*/
+/*
+void dgemm_(char *TRANSA, char* TRANSB, int *M, int *N, int *K,
+ double *ALPHA, double *A, int *LDA,
+ double *B, int *LDB, double *BETA,
+ double *C, int *LDC);*/
+
+extern int C2F(dgemm)(char *,char*,int*,int*,int*,double*,double*,int*,double*,int*,double*,double*,int*);
+extern int C2F(idamax)() ;/* could be transcribe easaly in c */
+extern int C2F(daxpy) () ;/* could be transcribe easaly in c */
+extern int C2F(dscal) () ;/* could be transcribe easaly in c */
+extern int C2F(dasum) () ;/* could be transcribe easaly in c */
+
+
+#endif /* !__BLAS_H__ */
diff --git a/includes/constant.h b/includes/constant.h
new file mode 100644
index 0000000..14543b6
--- /dev/null
+++ b/includes/constant.h
@@ -0,0 +1,34 @@
+/*
+ * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ * Copyright (C) 2006-2008 - INRIA - Bruno JOFRET
+ *
+ * This file must be used under the terms of the CeCILL.
+ * This source file is licensed as described in the file COPYING, which
+ * you should have received as part of this distribution. The terms
+ * are also available at
+ * http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+
+#ifndef __CONSTANT_H__
+#define __CONSTANT_H__
+
+#include
+
+#define FPI 3.1415926535897931159980f
+#define DPI 3.1415926535897931159980
+
+#define NEPER 2.7182818284590450907956
+
+#define PI DPI
+#define SCI2C_PI DPI
+#define SCI2C_E NEPER
+#define SCI2C_T 1
+#define SCI2C_F 0
+#define SCI2C_NAN nan("")
+#define SCI2C_INF 1e100000
+#define SCI2C_IMG_C FloatComplex(0,1)
+#define SCI2C_IMG_Z DoubleComplex(0,1)
+
+#endif /* !__CONSTANT_H__ */
+
diff --git a/includes/f2c.h b/includes/f2c.h
new file mode 100644
index 0000000..a90a1ef
--- /dev/null
+++ b/includes/f2c.h
@@ -0,0 +1,245 @@
+/* f2c.h -- Standard Fortran to C header file */
+
+/** barf [ba:rf] 2. "He suggested using FORTRAN, and everybody barfed."
+
+ - From The Shogakukan DICTIONARY OF NEW ENGLISH (Second edition) */
+
+#ifndef F2C_INCLUDE
+#define F2C_INCLUDE
+
+#ifdef FORDLL
+#define IMPORT extern __declspec (dllimport)
+#else
+#define IMPORT
+#endif
+
+#ifdef FORDLL
+#define Extern __declspec (dllimport)
+#else
+#define Extern
+#endif
+
+
+
+typedef long int integer;
+typedef unsigned long int uinteger;
+typedef char *address;
+typedef short int shortint;
+typedef float real;
+typedef double doublereal;
+typedef struct { real r, i; } complex;
+typedef struct { doublereal r, i; } doublecomplex;
+typedef long int logical;
+typedef short int shortlogical;
+typedef char logical1;
+typedef char integer1;
+#ifdef INTEGER_STAR_8 /* Adjust for integer*8. */
+typedef long long longint; /* system-dependent */
+typedef unsigned long long ulongint; /* system-dependent */
+#define qbit_clear(a,b) ((a) & ~((ulongint)1 << (b)))
+#define qbit_set(a,b) ((a) | ((ulongint)1 << (b)))
+#endif
+
+#define TRUE_ (1)
+#define FALSE_ (0)
+
+/* Extern is for use with -E */
+#ifndef Extern
+#define Extern extern
+#endif
+
+/* I/O stuff */
+
+#ifdef f2c_i2
+/* for -i2 */
+typedef short flag;
+typedef short ftnlen;
+typedef short ftnint;
+#else
+typedef long int flag;
+typedef long int ftnlen;
+typedef long int ftnint;
+#endif
+
+/*external read, write*/
+typedef struct
+{ flag cierr;
+ ftnint ciunit;
+ flag ciend;
+ char *cifmt;
+ ftnint cirec;
+} cilist;
+
+/*internal read, write*/
+typedef struct
+{ flag icierr;
+ char *iciunit;
+ flag iciend;
+ char *icifmt;
+ ftnint icirlen;
+ ftnint icirnum;
+} icilist;
+
+/*open*/
+typedef struct
+{ flag oerr;
+ ftnint ounit;
+ char *ofnm;
+ ftnlen ofnmlen;
+ char *osta;
+ char *oacc;
+ char *ofm;
+ ftnint orl;
+ char *oblnk;
+} olist;
+
+/*close*/
+typedef struct
+{ flag cerr;
+ ftnint cunit;
+ char *csta;
+} cllist;
+
+/*rewind, backspace, endfile*/
+typedef struct
+{ flag aerr;
+ ftnint aunit;
+} alist;
+
+/* inquire */
+typedef struct
+{ flag inerr;
+ ftnint inunit;
+ char *infile;
+ ftnlen infilen;
+ ftnint *inex; /*parameters in standard's order*/
+ ftnint *inopen;
+ ftnint *innum;
+ ftnint *innamed;
+ char *inname;
+ ftnlen innamlen;
+ char *inacc;
+ ftnlen inacclen;
+ char *inseq;
+ ftnlen inseqlen;
+ char *indir;
+ ftnlen indirlen;
+ char *infmt;
+ ftnlen infmtlen;
+ char *inform;
+ ftnint informlen;
+ char *inunf;
+ ftnlen inunflen;
+ ftnint *inrecl;
+ ftnint *innrec;
+ char *inblank;
+ ftnlen inblanklen;
+} inlist;
