From: Gordon Henderson Date: Thu, 16 Aug 2012 14:04:43 +0000 (+0100) Subject: Initial move to GIT X-Git-Url: http://www.chiark.greenend.org.uk/ucgi/~ianmdlvl/git?a=commitdiff_plain;h=bf0ad86017f9a90c503c61b7f03744f310e80383;p=wiringPi.git Initial move to GIT --- bf0ad86017f9a90c503c61b7f03744f310e80383 diff --git a/COPYING.LESSER b/COPYING.LESSER new file mode 100644 index 0000000..65c5ca8 --- /dev/null +++ b/COPYING.LESSER @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. 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Combined Libraries. + + You may place library facilities that are a work based on the +Library side by side in a single library together with other library +facilities that are not Applications and are not covered by this +License, and convey such a combined library under terms of your +choice, if you do both of the following: + + a) Accompany the combined library with a copy of the same work based + on the Library, uncombined with any other library facilities, + conveyed under the terms of this License. + + b) Give prominent notice with the combined library that part of it + is a work based on the Library, and explaining where to find the + accompanying uncombined form of the same work. + + 6. Revised Versions of the GNU Lesser General Public License. + + The Free Software Foundation may publish revised and/or new versions +of the GNU Lesser General Public License from time to time. Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/examples/Makefile b/examples/Makefile new file mode 100644 index 0000000..c1b2182 --- /dev/null +++ b/examples/Makefile @@ -0,0 +1,96 @@ +# +# Makefile: +# wiringPi - Wiring Compatable library for the Raspberry Pi +# https://projects.drogon.net/wiring-pi +# +# Copyright (c) 2012 Gordon Henderson +################################################################################# +# This file is part of wiringPi: +# Wiring Compatable library for the Raspberry Pi +# +# wiringPi is free software: you can redistribute it and/or modify +# it under the terms of the GNU Lesser General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# wiringPi is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public License +# along with wiringPi. If not, see . +################################################################################# + + +#DEBUG = -g -O0 +DEBUG = -O3 +CC = gcc +INCLUDE = -I/usr/local/include +CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe + +LDFLAGS = -L/usr/local/lib +LIBS = -lwiringPi + +# Should not alter anything below this line +############################################################################### + +SRC = test1.c test2.c speed.c lcd.c wfi.c piface.c gertboard.c nes.c delayTest.c + +OBJ = test1.o test2.o speed.o lcd.o wfi.o piface.o gertboard.o nes.o delayTest.o + +all: test1 test2 speed lcd wfi piface gertboard nes + +test1: test1.o + @echo [link] + $(CC) -o $@ test1.o $(LDFLAGS) $(LIBS) + +test2: test2.o + @echo [link] + $(CC) -o $@ test2.o $(LDFLAGS) $(LIBS) + +speed: speed.o + @echo [link] + $(CC) -o $@ speed.o $(LDFLAGS) $(LIBS) + +lcd: lcd.o + @echo [link] + $(CC) -o $@ lcd.o $(LDFLAGS) $(LIBS) + +wfi: wfi.o + @echo [link] + $(CC) -o $@ wfi.o $(LDFLAGS) $(LIBS) -lpthread + +piface: piface.o + @echo [link] + $(CC) -o $@ piface.o $(LDFLAGS) $(LIBS) -lpthread + +gertboard: gertboard.o + @echo [link] + $(CC) -o $@ gertboard.o $(LDFLAGS) $(LIBS) -lm + +nes: nes.o + @echo [link] + $(CC) -o $@ nes.o $(LDFLAGS) $(LIBS) -lm + + +delayTest: delayTest.o + @echo [link] + $(CC) -o $@ delayTest.o $(LDFLAGS) $(LIBS) + + +.c.o: + @echo [CC] $< + @$(CC) -c $(CFLAGS) $< -o $@ + +clean: + rm -f $(OBJ) *~ core tags test1 test2 speed lcd wfi piface gertboard nes delayTest + +tags: $(SRC) + @echo [ctags] + @ctags $(SRC) + +depend: + makedepend -Y $(SRC) + +# DO NOT DELETE diff --git a/examples/delayTest.c b/examples/delayTest.c new file mode 100644 index 0000000..8c95522 --- /dev/null +++ b/examples/delayTest.c @@ -0,0 +1,68 @@ + +#include +#include +#include + +#include +#include +#include + +#define CYCLES 1000 +#define DELAY 99 + +int main() +{ + int x ; + struct timeval t1, t2 ; + long long t ; + unsigned int max, min ; + + unsigned int values [CYCLES] ; + + max = 0 ; + min = 1000000 ; + + if (wiringPiSetup () == -1) + return 1 ; + + piHiPri (10) ; + sleep (1) ; + +// Baseline test + + gettimeofday (&t1, NULL) ; + gettimeofday (&t2, NULL) ; + + t = t2.tv_usec - t1.tv_usec ; + printf ("Baseline test: %lld\n", t); + + for (x = 0 ; x < CYCLES ; ++x) + { + gettimeofday (&t1, NULL) ; + delayMicroseconds (DELAY) ; + gettimeofday (&t2, NULL) ; + + t = t2.tv_usec - t1.tv_usec ; + if (t > max) max = t ; + if (t < min) min = t ; + values [x] = t ; + } + + printf ("Done: Max: %d, min: %d\n", max, min) ; + + for (x = 0 ; x < CYCLES ; ++x) + { + printf ("%4d", values [x]) ; + if (values [x] > DELAY) + printf (".") ; + else if (values [x] < DELAY) + printf ("-") ; + else + printf (" ") ; + if (((x + 1) % 20) == 0) + printf ("\n") ; + } + printf ("\n") ; + + return 0 ; +} diff --git a/examples/gertboard.c b/examples/gertboard.c new file mode 100644 index 0000000..8344d48 --- /dev/null +++ b/examples/gertboard.c @@ -0,0 +1,47 @@ + +/* + * gertboard.c: + * Simple test for the SPI bus on the Gertboard + * + * Hardware setup: + * D/A port 0 jumpered to A/D port 0. + * + * We output a sine wave on D/A port 0 and sample A/D port 0. We then + * copy this value to D/A port 1 and use a 'scope on both D/A ports + * to check all's well. + * + */ + +#include +#include +//#include +#include + +#include +#include + +int main (void) +{ + int angle ; + int h1 ; + uint32_t x1 ; + + printf ("Raspberry Pi Gertboard SPI test program\n") ; + + if (gertboardSPISetup () == -1) + return 1 ; + + for (;;) + { + for (angle = 0 ; angle < 360 ; ++angle) + { + h1 = (int)rint (sin ((double)angle * M_PI / 180.0) * 127.0 + 128.0) ; + gertboardAnalogWrite (0, h1) ; + + x1 = gertboardAnalogRead (0) ; + gertboardAnalogWrite (1, x1 >> 2) ; // 10-bit A/D, 8-bit D/A + } + } + + return 0 ; +} diff --git a/examples/gertboard.png b/examples/gertboard.png new file mode 100644 index 0000000..03c5cdd Binary files /dev/null and b/examples/gertboard.png differ diff --git a/examples/lcd.c b/examples/lcd.c new file mode 100644 index 0000000..6024917 --- /dev/null +++ b/examples/lcd.c @@ -0,0 +1,129 @@ +/* + * lcd.c: + * Text-based LCD driver. + * This is designed to drive the parallel interface LCD drivers + * based in the Hitachi HD44780U controller and compatables. + * + * Copyright (c) 2012 Gordon Henderson. + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#include +#include +#include + +#include +#include +#include + +#include +#include + +int main (void) +{ + int i, j ; + int fd1, fd2 ; + + char message1 [256] ; + char message2 [256] ; + char buf1 [30] ; + char buf2 [30] ; + + struct tm *t ; + time_t tim ; + + printf ("Raspberry Pi LCD test program\n") ; + + if (wiringPiSetup () == -1) + exit (1) ; + + fd1 = lcdInit (4, 20, 4, 8, 9, 4,5,6,7,0,0,0,0) ; + fd2 = lcdInit (2, 16, 4, 8, 10, 4,5,6,7,0,0,0,0) ; + +//fd1 = lcdInit (4, 20, 8, 8, 9, 0,1,2,3,4,5,6,7) ; +//fd2 = lcdInit (2, 16, 8, 8, 10, 