Data Structures
class	Aio
	API to Analog IO. More...

class	Gpio
	API to General Purpose IO. More...

class	I2c
	API to Inter-Integrated Circuit. More...

class	Iio
	API to Industrial IO. More...

struct	IioEventData

class	IioHandler

class	Led
	API to Light Emitting Diode. More...

class	Pwm
	API to Pulse Width Modulation. More...

class	Spi
	API to Serial Peripheral Interface. More...

class	Uart
	API to UART (enabling only) More...

class	UartOW
	API for UART One Wire. More...

Enumerations
enum	Mode { MODE_STRONG = 0, MODE_PULLUP = 1, MODE_PULLDOWN = 2, MODE_HIZ = 3 }

enum	Dir { DIR_OUT = 0, DIR_IN = 1, DIR_OUT_HIGH = 2, DIR_OUT_LOW = 3 }

enum	Edge { EDGE_NONE = 0, EDGE_BOTH = 1, EDGE_RISING = 2, EDGE_FALLING = 3 }

enum	InputMode { MODE_IN_ACTIVE_HIGH = 0, MODE_IN_ACTIVE_LOW = 1 }

enum	OutputMode { MODE_OUT_OPEN_DRAIN = 0, MODE_OUT_PUSH_PULL = 1 }

enum	Spi_Mode { SPI_MODE0 = 0, SPI_MODE1 = 1, SPI_MODE2 = 2, SPI_MODE3 = 3 }

enum	Platform { INTEL_GALILEO_GEN1 = 0, INTEL_GALILEO_GEN2 = 1, INTEL_EDISON_FAB_C = 2, INTEL_DE3815 = 3, INTEL_MINNOWBOARD_MAX = 4, RASPBERRY_PI = 5, BEAGLEBONE = 6, BANANA = 7, INTEL_NUC5 = 8, A96BOARDS = 9, INTEL_SOFIA_3GR = 10, INTEL_CHERRYHILLS = 11, INTEL_UP = 12, INTEL_JOULE_EXPANSION = 13, PHYBOARD_WEGA = 14, DE_NANO_SOC = 15, INTEL_UP2 = 16, FTDI_FT4222 = 256, GROVEPI = 1024, GENERIC_FIRMATA = 1280, ANDROID_PERIPHERALMANAGER = 95, NULL_PLATFORM = 98, UNKNOWN_PLATFORM = 99 }

enum	IntelEdisonMiniboard { INTEL_EDISON_MINIBOARD_J17_1 = 0, INTEL_EDISON_MINIBOARD_J17_5 = 4, INTEL_EDISON_MINIBOARD_J17_7 = 6, INTEL_EDISON_MINIBOARD_J17_8 = 7, INTEL_EDISON_MINIBOARD_J17_9 = 8, INTEL_EDISON_MINIBOARD_J17_10 = 9, INTEL_EDISON_MINIBOARD_J17_11 = 10, INTEL_EDISON_MINIBOARD_J17_12 = 11, INTEL_EDISON_MINIBOARD_J17_14 = 13, INTEL_EDISON_MINIBOARD_J18_1 = 14, INTEL_EDISON_MINIBOARD_J18_2 = 15, INTEL_EDISON_MINIBOARD_J18_6 = 19, INTEL_EDISON_MINIBOARD_J18_7 = 20, INTEL_EDISON_MINIBOARD_J18_8 = 21, INTEL_EDISON_MINIBOARD_J18_10 = 23, INTEL_EDISON_MINIBOARD_J18_11 = 24, INTEL_EDISON_MINIBOARD_J18_12 = 25, INTEL_EDISON_MINIBOARD_J18_13 = 26, INTEL_EDISON_MINIBOARD_J19_4 = 31, INTEL_EDISON_MINIBOARD_J19_5 = 32, INTEL_EDISON_MINIBOARD_J19_6 = 33, INTEL_EDISON_MINIBOARD_J19_8 = 35, INTEL_EDISON_MINIBOARD_J19_9 = 36, INTEL_EDISON_MINIBOARD_J19_10 = 37, INTEL_EDISON_MINIBOARD_J19_11 = 38, INTEL_EDISON_MINIBOARD_J19_12 = 39, INTEL_EDISON_MINIBOARD_J19_13 = 40, INTEL_EDISON_MINIBOARD_J19_14 = 41, INTEL_EDISON_MINIBOARD_J20_3 = 44, INTEL_EDISON_MINIBOARD_J20_4 = 45, INTEL_EDISON_MINIBOARD_J20_5 = 46, INTEL_EDISON_MINIBOARD_J20_6 = 47, INTEL_EDISON_MINIBOARD_J20_7 = 48, INTEL_EDISON_MINIBOARD_J20_8 = 49, INTEL_EDISON_MINIBOARD_J20_9 = 50, INTEL_EDISON_MINIBOARD_J20_10 = 51, INTEL_EDISON_MINIBOARD_J20_11 = 52, INTEL_EDISON_MINIBOARD_J20_12 = 53, INTEL_EDISON_MINIBOARD_J20_13 = 54, INTEL_EDISON_MINIBOARD_J20_14 = 55 }