+
+#define VOID void
+
+union Multitype { /* for multiple entry points */
+ integer1 g;
+ shortint h;
+ integer i;
+ /* longint j; */
+ real r;
+ doublereal d;
+ complex c;
+ doublecomplex z;
+ };
+
+typedef union Multitype Multitype;
+
+/*typedef long int Long;*/ /* No longer used; formerly in Namelist */
+
+struct Vardesc { /* for Namelist */
+ char *name;
+ char *addr;
+ ftnlen *dims;
+ int type;
+ };
+typedef struct Vardesc Vardesc;
+
+struct Namelist {
+ char *name;
+ Vardesc **vars;
+ int nvars;
+ };
+typedef struct Namelist Namelist;
+
+#define abs(x) ((x) >= 0 ? (x) : -(x))
+#define dabs(x) (doublereal)abs(x)
+
+
+#ifndef min
+#define min(a,b) ((a) <= (b) ? (a) : (b))
+#endif
+
+#ifndef max
+#define max(a,b) ((a) >= (b) ? (a) : (b))
+#endif
+
+#define dmin(a,b) (doublereal)min(a,b)
+#define dmax(a,b) (doublereal)max(a,b)
+#define bit_test(a,b) ((a) >> (b) & 1)
+#define bit_clear(a,b) ((a) & ~((uinteger)1 << (b)))
+#define bit_set(a,b) ((a) | ((uinteger)1 << (b)))
+
+/* procedure parameter types for -A and -C++ */
+
+#define F2C_proc_par_types 1
+#ifdef __cplusplus
+typedef int /* Unknown procedure type */ (*U_fp)(...);
+typedef shortint (*J_fp)(...);
+typedef integer (*I_fp)(...);
+typedef real (*R_fp)(...);
+typedef doublereal (*D_fp)(...), (*E_fp)(...);
+typedef /* Complex */ VOID (*C_fp)(...);
+typedef /* Double Complex */ VOID (*Z_fp)(...);
+typedef logical (*L_fp)(...);
+typedef shortlogical (*K_fp)(...);
+typedef /* Character */ VOID (*H_fp)(...);
+typedef /* Subroutine */ int (*S_fp)(...);
+#else
+typedef int /* Unknown procedure type */ (*U_fp)();
+typedef shortint (*J_fp)();
+typedef integer (*I_fp)();
+typedef real (*R_fp)();
+typedef doublereal (*D_fp)(), (*E_fp)();
+typedef /* Complex */ VOID (*C_fp)();
+typedef /* Double Complex */ VOID (*Z_fp)();
+typedef logical (*L_fp)();
+typedef shortlogical (*K_fp)();
+typedef /* Character */ VOID (*H_fp)();
+typedef /* Subroutine */ int (*S_fp)();
+#endif
+/* E_fp is for real functions when -R is not specified */
+typedef VOID C_f; /* complex function */
+typedef VOID H_f; /* character function */
+typedef VOID Z_f; /* double complex function */
+typedef doublereal E_f; /* real function with -R not specified */
+
+/* undef any lower-case symbols that your C compiler predefines, e.g.: */
+
+#ifndef Skip_f2c_Undefs
+#undef cray
+#undef gcos
+#undef mc68010
+#undef mc68020
+#undef mips
+#undef pdp11
+#undef sgi
+#undef sparc
+#undef sun
+#undef sun2
+#undef sun3
+#undef sun4
+#undef u370
+#undef u3b
+#undef u3b2
+#undef u3b5
+#undef unix
+#undef vax
+#endif
+#endif
diff --git a/includes/lapack.h b/includes/lapack.h
new file mode 100644
index 0000000..ba568ce
--- /dev/null
+++ b/includes/lapack.h
@@ -0,0 +1,192 @@
+/*
+ * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ * Copyright (C) 2007-2008 - INRIA - Bruno JOFRET
+ *
+ * This file must be used under the terms of the CeCILL.
+ * This source file is licensed as described in the file COPYING, which
+ * you should have received as part of this distribution. The terms
+ * are also available at
+ * http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+
+#ifndef __LAPACK_H__
+#define __LAPACK_H__
+
+#ifndef _MACRO_C2F_
+#define _MACRO_C2F_
+#define C2F(name) name##_
+#endif
+
+#include "doubleComplex.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef lapack_int
+#define lapack_int int
+#endif
+#ifndef lapack_logical
+#define lapack_logical lapack_int
+#endif
+
+typedef lapack_logical (*LAPACK_D_SELECT3) (double*, double*, double*);
+typedef lapack_logical (*LAPACK_D_SELECT2) (double*, double*);
+
+#define getRelativeMachinePrecision() dlamch_("e", 1L)
+#define getOverflowThreshold() dlamch_("o", 1L)
+#define getUnderflowThreshold() dlamch_("u", 1L)
+
+#define getOneNorm(lines,cols,in,work) dlange_("1", lines, cols, in, lines, work)
+#define resolveSystemLinear(cols1,row2,cpytranIn1,pIpiv, transposeOfIn2,info) \
+ dgetrs_ ("N" ,cols1, row2, cpytranIn1 , cols1, pIpiv,transposeOfIn2, cols1, info) ;
+
+
+
+
+/**
+ * -- LAPACK auxiliary routine (version 3.0) --
+ * Univ. of Tennessee, Univ. of California Berkeley, NAG Ltd.,
+ * Courant Institute, Argonne National Lab, and Rice University
+ * October 31, 1992
+ *
+ * Purpose
+ * =======
+ *
+ * DLAMCH determines double precision machine parameters.
