JETSON TK1 ~ 控制GPIO

  首先建立个存放gpio代码的文件夹，CD到该文件夹。

git clone git://github.com/derekmolloy/boneDeviceTree/

解压后会出现几个文件

GPIO文件夹内的SimpleGPIO.cpp和SimpleGPIO.h复制到eclipse工作空间的src文件夹下。

包含相关头文件后编写代码：

//============================================================================
// Name        : CPPT1.cpp
// Author      : Kopu
// Version     :
// Copyright   : Oh,Shit!
// Description : Hello World in C++, Ansi-style
//============================================================================
#include "stdio.h"
#include "stdlib.h"
#include <iostream>
#include "SimpleGPIO.h"
using namespace std;

const int GPIO_PU6_P58 = 166;
const int GPIO_PH1_P50 = 57;

unsigned int IO_Data=0;

void delay_ms(unsigned int num)
{
  unsigned int i,j;
  for(i=num;i>0;i--)
    for(j=80000;j>0;j--);
}
int main(void)
{
    gpio_export(GPIO_PH1_P50);
    gpio_export(GPIO_PU6_P58);
    gpio_set_dir(GPIO_PH1_P50, INPUT_PIN);
    gpio_set_dir(GPIO_PU6_P58, OUTPUT_PIN);
    while(1)
    {
     gpio_get_value(GPIO_PH1_P50,&IO_Data);
     if(IO_Data)printf("1
");
     else printf("0
");
     gpio_set_value(GPIO_PU6_P58, HIGH);
     delay_ms(10);
     gpio_set_value(GPIO_PU6_P58, LOW);
     delay_ms(10);
    }
 return 0;
}

关于上面的gpio对应TK1上的引脚：

Port	sysfs filename	Physical pin	Notes
GPIO_PH1	gpio57	Pin 50 on J3A1
GPIO_PU0	gpio160	Pin 40 on J3A2
GPIO_PU1	gpio161	Pin 43 on J3A2
GPIO_PU2	gpio162	Pin 46 on J3A2	(Disabled by default)
GPIO_PU3	gpio163	Pin 49 on J3A2
GPIO_PU4	gpio164	Pin 52 on J3A2
GPIO_PU5	gpio165	Pin 55 on J3A2
GPIO_PU6	gpio166	Pin 58 on J3A2