enum	IntelEdison { INTEL_EDISON_GP182 = 0, INTEL_EDISON_GP135 = 4, INTEL_EDISON_GP27 = 6, INTEL_EDISON_GP20 = 7, INTEL_EDISON_GP28 = 8, INTEL_EDISON_GP111 = 0, INTEL_EDISON_GP109 = 10, INTEL_EDISON_GP115 = 11, INTEL_EDISON_GP128 = 13, INTEL_EDISON_GP13 = 14, INTEL_EDISON_GP165 = 15, INTEL_EDISON_GP19 = 19, INTEL_EDISON_GP12 = 20, INTEL_EDISON_GP183 = 21, INTEL_EDISON_GP110 = 23, INTEL_EDISON_GP114 = 24, INTEL_EDISON_GP129 = 25, INTEL_EDISON_GP130 = 26, INTEL_EDISON_GP44 = 31, INTEL_EDISON_GP46 = 32, INTEL_EDISON_GP48 = 33, INTEL_EDISON_GP131 = 35, INTEL_EDISON_GP14 = 36, INTEL_EDISON_GP40 = 37, INTEL_EDISON_GP43 = 38, INTEL_EDISON_GP77 = 39, INTEL_EDISON_GP82 = 40, INTEL_EDISON_GP83 = 41, INTEL_EDISON_GP134 = 44, INTEL_EDISON_GP45 = 45, INTEL_EDISON_GP47 = 46, INTEL_EDISON_GP49 = 47, INTEL_EDISON_GP15 = 48, INTEL_EDISON_GP84 = 49, INTEL_EDISON_GP42 = 50, INTEL_EDISON_GP41 = 51, INTEL_EDISON_GP78 = 52, INTEL_EDISON_GP79 = 53, INTEL_EDISON_GP80 = 54, INTEL_EDISON_GP81 = 55 }

enum	RaspberryWiring { RASPBERRY_WIRING_PIN8 = 3, RASPBERRY_WIRING_PIN9 = 5, RASPBERRY_WIRING_PIN7 = 7, RASPBERRY_WIRING_PIN15 = 8, RASPBERRY_WIRING_PIN16 = 10, RASPBERRY_WIRING_PIN0 = 11, RASPBERRY_WIRING_PIN1 = 12, RASPBERRY_WIRING_PIN2 = 13, RASPBERRY_WIRING_PIN3 = 15, RASPBERRY_WIRING_PIN4 = 16, RASPBERRY_WIRING_PIN5 = 18, RASPBERRY_WIRING_PIN12 = 19, RASPBERRY_WIRING_PIN13 = 21, RASPBERRY_WIRING_PIN6 = 22, RASPBERRY_WIRING_PIN14 = 23, RASPBERRY_WIRING_PIN10 = 24, RASPBERRY_WIRING_PIN11 = 26, RASPBERRY_WIRING_PIN17 = 29, RASPBERRY_WIRING_PIN21 = 29, RASPBERRY_WIRING_PIN18 = 30, RASPBERRY_WIRING_PIN19 = 31, RASPBERRY_WIRING_PIN22 = 31, RASPBERRY_WIRING_PIN20 = 32, RASPBERRY_WIRING_PIN26 = 32, RASPBERRY_WIRING_PIN23 = 33, RASPBERRY_WIRING_PIN24 = 35, RASPBERRY_WIRING_PIN27 = 36, RASPBERRY_WIRING_PIN25 = 37, RASPBERRY_WIRING_PIN28 = 38, RASPBERRY_WIRING_PIN29 = 40 }

