参考:
inux sys gpio 读写,linux下对/sys/class/gpio中的gpio的控制 (转)
1、/sys/class/gpio常用指令
#查看gpio口信息
sudo cat /sys/kernel/debug/gpio
#导入gpio口
sudo echo 33 > /sys/class/gpio/export
#导出gpio口
sudo echo 33 > /sys/class/gpio/unexport
#查看指定gpio口状态
sudo cat /sys/kernel/debug/gpio| grep '258'
echo out > /sys/class/gpio/gpio33/direction
定义GPIO1_A1输入输出方向, direction接受的参数:in, out, high, low。high/low同时设置方向为输出,并将value设置为相应的1/0。
echo 1 >/sys/class/gpio/gpio33/value
定义GPIO1_A1 Value值(0,1)
2、ros中读gpio
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <ros/ros.h>
#include <std_msgs/Header.h>
int num=290;
int main(int argc, char** argv)
{
//ros节点初始化
ros::init(argc, argv, "gpio");//启动该节点并设置其名称,名称必须唯一
ros::NodeHandle n;//设置节点进程的句柄
ros::Rate loop_rate(1);//设置循环的频率
FILE *p = NULL;
try{
p = fopen( "/sys/class/gpio/export", "w" );
fprintf( p, "%d", num );
fclose( p );
}
catch(char *str){}
p = fopen( "/sys/class/gpio/gpio290/direction", "w" );
fprintf( p, "out" );
fclose( p );
while(ros::ok()){
p = fopen( "/sys/class/gpio/gpio290/value", "w" );
fprintf( p, "%d", 1 );
printf("H\n");
loop_rate.sleep();//按照10Hz的频率将程序挂起
fclose( p );
p = fopen( "/sys/class/gpio/gpio290/value", "w" );
fprintf( p, "%d", 0 );
printf("L\n");
loop_rate.sleep();//按照10Hz的频率将程序挂起
fclose( p );
}
}
3、ros中写gpio
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <ros/ros.h>
#include <std_msgs/Header.h>
int num=290;
char buffer[1];
int main(int argc, char** argv)
{
//ros节点初始化
ros::init(argc, argv, "gpio");//启动该节点并设置其名称,名称必须唯一
ros::NodeHandle n;//设置节点进程的句柄
ros::Rate loop_rate(1);//设置循环的频率
FILE *p = NULL;
try{
p = fopen( "/sys/class/gpio/export", "w" );
fprintf( p, "%d", num );
fclose( p );
}
catch(char *str){}
p = fopen( "/sys/class/gpio/gpio290/direction", "w" );
fprintf( p, "in" );
fclose( p );
while(ros::ok()){
p = fopen( "/sys/class/gpio/gpio290/value", "r" );
//fseek(p, 0, SEEK_SET);
// 读取并显示数据
fread(buffer, 1, 1, p);
printf("%s\n", buffer);
loop_rate.sleep();//按照10Hz的频率将程序挂起
fclose( p );
}
}