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CodeExamples/Doly/include/Gpio.h

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+#pragma once
+#include <stdint.h>
+
+enum GpioType :uint8_t
+{
+	GPIO_INPUT = 0,
+	GPIO_OUTPUT = 1,
+	GPIO_PWM = 2
+};
+
+enum GpioState :bool
+{
+	LOW = false,
+	HIGH = true,
+};
+
+enum PinId :uint8_t
+{
+	// >= 50 GPIO_CHIP2
+	Pin_Servo_Left_Enable = 56,
+	Pin_Servo_Right_Enable = 57,
+};
+
+enum PwmId :uint8_t
+{
+	Pwm_Led_Left_B = 6,
+	Pwm_Led_Left_G = 7,
+	Pwm_Led_Left_R = 8,
+	Pwm_Led_Right_B = 9,
+	Pwm_Led_Right_G = 10,
+	Pwm_Led_Right_R = 11,
+};
+
+namespace GPIO
+{
+	// Initialize IO pin
+	// state is optional for GPIO
+	// return 0 = success
+	// return -1 = initialized failed
+	// return -2 = wrong type
+	int8_t init(PinId id, GpioType type, GpioState state = GpioState::LOW);
+
+	// Initialize PWM pin
+	// return 0 = success
+	// return -1 = initialized failed
+	int8_t init(PwmId id);
+
+	// return 0 success
+// return -1 write failed
+// return -2 undefined id
+	int8_t writePin(PinId id, GpioState state);
+
+	// return 0 success
+	// return -1 write failed
+	// return -2 undefined id
+	int8_t writePwm(PwmId id, uint16_t value);
+
+};

CodeExamples/Doly/include/LcdControl.h

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+#pragma once
+#include <stdint.h>
+#include <vector>
+
+#define LCD_WIDTH 240
+#define LCD_HEIGHT 240
+
+enum LcdColorDepth :uint8_t
+{
+	// 0x06 = 18 bit,  0x03 = 12 bit
+	LCD_12BIT = 0x03,
+	LCD_18BIT = 0x06,
+};
+
+enum LcdSide :uint8_t
+{
+	LcdLeft = 0,
+	LcdRight = 1,
+};
+
+struct LcdData
+{
+	uint8_t side;
+	uint8_t* buffer;
+};
+
+namespace LcdControl
+{
+	// Initialize lcd
+	// return 0 success
+	// return 1 already initialized
+	// return -1 open device failed
+	// return -2 ioctl failed
+	int8_t init(LcdColorDepth depth = LCD_12BIT);
+
+	// release file descriptor and deinitialize
+	// return 0 success
+	// return 1 already closed or not opened
+	int8_t release();
+
+	// retuns state of lcds
+	// return true initialized
+	// return false not initialized
+	bool isActive();
+
+	// fill lcd with RGB
+	void LcdColorFill(LcdSide side, uint8_t R, uint8_t G, uint8_t B);
+
+	// write buffer data to lcd
+	// return 0 success
+	// return -1 ioct error
+	// return -2 not active
+	int8_t writeLcd(LcdData* frame_data);
+
+	//return lcd buffer size
+	// pixel count * Color data byte size
+	// ex. 240*240*3 
+	int getBufferSize();
+
+	// returns lcd color depth
+	LcdColorDepth getColorDepth();
+
+	// brightness value min = 0, max = 10
+	int8_t setBrightness(uint8_t value);
+
+	//converts 24 bit image to lcd image depth
+	void LcdBufferFrom24Bit(uint8_t* output, uint8_t* input);
+};
+

CodeExamples/Doly/include/ServoMotor.h

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+#pragma once
+#include <stdint.h>
+
+// just for information, ignored if used more than defined (220 degree)
+// Arm servos can not rotate more than that.
+#define SERVO_ARM_MAX_ANGLE 220
+
+enum ServoChannel : uint8_t
+{
+	SERVO_LEFT,
+	SERVO_RIGHT,
+	SERVO_0,
+	SERVO_1,
+};
+
+namespace ServoMotor
+{
+	// initialize all motors
+	void Init();
+
+	//return true if module ready
+	bool isActive();
+
+	// setup servo default values
+	// 'min_us, max_us' depends on your servo and effects angle of movement
+	// most PWM range them between (500us - 2500us)
+	// 'angle' ignored for SERVO_LEFT & SERVO_RIGHT,
+	// return 0 success
+	// return -1 frequency interval error
+	// return -2 angle error
+	int8_t setup(ServoChannel channel, uint16_t min_us, uint16_t max_us, uint16_t angle, bool invert);
+
+	// sets servo position
+	// return 0 success
+	// return -1 max angle exceed error
+	// return -2 speed range error (0-100)
+	// return -3 undefined channel
+	int8_t set(ServoChannel channel, float angle, uint8_t speed);
+
+	// stops servo
+	// return 0 success
+	// return -1 undefined servo
+	int8_t stop(ServoChannel channel);
+};
+