enum	Result { SUCCESS = 0, ERROR_FEATURE_NOT_IMPLEMENTED = 1, ERROR_FEATURE_NOT_SUPPORTED = 2, ERROR_INVALID_VERBOSITY_LEVEL = 3, ERROR_INVALID_PARAMETER = 4, ERROR_INVALID_HANDLE = 5, ERROR_NO_RESOURCES = 6, ERROR_INVALID_RESOURCE = 7, ERROR_INVALID_QUEUE_TYPE = 8, ERROR_NO_DATA_AVAILABLE = 9, ERROR_INVALID_PLATFORM = 10, ERROR_PLATFORM_NOT_INITIALISED = 11, ERROR_UART_OW_SHORTED = 12, ERROR_UART_OW_NO_DEVICES = 13, ERROR_UART_OW_DATA_ERROR = 14, ERROR_UNSPECIFIED = 99 }

enum	Pinmodes { PIN_VALID = 0, PIN_GPIO = 1, PIN_PWM = 2, PIN_FAST_GPIO = 3, PIN_SPI = 4, PIN_I2C = 5, PIN_AIO = 6, PIN_UART = 7 }

enum	I2cMode { I2C_STD = 0, I2C_FAST = 1, I2C_HIGH = 2 }

enum	UartParity { UART_PARITY_NONE = 0, UART_PARITY_EVEN = 1, UART_PARITY_ODD = 2, UART_PARITY_MARK = 3, UART_PARITY_SPACE = 4 }

Functions
Result	init ()

std::string	getVersion ()

int	setPriority (const int priority)

Platform	getPlatformType ()

void	printError (Result result)

bool	pinModeTest (int pin, Pinmodes mode)

unsigned int	adcRawBits ()

unsigned int	adcSupportedBits ()

std::string	getPlatformName ()

std::string	getPlatformVersion (int platform_offset=MRAA_MAIN_PLATFORM_OFFSET)

unsigned int	getPinCount ()

int	getUartCount ()

int	getI2cBusCount ()

int	getI2cBusId (int i2c_bus)

std::string	getPinName (int pin)

int	getGpioLookup (std::string pin_name)

int	getI2cLookup (std::string i2c_name)

int	getSpiLookup (std::string spi_name)

int	getPwmLookup (std::string pwm_name)

int	getUartLookup (std::string uart_name)

Result	setLogLevel (int level)

bool	hasSubPlatform ()

bool	isSubPlatformId (int pin_or_bus_id)

int	getSubPlatformId (int pin_or_bus_index)

int	getSubPlatformIndex (int pin_or_bus_id)

int	getDefaultI2cBus (int platform_offset=MRAA_MAIN_PLATFORM_OFFSET)

Result	addSubplatform (Platform subplatformtype, std::string dev)

Result	removeSubplatform (Platform subplatformtype)

template<class T >
T *	initIo (std::string desc)

Result	initJsonPlatform (std::string path)