J3A1
Pin	Signal name	Tegra K1 ball	Usage/description	Type/dir default	Associated voltage rail	Tegra pad type	Connector row
1	+5V_SYS	n/a	Main 5V from system	Power	-	-	1
2	GND	n/a	Tied to common GND	Ground	-	-	2
3	+1.8V_VDDIO	n/a	Main 1.8V supply from PMU switcher 5	Power	-	-	1
4	TS_SPI_SCK	ULPI_NXT	SPI clock for Touchscreen controller (if SPI used)	Input	+1.8V_VDDIO	ST	2
5	TS_SPI_MOSI	ULPI_CLK	SPI MOSI for Touchscreen controller (if SPI used)	Input	+1.8V_VDDIO	ST	1
6	TS_SPI_CS_L	ULPI_STP	SPI chip select for Touchscreen controller (if SPI)	Input	+1.8V_VDDIO	ST	2
7	TS_SPI_MISO	ULPI_DIR	SPI MISO for Touchscreen controller (if SPI used)	Output	+1.8V_VDDIO	ST	1
8	GND	n/a	Tied to common GND	Ground	-	-	2
9	GND	n/a	Tied to common GND	Ground	-	-	1
10	+3.3V_RUN_TOUCH	n/a	AMS PMIC LDO9	Power	-	-	2
11	TS_SHDN_L	GPIO_PK1	Shutdown control for Touchscreen controller	Input	+1.8V_VDDIO	CZ	1
12	TS_CLK	CLK2_OUT	Clock for Touchscreen controller	Input	+1.8V_VDDIO	ST	2
13	TS_RESET_L	GPIO_PK4	Reset for Touchscreen controller	Input	+1.8V_VDDIO	CZ	1
14	GND	n/a	Tied to common GND	Ground	-	-	2
15	GND	n/a	Tied to common GND	Ground	-	-	1
16	+3.3V_SYS	n/a	Main 3.3V supply	Power	-	-	2
17	GPIO_PK2	GPIO_PK2	Available GPIO	Output	+1.8V_VDDIO	CZ	1
18	GEN2_I2C_SCL_3.3V	GEN2_I2C_SCL	3.3V I2C IF (Pulled up to +3.3V_LP0)	Input, Open Drain	+3.3V_LP0	DD	2
19	+1.8V_VDDIO	n/a	Main 1.8V supply from PMU switcher 5	Power	-	-	1
20	GEN2_I2C_SDA_3.3V	GEN2_I2C_SDA	3.3V I2C IF (Pulled up to +3.3V_LP0)	Bidir, Open Drain		DD	2
21	GEN1_I2C_SCL	GEN1_I2C_SCL	1.8V I2C (Pulled up to +1.8V_VDDIO)	Input, Open Drain	+1.8V_VDDIO	DD	1
22	+3.3V_RUN	n/a	+3.3V rail that is off in LP0	Power	-	-	2
23	GEN1_I2C_SDA	GEN1_I2C_SDA	1.8V I2C (Pulled up to +1.8V_VDDIO)	Bidir, Open Drain	+1.8V_VDDIO	DD	1
24	EN_AVDD_LCD	n/a	Enable for Embedded display from PMU GPIO4	Input	-	-	2
25	+VDD_MUX	n/a	Main 12V from Jack	Power			1
26	GND	n/a	Tied to common GND	Ground	-	-	2
27	EN_VDD_BL	DAP3_DOUT	Backlight supply enable	Input	+1.8V_VDDIO	ST	1
28	DP_AUX_P	DP_AUX_P	eDP AUX control interface (+)	Bidir	+1.05V_RUN_AVDD	LVDS/DP	2
29	GND	n/a	Tied to common GND	Ground	-	-	1
30	DP_AUX_N	DP_AUX_N	eDP AUX control interface (-)	Bidir	+1.05V_RUN_AVDD	LVDS/DP	2
31	LVDS_TXD0_P	LVDS_TXD0_P	LVDS Data lane 0 (+) or eDP Data lane 2 (+)	Input	+1.05V_RUN_AVDD	LVDS/DP	1
32	GND	n/a	Tied to common GND	Ground	-	-	2
33	LVDS_TXD0_N	LVDS_TXD0_N	LVDS Data lane 0 (-) or eDP Data lane 2 (+)	Input	+1.05V_RUN_AVDD	LVDS/DP	1
34	LVDS_TXD1_P	LVDS_TXD1_P	LVDS Data lane 1 (+) or eDP Data lane 1 (+)	Input	+1.05V_RUN_AVDD	LVDS/DP	2
35	GND	n/a	Tied to common GND	Ground	-	-	1
36	LVDS_TXD1_N	LVDS_TXD1_N	LVDS Data lane 1 (-) or eDP Data lane 1 (-)	Input	+1.05V_RUN_AVDD	LVDS/DP	2
37	LVDS_TXD3_P	LVDS_TXD3_P	LVDS Data lane 3 (+) - Not used for eDP	Input	+1.05V_RUN_AVDD	LVDS/DP	1
38	GND	n/a	Tied to common GND	Ground	-	-	2
39	LVDS_TXD3_N	LVDS_TXD3_N	LVDS Data lane 3 (-) - Not used for eDP	Input	+1.05V_RUN_AVDD	LVDS/DP	1
40	LVDS_TXD2_P	LVDS_TXD2_P	LVDS Data lane 2 (+) or eDP Data lane 0 (+)	Input	+1.05V_RUN_AVDD	LVDS/DP	2
41	GND	n/a	Tied to common GND	Ground	-	-	1
42	LVDS_TXD2_N	LVDS_TXD2_N	LVDS Data lane 2 (-) or eDP Data lane 0 (-)	Input	+1.05V_RUN_AVDD	LVDS/DP	2
43	LVDS_TXD4_N	LVDS_TXD4_N	LVDS Clock lane (+) or eDP Data lane 3 (+)	Input	+1.05V_RUN_AVDD	LVDS/DP	1
44	GND	n/a	Tied to common GND	Ground	-	-	2
45	LVDS_TXD4_P	LVDS_TXD4_P	LVDS Clock lane (-) or eDP Data lane 3 (-)	Input	+1.05V_RUN_AVDD	LVDS/DP	1
46	EPP_HPD	DP_HPD	eDP display Hot Plug Detect input	Output	+3.3V_LP0	ST	2
47	GND	n/a	Tied to common GND	Ground	-	-	1
48	LCD_BL_EN	GPIO_PH2	Backlight enable	Input	+1.8V_VDDIO	CZ	2
49	LCD_TE	KB_ROW6	Tearing Effect from embedded display (if supported)	Output	+1.8V_VDDIO	ST	1
50	LCD_BL_PWM	GPIO_PH1	Backlight PWM	Input	+1.8V_VDDIO	CZ	2

