1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169 | -- Support for the Waveshare CM4-Duino: https://www.waveshare.com/wiki/CM4-Duino
-- Copyright (C)2024, Philip Munts dba Munts Technologies.
--
-- Redistribution and use in source and binary forms, with or without
-- modification, are permitted provided that the following conditions are met:
--
-- * Redistributions of source code must retain the above copyright notice,
-- this list of conditions and the following disclaimer.
--
-- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-- AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-- IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-- ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-- LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-- CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-- SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-- INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-- CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-- ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-- POSSIBILITY OF SUCH DAMAGE.
WITH Ada.Containers.Bounded_Vectors;
WITH Ada.Directories;
WITH Device;
WITH GPIO.libsimpleio;
WITH I2C.libsimpleio;
WITH SPI.libsimpleio;
WITH RaspberryPi;
USE TYPE Device.Designator;
USE TYPE GPIO.Direction;
PACKAGE BODY Arduino.CM4_Duino IS
-- Map Arduino resource designators to Raspberry Pi device designators
RPiDesignators : CONSTANT ARRAY (Arduino.Resources) OF Device.Designator :=
(D0 => RaspberryPi.GPIO15, -- aka RXD
D1 => RaspberryPi.GPIO14, -- aka TXD
D2 => RaspberryPi.GPIO16,
D3 => RaspberryPi.GPIO17,
D4 => RaspberryPi.GPIO20,
D5 => RaspberryPi.GPIO19, -- aka PWM1
D6 => RaspberryPi.GPIO18, -- aka PWM0
D7 => RaspberryPi.GPIO21,
D8 => RaspberryPi.GPIO22,
D9 => RaspberryPi.GPIO23,
D10 => RaspberryPi.GPIO8, -- aka SPI CE0
D11 => RaspberryPi.GPIO10, -- aka SPI MOSI
D12 => RaspberryPi.GPIO9, -- aka SPI MISO
D13 => RaspberryPi.GPIO11, -- aka SPI SCLK
BTN1 => RaspberryPi.GPIO4, -- aka USER1
BTN2 => RaspberryPi.GPIO5, -- aka USER2
LED1 => RaspberryPi.GPIO6, -- aka LED
I2C1 => RaspberryPi.I2C1,
PWM0 => RaspberryPi.PWM0, -- aka GPIO18
PWM1 => RaspberryPi.PWM1, -- aka GPIO19
SPI0 => RaspberryPi.SPI0_0, -- aka GPIO8-11
OTHERS => Device.Unavailable);
-- GPIO pin object constructors
FUNCTION Create
(desg : Arduino.DigitalIOs;
dir : Standard.GPIO.Direction;
state : Boolean := False;
driver : GPIO.libsimpleio.Driver := GPIO.libsimpleio.PushPull;
edge : GPIO.libsimpleio.Edge := GPIO.libsimpleio.None;
polarity : GPIO.libsimpleio.Polarity := GPIO.libsimpleio.ActiveHigh) RETURN GPIO.Pin IS
BEGIN
IF RPiDesignators(desg) = Device.Unavailable THEN
RAISE GPIO.GPIO_Error WITH desg'Image & " is not available.";
END IF;
-- Buttons must be inputs
IF desg IN Buttons AND dir = GPIO.Output THEN
RAISE GPIO.GPIO_Error WITH desg'Image & " cannot be configured as an output.";
END IF;
-- LEDs must be outputs
IF desg IN LEDs AND dir = GPIO.Input THEN
RAISE GPIO.GPIO_Error WITH desg'Image & " cannot be configured as an input.";
END IF;
-- Check for GPIO pin configuration conflicts
IF desg >= D0 AND desg <= D1 AND Ada.Directories.Exists("/dev/ttyAMA0") THEN
RAISE GPIO.GPIO_Error WITH desg'Image & " is already configured for UART0.";
END IF;
IF desg = D5 AND Ada.Directories.Exists("/sys/class/pwm/pwmchip0/pwm1") THEN
RAISE GPIO.GPIO_Error WITH desg'Image & " is already configured for PWM1.";
END IF;
IF desg = D6 AND Ada.Directories.Exists("/sys/class/pwm/pwmchip0/pwm0") THEN
RAISE GPIO.GPIO_Error WITH desg'Image & " is already configured for PWM0.";
END IF;
IF desg >= D10 AND desg <= D13 AND Ada.Directories.Exists("/dev/spidev0.0") THEN
RAISE GPIO.GPIO_Error WITH desg'Image & " is already configured for SPI0.";
END IF;
RETURN GPIO.libsimpleio.Create(RPiDesignators(desg), dir, state, driver,
edge, polarity);
END Create;
-- I2C bus object constructor
FUNCTION Create
(desg : I2CBuses) RETURN I2C.Bus IS
BEGIN
IF RPIDesignators(desg) = Device.Unavailable THEN
RAISE I2C.I2C_Error WITH desg'Image & " is not available.";
END IF;
IF NOT Ada.Directories.Exists("/dev/i2c-1") THEN
RAISE I2C.I2C_Error WITH desg'Image & " is not available.";
END IF;
RETURN I2C.libsimpleio.Create(RPIDesignators(desg));
END Create;
-- PWM output object constructor
FUNCTION Create
(desg : PWMOutputs;
frequency : Positive;
dutycycle : PWM.DutyCycle := PWM.MinimumDutyCycle;
polarity : PWM.libsimpleio.Polarities := PWM.libsimpleio.ActiveHigh) RETURN PWM.Output IS
BEGIN
IF RPIDesignators(desg) = Device.Unavailable THEN
RAISE PWM.PWM_Error WITH desg'Image & " is not available.";
END IF;
IF NOT Ada.Directories.Exists("/sys/class/pwm/pwmchip0") THEN
RAISE PWM.PWM_Error WITH desg'Image & " is not available.";
END IF;
RETURN PWM.libsimpleio.Create(RPIDesignators(desg), frequency, dutycycle, polarity);
END Create;
-- SPI slave device constructor
FUNCTION Create
(desg : SPIDevices;
mode : Natural;
wordsize : Natural;
speed : Natural) RETURN SPI.Device IS
BEGIN
IF RPIDesignators(desg) = Device.Unavailable THEN
RAISE SPI.SPI_Error WITH desg'Image & " is not available.";
END IF;
IF NOT Ada.Directories.Exists("/dev/spidev0.0") THEN
RAISE SPI.SPI_Error WITH desg'Image & " is not available.";
END IF;
RETURN SPI.libsimpleio.Create(RPIDesignators(desg), mode, wordsize, speed);
END Create;
END Arduino.CM4_Duino;
|