+ *
+ * Arguments
+ * =========
+ *
+ * CMACH (input) CHARACTER*1
+ * Specifies the value to be returned by DLAMCH:
+ * = 'E' or 'e', DLAMCH := eps
+ * = 'S' or 's , DLAMCH := sfmin
+ * = 'B' or 'b', DLAMCH := base
+ * = 'P' or 'p', DLAMCH := eps*base
+ * = 'N' or 'n', DLAMCH := t
+ * = 'R' or 'r', DLAMCH := rnd
+ * = 'M' or 'm', DLAMCH := emin
+ * = 'U' or 'u', DLAMCH := rmin
+ * = 'L' or 'l', DLAMCH := emax
+ * = 'O' or 'o', DLAMCH := rmax
+ *
+ * where
+ *
+ * eps = relative machine precision
+ * sfmin = safe minimum, such that 1/sfmin does not overflow
+ * base = base of the machine
+ * prec = eps*base
+ * t = number of (base) digits in the mantissa
+ * rnd = 1.0 when rounding occurs in addition, 0.0 otherwise
+ * emin = minimum exponent before (gradual) underflow
+ * rmin = underflow threshold - base**(emin-1)
+ * emax = largest exponent before overflow
+ * rmax = overflow threshold - (base**emax)*(1-eps)
+ *
+ * =====================================================================
+ **/
+extern double dlamch_ (char *CMACH, unsigned long int i);
+
+extern double dlange_ (char* NORM, int* M, int* N, double* A, int* LDA , double* WORK);
+
+extern double dgetrf_ (int* M, int* N , double* A , int* LDA , int* IPIV , int* INFO);
+
+extern double dgecon_ (char* NORM, int* N, double* A, int* LDA, double* ANORM,
+ double* RCOND, double* WORK , int* IWORK, int* INFO ) ;
+
+extern double dgetrs_ (char* TRANS, int* N, int* NRHS, double* A, int* LDA,
+ int* IPIV, double* B, int* LDB, int* INFO ) ;
+
+extern double dgelsy_ (int* M, int* N, int* NRHS, double* A, int* LDA,
+ double* B, int* LDB, int* JPVT, double* RCOND, int* RANK,
+ double* WORK, int* LWORK, int* INFO) ;
+
+extern double dlacpy_ (char* NORM, int* M, int* N, double* A, int* LDA,
+ double* B, int* LDB );
+
+extern double dgetri_ (int* N , double* A , int* LDA , int* IPIV , double* WORK,
+ int* LWORK , int* INFO ) ;
+
+
+/****** doubleComplex fortran function ************/
+extern double zgelsy_ (int*,int*,int*,doubleComplex*,int*,doubleComplex*,int*,int*,double*,int*,doubleComplex*,int*,double*,int*) ;
+
+
+extern double zlamch_ ();
+
+extern double zlange_ (char*,int*,int*,doubleComplex*,int*,doubleComplex*);
+
+extern double zgetrf_ (int *, int *, doubleComplex *, int *, int *, int *);
+
+extern double zgecon_ ( char*,int*,doubleComplex*,int*,double*,double*,doubleComplex*,double*,int*) ;
+
+extern double zgetrs_ ( char *,int*,int*,doubleComplex*,int*,int*,doubleComplex*,int*,int*) ;
+
+extern double zlacpy_ (char*,int*,int*,doubleComplex*,int*,doubleComplex*,int*);
+
+extern double zgetri_ (int*,doubleComplex*,int*,int*,doubleComplex*,int*,int*) ;
+/*extern int zgelsy_ ();*/
+
+/*certainly have some blas functions in */
+extern int C2F(split)();
+extern int C2F(exch)();
+
+extern int C2F(balbak)();
+extern double C2F(ddot)();
+extern int C2F(pade)();
+extern int C2F(dcopy)();
+extern int C2F(dscal)();
+
+extern int C2F(dgeco)();
+extern int C2F(dgesl)();
+extern int C2F(coef)();
+extern int C2F(cerr)();
+extern int C2F(dclmat)();
+extern int C2F(dexpm1)();
+extern int C2F(wexpm1)();
+extern int C2F(drot)();
+
+extern int C2F(intexpm) ();
+
+extern int C2F(zcopy)(int*,doubleComplex *,int*,doubleComplex*,int*);
+
+extern int C2F(dgemm)(char *,char*,int*,int*,int*,double*,double*,int*,double*,int*,double*,double*,int*);
+extern int C2F(idamax)() ;/* could be transcribe easily in c */
+extern int C2F(daxpy) () ;/* could be transcribe easily in c */
+extern int C2F(dscal) () ;/* could be transcribe easily in c */
+extern int C2F(dasum) () ;/* could be transcribe easily in c */
+
+/* used in chol */
+extern int C2F(dpotrf)(char*,int*,double*,int*,int*);
