This library grants easy and fast access to peripherals.
Contributions are welcome, please fork and open a pull request.
If you have successfully used mipea on a Raspberry Pi which is not tested yet, please inform me and I can add it to the list.
The library is very useful for high-speed and lighweight applications, efficiency and total control on the hardware level.
I did not create this library for simplicity. It is useful for people who still read the datasheet and know what the registers do but don't want to do the "ugly" work on the low level.
Also, most functions are only a bare "skeleton" with very minimalistic design where other programs need to implement higher level functionality.
If you searched for a efficient and highly customizable library which only lays the foundation for other programs then you are right.
| Raspberry Pi | Supported | Tested |
|---|---|---|
| 1 Model A | ✔︎ | |
| 1 Model A+ | ✔︎ | |
| 3 Model A+ | ✔︎ | |
| 1 Model B | ✔︎ | |
| 1 Model B+ | ✔︎ | |
| 2 Model B | ✔︎ | |
| 2 Model Bv1.2 | ✔︎ | |
| 3 Model B | ✔︎ | ✔︎ |
| 3 Model B+ | ✔︎ | ✔︎ |
| Zero v1.2 | ✔︎ | |
| Zero | ✔︎ | ✔︎ |
| Zero W | ✔︎ | |
| 4 Model B | experimental | ✔︎ |
The configure script and Makefile.in are not included in this repository so
you have two options to install the library
On GitHub, when you look under the tab releases you will find some release with a name like for example "v2.0.0". Then you can download the corresponding file named "mipea_x.x.x" which includes the configure script and Makefile.in. After downloading just run these commands from inside the downloaded directory.
$ ./configure
$ make
$ sudo make install
When you have the GNU autotools and libtool installed you can simply clone the
repository and build the configure script and Makefile.in yourself.
$ git clone https://github.com/jasLogic/mipea.git
$ cd mipea
$ autoreconf --install
$ ./configure
$ make
$ sudo make install
I noticed that sometimes the library can be linked, but when running a program
an error message appears saying: File or directory not found. If you have
this problem just run ldconfig or follow the output from sudo make install:
----------------------------------------------------------------------
Libraries have been installed in:
/usr/local/lib
If you ever happen to want to link against installed libraries
in a given directory, LIBDIR, you must either use libtool, and
specify the full pathname of the library, or use the `-LLIBDIR'
flag during linking and do at least one of the following:
- add LIBDIR to the `LD_LIBRARY_PATH' environment variable
during execution
- add LIBDIR to the `LD_RUN_PATH' environment variable
during linking
- use the `-Wl,-rpath -Wl,LIBDIR' linker flag
- have your system administrator add LIBDIR to `/etc/ld.so.conf'
See any operating system documentation about shared libraries for
more information, such as the ld(1) and ld.so(8) manual pages.
----------------------------------------------------------------------
Documentation is uploaded to ReadTheDocs.
You can also build the documentation yourself using sphinx.
To use a peripheral, for example GPIO, you need to include the corresponding header into your program.
#include <mipea/gpio.h>
After that it is crucial to map the peripheral like so gpio_map(). When your program is finished you should unmap the peripheral again gpio_unmap()
Now you can use the registers or the provided functions.
gcc -Wall -o [outputfile] [your program].c -lmipea
Although you can drive one or two servos using this library and PWM it is now
possible to drive more. You could of course use usleep() but this is
not recommended, as it is not very accurate. Instead you could use my
mipea_servo library
which makes use of DMA and PWM to archieve a very accurate pulse
without CPU usage.
- bcm2835_peripherals.h and bcm2835_peripherals.c are highly inspired by Pieter Jan's "Low Level Programming of the Raspberry Pi in C".
- BCM2835 ARM Peripherals Datasheet
- There are many errors in the BCM2835 ARM Peripherals Datasheet so the BCM2835 datasheet errata by elinux.org is very useful and important.
- Because the BCM2835 ARM Peripherals Datasheet for some reason does not feature the PWM and PCM clocks, there is this very useful datasheet snippet: BCM2835 Audio clocks