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/*------------------------------------------------------------------------------
RPiGPIO_pigdif.c -- A simple MEX file for GPIO control on the RaspberryPi
On Octave, compile with:
mex -v -g -o RPiGPIOMex.mex RPiGPIO_pigdif.c -lpigpiod_if2 -lrt -O3
This program requires that the pigpio library is installed.
See https://abyz.me.uk/rpi/pigpio for download and installation
Or simply 'sudo apt install pigpio' on RaspberryPi OS for a possibly
recent enough version.
Before using the program, one must run
sudo pigpiod
to ensure a pigpio daemon is running
------------------------------------------------------------------------------
Modified from RPiGPIOMex.c, which is Copyright (C) 2016-2023 Mario Kleiner
Modifications by Steve Van Hooser, 2023 and Mario Kleiner, 2023.
This program is licensed under the MIT license.
A copy of the license can be found in the License.txt file inside the
Psychtoolbox-3 top level folder.
------------------------------------------------------------------------------*/
/* Octave includes: */
#include "mex.h"
/* System includes */
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <unistd.h>
#include <sys/types.h>
/* pigpio daemon client library for RPi GPIO control includes */
#include <pigpiod_if2.h>
static bool firstTime = 1;
static int pigd_number = 0;
static volatile int isrDone = -1000;
void isrCallback(int pihandle, unsigned gpio, unsigned level, uint32_t tick)
{
isrDone = level;
}
void exitfunc(void)
{
pigpio_stop(pigd_number);
pigd_number = -1;
firstTime = 1;
}
/* This is the main entry point from Octave: */
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray*prhs[])
{
int cmd, pin, arg;
int rc;
uint32_t version;
double* out;
// Get our name for output:
const char* me = mexFunctionName();
if (firstTime) {
// Init for connection to default (usually local) pigpiod:
pigd_number = pigpio_start(NULL, NULL);
if (pigd_number < 0) {
mexPrintf("pigpio client init failed: Error code %i.\n", pigd_number);
mexErrMsgTxt("Failed to initialize GPIO client library for pigpiod.");
}
// Successfully connected. Register exit handler to close GPIO control when mex file is flushed:
mexAtExit(exitfunc);
// Ready to rock:
firstTime = 0;
}
// Special case: Called with one return argument and no input arguments. Return RPi board revision number:
if (nrhs == 0 && nlhs == 1) {
version = get_hardware_revision(pigd_number);
plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
*(mxGetPr(plhs[0])) = (double) version;
return;
}
if (nrhs < 2) {
mexPrintf("%s: A simple Octave MEX file for basic pigpiod control of the RaspberryPi GPIO pins under GNU/Linux.\n\n", me);
mexPrintf("(C) 2016-2023 Mario Kleiner, 2023 Steve Van Hooser -- Licensed to you under the MIT license.\n");
mexPrintf("This file is part of Psychtoolbox-3 but should also work independently.\n\n");
mexPrintf("Pin numbers are in Broadcom numbering scheme aka BCM_GPIO numbering.\n");
mexPrintf("Mapping to physical connector pins can be found by typing 'pinout' on the RPi command line\n");
mexPrintf("This mex file requires the pigpio library and applications available at http://abyz.me.uk/rpi/pigpio \n");
mexPrintf("On RaspberryPi OS, the pigpio library can be easily installed via 'sudo apt install pigpio'.\n");
mexPrintf("The pigpiod must have been installed and launched via 'sudo pigpiod' before using this mex file.\n");
mexPrintf("For testing purposes, pins 35 and 47 on a RaspberryPi 2B map to the red power and green status LEDs.\n");
mexPrintf("The gpio command line utility allows to setup and export pins for use by a non-root user.\n\n");
mexPrintf("\n");
mexPrintf("Usage:\n\n");
mexPrintf("revision = %s;\n", me);
mexPrintf("- Return RaspberryPi board 'revision' number. Different revisions == different pinout.\n\n");