三排的插座：

J3A2
Pin	Signal name	Tegra K1 ball	Usage/description	Type/dir default	Associated voltage rail	Tegra pad type	Connector row
1	+5V_SYS	n/a	Main 5v from system	Power	-	-	1
2	CAM2_PWDN	GPIO_PBB6	Power Down for Camera 2	input	+1.8V_RUN_CAM	ST	2
3	+1.05V_RUN_CAM_REAR	n/a	AMS PMIC LDO7 for Camera 1	Power	-	-	3
4	CAM2_MCLK	GPIO_PBB0	Master Reference Clock for Camera 2	input	+1.8V_RUN_CAM	ST	1
5	CAM_RST_L	GPIO_PBB3	Reset for Camera(s)	input	+1.8V_RUN_CAM	ST	2
6	+2.8V_RUN_CAM	n/a	AMS PMIC LDO4 for Camera(s)	Power	-	-	3
7	CAM2_GPIO	GPIO_PCC2	GPIO for Camera 2	Bidir	+1.8V_RUN_CAM	ST	1
8	CAM_I2C_SDA	CAM_I2C_SDA	I2C Data for Camera(s)	Bidir, Open Drain	+1.8V_RUN_CAM	DD	2
9	GND	n/a	Tied to common GND	Ground	-	-	3
10	GND	n/a	Tied to common GND	Ground	-	-	1
11	CAM_I2C_SCL	CAM_I2C_SCL	I2C Clock for Camera(s)	Input, Open Drain	+1.8V_RUN_CAM	SS	2
12	CSI_A_CLK_P	CSI_A_CLK_P	CSI Clock (+) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
13	CSI_E_CLK_N	CSI_E_CLK_N	CSI Clock (-) for Camera 2	Output	+1.2V_GEN_AVDD	CSI	1
14	GND	n/a	Tied to common GND	Ground	-	-	2
15	CSI_A_CLK_N	CSI_A_CLK_N	CSI Clock (-) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
16	CSI_E_CLK_P	CSI_E_CLK_P	CSI Clock (+) for Camera 2	Output	+1.2V_GEN_AVDD	CSI	1
17	CSI_E_D0_N	CSI_E_D0_N	CSI Data Lane 0 (-) for Camera 2	Output	+1.2V_GEN_AVDD	CSI	2
18	GND	n/a	Tied to common GND	Ground	-	-	3
19	GND	n/a	Tied to common GND	Ground	-	-	1
20	CSI_E_D0_P	CSI_E_D0_P	CSI Data Lane 0 (+) for Camera 2	Output	+1.2V_GEN_AVDD	CSI	2
21	CSI_A_D1_N	CSI_A_D1_N	CSI Data Lane 1 (-) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
22	+1.2V_RUN_CAM_FRONT	n/a	AMS PMIC LDO5 for Camera 2	Power	-	-	1
23	GND	n/a	Tied to common GND	Ground	-	-	2
24	CSI_A_D1_P	CSI_A_D1_P	CSI Data Lane 1 (+) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
25	+2.8V_RUN_CAM_AF	n/a	AMS PMIC LDO10 for Camera 1	Power	+1.2V_GEN_AVDD	CSI	1
26	+1.8v_VDDIO	n/a	AMS Switcher 5	Power	-	-	2
27	GND	n/a	Tied to common GND	Ground	-	-	3
28	+1.8V_GEN_AVDD	n/a	AMS PMIC LDO2, used to sync HSIC rails	Power	-	-	1
29	+1.8V_RUN_CAM	n/a	AMS PMIC LDO1	Power	-	-	2
30	CSI_A_D0_N	CSI_A_D0_N	CSI Data Lane 0 (-) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
31	HSIC1_STROBE	HSIC1_STROBE	HSIC Strobe	Bidir	+1.2V_GEN_AVDD	HSIC	1
32	GND	n/a	Tied to common GND	Ground	-	-	2
33	CSI_A_D0_P	CSI_A_D0_P	CSI Data Lane 0 (+) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
34	GND	n/a	Tied to common GND	Ground	-	-	1
35	HSIC1_DATA	HSIC1_DATA	HSIC Data	Bidir	+1.2V_GEN_AVDD	HSIC	2
36	GND	n/a	Tied to common GND	Ground	-	-	3
37	+1.8V_VDDIO	n/a	AMS Switcher 5	Power	-	-	1
38	GND	n/a	Tied to common GND	Ground	-	-	2
39	CSI_B_D1_N	CSI_B_D1_N	CSI Data Lane 3 (-) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
40	GPIO_PU0	GPIO_PU0	GPIO PU0: Available for general use	Bidir	+1.8V_VDDIO	ST	1
