* wiringPi:
* Arduino compatable (ish) Wiring library for the Raspberry Pi
* Copyright (c) 2012 Gordon Henderson
+ * Additional code for pwmSetClock by Chris Hall <chris@kchall.plus.com>
*
* Thanks to code samples from Gert Jan van Loo and the
* BCM2835 ARM Peripherals manual, however it's missing
// Added in the 2 UART pins
// Change maxPins to numPins to more accurately reflect purpose
-// Pad drive current fiddling
-
-#undef DEBUG_PADS
#include <stdio.h>
+#include <stdarg.h>
#include <stdint.h>
+#include <stdlib.h>
+#include <ctype.h>
#include <poll.h>
#include <unistd.h>
#include <errno.h>
#include <string.h>
#include <time.h>
#include <fcntl.h>
+#include <pthread.h>
#include <sys/time.h>
#include <sys/mman.h>
-#include <sys/types.h>
#include <sys/stat.h>
+#include <sys/wait.h>
+#include <sys/ioctl.h>
#include "wiringPi.h"
-// Function stubs
-
-void (*pinMode) (int pin, int mode) ;
-void (*pullUpDnControl) (int pin, int pud) ;
-void (*digitalWrite) (int pin, int value) ;
-void (*pwmWrite) (int pin, int value) ;
-void (*setPadDrive) (int group, int value) ;
-int (*digitalRead) (int pin) ;
-int (*waitForInterrupt) (int pin, int mS) ;
-void (*delayMicroseconds) (unsigned int howLong) ;
-
-
#ifndef TRUE
#define TRUE (1==1)
#define FALSE (1==2)
#endif
+// Environment Variables
+
+#define ENV_DEBUG "WIRINGPI_DEBUG"
+#define ENV_CODES "WIRINGPI_CODES"
+
+
+// Mask for the bottom 64 pins which belong to the Raspberry Pi
+// The others are available for the other devices
+
+#define PI_GPIO_MASK (0xFFFFFFC0)
+
+struct wiringPiNodeStruct *wiringPiNodes = NULL ;
+
// BCM Magic
#define BCM_PASSWORD 0x5A000000
+// The BCM2835 has 54 GPIO pins.
+// BCM2835 data sheet, Page 90 onwards.
+// There are 6 control registers, each control the functions of a block
+// of 10 pins.
+// Each control register has 10 sets of 3 bits per GPIO pin - the ALT values
+//
+// 000 = GPIO Pin X is an input
+// 001 = GPIO Pin X is an output
+// 100 = GPIO Pin X takes alternate function 0
+// 101 = GPIO Pin X takes alternate function 1
+// 110 = GPIO Pin X takes alternate function 2
+// 111 = GPIO Pin X takes alternate function 3
+// 011 = GPIO Pin X takes alternate function 4
+// 010 = GPIO Pin X takes alternate function 5
+//
+// So the 3 bits for port X are:
+// X / 10 + ((X % 10) * 3)
+
// Port function select bits
#define FSEL_INPT 0b000
#define FSEL_ALT5 0b010
// Access from ARM Running Linux
-// Take from Gert/Doms code. Some of this is not in the manual
+// Taken from Gert/Doms code. Some of this is not in the manual
// that I can find )-:
-#define BCM2708_PERI_BASE 0x20000000
-#define GPIO_PADS (BCM2708_PERI_BASE + 0x100000)
-#define CLOCK_BASE (BCM2708_PERI_BASE + 0x101000)
-#define GPIO_BASE (BCM2708_PERI_BASE + 0x200000)
-#define GPIO_TIMER (BCM2708_PERI_BASE + 0x00B000)
-#define GPIO_PWM (BCM2708_PERI_BASE + 0x20C000)
+#define BCM2708_PERI_BASE 0x20000000
+#define GPIO_PADS (BCM2708_PERI_BASE + 0x00100000)
+#define CLOCK_BASE (BCM2708_PERI_BASE + 0x00101000)
+#define GPIO_BASE (BCM2708_PERI_BASE + 0x00200000)
+#define GPIO_TIMER (BCM2708_PERI_BASE + 0x0000B000)
+#define GPIO_PWM (BCM2708_PERI_BASE + 0x0020C000)
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)
// PWM
+// Word offsets into the PWM control region
#define PWM_CONTROL 0
#define PWM_STATUS 1
#define PWM1_RANGE 8
#define PWM1_DATA 9
+// Clock regsiter offsets
+
#define PWMCLK_CNTL 40
#define PWMCLK_DIV 41
-#define PWM1_MS_MODE 0x8000 // Run in MS mode
-#define PWM1_USEFIFO 0x2000 // Data from FIFO
-#define PWM1_REVPOLAR 0x1000 // Reverse polarity
-#define PWM1_OFFSTATE 0x0800 // Ouput Off state
-#define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
-#define PWM1_SERIAL 0x0200 // Run in serial mode
-#define PWM1_ENABLE 0x0100 // Channel Enable
-
#define PWM0_MS_MODE 0x0080 // Run in MS mode
#define PWM0_USEFIFO 0x0020 // Data from FIFO
#define PWM0_REVPOLAR 0x0010 // Reverse polarity
#define PWM0_SERIAL 0x0002 // Run in serial mode
#define PWM0_ENABLE 0x0001 // Channel Enable
+#define PWM1_MS_MODE 0x8000 // Run in MS mode
+#define PWM1_USEFIFO 0x2000 // Data from FIFO
+#define PWM1_REVPOLAR 0x1000 // Reverse polarity
+#define PWM1_OFFSTATE 0x0800 // Ouput Off state
+#define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
+#define PWM1_SERIAL 0x0200 // Run in serial mode
+#define PWM1_ENABLE 0x0100 // Channel Enable
+
// Timer
+// Word offsets
#define TIMER_LOAD (0x400 >> 2)
#define TIMER_VALUE (0x404 >> 2)
static volatile uint32_t *pwm ;
static volatile uint32_t *clk ;
static volatile uint32_t *pads ;
-static volatile uint32_t *timer ;
+#ifdef USE_TIMER
+static volatile uint32_t *timer ;
static volatile uint32_t *timerIrqRaw ;
+#endif
-// The BCM2835 has 54 GPIO pins.
-// BCM2835 data sheet, Page 90 onwards.
-// There are 6 control registers, each control the functions of a block
-// of 10 pins.
-// Each control register has 10 sets of 3 bits per GPIO pin:
-//
-// 000 = GPIO Pin X is an input
-// 001 = GPIO Pin X is an output
-// 100 = GPIO Pin X takes alternate function 0
-// 101 = GPIO Pin X takes alternate function 1
-// 110 = GPIO Pin X takes alternate function 2
-// 111 = GPIO Pin X takes alternate function 3
-// 011 = GPIO Pin X takes alternate function 4
-// 010 = GPIO Pin X takes alternate function 5
-//
-// So the 3 bits for port X are:
-// X / 10 + ((X % 10) * 3)
+// Time for easy calculations
+
+static uint64_t epochMilli, epochMicro ;
+
+// Misc
+
+static int wiringPiMode = WPI_MODE_UNINITIALISED ;
+static volatile int pinPass = -1 ;
+static pthread_mutex_t pinMutex ;
+
+// Debugging & Return codes
+
+int wiringPiDebug = FALSE ;
+int wiringPiReturnCodes = FALSE ;
// sysFds:
// Map a file descriptor from the /sys/class/gpio/gpioX/value
-static int sysFds [64] ;
+static int sysFds [64] =
+{
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+} ;
+
+// ISR Data
+
+static void (*isrFunctions [64])(void) ;
+
// Doing it the Arduino way with lookup tables...