+extern int C2F(zpotrf)(char*,int*,doubleComplex*,int*,int*);
+
+/* used in logm */
+extern int C2F(zgeev)(char*,char*,int*,doubleComplex*,int*,doubleComplex*,
+ doubleComplex*,int*,doubleComplex*,int*,doubleComplex*,int *,doubleComplex*,int*);
+
+extern int C2F(zheev)(char*,char*,int*,doubleComplex*,int*,double*,doubleComplex*,int*,double*,int*);
+
+/* used in spec */
+extern int C2F(dgeev)(char*,char*,int*,double*,int*,double*,double*,double*,int*,double*,int*,double*,int*,int*);
+extern int C2F(dsyev)(char*,char*,int*,double*,int*,double*,double*,int*,int*);
+
+/*used in schur*/
+extern int dgees_(char*,char*,LAPACK_D_SELECT2,int*,double*,int*,int*, \
+ double*,double*,double*,int*,double*,int*,int*,int*);
+
+extern int dgges_(char*,char*,char*,LAPACK_D_SELECT3,int*,double*,int*,double*,int*, \
+ int*,double*,double*,double*,double*,int*,double*,int*,double*, int*, \
+ int*,int*);
+
+/*used in matrix balancing*/
+extern int dgebal_(char*,int*,double*,int*,int*,int*,double*,int*);
+extern int dggbal_(char*,int*,double*,int*,double*,int*,int*,int*,double*, \
+ double*,double*,int*);
+extern int dgebak_(char*,char*,int*,int*,int*,double*,int*,double*,int*,int*);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+#endif /* !__LAPACK_H__ */
diff --git a/includes/machine.h.in b/includes/machine.h.in
new file mode 100644
index 0000000..c38655b
--- /dev/null
+++ b/includes/machine.h.in
@@ -0,0 +1,80 @@
+/* includes/machine.h.in. Generated from configure.ac by autoheader. */
+
+/* Define to 1 if your Fortran compiler doesn't accept -c and -o together. */
+#undef F77_NO_MINUS_C_MINUS_O
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_COMPLEX_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_DLFCN_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_INTTYPES_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_MEMORY_H
+
+/* Define to 1 if stdbool.h conforms to C99. */
+#undef HAVE_STDBOOL_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_STDINT_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_STDLIB_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_STRINGS_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_STRING_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_SYS_STAT_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_SYS_TYPES_H
+
+/* Define to 1 if you have the header file. */
+#undef HAVE_UNISTD_H
+
+/* Define to 1 if the system has the type `_Bool'. */
+#undef HAVE__BOOL
+
+/* Define to the sub-directory in which libtool stores uninstalled libraries.
+ */
+#undef LT_OBJDIR
+
+/* Define to 1 if your C compiler doesn't accept -c and -o together. */
+#undef NO_MINUS_C_MINUS_O
+
+/* Name of package */
+#undef PACKAGE
+
+/* Define to the address where bug reports for this package should be sent. */
+#undef PACKAGE_BUGREPORT
+
+/* Define to the full name of this package. */
+#undef PACKAGE_NAME
+
+/* Define to the full name and version of this package. */
+#undef PACKAGE_STRING
+
+/* Define to the one symbol short name of this package. */
+#undef PACKAGE_TARNAME
+
+/* Define to the home page for this package. */
+#undef PACKAGE_URL
+
+/* Define to the version of this package. */
+#undef PACKAGE_VERSION
+
+/* Define to 1 if you have the ANSI C header files. */
+#undef STDC_HEADERS
+
+/* Version number of package */
+#undef VERSION
+
+/* With the Atlas Lib */
+#undef WITH_ATLAS
diff --git a/includes/notFound.h b/includes/notFound.h
new file mode 100644
index 0000000..2d5ee1c
--- /dev/null
+++ b/includes/notFound.h
@@ -0,0 +1,18 @@
+/*
+ * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ * Copyright (C) 2007-2008 - INRIA - Bruno JOFRET
+ *
+ * This file must be used under the terms of the CeCILL.