mexPrintf("state = %s(0, pin);\n", me);
mexPrintf("- Query 'state' of pin number 'pin': 1 = High, 0 = Low.\n\n");
mexPrintf("%s(1, pin, level);\n", me);
mexPrintf("- Set state of pin number 'pin' to logic level 'level': 1 = High, 0 = Low.\n\n");
mexPrintf("%s(2, pin, level);\n", me);
mexPrintf("- Set pulse-width modulation state of pin number 'pin' to level 'level': 0 - 1023.\n");
mexPrintf(" Only available on GPIO logical pins 0-31.\n\n");
mexPrintf("%s(3, pin, direction);\n", me);
mexPrintf("- Set direction of pin number 'pin' to 'direction'. 1 = Output, 0 = Input.\n\n");
mexPrintf("%s(4, pin, pullMode);\n", me);
mexPrintf("- Set resistor mode of pin number 'pin' to 'pullMode'. -1 = Pull down, 1 = Pull up, 0 = None.\n");
mexPrintf(" Pin must be configured as input for pullup/pulldown resistors to work.\n\n");
mexPrintf("result = %s(5, pin, timeoutMsecs);\n", me);
mexPrintf("- Wait for rising/falling edge on input pin number 'pin' with a timeout of 'timeoutMsecs': -1 = Infinite wait.\n");
mexPrintf(" Return 'result' status code: -1 = error, 0 = timed out, 1 = trigger received.\n");
mexPrintf(" Only available on GPIO logical pins 0-31. Pin must be configured as input.\n\n");
return;
}
// First argument must be the command code:
cmd = (int) mxGetScalar(prhs[0]);
// Second argument is pin number:
pin = (int) mxGetScalar(prhs[1]);
if (nrhs > 2)
arg = (int) mxGetScalar(prhs[2]);
else
arg = -1000;
switch (cmd) {
case 0: // Read input level from pin: 1 = High, 0 = Low
rc = gpio_read(pigd_number, pin);
plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
*(mxGetPr(plhs[0])) = (double) rc;
break;
case 1: // Write a new level to output pin: 1 = High, 0 = Low
if (arg < 0)
mexErrMsgTxt("New logic level of output pin missing for output pin write.");
gpio_write(pigd_number, pin, arg);
break;
case 2: // Write a new pwm level to output pin: 0 to 1024 on RPi
if (arg < 0)
mexErrMsgTxt("New pwm level of output pin missing for output pin pulse-width modulation.");
if (arg > 1024)
mexErrMsgTxt("Invalid pwm level specified. Must be in range 0 - 1024.");
// Set PWM range to 1024 for backwards compatibility with old mex file:
if (get_PWM_range(pigd_number, pin) != 1024)
set_PWM_range(pigd_number, pin, 1024);
// Set new PWM dutycycle 'arg' between 0 - 1024 for pin:
if (set_PWM_dutycycle(pigd_number, pin, arg) < 0)
mexErrMsgTxt("Failed to set new pwm level of output pin for output pin pulse-width modulation.");
break;
case 3: // Set pin mode: 1 = out, 0 = in
if (arg < 0)
mexErrMsgTxt("New opmode for pin missing for pin mode configuration.");
set_mode(pigd_number, pin, arg ? PI_OUTPUT : PI_INPUT);
break;
case 4: // Set pullup/pulldowns: 1 = out, 0 = in
if (arg < -1)
mexErrMsgTxt("New pullup/down for pin missing for pin resistor configuration.");
set_pull_up_down(pigd_number, pin, (arg==0) ? PI_PUD_OFF : ((arg>0) ? PI_PUD_UP : PI_PUD_DOWN));
break;
case 5: // Wait for rising or falling edge on given input pin via interrupt.
if (arg < -1)
mexErrMsgTxt("Timeout value in milliseconds missing.");
// set isrCallback to be called after trigger reception or timeout:
isrDone = -1000;
if ((rc = callback(pigd_number, pin, EITHER_EDGE, isrCallback)) < 0) {
// Failed:
*(mxGetPr(plhs[0])) = (double) -1;
}
// Set watchdog to trigger timeout if needed:
set_watchdog(pigd_number, pin, arg);
// Busy wait for isrCallback to signal being called:
while (isrDone == -1000);
// Disable callback reception:
callback_cancel((unsigned) rc);
set_watchdog(pigd_number, pin, 0);
// Timeout or trigger received?
rc = (isrDone == 2) ? 0 : 1;
plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
*(mxGetPr(plhs[0])) = (double) rc;
break;
default:
mexErrMsgTxt("Unknown command code provided!");
}
// Done.
return;
}
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