// Yes, it's probably more innefficient than all the bit-twidling, but it
// pinToGpio:
// Take a Wiring pin (0 through X) and re-map it to the BCM_GPIO pin
+// Cope for 2 different board revisions here.
+
+static int *pinToGpio ;
+
+static int pinToGpioR1 [64] =
+{
+ 17, 18, 21, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7: wpi 0 - 7
+ 0, 1, // I2C - SDA0, SCL0 wpi 8 - 9
+ 8, 7, // SPI - CE1, CE0 wpi 10 - 11
+ 10, 9, 11, // SPI - MOSI, MISO, SCLK wpi 12 - 14
+ 14, 15, // UART - Tx, Rx wpi 15 - 16
+
+// Padding:
+
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 31
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+} ;
+
+static int pinToGpioR2 [64] =
+{
+ 17, 18, 27, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7: wpi 0 - 7
+ 2, 3, // I2C - SDA0, SCL0 wpi 8 - 9
+ 8, 7, // SPI - CE1, CE0 wpi 10 - 11
+ 10, 9, 11, // SPI - MOSI, MISO, SCLK wpi 12 - 14
+ 14, 15, // UART - Tx, Rx wpi 15 - 16
+ 28, 29, 30, 31, // New GPIOs 8 though 11 wpi 17 - 20
+
+// Padding:
+
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 31
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+} ;
+
+
+// physToGpio:
+// Take a physical pin (1 through 26) and re-map it to the BCM_GPIO pin
+// Cope for 2 different board revisions here.
+
+static int *physToGpio ;
+
+static int physToGpioR1 [64] =
+{
+ -1, // 0
+ -1, -1, // 1, 2
+ 0, -1,
+ 1, -1,
+ 4, 14,
+ -1, 15,
+ 17, 18,
+ 21, -1,
+ 22, 23,
+ -1, 24,
+ 10, -1,
+ 9, 25,
+ 11, 8,
+ -1, 7, // 25, 26
-static int pinToGpio [64] =
+// Padding:
+
+ -1, -1, -1, -1, -1, // ... 31
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+} ;
+
+static int physToGpioR2 [64] =
{
- 17, 18, 21, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7
- 0, 1, // I2C - SDA0, SCL0
- 8, 7, // SPI - CE1, CE0
- 10, 9, 11, // SPI - MOSI, MISO, SCLK
- 14, 15, // UART - Tx, Rx
+ -1, // 0
+ -1, -1, // 1, 2
+ 2, -1,
+ 3, -1,
+ 4, 14,
+ -1, 15,
+ 17, 18,
+ 27, -1,
+ 22, 23,
+ -1, 24,
+ 10, -1,
+ 9, 25,
+ 11, 8,
+ -1, 7, // 25, 26
// Padding:
- -1, -1, -1,-1,-1,-1,-1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 31
+ -1, -1, -1, -1, -1, // ... 31
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
} ;
+
// gpioToGPFSEL:
-// Map a BCM_GPIO pin to it's control port. (GPFSEL 0-5)
+// Map a BCM_GPIO pin to it's Function Selection
+// control port. (GPFSEL 0-5)
+// Groups of 10 - 3 bits per Function - 30 bits per port
static uint8_t gpioToGPFSEL [] =
{
5,5,5,5,5,5,5,5,5,5,
} ;
+
// gpioToShift
// Define the shift up for the 3 bits per pin in each GPFSEL port
0,3,6,9,12,15,18,21,24,27,
} ;
+
// gpioToGPSET:
// (Word) offset to the GPIO Set registers for each GPIO pin
11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,
} ;
+
// gpioToGPLEV:
// (Word) offset to the GPIO Input level registers for each GPIO pin
14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,
} ;
+
#ifdef notYetReady
// gpioToEDS
// (Word) offset to the Event Detect Status
} ;
#endif
-// gpioToPUDCLK
-// (Word) offset to the Pull Up Down Clock regsiter
+
+// GPPUD:
+// GPIO Pin pull up/down register
#define GPPUD 37
+// gpioToPUDCLK
+// (Word) offset to the Pull Up Down Clock regsiter
+
static uint8_t gpioToPUDCLK [] =
{
38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,
39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,
} ;
+
// gpioToPwmALT
// the ALT value to put a GPIO pin into PWM mode
0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
} ;
+
+// gpioToPwmPort
+// The port value to put a GPIO pin into PWM mode
+
static uint8_t gpioToPwmPort [] =
{
0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
} ;
+// gpioToGpClkALT:
+// ALT value to put a GPIO pin into GP Clock mode.
+// On the Pi we can really only use BCM_GPIO_4 and BCM_GPIO_21
+// for clocks 0 and 1 respectively, however I'll include the full
+// list for completeness - maybe one day...
-// Time for easy calculations
+#define GPIO_CLOCK_SOURCE 1
+
+// gpioToGpClkALT0:
+
+static uint8_t gpioToGpClkALT0 [] =
+{
+ 0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, // 0 -> 7
+ 0, 0, 0, 0, 0, 0, 0, 0, // 8 -> 15
+ 0, 0, 0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, // 16 -> 23
+ 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
+ FSEL_ALT0, 0, FSEL_ALT0, 0, 0, 0, 0, 0, // 32 -> 39
+ 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, 0, 0, // 40 -> 47
+ 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
+ 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
+} ;
+
+// gpioToClk:
+// (word) Offsets to the clock Control and Divisor register
+
+static uint8_t gpioToClkCon [] =
+{
+ -1, -1, -1, -1, 28, 30, 32, -1, // 0 -> 7
+ -1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
+ -1, -1, -1, -1, 28, 30, -1, -1, // 16 -> 23
+ -1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
+ 28, -1, 28, -1, -1, -1, -1, -1, // 32 -> 39
+ -1, -1, 28, 30, 28, -1, -1, -1, // 40 -> 47
+ -1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
+ -1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
+} ;
-static unsigned long long epoch ;
+static uint8_t gpioToClkDiv [] =
+{
+ -1, -1, -1, -1, 29, 31, 33, -1, // 0 -> 7
+ -1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
+ -1, -1, -1, -1, 29, 31, -1, -1, // 16 -> 23
+ -1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
+ 29, -1, 29, -1, -1, -1, -1, -1, // 32 -> 39
+ -1, -1, 29, 31, 29, -1, -1, -1, // 40 -> 47
+ -1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
+ -1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
+} ;
-//////////////////////////////////////////////////////////////////////////////////
+
+/*
+ * Functions
+ *********************************************************************************
+ */
/*
- * pinMode:
- * Sets the mode of a pin to be input, output or PWM output
+ * wiringPiFailure:
+ * Fail. Or not.