0,1,2,3,4,5,6,7) ; + + if (fd1 == -1) + { + printf ("lcdInit 1 failed\n") ; + return 1 ; + } + + if (fd2 == -1) + { + printf ("lcdInit 2 failed\n") ; + return 1 ; + } + + sleep (1) ; + + lcdPosition (fd1, 0, 0) ; lcdPuts (fd1, " Gordon Henderson") ; + lcdPosition (fd1, 0, 1) ; lcdPuts (fd1, " --------------") ; +/* + lcdPosition (fd1, 0, 2) ; lcdPuts (fd1, " 00:00:00") ; + lcdPosition (fd1, 0, 3) ; lcdPuts (fd1, " DD:MM:YY") ; +*/ + + lcdPosition (fd2, 0, 0) ; lcdPuts (fd2, "Gordon Henderson") ; + lcdPosition (fd2, 0, 1) ; lcdPuts (fd2, "----------------") ; + + sleep (2) ; + + sprintf (message1, "%s", " http://projects.drogon.net/ ") ; + sprintf (message2, "%s", " This is a long message to go into the smaller display just for a demonstration of what we can do. ") ; + + for (;;) + { + i = 0 ; + j = 0 ; + for (;;) + { + strncpy (buf1, &message1 [i], 20) ; + buf1 [20] = 0 ; + lcdPosition (fd1, 0, 1) ; + lcdPuts (fd1, buf1) ; + ++i ; + if (i == strlen (message1) - 20) + i = 0 ; + + strncpy (buf2, &message2 [j], 16) ; + buf2 [16] = 0 ; + lcdPosition (fd2, 0, 1) ; + lcdPuts (fd2, buf2) ; + ++j ; + if (j == strlen (message2) - 16) + j = 0 ; + + tim = time (NULL) ; + t = localtime (&tim) ; + + sprintf (buf1, "%02d:%02d:%02d", t->tm_hour, t->tm_min, t->tm_sec) ; + lcdPosition (fd1, 5, 2) ; + lcdPuts (fd1, buf1) ; + + sprintf (buf1, "%02d/%02d/%02d", t->tm_mday, t->tm_mon + 1, t->tm_year+1900) ; + lcdPosition (fd1, 4, 3) ; + lcdPuts (fd1, buf1) ; + + delay (250) ; + } + } + + return 0 ; +} diff --git a/examples/nes.c b/examples/nes.c new file mode 100644 index 0000000..1a485bd --- /dev/null +++ b/examples/nes.c @@ -0,0 +1,44 @@ + +#include +#include +#include + +#include +#include + +#define BLANK "| " + +int main () +{ + int joystick ; + unsigned int buttons ; + + if (wiringPiSetup () == -1) + { + fprintf (stdout, "oops: %s\n", strerror (errno)) ; + return 1 ; + } + + if ((joystick = setupNesJoystick (2, 1, 0)) == -1) + { + fprintf (stdout, "Unable to setup joystick\n") ; + return 1 ; + } + + for (;;) + { + buttons = readNesJoystick (joystick) ; + + if ((buttons & NES_UP) != 0) printf ("| UP " ) ; else printf (BLANK) ; + if ((buttons & NES_DOWN) != 0) printf ("| DOWN " ) ; else printf (BLANK) ; + if ((buttons & NES_LEFT) != 0) printf ("| LEFT " ) ; else printf (BLANK) ; + if ((buttons & NES_RIGHT) != 0) printf ("|RIGHT " ) ; else printf (BLANK) ; + if ((buttons & NES_SELECT) != 0) printf ("|SELECT" ) ; else printf (BLANK) ; + if ((buttons & NES_START) != 0) printf ("|START " ) ; else printf (BLANK) ; + if ((buttons & NES_A) != 0) printf ("| A " ) ; else printf (BLANK) ; + if ((buttons & NES_B) != 0) printf ("| B " ) ; else printf (BLANK) ; + printf ("|\n") ; + } + + return 0 ; +} diff --git a/examples/piface.c b/examples/piface.c new file mode 100644 index 0000000..3305bf9 --- /dev/null +++ b/examples/piface.c @@ -0,0 +1,53 @@ + +/* + * piface.c: + * Simple test for the PiFace + * + * Read the buttons and output the same to the LEDs + */ + +#include + +#include +#include +#include + +int outputs [4] = { 0,0,0,0 } ; + +void scanButton (int button) +{ + if (digitalRead (button) == LOW) + { + outputs [button] ^= 1 ; + digitalWrite (button, outputs [button]) ; + } + + while (digitalRead (button) == LOW) + delay (1) ; +} + + +int main (void) +{ + int pin, button ; + + printf ("Raspberry Pi wiringPiFace test program\n") ; + + if (wiringPiSetupPiFace () == -1) + exit (1) ; + +// Enable internal pull-ups + + for (pin = 0 ; pin < 8 ; ++pin) + pullUpDnControl (pin, PUD_UP) ; + + + for (;;) + { + for (button = 0 ; button < 4 ; ++button) + scanButton (button) ; + delay (1) ; + } + + return 0 ; +} diff --git a/examples/speed.c b/examples/speed.c new file mode 100644 index 0000000..2f5d990 --- /dev/null +++ b/examples/speed.c @@ -0,0 +1,105 @@ + +/* + * speed.c: + * Simple program to measure the speed of the various GPIO + * access mechanisms. + */ + +#include + +#include +#include +#include + +#define FAST_COUNT 10000000 +#define SLOW_COUNT 1000000 + + +int main (void) +{ + int i ; + uint32_t start, end, count, sum, perSec ; + + printf ("Raspberry Pi wiringPi speed test program\n") ; + +// Start the standard way + + if (wiringPiSetup () == -1) + exit (1) ; + + printf ("Native wiringPi method: (%8d iterations)\n", FAST_COUNT) ; + + pinMode (0, OUTPUT) ; + + sum = 0 ; + for (i = 0 ; i < 3 ; ++i) + { + printf (" Pass: %d: ", i) ; + fflush (stdout) ; + + start = millis () ; + for (count = 0 ; count < FAST_COUNT ; ++count) + digitalWrite (0, 1) ; + end = millis () ; + printf (" %8dmS\n", end - start) ; + sum += (end - start) ; + } + digitalWrite (0, 0) ; + printf (" Average: %8dmS", sum / 3) ; + perSec = (int)(double)FAST_COUNT / (double)((double)sum / 3.0) * 1000.0 ; + printf (": %6d/sec\n", perSec) ; + + + printf ("Native GPIO method: (%8d iterations)\n", FAST_COUNT) ; + + if (wiringPiSetupGpio () == -1) + exit (1) ; + + pinMode (17, OUTPUT) ; + + sum = 0 ; + for (i = 0 ; i < 3 ; ++i) + { + printf (" Pass: %d: ", i) ; + fflush (stdout) ; + + start = millis () ; + for (count = 0 ; count < 10000000 ; ++count) + digitalWrite (17, 1) ; + end = millis () ; + printf (" %8dmS\n", end - start) ; + sum += (end - start) ; + } + digitalWrite (17, 0) ; + printf (" Average: %8dmS", sum / 3) ; + perSec = (int)(double)FAST_COUNT / (double)((double)sum / 3.0) * 1000.0 ; + printf (": %6d/sec\n", perSec) ; + + +// Switch to SYS mode: + + if (wiringPiSetupSys () == -1) + exit (1) ; + + printf ("/sys/class/gpio method: (%8d iterations)\n", SLOW_COUNT) ; + + sum = 0 ; + for (i = 0 ; i < 3 ; ++i) + { + printf (" Pass: %d: ", i) ; + fflush (stdout) ; + + start = millis () ; + for (count = 0 ; count < SLOW_COUNT ; ++count) + digitalWrite (17, 1) ; + end = millis () ; + printf (" %8dmS\n", end - start) ; + sum += (end - start) ; + } + digitalWrite (17, 0) ; + printf (" Average: %8dmS", sum / 3) ; + perSec = (int)(double)SLOW_COUNT / (double)((double)sum / 3.0) * 1000.0 ; + printf (": %6d/sec\n", perSec) ; + + return 0 ; +} diff --git a/examples/test1.c b/examples/test1.c new file mode 100644 index 0000000..7eb0abd --- /dev/null +++ b/examples/test1.c @@ -0,0 +1,91 @@ + +/* + * test1.c: + * Simple test program to test the wiringPi functions + */ + +#include + +#include +#include +#include + + +// Simple sequencer data +// Triplets of LED, On/Off and delay + +uint8_t data [] = +{ + 0, 1, 1, + 1, 1, 1, + 0, 0, 0, 2, 1, 1, + 1, 0, 0, 3, 1, 1, + 2, 0, 0, 4, 1, 1, + 3, 0, 0, 5, 1, 1, + 4, 0, 0, 6, 1, 1, + 5, 0, 0, 7, 1, 1, + 6, 0, 1, + 7, 0, 1, + + 0, 0, 1, // Extra delay + +// Back again + + 7, 1, 1, + 6, 1, 1, + 7, 0, 0, 5, 1, 1, + 6, 0, 0, 4, 1, 1, + 5, 0, 0, 3, 1, 1, + 4, 0, 0, 2, 1, 1, + 3, 0, 0, 1, 1, 1, + 2, 0, 0, 0, 1, 1, + 1, 0, 1, + 0, 0, 1, + + 0, 0, 1, // Extra delay + + 9, 9, 9, // End marker + +} ; + + +int main (void) +{ + int pin ; + int dataPtr ; + int l, s, d ; + + printf ("Raspberry Pi wiringPi test program\n") ; + + if (wiringPiSetup () == -1) + exit (1) ; + + for (pin = 0 ; pin < 8 ; ++pin) + pinMode (pin, OUTPUT) ; + + pinMode (8, INPUT) ; // Pin 8 SDA0 - Has on-board 2k2 pull-up resistor + + dataPtr = 0 ; + + for (;;) + { + l = data [dataPtr++] ; // LED + s = data [dataPtr++] ; // State + d = data [dataPtr++] ; // Duration (10ths) + + if ((l + s + d) == 27) + { + dataPtr = 0 ; + continue ; + } + + digitalWrite (l, s) ; + + if (digitalRead (8) == 0) // Pressed as our switch shorts to ground + delay (d * 10) ; // Faster! + else + delay (d * 100) ; + } + + return 0 ; +} diff --git a/examples/test2.c b/examples/test2.c new file mode 100644 index 0000000..e34013c --- /dev/null +++ b/examples/test2.c @@ -0,0 +1,41 @@ + +/* + * test2.c: + * Simple test program to test the wiringPi functions + * PWM test + */ + +#include + +#include +#include +#include + +int main (void) +{ + int bright ; + + printf ("Raspberry Pi wiringPi PWM test program\n") ; + + if (wiringPiSetup () == -1) + exit (1) ; + + pinMode (1, PWM_OUTPUT) ; + + for (;;) + { + for (bright = 0 ; bright < 1024 ; ++bright) + { + pwmWrite (1, bright) ; + delay (1) ; + } + + for (bright = 1023 ; bright >= 0 ; --bright) + { + pwmWrite (1, bright) ; + delay (1) ; + } + } + + return 0 ; +} diff --git a/examples/wfi.c b/examples/wfi.c new file mode 100644 index 0000000..9efcc2c --- /dev/null +++ b/examples/wfi.c @@ -0,0 +1,158 @@ +/* + * wfi.c: + * Wait for Interrupt test program + * + * Copyright (c) 2012 Gordon Henderson. + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#include +#include +#include + +// A 'key' which we can lock and unlock - values are 0 through 3 +// This is interpreted internally as a pthread_mutex by wiringPi +// which is hiding some of that to make life simple. + +#define COUNT_KEY 0 + +// What BCM_GPIO input are we using? +// GPIO 0 is one of the I2C pins with an on-board pull-up + +#define BUTTON_PIN 0 + +// Debounce time in mS + +#define DEBOUNCE_TIME 100 + + +// globalCounter: +// Global variable to count interrupts +// Should be declared volatile to make sure the compiler doesn't cache it. + +static volatile int globalCounter = 0 ; + + +/* + * waitForIt: + * This is a thread created using the wiringPi simplified threading + * mechanism. It will wait on an interrupt on the button and increment + * a counter. + ********************************************************************************* + */ + +PI_THREAD (waitForIt) +{ + int state = 0 ; + int debounceTime = 0 ; + + (void)piHiPri (10) ; // Set this thread to be high priority + digitalWrite (18, 1) ; + + for (;;) + { + if (waitForInterrupt (BUTTON_PIN, -1) > 0) // Got it + { + +// Bouncing? + + if (millis () < debounceTime) + { + debounceTime = millis () + DEBOUNCE_TIME ; + continue ; + } + +// We have a valid one + + digitalWrite (17, state) ; + state ^= 1 ; + + piLock (COUNT_KEY) ; + ++globalCounter ; + piUnlock (COUNT_KEY) ; + +// Wait for key to be released + + while (digitalRead (0) == LOW) + delay (1) ; + + debounceTime = millis () + DEBOUNCE_TIME ; + } + } +} + + +/* + * setup: + * Demo a crude but effective way to initialise the hardware + ********************************************************************************* + */ + +void setup (void) +{ + +// Use the gpio program to initialise the hardware +// (This is the crude, but effective bit) + + system ("gpio edge 0 falling") ; + system ("gpio export 17 out") ; + system ("gpio export 18 out") ; + +// Setup wiringPi + + wiringPiSetupSys () ; + +// Fire off our interrupt handler + + piThreadCreate (waitForIt) ; + + digitalWrite (17, 0) ; +} + + +/* + * main + ********************************************************************************* + */ + +int main (void) +{ + int lastCounter = 0 ; + int myCounter = 0 ; + + setup () ; + + for (;;) + { + printf ("Waiting ... ") ; fflush (stdout) ; + + while (myCounter == lastCounter) + { + piLock (COUNT_KEY) ; + myCounter = globalCounter ; + piUnlock (COUNT_KEY) ; + delay (5000) ; + } + + printf (" Done. myCounter: %5d\n", myCounter) ; + lastCounter = myCounter ; + } + + return 0 ; +} diff --git a/gpio/COPYING.LESSER b/gpio/COPYING.LESSER new file mode 100644 index 0000000..65c5ca8 --- /dev/null +++ b/gpio/COPYING.LESSER @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. Additional Definitions. + + As used herein, "this License" refers to version 3 of the GNU Lesser +General Public License, and the "GNU GPL" refers to version 3 of the GNU +General Public License. + + "The Library" refers to a covered work governed by this License, +other than an Application or a Combined Work as defined below. + + An "Application" is any work that makes use of an interface provided +by the Library, but which is not otherwise based on the Library. +Defining a subclass of a class defined by the Library is deemed a mode +of using an interface provided by the Library. + + A "Combined Work" is a work produced by combining or linking an +Application with the Library. The particular version of the Library +with which the Combined Work was made is also called the "Linked +Version". + + The "Minimal Corresponding Source" for a Combined Work means the +Corresponding Source for the Combined Work, excluding any source code +for portions of the Combined Work that, considered in isolation, are +based on the Application, and not on the Linked Version. + + The "Corresponding Application Code" for a Combined Work means the +object code and/or source code for the Application, including any data +and utility programs needed for reproducing the Combined Work from the +Application, but excluding the System Libraries of the Combined Work. + + 1. Exception to Section 3 of the GNU GPL. + + You may convey a covered work under sections 3 and 4 of this License +without being bound by section 3 of the GNU GPL. + + 2. Conveying Modified Versions. + + If you modify a copy of the Library, and, in your modifications, a +facility refers to a function or data to be supplied by an Application +that uses the facility (other than as an argument passed when the +facility is invoked), then you may convey a copy of the modified +version: + + a) under this License, provided that you make a good faith effort to + ensure that, in the event an Application does not supply the + function or data, the facility still operates, and performs + whatever part of its purpose remains meaningful, or + + b) under the GNU GPL, with none of the additional permissions of + this License applicable to that copy. + + 3. Object Code Incorporating Material from Library Header Files. + + The object code form of an Application may incorporate material from +a header file that is part of the Library. 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Combined Works. + + You may convey a Combined Work under terms of your choice that, +taken together, effectively do not restrict modification of the +portions of the Library contained in the Combined Work and reverse +engineering for debugging such modifications, if you also do each of +the following: + + a) Give prominent notice with each copy of the Combined Work that + the Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the Combined Work with a copy of the GNU GPL and this license + document. + + c) For a Combined Work that displays copyright notices during + execution, include the copyright notice for the Library among + these notices, as well as a reference