Rock3/dev/libmraa-cm3-io
ROCK 3 > Development > Libmraa on cm3 io
Contents
Functional interface
For function interface of libmraa, you can refer to the folder "/usr/local/include/"
Enable interface
See Radxa CM3 IO [| GPIO pinout]. ROCK 4 has a 40-pin expansion header. Each pin is distinguished by color. mraa define follow:
27 GPIO:
PIN03 GPIO0_B6 PIN05 GPIO0_B5 PIN07 GPIO3_D5 PIN11 GPIO0_C7 PIN13 GPIO0_B7 PIN15 GPIO0_C3 PIN19 GPIO4_B2 PIN21 GPIO4_B0 PIN23 GPIO4_B3 PIN27 GPIO4_B4 PIN29 GPIO4_B1 PIN31 GPIO0_C5 PIN33 GPIO0_C6 PIN35 GPIO3_D0 PIN37 GPIO0_C2 PIN08 GPIO0_D1 PIN10 GPIO0_D0 PIN12 GPIO3_C7 PIN16 GPIO3_D4 PIN18 GPIO3_D3 PIN22 GPIO3_C6 PIN24 GPIO4_A6 PIN28 GPIO4_B5 PIN32 GPIO4_C0 PIN36 GPIO4_A7 PIN38 GPIO3_D2 PIN40 GPIO3_D1
3 I2C:
PIN3 I2C2_SDA_M0 PIN5 I2C2_SCL_M0 PIN19 I2C4_SDA_M0 PIN23 I2C4_SCL_M0 PIN29 I2C2_SDA_M1 PIN31 I2C2_SCL_M1
2 SPI:
PIN3 SPI0_MOSI_M0 PIN5 SPI0_CLK_M0 PIN31 SPI0_MISO_M0 PIN33 SPI0_CS0_M0 PIN19 SPI0_CS0_M0 PIN31 SPI3_MISO_M0 PIN7 SPI3_CLK_M0 PIN33 SPI3_CS0_M0
1 UART:
PIN8 UART2_TX_M0 PIN10 UART2_RX_M0
9 PWM:
PIN3 PWM2_M1 PIN5 PWM1_M1 PIN11 PWM0_M1 PIN13 PWM0_M0 PIN15 PWM4 PIN31 PWM6 PIN33 PWM7_IR PIN37 PWM3_IR PIN32 PWM11_IR_M1
1 ADC:
PIN26 SARADC_VIN3
Test
GPIO Test
Use mraa-gpio tool to test
radxa@radxa-cm3-io:~$ sudo mraa-gpio list [sudo] password for radxa: 01 3V3: 02 5V: 03 SDA2: GPIO I2C 04 5V: 05 SCL2: GPIO I2C 06 GND: 07 GPIO3_D5: GPIO 08 TXD2: GPIO UART 09 GND: 10 RXD2: GPIO UART 11 PWM0_M0: GPIO PWM 12 GPIO3_A7: GPIO 13 PWM0_M1: GPIO PWM 14 GND: 15 PWM4: GPIO PWM 16 GPIO3_D4: GPIO 17 3V3: 18 GPIO3_D3: GPIO 19 SPI3_MOSI_M: GPIO SPI UART 20 GND: 21 SPI3_MISO_M: GPIO SPI UART 22 GPIO3_C6: GPIO 23 SPI1CLK_M0: GPIO SPI UART 24 SPI3_CS0_M0: GPIO SPI 25 GND: 26 SARADC: AIO 27 SDA2_M1: GPIO I2C 28 SCL2_M1: GPIO I2C 29 SDO2,SPI3_C: GPIO I2C SPI 30 GND: 31 SDA6,SPI0_M: GPIO I2C SPI 32 PWM11_IR_M1: GPIO 33 SPI0_SC0_M0: GPIO SPI 34 GND: 35 GPIO3_D0: GPIO 36 SPI3_SC1_M0: GPIO 37 PWM3_IR: GPIO 38 GPIO3_D2: GPIO 39 GND: 40 GPIO3_D1: GPIO
radxa@radxa-cm3-io:~$ sudo mraa-gpio set 40 1 //pin40 pull high radxa@radxa-cm3-io:~$ sudo mraa-gpio set 40 0 //pin40 pull low
I2C Test
Firstly, use rsetup command to enable i2c2, i2c4
Then, use mraa-i2c tool to test,we must have a i2c slave device,for example,we use I2C led(0x20):
radxa@radxa-cm3-io:~$ sudo mraa-i2c list
Bus 0: id=02 type=linux default
Bus 1: id=04 type=linux
radxa@radxa-cm3-io:~$ sudo i2cdetect -r -y 0
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- UU -- -- --
20: UU -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: 50 51 52 53 54 55 56 57 -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
then download the test example led_i2c_blink
radxa@radxa-cm3-io:~$ gcc i2c_led_blink.c -lmraa -o i2c_led_blink
radxa@radxa-cm3-io:~$ sudo ./i2c_led_blink
SPI Test
Firstly, use rsetup command to enable spi0, compile the example file /usr/local/share/mraa/examples/c/spi.c then short pin2 and pin31 and run the ./a.out radxa@radxa-cm3-io:~$ gcc /usr/local/share/mraa/examples/c/spi.c -lmraa radxa@radxa-cm3-io:~$ sudo ./a.out 0xaa 0xaa ......
PWM test
Use c program in /usr/local/share/mraa/examples/c/pwm.c to test:
Modify the macro PWM in /usr/local/share/mraa/examples/c/pwm.c as follows to test PWM0. To test PWM1, change #define PWM 11 to #define PWM 13.
More examples
More examples (including examples written in python and java) can be found at:
/usr/local/share/mraa/examples/