*********************************************************************************
*/
-void pinModeGpio (int pin, int mode)
+int wiringPiFailure (int fatal, const char *message, ...)
{
- static int pwmRunning = FALSE ;
- int fSel, shift, alt ;
+ va_list argp ;
+ char buffer [1024] ;
- pin &= 63 ;
+ if (!fatal && wiringPiReturnCodes)
+ return -1 ;
- fSel = gpioToGPFSEL [pin] ;
- shift = gpioToShift [pin] ;
+ va_start (argp, message) ;
+ vsnprintf (buffer, 1023, message, argp) ;
+ va_end (argp) ;
- /**/ if (mode == INPUT)
- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
- else if (mode == OUTPUT)
- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
- else if (mode == PWM_OUTPUT)
- {
- if ((alt = gpioToPwmALT [pin]) == 0) // Not a PWM pin
- return ;
+ fprintf (stderr, "%s", buffer) ;
+ exit (EXIT_FAILURE) ;
-// Set pin to PWM mode
+ return 0 ;
+}
- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
-// We didn't initialise the PWM hardware at setup time - because it's possible that
-// something else is using the PWM - e.g. the Audio systems! So if we use PWM
-// here, then we're assuming that nothing else is, otherwise things are going
-// to sound a bit funny...
+/*
+ * piBoardRev:
+ * Return a number representing the hardware revision of the board.
+ * Revision is currently 1 or 2.
+ *
+ * Much confusion here )-:
+ * Seems there are some boards with 0000 in them (mistake in manufacture)
+ * and some board with 0005 in them (another mistake in manufacture?)
+ * So the distinction between boards that I can see is:
+ * 0000 - Error
+ * 0001 - Not used
+ * 0002 - Rev 1
+ * 0003 - Rev 1
+ * 0004 - Rev 2 (Early reports?
+ * 0005 - Rev 2 (but error?)
+ * 0006 - Rev 2
+ * 0008 - Rev 2 - Model A
+ * 000e - Rev 2 + 512MB
+ * 000f - Rev 2 + 512MB
+ *
+ * A small thorn is the olde style overvolting - that will add in
+ * 1000000
+ *
+ *********************************************************************************
+ */
- if (!pwmRunning)
- {
+static void piBoardRevOops (const char *why)
+{
+ fprintf (stderr, "piBoardRev: Unable to determine board revision from /proc/cpuinfo\n") ;
+ fprintf (stderr, " -> %s\n", why) ;
+ fprintf (stderr, " -> You may want to check:\n") ;
+ fprintf (stderr, " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410\n") ;
+ exit (EXIT_FAILURE) ;
+}
-// Gert/Doms Values
- *(clk + PWMCLK_DIV) = BCM_PASSWORD | (32<<12) ; // set pwm div to 32 (19.2/3 = 600KHz)
- *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x11 ; // Source=osc and enable
- digitalWrite (pin, LOW) ;
- *(pwm + PWM_CONTROL) = 0 ; // Disable PWM
- delayMicroseconds (10) ;
- *(pwm + PWM0_RANGE) = 0x400 ;
- delayMicroseconds (10) ;
- *(pwm + PWM1_RANGE) = 0x400 ;
- delayMicroseconds (10) ;
+int piBoardRev (void)
+{
+ FILE *cpuFd ;
+ char line [120] ;
+ char *c, lastChar ;
+ static int boardRev = -1 ;
-// Enable PWMs
+ if (boardRev != -1) // No point checking twice
+ return boardRev ;
- *(pwm + PWM0_DATA) = 512 ;
- *(pwm + PWM1_DATA) = 512 ;
+ if ((cpuFd = fopen ("/proc/cpuinfo", "r")) == NULL)
+ piBoardRevOops ("Unable to open /proc/cpuinfo") ;
- *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ;
+ while (fgets (line, 120, cpuFd) != NULL)
+ if (strncmp (line, "Revision", 8) == 0)
+ break ;
- pwmRunning = TRUE ;
- }
+ fclose (cpuFd) ;
- }
+ if (strncmp (line, "Revision", 8) != 0)
+ piBoardRevOops ("No \"Revision\" line") ;
-// When we change mode of any pin, we remove the pull up/downs
-// Or we used to... Hm. Commented out now because for some wieird reason,
-// it seems to block subsequent attempts to set the pull up/downs and I've
-// not quite gotten to the bottom of why this happens
-// The down-side is that the pull up/downs are rememberd in the SoC between
-// power cycles, so it's going to be a good idea to explicitly set them in
-// any new code.
-//
-// pullUpDnControl (pin, PUD_OFF) ;
+ for (c = &line [strlen (line) - 1] ; (*c == '\n') || (*c == '\r') ; --c)
+ *c = 0 ;
+
+ if (wiringPiDebug)
+ printf ("piboardRev: Revision string: %s\n", line) ;
-}
+ for (c = line ; *c ; ++c)
+ if (isdigit (*c))
+ break ;
-void pinModeWPi (int pin, int mode)
-{
- pinModeGpio (pinToGpio [pin & 63], mode) ;
-}
+ if (!isdigit (*c))
+ piBoardRevOops ("No numeric revision string") ;
-void pinModeSys (int pin, int mode)
-{
- return ;
+// If you have overvolted the Pi, then it appears that the revision
+// has 100000 added to it!
+
+ if (wiringPiDebug)
+ if (strlen (c) != 4)
+ printf ("piboardRev: This Pi has/is overvolted!\n") ;
+
+ lastChar = line [strlen (line) - 1] ;
+
+ if (wiringPiDebug)
+ printf ("piboardRev: lastChar is: '%c' (%d, 0x%02X)\n", lastChar, lastChar, lastChar) ;
+
+ /**/ if ((lastChar == '2') || (lastChar == '3'))
+ boardRev = 1 ;
+ else
+ boardRev = 2 ;
+
+ if (wiringPiDebug)
+ printf ("piBoardRev: Returning revision: %d\n", boardRev) ;
+
+ return boardRev ;
}
-#ifdef notYetReady
/*
- * pinED01:
- * pinED10:
- * Enables edge-detect mode on a pin - from a 0 to a 1 or 1 to 0
- * Pin must already be in input mode with appropriate pull up/downs set.
+ * wpiPinToGpio:
+ * Translate a wiringPi Pin number to native GPIO pin number.
+ * Provided for external support.
*********************************************************************************
*/
-void pinEnableED01Pi (int pin)
+int wpiPinToGpio (int wpiPin)
{
- pin = pinToGpio [pin & 63] ;
+ return pinToGpio [wpiPin & 63] ;
}
-#endif
-
/*
- * digitalWrite:
- * Set an output bit
+ * physPinToGpio:
+ * Translate a physical Pin number to native GPIO pin number.
+ * Provided for external support.