Detailed Description

namespace

Enumeration Type Documentation

enum Mode

Gpio Output modes

Enumerator
MODE_STRONG	Default. Strong High and Low
MODE_PULLUP	Resistive High
MODE_PULLDOWN	Resistive Low
MODE_HIZ	High Z State

enum Dir

Gpio Direction options

Enumerator
DIR_OUT	Output. A Mode can also be set
DIR_IN	Input
DIR_OUT_HIGH	Output. Init High
DIR_OUT_LOW	Output. Init Low

enum Edge

Gpio Edge types for interrupts

Enumerator
EDGE_NONE	No interrupt on Gpio
EDGE_BOTH	Interrupt on rising & falling
EDGE_RISING	Interrupt on rising only
EDGE_FALLING	Interrupt on falling only

enum InputMode

Gpio Input modes

Enumerator
MODE_IN_ACTIVE_HIGH	Resistive High
MODE_IN_ACTIVE_LOW	Resistive Low

enum OutputMode

Gpio output driver modes

Enumerator
MODE_OUT_OPEN_DRAIN	Open Drain Configuration
MODE_OUT_PUSH_PULL	Push Pull Configuration

enum Spi_Mode

MRAA SPI Modes

Enumerator
SPI_MODE0	CPOL = 0, CPHA = 0, Clock idle low, data is clocked in on rising edge, output data (change) on falling edge
SPI_MODE1	CPOL = 0, CPHA = 1, Clock idle low, data is clocked in on falling edge, output data (change) on rising edge
SPI_MODE2	CPOL = 1, CPHA = 0, Clock idle low, data is clocked in on falling edge, output data (change) on rising edge
SPI_MODE3	CPOL = 1, CPHA = 1, Clock idle low, data is clocked in on rising, edge output data (change) on falling edge

enum Platform

MRAA supported platform types

Enumerator
INTEL_GALILEO_GEN1	The Generation 1 Galileo platform (RevD)
INTEL_GALILEO_GEN2	The Generation 2 Galileo platform (RevG/H)
INTEL_EDISON_FAB_C	The Intel Edison (FAB C)
INTEL_DE3815	The Intel DE3815 Baytrail NUC
INTEL_MINNOWBOARD_MAX	The Intel Minnow Board Max
RASPBERRY_PI	The different Raspberry PI Models -like A,B,A+,B+
BEAGLEBONE	The different BeagleBone Black Modes B/C
BANANA	Allwinner A20 based Banana Pi and Banana Pro
INTEL_NUC5	The Intel 5th generations Broadwell NUCs
A96BOARDS	Linaro 96boards, A prefix for 'ARM' since not allowed numerical
INTEL_SOFIA_3GR	The Intel SoFIA 3GR
INTEL_CHERRYHILLS	The Intel Braswell Cherryhills
INTEL_UP	The UP Board
INTEL_JOULE_EXPANSION	The Intel Joule Expansion Board
PHYBOARD_WEGA	The phyBOARD-Wega
DE_NANO_SOC	Terasic DE-Nano-SoC Board
INTEL_UP2	The UP^2 Board
FTDI_FT4222	FTDI FT4222 USB to i2c bridge
GROVEPI	GrovePi shield i2c bridge
GENERIC_FIRMATA	Firmata uart platform/bridge
ANDROID_PERIPHERALMANAGER	Android Things peripheral manager platform
UNKNOWN_PLATFORM	An unknown platform type, typically will load INTEL_GALILEO_GEN1

enum IntelEdisonMiniboard

Intel edison miniboard numbering enum

enum IntelEdison

Intel Edison raw GPIO numbering enum

enum RaspberryWiring

Raspberry PI Wiring compatible numbering enum

enum Result

MRAA return codes

Enumerator
SUCCESS	Expected response
ERROR_FEATURE_NOT_IMPLEMENTED	Feature TODO
ERROR_FEATURE_NOT_SUPPORTED	Feature not supported by HW
ERROR_INVALID_VERBOSITY_LEVEL	Verbosity level wrong
ERROR_INVALID_PARAMETER	Parameter invalid
ERROR_INVALID_HANDLE	Handle invalid
ERROR_NO_RESOURCES	No resource of that type avail
ERROR_INVALID_RESOURCE	Resource invalid
ERROR_INVALID_QUEUE_TYPE	Queue type incorrect
ERROR_NO_DATA_AVAILABLE	No data available
ERROR_INVALID_PLATFORM	Platform not recognised
ERROR_PLATFORM_NOT_INITIALISED	Board information not initialised
ERROR_UART_OW_SHORTED	UART OW Short Circuit Detected
ERROR_UART_OW_NO_DEVICES	UART OW No devices detected
ERROR_UART_OW_DATA_ERROR	UART OW Data/Bus error detected
ERROR_UNSPECIFIED	Unknown Error