+ * This source file is licensed as described in the file COPYING, which
+ * you should have received as part of this distribution. The terms
+ * are also available at
+ * http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+
+#ifndef __NOT_FOUND_H__
+#define __NOT_FOUND_H__
+
+#define NOT_FOUND -1
+
+#endif /* !__NOT_FOUND_H__ */
diff --git a/includes/sci2clib.h b/includes/sci2clib.h
new file mode 100644
index 0000000..2a4ffad
--- /dev/null
+++ b/includes/sci2clib.h
@@ -0,0 +1,686 @@
+#ifndef __SCI2CLIB_H__
+#define __SCI2CLIB_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include
+#include
+#include
+
+/* CONSTANT */
+#include "constant.h"
+
+/* LIB */
+/* interfacing blas */
+#include "blas.h"
+/* interfacing lapack */
+#include "lapack.h"
+
+/* AUXILIARY FUNCTIONS */
+
+/* interfacing abs */
+#include "abs.h"
+#include "int_abs.h"
+/* interfacing conj */
+#include "conj.h"
+#include "int_conj.h"
+/* interfacing disp */
+#include "disp.h"
+#include "int_disp.h"
+/* interfacing find */
+#include "find.h"
+#include "find2d.h"
+#include "int_find.h"
+/* interfacing frexp */
+#include "frexp.h"
+/* interfacing isempty */
+#include "isempty.h"
+#include "int_isempty.h"
+/* interfacing isnan */
+#include "isnan.h"
+#include "int_isnan.h"
+/* interfacing length */
+#include "length.h"
+#include "int_length.h"
+/* interfacing max */
+#include "max.h"
+#include "int_max.h"
+/* interfacing min */
+#include "min.h"
+#include "int_min.h"
+/* interfacing pythag */
+#include "pythag.h"
+/* interfacing sign */
+#include "sign.h"
+#include "int_sign.h"
+/* interfacing size */
+#include "size.h"
+#include "int_size.h"
+/* interfacing type */
+#include "type.h"
+#include "int_type.h"
+/* interfacing rand */
+#include "rand.h"
+#include "int_rand.h"
+
+/* ELEMENTARY FUNCTIONS */
+
+/* interfacing atand */
+#include "atand.h"
+#include "int_atand.h"
+/* interfacing asind */
+#include "asind.h"
+#include "int_asind.h"
+/* interfacing asech */
+#include "asech.h"
+#include "int_asech.h"
+/* interfacing asecd */
+#include "asecd.h"
+#include "int_asecd.h"
+/* interfacing asec */
+#include "asec.h"
+#include "int_asec.h"
+/* interfacing acsch */
+#include "acsch.h"
+#include "int_acsch.h"
+/* interfacing acscd */
+#include "acscd.h"
+#include "int_acscd.h"
+/* interfacing acsc */
+#include "acsc.h"
+#include "int_acsc.h"
+/* interfacing acoth */
+#include "acoth.h"
+#include "int_acoth.h"
+/* interfacing acotd */
+#include "acotd.h"
+#include "int_acotd.h"
+/* interfacing acot */
+#include "acot.h"
+#include "int_acot.h"
+/* interfacing acos */
+#include "acos.h"
+#include "int_acos.h"
+/* interfacing acosd */
+#include "acosd.h"
+#include "int_acosd.h"
+/* interfacing acosh */
+#include "acosh.h"
+#include "int_acosh.h"
+/* interfacing asin */
+#include "asin.h"
+#include "int_asin.h"
+/* interfacing asinh */
+#include "asinh.h"
+#include "int_asinh.h"
+/* interfacing atan */
+#include "atan.h"
+#include "atan2.h"
+#include "int_atan.h"
+/* interfacing atanh */
+#include "atanh.h"
+#include "int_atanh.h"
+/* interfacing cos */
+#include "cos.h"
+#include "int_cos.h"
+/* interfacing ceil */
+#include "ceil.h"
+#include "int_ceil.h"
+/* interfacing cosh */
+#include "cosh.h"
+#include "int_cosh.h"
+/* interfacing exp */
+#include "exp.h"
+#include "int_exp.h"
+/* interfacing fix */
+#include "fix.h"
+#include "int_fix.h"
+/* interfacing floor */
+#include "floor.h"
+#include "int_floor.h"
+/* interfacing int */
+#include "int.h"
+#include "int_int.h"
+/* interfacing lnp1m1 */
+#include "lnp1m1.h"
+/* interfacing log */
+#include "log.h"
+#include "int_log.h"
+/* interfacing log10 */
+#include "log10.h"
+#include "int_log10.h"
+/* interfacing log1p */
+#include "log1p.h"
+#include "int_log1p.h"
+/* interfacing pow */
+#include "pow.h"
+#include "matrixPow.h"
+#include "int_OpHat.h"
+#include "int_OpDotHat.h"
+/* interfacing round */
+#include "round.h"
+#include "int_round.h"
+/* interfacing sin */
+#include "sin.h"
+#include "int_sin.h"
+/* interfacing sinh */
+#include "sinh.h"
+#include "int_sinh.h"
+/* interfacing sqrt */
+#include "sqrt.h"
+#include "int_sqrt.h"
+/* interfacing tan */
+#include "tan.h"
+#include "int_tan.h"
+/* interfacing tanh */
+#include "tanh.h"
+#include "int_tanh.h"
+/* interfacing uint8 */