*********************************************************************************
*/
-void digitalWriteWPi (int pin, int value)
+int physPinToGpio (int physPin)
{
- pin = pinToGpio [pin & 63] ;
-
- if (value == LOW)
- *(gpio + gpioToGPCLR [pin]) = 1 << (pin & 31) ;
- else
- *(gpio + gpioToGPSET [pin]) = 1 << (pin & 31) ;
+ return physToGpio [physPin & 63] ;
}
-void digitalWriteGpio (int pin, int value)
-{
- pin &= 63 ;
- if (value == LOW)
- *(gpio + gpioToGPCLR [pin]) = 1 << (pin & 31) ;
- else
- *(gpio + gpioToGPSET [pin]) = 1 << (pin & 31) ;
-}
+/*
+ * setPadDrive:
+ * Set the PAD driver value
+ *********************************************************************************
+ */
-void digitalWriteSys (int pin, int value)
+void setPadDrive (int group, int value)
{
- pin &= 63 ;
+ uint32_t wrVal ;
- if (sysFds [pin] != -1)
+ if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
{
- if (value == LOW)
- write (sysFds [pin], "0\n", 2) ;
- else
- write (sysFds [pin], "1\n", 2) ;
+ if ((group < 0) || (group > 2))
+ return ;
+
+ wrVal = BCM_PASSWORD | 0x18 | (value & 7) ;
+ *(pads + group + 11) = wrVal ;
+
+ if (wiringPiDebug)
+ {
+ printf ("setPadDrive: Group: %d, value: %d (%08X)\n", group, value, wrVal) ;
+ printf ("Read : %08X\n", *(pads + group + 11)) ;
+ }
}
}
/*
- * pwnWrite:
- * Set an output PWM value
+ * getAlt:
+ * Returns the ALT bits for a given port. Only really of-use
+ * for the gpio readall command (I think)
*********************************************************************************
*/
-void pwmWriteGpio (int pin, int value)
+int getAlt (int pin)
{
- int port ;
+ int fSel, shift, alt ;
- pin = pin & 63 ;
- port = gpioToPwmPort [pin] ;
+ pin &= 63 ;
- *(pwm + port) = value & 0x3FF ;
-}
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return 0 ;
-void pwmWriteWPi (int pin, int value)
-{
- pwmWriteGpio (pinToGpio [pin & 63], value) ;
-}
+ fSel = gpioToGPFSEL [pin] ;
+ shift = gpioToShift [pin] ;
-void pwmWriteSys (int pin, int value)
-{
- return ;
+ alt = (*(gpio + fSel) >> shift) & 7 ;
+
+ return alt ;
}
/*
- * setPadDrive:
- * Set the PAD driver value
+ * pwmSetMode:
+ * Select the native "balanced" mode, or standard mark:space mode
*********************************************************************************
*/
-void setPadDriveWPi (int group, int value)
+void pwmSetMode (int mode)
{
- uint32_t wrVal ;
-
- if ((group < 0) || (group > 2))
- return ;
-
- wrVal = BCM_PASSWORD | 0x18 | (value & 7) ;
- *(pads + group + 11) = wrVal ;
-
-#ifdef DEBUG_PADS
- printf ("setPadDrive: Group: %d, value: %d (%08X)\n", group, value, wrVal) ;
- printf ("Read : %08X\n", *(pads + group + 11)) ;
-#endif
+ if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
+ {
+ if (mode == PWM_MODE_MS)
+ *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE | PWM0_MS_MODE | PWM1_MS_MODE ;
+ else
+ *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ;
+ }
}
-void setPadDriveGpio (int group, int value)
-{
- setPadDriveWPi (group, value) ;
-}
-void setPadDriveSys (int group, int value)
+/*
+ * pwmSetRange:
+ * Set the PWM range register. We set both range registers to the same
+ * value. If you want different in your own code, then write your own.
+ *********************************************************************************
+ */
+
+void pwmSetRange (unsigned int range)
{
- return ;
+ if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
+ {
+ *(pwm + PWM0_RANGE) = range ; delayMicroseconds (10) ;
+ *(pwm + PWM1_RANGE) = range ; delayMicroseconds (10) ;
+ }
}
/*
- * digitalRead:
- * Read the value of a given Pin, returning HIGH or LOW
+ * pwmSetClock:
+ * Set/Change the PWM clock. Originally my code, but changed
+ * (for the better!) by Chris Hall, <chris@kchall.plus.com>
+ * after further study of the manual and testing with a 'scope
*********************************************************************************
*/
-int digitalReadWPi (int pin)
+void pwmSetClock (int divisor)
{
- pin = pinToGpio [pin & 63] ;
+ uint32_t pwm_control ;
+ divisor &= 4095 ;
- if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0)
- return HIGH ;
- else
- return LOW ;
-}
+ if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
+ {
+ if (wiringPiDebug)
+ printf ("Setting to: %d. Current: 0x%08X\n", divisor, *(clk + PWMCLK_DIV)) ;
-int digitalReadGpio (int pin)
-{
- pin &= 63 ;
+ pwm_control = *(pwm + PWM_CONTROL) ; // preserve PWM_CONTROL
- if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0)
- return HIGH ;
- else
- return LOW ;
-}
+// We need to stop PWM prior to stopping PWM clock in MS mode otherwise BUSY
+// stays high.
-int digitalReadSys (int pin)
-{
- char c ;
+ *(pwm + PWM_CONTROL) = 0 ; // Stop PWM
- pin &= 63 ;
+// Stop PWM clock before changing divisor. The delay after this does need to
+// this big (95uS occasionally fails, 100uS OK), it's almost as though the BUSY
+// flag is not working properly in balanced mode. Without the delay when DIV is
+// adjusted the clock sometimes switches to very slow, once slow further DIV
+// adjustments do nothing and it's difficult to get out of this mode.
- if (sysFds [pin] == -1)
- return 0 ;
+ *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
+ delayMicroseconds (110) ; // prevents clock going sloooow
+
+ while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY
+ delayMicroseconds (1) ;
+
+ *(clk + PWMCLK_DIV) = BCM_PASSWORD | (divisor << 12) ;
+
+ *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x11 ; // Start PWM clock
+ *(pwm + PWM_CONTROL) = pwm_control ; // restore PWM_CONTROL
- lseek (sysFds [pin], 0L, SEEK_SET) ;
- read (sysFds [pin], &c, 1) ;
- return (c == '0') ? 0 : 1 ;
+ if (wiringPiDebug)
+ printf ("Set to: %d. Now : 0x%08X\n", divisor, *(clk + PWMCLK_DIV)) ;
+ }
}
/*
- * pullUpDownCtrl:
- * Control the internal pull-up/down resistors on a GPIO pin
- * The Arduino only has pull-ups and these are enabled by writing 1
- * to a port when in input mode - this paradigm doesn't quite apply
- * here though.