enum Pinmodes

Enum representing different possible modes for a pin.

Enumerator
PIN_VALID	Pin Valid
PIN_GPIO	General Purpose IO
PIN_PWM	Pulse Width Modulation
PIN_FAST_GPIO	Faster GPIO
PIN_SPI	SPI
PIN_I2C	I2C
PIN_AIO	Analog in
PIN_UART	UART

enum I2cMode

Enum representing different i2c speeds/modes

Enumerator
I2C_STD	up to 100Khz
I2C_FAST	up to 400Khz
I2C_HIGH	up to 3.4Mhz

enum UartParity

Enum representing different uart parity states

Function Documentation

Result mraa::init ( )

inline

Initialise MRAA

Detects running platform and attempts to use included pinmap, this is run on module/library init/load but is handy to rerun to check board initialised correctly. mraa::SUCCESS inidicates correct initialisation.

Returns: Result of operation

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std::string mraa::getVersion ( )

inline

Get libmraa version.

Returns: libmraa version (e.g. v0.4.0-20-gb408207)

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int mraa::setPriority ( const int priority )

inline

This function attempts to set the mraa process to a given priority and the scheduler to SCHED_RR. Highest * priority is typically 99 and minimum is 0. This function * will set to MAX if * priority is > MAX. Function will return -1 on failure.

Parameters

priority Value from typically 0 to 99

Returns: The priority value set

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Platform mraa::getPlatformType ( )

inline

Get platform type, board must be initialised.

Returns: mraa::platform Platform type enum

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void mraa::printError ( Result result )

inline

Print a textual representation of the mraa::Result

Parameters

result the Result to print

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bool mraa::pinModeTest	(	int	pin,
		Pinmodes	mode
	)

inline

Checks if a pin is able to use the passed in mode.

Parameters

pin	Physical Pin to be checked.
mode	the mode to be tested.

Returns: boolean if the mode is supported, 0=false.

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unsigned int mraa::adcRawBits ( )

inline

Check the board's bit size when reading the value

Returns: raw bits being read from kernel module. Zero if no ADC

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unsigned int mraa::adcSupportedBits ( )

inline

Return value that the raw value should be shifted to. Zero if no ADC

Returns: return actual bit size the adc value should be understood as.

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std::string mraa::getPlatformName ( )

inline

Return Platform Name. Returns NULL if no platform inited.

Returns: platform name

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std::string mraa::getPlatformVersion ( int platform_offset = MRAA_MAIN_PLATFORM_OFFSET )

inline

Return platform versioning info. Returns NULL if no info present.

Parameters

platform_offset optional subplatform identifier

Returns: platform versioning info

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unsigned int mraa::getPinCount ( )

inline

Return count of physical pins on the running platform

Returns: uint of physical pins.

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int mraa::getUartCount ( )

inline

Get platform usable UART count, board must be initialised.

Returns: number of usable UARTs on the current platform. Function will return -1 on failure

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int mraa::getI2cBusCount ( )

inline

Get platform usable I2C bus count, board must be initialised.

Returns: number f usable I2C bus count on the current platform. Function will return -1 on failure

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int mraa::getI2cBusId ( int i2c_bus )

inline

Get I2C adapter number in sysfs.

Parameters

i2c_bus the logical I2C bus number

Returns: I2C adapter number in sysfs. Function will return -1 on failure

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std::string mraa::getPinName ( int pin )

inline

Get name of pin, board must be initialised.