+#include "uint8.h"
+#include "int_uint8.h"
+/* interfacing int8 */
+#include "int8.h"
+#include "int_int8.h"
+/* interfacing uint16 */
+#include "uint16.h"
+#include "int_uint16.h"
+/* interfacing int16 */
+#include "int16.h"
+#include "int_int16.h"
+
+/*interfacing bitand */
+#include "bitand.h"
+#include "int_bitand.h"
+
+/*interfacing bitor */
+#include "bitor.h"
+#include "int_bitor.h"
+
+/*interfacing bitxor */
+#include "bitxor.h"
+#include "int_bitxor.h"
+
+/*interfacing bitcmp */
+#include "bitcmp.h"
+#include "int_bitcmp.h"
+
+/*interfacing bitset */
+#include "bitset.h"
+#include "int_bitset.h"
+
+/*interfacing bitget */
+#include "bitget.h"
+#include "int_bitget.h"
+
+
+/*interfacing linspace */
+#include "linspace.h"
+#include "int_linspace.h"
+
+/*interfacing logspace */
+#include "logspace.h"
+#include "int_logspace.h"
+
+/*interfacing dec2base*/
+#include "dec2base.h"
+#include "int_dec2base.h"
+
+/*interfacing base2dec*/
+#include "base2dec.h"
+#include "int_base2dec.h"
+
+/*interfacing dec2bin*/
+#include "dec2bin.h"
+#include "int_dec2bin.h"
+/*interfacing dec2hex*/
+#include "dec2hex.h"
+#include "int_dec2hex.h"
+
+/*interfacing dec2oct*/
+#include "dec2oct.h"
+#include "int_dec2oct.h"
+/*interfacing oct2dec*/
+#include "oct2dec.h"
+#include "int_oct2dec.h"
+/*interfacing hex2dec*/
+#include "hex2dec.h"
+#include "int_hex2dec.h"
+/*interfacing bin2dec*/
+#include "bin2dec.h"
+#include "int_bin2dec.h"
+
+/*interfacing cosd*/
+#include "cosd.h"
+#include "int_cosd.h"
+
+
+/*interfacing cotd*/
+#include "cotd.h"
+#include "int_cotd.h"
+
+/*interfacing coth*/
+#include "coth.h"
+#include "int_coth.h"
+
+/*interfacing csc*/
+#include "csc.h"
+#include "int_csc.h"
+
+/*interfacing cscd*/
+#include "cscd.h"
+#include "int_cscd.h"
+
+/*interfacing csch*/
+#include "csch.h"
+#include "int_csch.h"
+
+/*interfacing sec*/
+#include "sec.h"
+#include "int_sec.h"
+
+/*interfacing sech*/
+#include "sech.h"
+#include "int_sech.h"
+
+/*interfacing secd*/
+#include "secd.h"
+#include "int_secd.h"
+
+/*interfacing float*/
+#include "float.h"
+#include "int_float.h"
+
+/*interfacing factorial*/
+#include "factorial.h"
+#include "int_factorial.h"
+
+/*interfacing primes*/
+#include "primes.h"
+#include "int_primes.h"
+
+/*interfacing factor*/
+#include "factor.h"
+#include "int_factor.h"
+
+/*interfacing gcd*/
+#include "gcd.h"
+#include "int_gcd.h"
+
+/*interfacing lcm*/
+#include "lcm.h"
+#include "int_lcm.h"
+
+
+/* IMPLICIT LISTS */
+/* interfacing implicitList/OpColon */
+#include "implicitList.h"
+#include "int_OpColon.h"
+
+/* OPERATIONS */
+/* interfacing assignation */
+#include "int_OpEqual.h"
+/* interfacing addition */
+#include "addition.h"
+#include "int_OpPlus.h"
+/* interfacing subtraction */
+#include "subtraction.h"
+#include "int_OpMinus.h"
+/* interfacing multiplication */
+#include "multiplication.h"
+#include "matrixMultiplication.h"
+#include "int_OpStar.h"
+#include "int_OpDotStar.h"
+/* interfacing division */
+#include "division.h"
+#include "matrixDivision.h"
+#include "int_OpSlash.h"
+#include "int_OpDotSlash.h"
+#include "int_OpBackSlash.h"
+#include "int_OpDotBackSlash.h"
+/* interfacing comparison */
+#include "int_OpLogNot.h"
+#include "int_OpLogEq.h"
+#include "int_OpLogNe.h"
+#include "int_OpLogGt.h"
+#include "int_OpLogGe.h"
+#include "int_OpLogLt.h"
+#include "int_OpLogLe.h"
+#include "int_OpLogAnd.h"
+#include "int_OpLogOr.h"
+/* interfacing insertion */
+#include "int_OpIns.h"
+
+
+/* MATRIX OPERATIONS */
+/* interfacing extraction */
+#include "int_OpExt.h"
+/* interfacing cat */
+#include "cat.h"
+#include "int_OpRc.h"
+#include "int_OpCc.h"
+/* interfacing chol */
+#include "chol.h"
+#include "int_chol.h"
+/* interfacing determinant */
+#include "determ.h"
+#include "int_det.h"
+/* interfacing expm */
+#include "matrixExponential.h"
+#include "int_expm.h"
+/* interfacing eye */
+#include "eye.h"
+#include "int_eye.h"
+/* interfacing fill */
+#include "fill.h"
+/* interfacing inversion */
+#include "matrixInversion.h"
+#include "int_invert.h"
+/* interfacing infinite norm */
+#include "infiniteNorm.h"
+/* interfacing ones */
+#include "ones.h"
+#include "int_ones.h"
+/* interfacing spec */
+#include "spec.h"
+#include "int_spec.h"
+/* interfacing trace */
+#include "matrixTrace.h"