+ * gpioClockSet:
+ * Set the freuency on a GPIO clock pin
*********************************************************************************
*/
-void pullUpDnControlGpio (int pin, int pud)
+void gpioClockSet (int pin, int freq)
{
+ int divi, divr, divf ;
+
pin &= 63 ;
- pud &= 3 ;
- *(gpio + GPPUD) = pud ; delayMicroseconds (5) ;
- *(gpio + gpioToPUDCLK [pin]) = 1 << (pin & 31) ; delayMicroseconds (5) ;
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
- *(gpio + GPPUD) = 0 ; delayMicroseconds (5) ;
- *(gpio + gpioToPUDCLK [pin]) = 0 ; delayMicroseconds (5) ;
+ divi = 19200000 / freq ;
+ divr = 19200000 % freq ;
+ divf = (int)((double)divr * 4096.0 / 19200000.0) ;
+
+ if (divi > 4095)
+ divi = 4095 ;
+
+ *(clk + gpioToClkCon [pin]) = BCM_PASSWORD | GPIO_CLOCK_SOURCE ; // Stop GPIO Clock
+ while ((*(clk + gpioToClkCon [pin]) & 0x80) != 0) // ... and wait
+ ;
+
+ *(clk + gpioToClkDiv [pin]) = BCM_PASSWORD | (divi << 12) | divf ; // Set dividers
+ *(clk + gpioToClkCon [pin]) = BCM_PASSWORD | 0x10 | GPIO_CLOCK_SOURCE ; // Start Clock
+}
+
+
+/*
+ * wiringPiFindNode:
+ * Locate our device node
+ *********************************************************************************
+ */
+
+struct wiringPiNodeStruct *wiringPiFindNode (int pin)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ while (node != NULL)
+ if ((pin >= node->pinBase) && (pin <= node->pinMax))
+ return node ;
+ else
+ node = node->next ;
+
+ return NULL ;
+}
+
+
+/*
+ * wiringPiNewNode:
+ * Create a new GPIO node into the wiringPi handling system
+ *********************************************************************************
+ */
+
+static void pinModeDummy (struct wiringPiNodeStruct *node, int pin, int mode) { return ; }
+static void pullUpDnControlDummy (struct wiringPiNodeStruct *node, int pin, int pud) { return ; }
+static int digitalReadDummy (struct wiringPiNodeStruct *node, int pin) { return LOW ; }
+static void digitalWriteDummy (struct wiringPiNodeStruct *node, int pin, int value) { return ; }
+static void pwmWriteDummy (struct wiringPiNodeStruct *node, int pin, int value) { return ; }
+static int analogReadDummy (struct wiringPiNodeStruct *node, int pin) { return 0 ; }
+static void analogWriteDummy (struct wiringPiNodeStruct *node, int pin, int value) { return ; }
+
+struct wiringPiNodeStruct *wiringPiNewNode (int pinBase, int numPins)
+{
+ int pin ;
+ struct wiringPiNodeStruct *node ;
+
+// Minimum pin base is 64
+
+ if (pinBase < 64)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: pinBase of %d is < 64\n", pinBase) ;
+
+// Check all pins in-case there is overlap:
+
+ for (pin = pinBase ; pin < (pinBase + numPins) ; ++pin)
+ if (wiringPiFindNode (pin) != NULL)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: Pin %d overlaps with existing definition\n", pin) ;
+
+ node = (struct wiringPiNodeStruct *)calloc (sizeof (struct wiringPiNodeStruct), 1) ; // calloc zeros
+ if (node == NULL)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: Unable to allocate memory: %s\n", strerror (errno)) ;
+
+ node->pinBase = pinBase ;
+ node->pinMax = pinBase + numPins - 1 ;
+ node->pinMode = pinModeDummy ;
+ node->pullUpDnControl = pullUpDnControlDummy ;
+ node->digitalRead = digitalReadDummy ;
+ node->digitalWrite = digitalWriteDummy ;
+ node->pwmWrite = pwmWriteDummy ;
+ node->analogRead = analogReadDummy ;
+ node->analogWrite = analogWriteDummy ;
+ node->next = wiringPiNodes ;
+ wiringPiNodes = node ;
+
+ return node ;
}
-void pullUpDnControlWPi (int pin, int pud)
+
+#ifdef notYetReady
+/*
+ * pinED01:
+ * pinED10:
+ * Enables edge-detect mode on a pin - from a 0 to a 1 or 1 to 0
+ * Pin must already be in input mode with appropriate pull up/downs set.
+ *********************************************************************************
+ */
+
+void pinEnableED01Pi (int pin)
{
- pullUpDnControlGpio (pinToGpio [pin & 63], pud) ;
+ pin = pinToGpio [pin & 63] ;
}
+#endif
+
+
+/*
+ *********************************************************************************
+ * Core Functions
+ *********************************************************************************
+ */
+
-void pullUpDnControlSys (int pin, int pud)
+/*
+ * pinMode:
+ * Sets the mode of a pin to be input, output or PWM output
+ *********************************************************************************
+ */
+
+void pinMode (int pin, int mode)
{
- return ;
+ int fSel, shift, alt ;
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ if ((pin & PI_GPIO_MASK) == 0) // On-board pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ fSel = gpioToGPFSEL [pin] ;
+ shift = gpioToShift [pin] ;
+
+ /**/ if (mode == INPUT)
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
+ else if (mode == OUTPUT)
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
+ else if (mode == PWM_OUTPUT)
+ {
+ if ((alt = gpioToPwmALT [pin]) == 0) // Not a PWM pin
+ return ;
+
+// Set pin to PWM mode
+
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
+
+ pwmSetMode (PWM_MODE_BAL) ; // Pi default mode
+ pwmSetRange (1024) ; // Default range of 1024
+ pwmSetClock (32) ; // 19.2 / 32 = 600KHz - Also starts the PWM
+ }
+ else if (mode == GPIO_CLOCK)
+ {
+ if ((alt = gpioToGpClkALT0 [pin]) == 0) // Not a GPIO_CLOCK pin
+ return ;
+
+// Set pin to GPIO_CLOCK mode and set the clock frequency to 100KHz
+
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
+ delayMicroseconds (110) ;
+ gpioClockSet (pin, 100000) ;
+ }
+ }
+ else
+ {
+ if ((node = wiringPiFindNode (pin)) != NULL)
+ node->pinMode (node, pin, mode) ;
+ return ;
+ }
+}
+
+
+/*
+ * pullUpDownCtrl:
+ * Control the internal pull-up/down resistors on a GPIO pin
+ * The Arduino only has pull-ups and these are enabled by writing 1
+ * to a port when in input mode - this paradigm doesn't quite apply
+ * here though.