41	BR_UART_TXD	KB_ROW9	For PM342 style Laguna FFD header	Input	+1.8V_VDDIO	-	2
42	CSI_B_D1_P	CSI_B_D1_P	CSI Data Lane 3 (+) for Camera 1	Output	+1.2V_GEN_AVDD	-	3
43	GPIO_PU1	GPIO_PU1	GPIO PU1: Available for general use	Bidir	+1.8V_VDDIO	ST	1
44	BR_UART1_RXD	KB_ROW10	For PM342 style Laguna FFD header	Output	+1.8V_VDDIO	-	2
45	GND	n/a	Tied to common GND	Ground	-	-	3
46	GPIO_PU2	GPIO_PU2	GPIO PU2: Available for general use	Bidir	+1.8V_VDDIO	ST	1
47	GND	n/a	Tied to common GND	Ground	-	-	2
48	CSI_B_D0_P	CSI_B_D0_P	CSI Data Lane 2 (+) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
49	GPIO_PU3	GPIO_PU3	GPIO PU3: Available for general use	Bidir	+1.8V_VDDIO	ST	1
50	PWR_I2C_SCL	PWR_I2C_SCL	Power I2C Clock: For Nvidia use only	Input, Open Drain	+1.8V_VDDIO	DD	2
51	CSI_B_D0_N	CSI_B_D0_N	CSI Data Lane 2 (-) for Camera 1	Output	+1.2V_GEN_AVDD	CSI	3
52	GPIO_PU4	GPIO_PU4	GPIO PU4: Available for general use	Bidir	+1.8V_VDDIO	ST	1
53	PWR_I2C_SDA	PWR_I2C_SDA	Power I2C Data: For Nvidia use only	Bidir, Open Drain	+1.8V_VDDIO	DD	2
54	GND	n/a	Tied to common GND	Ground	-	-	3
55	GPIO_PU5	GPIO_PU5	GPIO PU5: Available for general use	Bidir	+1.8V_VDDIO	ST	1
56	GEN1_I2C_SCL	GEN1_I2C_SCL	GEN1 I2C Clock: 1.8V I2C IF available for general use	Input, Open Drain	+1.8V_VDDIO	DD	2
57	CAM1_GPIO	GPIO_PCC1	GPIO for Camera 1	Bidir	+1.8V_RUN_CAM	ST	3
58	GPIO_PU6	GPIO_PU6	GPIO PU6: Available for general use	Bidir	+1.8V_VDDIO	ST	1
59	GEN1_I2C_SDA	GEN1_I2C_SDA	GEN1 I2C Data: 1.8V I2C IF available for general use	Bidir, Open Drain	+1.8V_VDDIO	DD	2
60	CAM1_AF_PWDN	GPIO_PBB7	Autofocus Powerdown for Camera 1	Input	+1.8V_RUN_CAM	ST	3
61	ONKEY_L	KB_COL0 (indirect)	Power On (to PMU ONKEY & gated version to Tegra)	Bidir	+2.5V_AON_RTC	-	1
62	GND	n/a	Tied to common GND	Ground	-	-	2
63	CAM_FLASH	GPIO_PB4	Flash enable to control camera flash driver	Input	+1.8V_RUN_CAM	ST	3
64	PMU_RESET_IN_L	n/a	System Reset signal	Bidir	+2.5V_AON_RTC	-	1
65	UART2_RXD	UART2_RXD	UART 2 Receive	Output	+1.8V_VDDIO	ST	2
66	CAM1_PWDN	GPIO_PBB5	Powerdown for Camera 1	Input	+1.8V_RUN_CAM	ST	3
67	FORCE_RECOVERY_L	GPIO_PI1 (indirect)	Force Recovery: To enter Forced Recovery mode	Bidir	+2.5V_AON_RTC	-	1
68	UART2_TXD	UART2_TXD	UART 2 Transmit	Input	+1.8V_VDDIO	ST	2
69	CAM1_MCLK	CAM_MCLK	Master Reference Clock for Camera 1	Input	+1.8V_RUN_CAM	ST	3
70	CLK3_OUT	CLK3_OUT	Clock 3 Output: Available clock source from Tegra K1	Input	+1.8V_RUN_CAM	ST	1
71	UART2_CTS_L	UART2_CTS_L	UART 2 Clear to Send	Output	+1.8V_VDDIO	ST	2
72	NC	n/a	Not used	-	-	-	3
73	GND	n/a	Tied to common GND	Ground	-	-	1
74	UART2_RTS_L	UART2_RTS_L	UART 2 Request to Send	Input	+1.8V_VDDIO	ST	2
75	NC	n/a	Not used	-	-	-	3

 关于GPIO和其他相关资源相关

1：http://elinux.org/Jetson/GPIO

2：http://elinux.org/Jetson/Tutorials/GPIO

3：http://elinux.org/Jetson/Tutorials/Vision-controlled_GPIO#Testing_GPIO_on_Jetson_TK1