+#include "int_trace.h"
+/* interfacing tranpose */
+#include "matrixTranspose.h"
+#include "int_OpApex.h"
+#include "int_OpDotApex.h"
+/* interfacing zeros */
+#include "zeros.h"
+#include "int_zeros.h"
+/* interfacing diag */
+#include "diag.h"
+#include "int_diag.h"
+/*interfacing cumsum*/
+#include "int_cumsum.h"
+#include "cumsum.h"
+/*interfacing cumprod*/
+#include "int_cumprod.h"
+#include "cumprod.h"
+/*interfacing triu*/
+#include "int_triu.h"
+#include "triu.h"
+/*interfacing tril*/
+#include "int_tril.h"
+#include "tril.h"
+/*interfacing kron*/
+#include "int_kron.h"
+#include "kron.h"
+/*interfacing flipdim*/
+#include "int_flipdim.h"
+#include "flipdim.h"
+/*interfacing norm*/
+#include "int_norm.h"
+#include "norm.h"
+
+/* SIGNAL PROCESSING */
+/* interfacing convol */
+#include "conv.h"
+#include "conv2d.h"
+#include "int_convol.h"
+/* interfacing fft */
+#include "fft.h"
+#include "fft_internal.h"
+#include "int_fft.h"
+/* interfacing fftshift */
+#include "fftshift.h"
+#include "int_fftshift.h"
+/* interfacing ifft */
+#include "ifft.h"
+#include "ifft_internal.h"
+#include "int_ifft.h"
+/* interfacing lev */
+#include "lev.h"
+#include "int_lev.h"
+
+/* interfacing zpbutt */
+#include "zpbutt.h"
+#include "int_zpbutt.h"
+
+/*interfacing zpch1 */
+#include "zpch1.h"
+#include "int_zpch1.h"
+
+/*interfacing zpch2 */
+#include "zpch2.h"
+#include "int_zpch2.h"
+
+/*interfacing buttmag */
+#include "buttmag.h"
+#include "int_buttmag.h"
+
+/*interfacing cheb1mag */
+#include "cheb1mag.h"
+#include "int_cheb1mag.h"
+
+/*interfacing cheb2mag */
+#include "cheb2mag.h"
+#include "int_cheb2mag.h"
+
+/*interfacing sinc */
+#include "sinc.h"
+#include "int_sinc.h"
+
+/*interfacing sincd */
+#include "sincd.h"
+#include "int_sincd.h"
+
+/*interfacing fsfirlin */
+#include "fsfirlin.h"
+#include "int_fsfirlin.h"
+
+/*interfacing %k */
+#include "modk.h"
+#include "int_modk.h"
+
+/*interfacing filt_sinc */
+#include "filt_sinc.h"
+#include "int_filt_sinc.h"
+
+/*interfacing ffilt */
+#include "ffilt.h"
+#include "int_ffilt.h"
+
+/*interfacing modsn */
+#include "modsn.h"
+#include "int_modsn.h"
+
+/* STATISTICS FUNCTIONS */
+
+/* interfacing max */
+#include "statMax.h"
+/* interfacing min */
+#include "statMin.h"
+/* interfacing mean */
+#include "mean.h"
+#include "int_mean.h"
+/* interfacing stdevf */
+#include "stdevf.h"
+#include "int_stdevf.h"
+/* interfacing meanf */
+#include "meanf.h"
+#include "int_meanf.h"
+/* interfacing sum */
+#include "sum.h"
+#include "int_sum.h"
+/* interfacing prod */
+#include "prod.h"
+#include "int_prod.h"
+/* interfacing variance */
+#include "variance.h"
+#include "int_variance.h"
+
+/* TYPE */
+/* interfacing real */
+#include "int_real.h"
+/* interfacing imag */
+#include "int_imag.h"
+
+#include "types.h"
+
+/* STRING*/
+/* interface for String */
+#include "int_string.h"
+/*include for string */
+#include "str.h"
+
+/*ODE functions*/
+#include "ode.h"
+#include "int_ode.h"
+
+/*Diff function*/
+#include "diffc.h"
+#include "int_diffc.h"
+
+/*Functions related to file handling*/
+#include "files.h"
+#include "int_files.h"
+
+/*Functions related to strings*/
+#include "convstr.h"
+#include "int_convstr.h"
+
+/*interfacing strsubst*/
+#include "strsubst.h"
+#include "int_strsubst.h"
+
+/*interfacing strrev*/
+#include "strrev.h"
+#include "int_strrev.h"
+
+/*interfacing strrchr*/
+#include "strrchr.h"
+#include "int_strrchr.h"
+
+/*interfacing strchr*/
+#include "strchr.h"
+#include "int_strchr.h"
+
+/*interfacing ascii*/
+#include "ascii.h"
+#include "int_ascii.h"
+
+/*interfacing strspn*/
+#include "strspn.h"
+#include "int_strspn.h"
+
+/*interfacing strcspn*/
+#include "strcspn.h"
+#include "int_strcspn.h"
+
+/*interfacing strncpy*/
+#include "strncpy.h"
+#include "int_strncpy.h"
+
+/*Functions related to strings*/
+#include "convstr.h"
+#include "int_convstr.h"
+
+
+#include "syslin.h"
+#include "int_syslin.h"
+
+#include "lqr.h"
+#include "int_lqr.h"
+
+#include "lqe.h"
+#include "int_lqe.h"
+
+#include "obscont.h"
+#include "int_obscont.h"
+
+#include "schur.h"
+#include "int_schur.h"
+
+#include "balanc.h"
+#include "int_balanc.h"
+
+#include "rcond.h"
+#include "int_rcond.h"
+
+/*Functions related to opencv*/
+/*#include "cvcore.hpp"
+#include "int_cvcore.hpp"
+#include "cvhighgui.hpp"
+#include "int_cvhighgui.hpp"
+#include "cvimgproc.hpp"
+#include "int_cvimgproc.hpp"
+*/
+/*Scilab-arduino toolbox*/
+#ifdef Arduino1
+#include "int_cmd_digital_out.h"
+#include "cmd_digital_out.h"
+#include "int_cmd_digital_in.h"
+#include "cmd_digital_in.h"
+#include "int_cmd_analog_out.h"
+#include "cmd_analog_out.h"
+#include "int_cmd_analog_in.h"
+#include "cmd_analog_in.h"
+#include "int_cmd_dcmotor.h"
+#include "cmd_dcmotor_run.h"
+#include "cmd_dcmotor_setup.h"
+#include "int_sleep.h"
+#include "sleep.h"
+/*#include "cmd_servo_attach.h"
+#include "cmd_servo_detach.h"
+#include "cmd_servo_move.h"
+#include "int_cmd_servo.h"
+*/
+#endif
+
+/*AVR*/
+#ifdef AVR1
+#include "int_AVRPeripheralGPIO.h"
+#include "AVRPeripheralGPIO.h"
+#include "int_AVRPeripheralADC.h"
+#include "AVRPeripheralADC.h"
+#include "int_AVRPeripheralPWM.h"
+#include "AVRPeripheralPWM.h"
+#include "int_AVRUtil.h"
+#include "AVRUtil.h"
+#include "int_AVRPeripheralTimer.h"
+#include "AVRPeripheralTimer.h"
+#include "int_AVRPeripheralUART.h"
+#include "AVRPeripheralUART.h"
+#endif
+
+/*RPi*/
+#ifdef RPi1
+#include "wiringPi.h"
+#include "int_RPIPeripheralDigital.h"
+#include "RPIPeripheralDigital.h"
+#include "int_RPIPeripheralTiming.h"
+#include "RPIPeripheralTiming.h"
+#include "int_RPIPeripheralSerial.h"
+#include "RPIPeripheralSerial.h"
+#include "int_RPIPeripheralThreading.h"
+#include "RPIPeripheralThreading.h"
+#include "int_RPIPeripheralPinISR.h"
+#include "RPIPeripheralPinISR.h"
+#include "int_RPIPeripheralPWM.h"
+#include "RPIPeripheralPWM.h"
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+// #ifdef opencv1
+// #include "cvcore.hpp"
+// #include "int_cvcore.hpp"
+// #include "cvhighgui.hpp"
+// #include "int_cvhighgui.hpp"
+// #include "cvimgproc.hpp"
+// #include "int_cvimgproc.hpp"
+// #endif
+
+#endif /* !__SCI2CLIB_H__ */
+
+
--
cgit
From aef4e8398f2b1848b0e4cdd9580dbbe93e4006f9 Mon Sep 17 00:00:00 2001
From: Jorawar Singh
Date: Fri, 30 Jun 2017 11:28:58 +0530
Subject: Help files, modified Raspberry Pi code conversion
---
includes/sci2clib.h | 50 ++++++++++++++++++++++++++++++++++++++------------
1 file changed, 38 insertions(+), 12 deletions(-)
(limited to 'includes')
diff --git a/includes/sci2clib.h b/includes/sci2clib.h
index eae03eb..4973fbe 100644
--- a/includes/sci2clib.h
+++ b/includes/sci2clib.h
@@ -189,6 +189,12 @@ extern "C" {
/* interfacing int16 */
#include "int16.h"
#include "int_int16.h"
+/* interfacing uint32 */
+#include "uint32.h"
+#include "int_uint32.h"
+/* interfacing int32 */
+#include "int32.h"
+#include "int_int32.h"
/*interfacing bitand */
#include "bitand.h"
@@ -573,21 +579,41 @@ extern "C" {
#endif
/*RPi*/
-#ifdef RPi1
+//#ifdef RPi1
#include "wiringPi.h"
-#include "int_RPIPeripheralDigital.h"
#include "RPIPeripheralDigital.h"
-#include "int_RPIPeripheralTiming.h"
-#include "RPIPeripheralTiming.h"
-#include "int_RPIPeripheralSerial.h"
-#include "RPIPeripheralSerial.h"
-#include "int_RPIPeripheralThreading.h"
-#include "RPIPeripheralThreading.h"
-#include "int_RPIPeripheralPinISR.h"
-#include "RPIPeripheralPinISR.h"
-#include "int_RPIPeripheralPWM.h"
+#include "int_RPIPeripheralDigital.h"
+#include "RPIPeripheralGertboard.h"
+#include "int_RPIPeripheralGertboard.h"
+#include "RPIPeripheralI2C.h"
+#include "int_RPIPeripheralI2C.h"
+#include "RPIPeripheralInterrupt.h"
+#include "int_RPIPeripheralInterrupt.h"
+#include "RPIPeripheralLCD.h"
+#include "int_RPIPeripheralLCD.h"
+#include "RPIPeripheralMcp.h"
+#include "int_RPIPeripheralMcp.h"
+#include "RPIPeripheralMisc.h"
+#include "int_RPIPeripheralMisc.h"
+#include "RPIPeripheralPcf.h"
+#include "int_RPIPeripheralPcf.h"
+#include "RPIPeripheralPiGlow.h"
+#include "int_RPIPeripheralPiGlow.h"
+#include "RPIPeripheralPinMap.h"
+#include "int_RPIPeripheralPinMap.h"
#include "RPIPeripheralPWM.h"
-#endif
+#include "int_RPIPeripheralPWM.h"
+#include "RPIPeripheralSerial.h"
+#include "int_RPIPeripheralSerial.h"
+#include "RPIPeripheralSetup.h"
+#include "int_RPIPeripheralSetup.h"
+#include "RPIPeripheralShift.h"
+#include "int_RPIPeripheralShift.h"
+#include "RPIPeripheralSoft.h"
+#include "int_RPIPeripheralSoft.h"
+#include "RPIPeripheralTiming.h"
+#include "int_RPIPeripheralTiming.h"
+//#endif
#ifdef __cplusplus
}
--
cgit