+ *********************************************************************************
+ */
+
+void pullUpDnControl (int pin, int pud)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ *(gpio + GPPUD) = pud & 3 ; delayMicroseconds (5) ;
+ *(gpio + gpioToPUDCLK [pin]) = 1 << (pin & 31) ; delayMicroseconds (5) ;
+
+ *(gpio + GPPUD) = 0 ; delayMicroseconds (5) ;
+ *(gpio + gpioToPUDCLK [pin]) = 0 ; delayMicroseconds (5) ;
+ }
+ else // Extension module
+ {
+ if ((node = wiringPiFindNode (pin)) != NULL)
+ node->pullUpDnControl (node, pin, pud) ;
+ return ;
+ }
+}
+
+
+/*
+ * digitalRead:
+ * Read the value of a given Pin, returning HIGH or LOW
+ *********************************************************************************
+ */
+
+int digitalRead (int pin)
+{
+ char c ;
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS) // Sys mode
+ {
+ if (sysFds [pin] == -1)
+ return LOW ;
+
+ lseek (sysFds [pin], 0L, SEEK_SET) ;
+ read (sysFds [pin], &c, 1) ;
+ return (c == '0') ? LOW : HIGH ;
+ }
+ else if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return LOW ;
+
+ if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0)
+ return HIGH ;
+ else
+ return LOW ;
+ }
+ else
+ {
+ if ((node = wiringPiFindNode (pin)) == NULL)
+ return LOW ;
+ return node->digitalRead (node, pin) ;
+ }
+}
+
+
+/*
+ * digitalWrite:
+ * Set an output bit
+ *********************************************************************************
+ */
+
+void digitalWrite (int pin, int value)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS) // Sys mode
+ {
+ if (sysFds [pin] != -1)
+ {
+ if (value == LOW)
+ write (sysFds [pin], "0\n", 2) ;
+ else
+ write (sysFds [pin], "1\n", 2) ;
+ }
+ return ;
+ }
+ else if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ if (value == LOW)
+ *(gpio + gpioToGPCLR [pin]) = 1 << (pin & 31) ;
+ else
+ *(gpio + gpioToGPSET [pin]) = 1 << (pin & 31) ;
+ }
+ else
+ {
+ if ((node = wiringPiFindNode (pin)) != NULL)
+ node->digitalWrite (node, pin, value) ;
+ }
+}
+
+
+/*
+ * pwmWrite:
+ * Set an output PWM value
+ *********************************************************************************
+ */
+
+void pwmWrite (int pin, int value)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ *(pwm + gpioToPwmPort [pin]) = value ;
+ }
+ else
+ {
+ if ((node = wiringPiFindNode (pin)) != NULL)
+ node->pwmWrite (node, pin, value) ;
+ }
+}
+
+
+/*
+ * analogRead:
+ * Read the analog value of a given Pin.
+ * There is no on-board Pi analog hardware,
+ * so this needs to go to a new node.
+ *********************************************************************************
+ */
+
+int analogRead (int pin)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ if ((node = wiringPiFindNode (pin)) == NULL)
+ return 0 ;
+ else
+ return node->analogRead (node, pin) ;
+}
+
+
+/*
+ * analogWrite:
+ * Write the analog value to the given Pin.
+ * There is no on-board Pi analog hardware,
+ * so this needs to go to a new node.
+ *********************************************************************************
+ */
+
+void analogWrite (int pin, int value)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ if ((node = wiringPiFindNode (pin)) == NULL)
+ return ;
+
+ node->analogWrite (node, pin, value) ;
+}
+
+
+
+/*
+ * digitalWriteByte:
+ * Pi Specific
+ * Write an 8-bit byte to the first 8 GPIO pins - try to do it as
+ * fast as possible.
+ * However it still needs 2 operations to set the bits, so any external
+ * hardware must not rely on seeing a change as there will be a change
+ * to set the outputs bits to zero, then another change to set the 1's
+ *********************************************************************************
+ */
+
+void digitalWriteByte (int value)
+{
+ uint32_t pinSet = 0 ;
+ uint32_t pinClr = 0 ;
+ int mask = 1 ;
+ int pin ;
+
+ /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
+ {
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ digitalWrite (pin, value & mask) ;
+ mask <<= 1 ;
+ }
+ return ;
+ }
+ else
+ {
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ if ((value & mask) == 0)
+ pinClr |= (1 << pinToGpio [pin]) ;
+ else
+ pinSet |= (1 << pinToGpio [pin]) ;
+
+ mask <<= 1 ;
+ }
+
+ *(gpio + gpioToGPCLR [0]) = pinClr ;
+ *(gpio + gpioToGPSET [0]) = pinSet ;
+ }
}
/*
* waitForInterrupt:
+ * Pi Specific.
* Wait for Interrupt on a GPIO pin.
* This is actually done via the /sys/class/gpio interface regardless of
* the wiringPi access mode in-use. Maybe sometime it might get a better
*********************************************************************************
*/
-int waitForInterruptSys (int pin, int mS)
+int waitForInterrupt (int pin, int mS)
{
int fd, x ;
- char buf [8] ;
+ uint8_t c ;
struct pollfd polls ;
- if ((fd = sysFds [pin & 63]) == -1)
- return -2 ;
-
-// Do a dummy read
-
- x = read (fd, buf, 6) ;
- if (x < 0)
- return x ;
-
-// And seek
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
- lseek (fd, 0, SEEK_SET) ;
+ if ((fd = sysFds [pin]) == -1)
+ return -2 ;
// Setup poll structure
// Wait for it ...
- return poll (&polls, 1, mS) ;
+ x = poll (&polls, 1, mS) ;
+
+// Do a dummy read to clear the interrupt
+// A one character read appars to be enough.
+
+ (void)read (fd, &c, 1) ;
+
+ return x ;
}
-int waitForInterruptWPi (int pin, int mS)
+
+/*
+ * interruptHandler:
+ * This is a thread and gets started to wait for the interrupt we're
+ * hoping to catch. It will call the user-function when the interrupt
+ * fires.
+ *********************************************************************************
+ */
+
+static void *interruptHandler (void *arg)
{
- return waitForInterruptSys (pinToGpio [pin & 63], mS) ;
+ int myPin ;
+
+ (void)piHiPri (55) ; // Only effective if we run as root
+
+ myPin = pinPass ;
+ pinPass = -1 ;
+
+ for (;;)
+ if (waitForInterrupt (myPin, -1) > 0)
+ isrFunctions [myPin] () ;
+
+ return NULL ;
}
-int waitForInterruptGpio (int pin, int mS)
+
+/*
+ * wiringPiISR:
+ * Pi Specific.
+ * Take the details and create an interrupt handler that will do a call-
+ * back to the user supplied function.
+ *********************************************************************************
+ */
+
+int wiringPiISR (int pin, int mode, void (*function)(void))
{
- return waitForInterruptSys (pin, mS) ;
+ pthread_t threadId ;
+ const char *modeS ;
+ char fName [64] ;
+ char pinS [8] ;
+ pid_t pid ;
+ int count, i ;
+ char c ;
+ int bcmGpioPin ;
+
+ if ((pin < 0) || (pin > 63))
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-63 (%d)\n", pin) ;
+
+ /**/ if (wiringPiMode == WPI_MODE_UNINITIALISED)
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: wiringPi has not been initialised. Unable to continue.\n") ;
+ else if (wiringPiMode == WPI_MODE_PINS)
+ bcmGpioPin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ bcmGpioPin = physToGpio [pin] ;
+ else
+ bcmGpioPin = pin ;
+
+// Now export the pin and set the right edge
+// We're going to use the gpio program to do this, so it assumes
+// a full installation of wiringPi. It's a bit 'clunky', but it
+// is a way that will work when we're running in "Sys" mode, as
+// a non-root user. (without sudo)
+
+ if (mode != INT_EDGE_SETUP)
+ {
+ /**/ if (mode == INT_EDGE_FALLING)
+ modeS = "falling" ;
+ else if (mode == INT_EDGE_RISING)
+ modeS = "rising" ;
+ else
+ modeS = "both" ;
+
+ sprintf (pinS, "%d", bcmGpioPin) ;
+
+ if ((pid = fork ()) < 0) // Fail
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: fork failed: %s\n", strerror (errno)) ;
+
+ if (pid == 0) // Child, exec
+ {
+ execl ("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: execl failed: %s\n", strerror (errno)) ;
+ }
+ else // Parent, wait
+ wait (NULL) ;
+ }
+
+// Now pre-open the /sys/class node - but it may already be open if
+// we are in Sys mode...