Parameters

pin number

Returns: char* of pin name

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int mraa::getGpioLookup ( std::string pin_name )

inline

Get GPIO index by pin name, board must be initialised.

Parameters

pin_name GPIO pin name. Eg: IO0

Exceptions

std::invalid_argument if name is not found

Returns: int of MRAA index for GPIO

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int mraa::getI2cLookup ( std::string i2c_name )

inline

Get I2C bus index by bus name, board must be initialised.

Parameters

i2c_name I2C bus name. Eg: I2C6

Exceptions

std::invalid_argument if name is not found

Returns: int of MRAA index for I2C bus

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int mraa::getSpiLookup ( std::string spi_name )

inline

Get SPI bus index by bus name, board must be initialised.

Parameters

spi_name Name of SPI bus. Eg: SPI2

Exceptions

std::invalid_argument if name is not found

Returns: int of MRAA index for SPI bus

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int mraa::getPwmLookup ( std::string pwm_name )

inline

Get PWM index by PWM name, board must be initialised.

Parameters

pwm_name Name of PWM. Eg:PWM0

Exceptions

std::invalid_argument if name is not found

Returns: int of MRAA index for PWM

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int mraa::getUartLookup ( std::string uart_name )

inline

Get UART index by UART name, board must be initialised.

Parameters

uart_name Name of the UART. Eg: UART2

Exceptions

std::invalid_argument if name is not found

Returns: MRAA index for the UART

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Result mraa::setLogLevel ( int level )

inline

Sets the log level to use from 0-7 where 7 is very verbose. These are the syslog log levels, see syslog(3) for more information on the levels.

Parameters

level

Returns: Result of operation

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bool mraa::hasSubPlatform ( )

inline

Detect presence of sub platform.

Returns: bool true if sub platform is present and initialized, false otherwise

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bool mraa::isSubPlatformId ( int pin_or_bus_id )

inline

Check if pin or bus id includes sub platform mask.

Parameters

pin_or_bus_id pin or bus number

Returns: mraa_boolean_t 1 if pin or bus is for sub platform, 0 otherwise

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int mraa::getSubPlatformId ( int pin_or_bus_index )

inline

Convert pin or bus index to corresponding sub platform id.

Parameters

pin_or_bus_index pin or bus index

Returns: int sub platform pin or bus number

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int mraa::getSubPlatformIndex ( int pin_or_bus_id )

inline

Convert pin or bus sub platform id to index.

Parameters

pin_or_bus_id sub platform pin or bus id

Returns: int pin or bus index

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int mraa::getDefaultI2cBus ( int platform_offset = MRAA_MAIN_PLATFORM_OFFSET )

inline

Get default i2c bus, board must be initialised.

Parameters

platform_offset optional subplatform identifier

Returns: default i2c bus for paltform

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Result mraa::addSubplatform	(	Platform	subplatformtype,
		std::string	dev
	)

inline

Add mraa subplatform

Parameters

subplatformtype	the type of subplatform to add (e.g. MRAA_GENERIC_FIRMATA or MRAA_GROVEPI)
dev	subplatform uart device string or i2c bus number (e.g. "/dev/ttyACM0" or "0")

Returns: Result of operation

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Result mraa::removeSubplatform ( Platform subplatformtype )

inline

Remove mraa subplatform

Parameters

subplatformtype the type of subplatform to remove (e.g. MRAA_GENERIC_FIRMATA)

Returns: Result of operation

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T* mraa::initIo ( std::string desc )

inline

Create IO using a description in the format: [io]-[pin] [io]-[raw]-[pin] [io]-[raw]-[id]-[pin] [io]-[raw]-[path]

Parameters

desc	description

Returns: class T initialised using pointer to IO or NULL

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Result mraa::initJsonPlatform ( std::string path )

inline

Instantiate an unknown board using a json file

Parameters

path	Path to the json file, relative to the folder the program was initially run in or a direct path

Returns: Result indicating success

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Data Structures

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation