exploringBB Namespace Reference

Data Structures
class	ADXL345
	Specific class for the ADXL345 Accelerometer. More...
class	BMA180
	A class to control a BMA180 accelerometer (untested) More...
class	BusDevice
	This class is the parent of I2C and SPI devices, so that devices that use both SPI and I2C interfaces can use those interfaces interchangeably. Because it contains abstract methods, the child classes MUST implement the methods that are listed in this class. More...
class	DCMotor
	A generic DC motor class that controls a motor driver board using a PWM signal,and a GPIO state to control the motor direction. More...
class	GPIO
	GPIO class for input and output functionality on a single GPIO pin. More...
class	I2CDevice
	Generic I2C Device class that can be used to connect to any type of I2C device and read or write to its registers. More...
class	ITG3200
	A class to interface with the ITG3200 gyroscope (untested) More...
class	LCDCharacterDisplay
	A class that provides an interface to an LCD character module. It provices support for multiple rows and columns and provides methods for formatting and printing text. You should use a 4 wire interface and a 74XX595 to communicate with the display module. More...
class	PWM
	A class to control a basic PWM output – you must know the exact sysfs filename for the PWM output. More...
class	Servo
	An extremely basic Servo class stub – does nothing more than the PWM class but is here for future use. More...
class	SevenSegmentDisplay
	A class that allows you to drive an array of 7 segment displays using an array of 74XX595 ICs. More...
class	SocketClient
	A class that encapsulates a socket client to be used for network communication. More...
class	SocketServer
	A class that encapsulates a server socket for network communication. More...
class	SPIDevice
	Generic SPI Device class that can be used to connect to any type of SPI device and read or write to its registers. More...
class	StepperMotor
	A class to control a stepper motor using a motor driver board, such as the Easy Driver board, or compatible. The class uses five GPIOs to control each motor. More...

Typedefs
typedef int(*	CallbackType )(int)

Functions
void *	threadedToggle (void *value)
void *	threadedPoll (void *value)
int	write (string path, string filename, string value)
string	read (string path, string filename)
int	write (string path, string filename, int value)
void *	threadedStep (void *value)

Typedef Documentation

typedef int(* exploringBB::CallbackType)(int)

Function Documentation

string exploringBB::read	(	string	path,
		string	filename
	)

Helper read function that reads a single string value to a file from the path provided

Parameters

path	The sysfs path of the file to be read
filename	Filename The file to be written to in that path

Returns

                                         {
   ifstream fs;
   fs.open((path + filename).c_str());
   if (!fs.is_open()){
           perror("GPIO: read failed to open file ");
    }
   string input;
   getline(fs,input);
   fs.close();
   return input;
}

void * exploringBB::threadedPoll

(

void *

value

)

                               {
        GPIO *gpio = static_cast<GPIO*>(value);
        while(gpio->threadRunning){
                gpio->callbackFunction(gpio->waitForEdge());
                usleep(gpio->debounceTime * 1000);
        }
        return 0;
}

void * exploringBB::threadedStep

(

void *

value

)

                               {
        StepperMotor *stepper = static_cast<StepperMotor*>(value);
        while(stepper->threadRunning){
                stepper->step();
                usleep(stepper->threadedStepPeriod * 1000);  // convert from ms to us
                if(stepper->threadedStepNumber>0) stepper->threadedStepNumber--;
                if(stepper->threadedStepNumber==0) stepper->threadRunning = false;
        }
        return 0;
}

void * exploringBB::threadedToggle

(

void *

value

)

                                 {
        GPIO *gpio = static_cast<GPIO*>(value);
        bool isHigh = (bool) gpio->getValue(); //find current value
        while(gpio->threadRunning){
                if (isHigh)     gpio->setValue(GPIO::HIGH);
                else gpio->setValue(GPIO::LOW);
                usleep(gpio->togglePeriod * 500);
                isHigh=!isHigh;
                if(gpio->toggleNumber>0) gpio->toggleNumber--;
                if(gpio->toggleNumber==0) gpio->threadRunning=false;
        }
        return 0;
}

int exploringBB::write	(	string	path,
		string	filename,
		string	value
	)

Helper write function that writes a single string value to a file in the path provided

Parameters

path	The sysfs path of the file to be modified
filename	The file to be written to in that path
value	The value to be written to the file

Returns

                                                     {
   ofstream fs;
   fs.open((path + filename).c_str());
   if (!fs.is_open()){
           perror("GPIO: write failed to open file ");
           return -1;
   }
   fs << value;
   fs.close();
   return 0;
}

int exploringBB::write	(	string	path,
		string	filename,
		int	value
	)

Private write method that writes a single int value to a file in the path provided

Parameters

path	The sysfs path of the file to be modified
filename	The file to be written to in that path
value	The int value to be written to the file

Returns

                                                  {
   stringstream s;
   s << value;
   return write(path,filename,s.str());
}