+
+ if (sysFds [bcmGpioPin] == -1)
+ {
+ sprintf (fName, "/sys/class/gpio/gpio%d/value", bcmGpioPin) ;
+ if ((sysFds [bcmGpioPin] = open (fName, O_RDWR)) < 0)
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: unable to open %s: %s\n", fName, strerror (errno)) ;
+ }
+
+// Clear any initial pending interrupt
+
+ ioctl (sysFds [bcmGpioPin], FIONREAD, &count) ;
+ for (i = 0 ; i < count ; ++i)
+ read (sysFds [bcmGpioPin], &c, 1) ;
+
+ isrFunctions [pin] = function ;
+
+ pthread_mutex_lock (&pinMutex) ;
+ pinPass = pin ;
+ pthread_create (&threadId, NULL, interruptHandler, NULL) ;
+ while (pinPass != -1)
+ delay (1) ;
+ pthread_mutex_unlock (&pinMutex) ;
+
+ return 0 ;
}
+/*
+ * initialiseEpoch:
+ * Initialise our start-of-time variable to be the current unix
+ * time in milliseconds and microseconds.
+ *********************************************************************************
+ */
+
+static void initialiseEpoch (void)
+{
+ struct timeval tv ;
+
+ gettimeofday (&tv, NULL) ;
+ epochMilli = (uint64_t)tv.tv_sec * (uint64_t)1000 + (uint64_t)(tv.tv_usec / 1000) ;
+ epochMicro = (uint64_t)tv.tv_sec * (uint64_t)1000000 + (uint64_t)(tv.tv_usec) ;
+}
/*
* delay:
- * Wait for some number of milli seconds
+ * Wait for some number of milliseconds
*********************************************************************************
*/
* somewhat sub-optimal in that it uses 100% CPU, something not an issue
* in a microcontroller, but under a multi-tasking, multi-user OS, it's
* wastefull, however we've no real choice )-:
+ *
+ * Plan B: It seems all might not be well with that plan, so changing it
+ * to use gettimeofday () and poll on that instead...
*********************************************************************************
*/
-void delayMicrosecondsSys (unsigned int howLong)
-{
- struct timespec sleeper, dummy ;
-
- sleeper.tv_sec = 0 ;
- sleeper.tv_nsec = (long)(howLong * 1000) ;
-
- nanosleep (&sleeper, &dummy) ;
-}
-
void delayMicrosecondsHard (unsigned int howLong)
{
- *(timer + TIMER_LOAD) = howLong ;
- *(timer + TIMER_IRQ_CLR) = 0 ;
+ struct timeval tNow, tLong, tEnd ;
- while (*timerIrqRaw == 0)
- ;
+ gettimeofday (&tNow, NULL) ;
+ tLong.tv_sec = howLong / 1000000 ;
+ tLong.tv_usec = howLong % 1000000 ;
+ timeradd (&tNow, &tLong, &tEnd) ;
+
+ while (timercmp (&tNow, &tEnd, <))
+ gettimeofday (&tNow, NULL) ;
}
-void delayMicrosecondsWPi (unsigned int howLong)
+void delayMicroseconds (unsigned int howLong)
{
- struct timespec sleeper, dummy ;
+ struct timespec sleeper ;
+ unsigned int uSecs = howLong % 1000000 ;
+ unsigned int wSecs = howLong / 1000000 ;
/**/ if (howLong == 0)
return ;
delayMicrosecondsHard (howLong) ;
else
{
- sleeper.tv_sec = 0 ;
- sleeper.tv_nsec = (long)(howLong * 1000) ;
- nanosleep (&sleeper, &dummy) ;
+ sleeper.tv_sec = wSecs ;
+ sleeper.tv_nsec = (long)(uSecs * 1000L) ;
+ nanosleep (&sleeper, NULL) ;
}
}
unsigned int millis (void)
{
struct timeval tv ;
- unsigned long long t1 ;
+ uint64_t now ;
gettimeofday (&tv, NULL) ;
+ now = (uint64_t)tv.tv_sec * (uint64_t)1000 + (uint64_t)(tv.tv_usec / 1000) ;
+
+ return (uint32_t)(now - epochMilli) ;
+}
+
- t1 = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
+/*
+ * micros:
+ * Return a number of microseconds as an unsigned int.
+ *********************************************************************************
+ */
+
+unsigned int micros (void)
+{
+ struct timeval tv ;
+ uint64_t now ;
- return (uint32_t)(t1 - epoch) ;
+ gettimeofday (&tv, NULL) ;
+ now = (uint64_t)tv.tv_sec * (uint64_t)1000000 + (uint64_t)tv.tv_usec ;
+
+ return (uint32_t)(now - epochMicro) ;
}
int wiringPiSetup (void)
{
int fd ;
- uint8_t *gpioMem, *pwmMem, *clkMem, *padsMem, *timerMem ;
- struct timeval tv ;
+ int boardRev ;
- pinMode = pinModeWPi ;
- pullUpDnControl = pullUpDnControlWPi ;
- digitalWrite = digitalWriteWPi ;
- pwmWrite = pwmWriteWPi ;
- setPadDrive = setPadDriveWPi ;
- digitalRead = digitalReadWPi ;
- waitForInterrupt = waitForInterruptWPi ;
- delayMicroseconds = delayMicrosecondsWPi ;
-
-// Open the master /dev/memory device
+ if (getenv (ENV_DEBUG) != NULL)
+ wiringPiDebug = TRUE ;
- if ((fd = open ("/dev/mem", O_RDWR | O_SYNC) ) < 0)
- {
- fprintf (stderr, "wiringPiSetup: Unable to open /dev/mem: %s\n", strerror (errno)) ;
- return -1 ;
- }
+ if (getenv (ENV_CODES) != NULL)
+ wiringPiReturnCodes = TRUE ;
-// GPIO:
+ if (geteuid () != 0)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiSetup: Must be root. (Did you forget sudo?)\n") ;
-// Allocate 2 pages - 1 ...
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetup called\n") ;
- if ((gpioMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
- {
- fprintf (stderr, "wiringPiSetup: malloc failed: %s\n", strerror (errno)) ;
- return -1 ;
- }
+ boardRev = piBoardRev () ;
-// ... presumably to make sure we can round it up to a whole page size
-
- if (((uint32_t)gpioMem % PAGE_SIZE) != 0)
- gpioMem += PAGE_SIZE - ((uint32_t)gpioMem % PAGE_SIZE) ;
-
- gpio = (uint32_t *)mmap((caddr_t)gpioMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_BASE) ;
-
- if ((int32_t)gpio < 0)
+ if (boardRev == 1)
{
- fprintf (stderr, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ;
- return -1 ;
+ pinToGpio = pinToGpioR1 ;
+ physToGpio = physToGpioR1 ;
}
-
-// PWM
-
- if ((pwmMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
+ else
{
- fprintf (stderr, "wiringPiSetup: pwmMem malloc failed: %s\n", strerror (errno)) ;
- return -1 ;
+ pinToGpio = pinToGpioR2 ;
+ physToGpio = physToGpioR2 ;
}
- if (((uint32_t)pwmMem % PAGE_SIZE) != 0)
- pwmMem += PAGE_SIZE - ((uint32_t)pwmMem % PAGE_SIZE) ;
+// Open the master /dev/memory device
- pwm = (uint32_t *)mmap(pwmMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_PWM) ;
+ if ((fd = open ("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC) ) < 0)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: Unable to open /dev/mem: %s\n", strerror (errno)) ;
- if ((int32_t)pwm < 0)
- {
- fprintf (stderr, "wiringPiSetup: mmap failed (pwm): %s\n", strerror (errno)) ;
- return -1 ;
- }
-
-// Clock control (needed for PWM)
+// GPIO:
- if ((clkMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
- {
- fprintf (stderr, "wiringPiSetup: clkMem malloc failed: %s\n", strerror (errno)) ;
- return -1 ;
- }
+ gpio = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_BASE) ;
+ if ((int32_t)gpio == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (GPIO) failed: %s\n", strerror (errno)) ;
- if (((uint32_t)clkMem % PAGE_SIZE) != 0)
- clkMem += PAGE_SIZE - ((uint32_t)clkMem % PAGE_SIZE) ;
+// PWM
- clk = (uint32_t *)mmap(clkMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, CLOCK_BASE) ;
+ pwm = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_PWM) ;
+ if ((int32_t)pwm == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (PWM) failed: %s\n", strerror (errno)) ;
+
+// Clock control (needed for PWM)
- if ((int32_t)clk < 0)
- {
- fprintf (stderr, "wiringPiSetup: mmap failed (clk): %s\n", strerror (errno)) ;
- return -1 ;
- }
+ clk = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, CLOCK_BASE) ;
+ if ((int32_t)clk == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (CLOCK) failed: %s\n", strerror (errno)) ;
// The drive pads
- if ((padsMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
- {
- fprintf (stderr, "wiringPiSetup: padsMem malloc failed: %s\n", strerror (errno)) ;
- return -1 ;
- }
-
- if (((uint32_t)padsMem % PAGE_SIZE) != 0)
- padsMem += PAGE_SIZE - ((uint32_t)padsMem % PAGE_SIZE) ;
-
- pads = (uint32_t *)mmap(padsMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_PADS) ;
-
- if ((int32_t)pads < 0)
- {
- fprintf (stderr, "wiringPiSetup: mmap failed (pads): %s\n", strerror (errno)) ;
- return -1 ;
- }
-
-#ifdef DEBUG_PADS
- printf ("Checking pads @ 0x%08X\n", (unsigned int)pads) ;
- printf (" -> %08X %08X %08X\n", *(pads + 11), *(pads + 12), *(pads + 13)) ;
-#endif
+ pads = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_PADS) ;
+ if ((int32_t)pads == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (PADS) failed: %s\n", strerror (errno)) ;
+#ifdef USE_TIMER
// The system timer
- if ((timerMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
- {
- fprintf (stderr, "wiringPiSetup: timerMem malloc failed: %s\n", strerror (errno)) ;
- return -1 ;
- }
-
- if (((uint32_t)timerMem % PAGE_SIZE) != 0)
- timerMem += PAGE_SIZE - ((uint32_t)timerMem % PAGE_SIZE) ;
-
- timer = (uint32_t *)mmap(timerMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_TIMER) ;
-
- if ((int32_t)timer < 0)
- {
- fprintf (stderr, "wiringPiSetup: mmap failed (timer): %s\n", strerror (errno)) ;
- return -1 ;
- }
+ timer = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_TIMER) ;
+ if ((int32_t)timer == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (TIMER) failed: %s\n", strerror (errno)) ;
// Set the timer to free-running, 1MHz.
// 0xF9 is 249, the timer divide is base clock / (divide+1)
*(timer + TIMER_CONTROL) = 0x0000280 ;
*(timer + TIMER_PRE_DIV) = 0x00000F9 ;
timerIrqRaw = timer + TIMER_IRQ_RAW ;
+#endif
-// Initialise our epoch for millis()
+ initialiseEpoch () ;
- gettimeofday (&tv, NULL) ;
- epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
+ wiringPiMode = WPI_MODE_PINS ;
return 0 ;
}
int wiringPiSetupGpio (void)
{
- int x = wiringPiSetup () ;
+ (void)wiringPiSetup () ;
- if (x != 0)
- return x ;
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetupGpio called\n") ;
- pinMode = pinModeGpio ;
- pullUpDnControl = pullUpDnControlGpio ;
- digitalWrite = digitalWriteGpio ;
- pwmWrite = pwmWriteGpio ;
- setPadDrive = setPadDriveGpio ;
- digitalRead = digitalReadGpio ;
- waitForInterrupt = waitForInterruptGpio ;
- delayMicroseconds = delayMicrosecondsWPi ; // Same
+ wiringPiMode = WPI_MODE_GPIO ;
+
+ return 0 ;
+}
+
+
+/*
+ * wiringPiSetupPhys:
+ * Must be called once at the start of your program execution.
+ *
+ * Phys setup: Initialises the system into Physical Pin mode and uses the
+ * memory mapped hardware directly.
+ *********************************************************************************
+ */
+
+int wiringPiSetupPhys (void)
+{
+ (void)wiringPiSetup () ;
+
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetupPhys called\n") ;
+
+ wiringPiMode = WPI_MODE_PHYS ;
return 0 ;
}
int wiringPiSetupSys (void)
{
+ int boardRev ;
int pin ;
- struct timeval tv ;
char fName [128] ;
- pinMode = pinModeSys ;
- pullUpDnControl = pullUpDnControlSys ;
- digitalWrite = digitalWriteSys ;
- pwmWrite = pwmWriteSys ;
- setPadDrive = setPadDriveSys ;
- digitalRead = digitalReadSys ;
- waitForInterrupt = waitForInterruptSys ;
- delayMicroseconds = delayMicrosecondsSys ;
+ if (getenv (ENV_DEBUG) != NULL)
+ wiringPiDebug = TRUE ;
+
+ if (getenv (ENV_CODES) != NULL)
+ wiringPiReturnCodes = TRUE ;
+
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetupSys called\n") ;
+
+ boardRev = piBoardRev () ;
+
+ if (boardRev == 1)
+ {
+ pinToGpio = pinToGpioR1 ;
+ physToGpio = physToGpioR1 ;
+ }
+ else
+ {
+ pinToGpio = pinToGpioR2 ;
+ physToGpio = physToGpioR2 ;
+ }
// Open and scan the directory, looking for exported GPIOs, and pre-open
// the 'value' interface to speed things up for later
sysFds [pin] = open (fName, O_RDWR) ;
}
-// Initialise the epoch for mills() ...
+ initialiseEpoch () ;
- gettimeofday (&tv, NULL) ;
- epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
+ wiringPiMode = WPI_MODE_GPIO_SYS ;
return 0 ;
}