directing the user to the + copies of the GNU GPL and this license document. + + d) Do one of the following: + + 0) Convey the Minimal Corresponding Source under the terms of this + License, and the Corresponding Application Code in a form + suitable for, and under terms that permit, the user to + recombine or relink the Application with a modified version of + the Linked Version to produce a modified Combined Work, in the + manner specified by section 6 of the GNU GPL for conveying + Corresponding Source. + + 1) Use a suitable shared library mechanism for linking with the + Library. A suitable mechanism is one that (a) uses at run time + a copy of the Library already present on the user's computer + system, and (b) will operate properly with a modified version + of the Library that is interface-compatible with the Linked + Version. + + e) Provide Installation Information, but only if you would otherwise + be required to provide such information under section 6 of the + GNU GPL, and only to the extent that such information is + necessary to install and execute a modified version of the + Combined Work produced by recombining or relinking the + Application with a modified version of the Linked Version. (If + you use option 4d0, the Installation Information must accompany + the Minimal Corresponding Source and Corresponding Application + Code. If you use option 4d1, you must provide the Installation + Information in the manner specified by section 6 of the GNU GPL + for conveying Corresponding Source.) + + 5. Combined Libraries. + + You may place library facilities that are a work based on the +Library side by side in a single library together with other library +facilities that are not Applications and are not covered by this +License, and convey such a combined library under terms of your +choice, if you do both of the following: + + a) Accompany the combined library with a copy of the same work based + on the Library, uncombined with any other library facilities, + conveyed under the terms of this License. + + b) Give prominent notice with the combined library that part of it + is a work based on the Library, and explaining where to find the + accompanying uncombined form of the same work. + + 6. Revised Versions of the GNU Lesser General Public License. + + The Free Software Foundation may publish revised and/or new versions +of the GNU Lesser General Public License from time to time. Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/gpio/Makefile b/gpio/Makefile new file mode 100644 index 0000000..c0740c9 --- /dev/null +++ b/gpio/Makefile @@ -0,0 +1,73 @@ +# +# Makefile: +# wiringPi - Wiring Compatable library for the Raspberry Pi +# https://projects.drogon.net/wiring-pi +# +# Copyright (c) 2012 Gordon Henderson +################################################################################# +# This file is part of wiringPi: +# Wiring Compatable library for the Raspberry Pi +# +# wiringPi is free software: you can redistribute it and/or modify +# it under the terms of the GNU Lesser General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# wiringPi is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public License +# along with wiringPi. If not, see . +################################################################################# + + +#DEBUG = -g -O0 +DEBUG = -O3 +CC = gcc +INCLUDE = -I/usr/local/include +CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe + +LDFLAGS = -L/usr/local/lib +LIBS = -lwiringPi + +# Should not alter anything below this line +############################################################################### + +SRC = gpio.c + +OBJ = gpio.o + +all: gpio + +gpio: gpio.o + @echo [LD] + @$(CC) -o $@ gpio.o $(LDFLAGS) $(LIBS) + +.c.o: + @echo [CC] $< + @$(CC) -c $(CFLAGS) $< -o $@ + +clean: + rm -f $(OBJ) gpio *~ core tags + +tags: $(SRC) + @echo [ctags] + @ctags $(SRC) + +depend: + makedepend -Y $(SRC) + +install: + cp gpio /usr/local/bin + chown root.root /usr/local/bin/gpio + chmod 4755 /usr/local/bin/gpio + mkdir -p /usr/local/man/man1 + cp gpio.1 /usr/local/man/man1 + +uninstall: + rm -f /usr/local/bin/gpio + rm -f /usr/local/man/man1/gpio.1 + +# DO NOT DELETE diff --git a/gpio/gpio.1 b/gpio/gpio.1 new file mode 100644 index 0000000..7da64b2 --- /dev/null +++ b/gpio/gpio.1 @@ -0,0 +1,179 @@ +.TH "GPIO" "14 June 2012" "Command-Line access to Raspberry Pi and PiFace GPIO" + +.SH NAME +gpio \- Command-line access to Raspberry Pi and PiFace GPIO + +.SH SYNOPSIS +.TP +.B gpio +.RB [ \-v ] +.TP +.B gpio +.RB [ \-g ] +.RB < read/write/pwm/mode ...> +.TP +.B gpio +.RB [ \-p ] +.RB < read/write/mode ...> +.TP +.B gpio +.RB < export/edge/unexport/unexportall/exports ...> + +.SH DESCRIPTION + +.B GPIO +is a command line tool to allow the user easy access to the GPIO pins +on the Raspberry Pi. It's designed for simple testing and diagnostic +purposes, but can be used in shell scripts for general if somewhat slow +control of the GPIO pins. + +Additionally, it can be used to set the exports in the \fI/sys/class/gpio\fR +system directory to allow subsequent programs to use the \fR/sys/class/gpio\fR +interface without needing to be run as root. + +.SH OPTIONS + +.TP +.B \-v +Output the current version + +.TP +.B \-g +Use the BCM_GPIO pins numbers rather than wiringPi pin numbers. + +.TP +.B \-p +Use the PiFace interface board and its corresponding pin numbers. + +.TP +.B read +Read the digital value of the given pin and print 0 or 1 to represent the +respective logic levels. + +.TP +.B write +Write the given value (0 or 1) to the pin. + +.TP +.B pwm +Write a PWM value (0-1023) to the given pin. + +.TP +.B mode +Set a pin into \fIinput\fR, \fIoutput\fR or \fIpwm\fR mode. Can also +use the literals \fIup\fR, \fIdown\fR or \fItri\fR to set the internal +pull-up, pull-down or tristate (off) controls. + +.TP +.B export +Export a GPIO pin in the \fI/sys/class/gpio\fR directory. Use like the +mode command above however only \fIin\fR and \fIout\fR are supported at +this time. Note that the pin number is the \fBBCM_GPIO\fR number and +not the wiringPi number. + +Once a GPIO pin has been exported, the \fBgpio\fR program changes the +ownership of the \fI/sys/class/gpio/gpioX/value\fR and if present in +later kernels, the \fI/sys/class/gpio/gpioX/edge\fR pseudo files to +that of the user running the \fBgpio\fR program. This means that you +can have a small script of gpio exports to setup the gpio pins as your +program requires without the need to run anything as root, or with the +sudo command. + +.TP +.B edge +This exports a GPIO pin in the \fI/sys/class/gpio\fR directory, set +the direction to input and set the edge interrupt method to \fInone\fR, +\fIrising\fR, \fIfalling\fR or \fIboth\fR. Use like the export command +above and note that \fBBCM_GPIO\fR pin number is used not not wiringPi pin +numbering. + +Like the export commands abovem ownership is set to that of the +calling user, allowing subsequent access from user programs without +requiring root/sudo. + +.TP +.B unexport +Un-Export a GPIO pin in the /sys/class/gpio directory. + +.TP +.B unexportall +Un-Export all the GPIO pins in the /sys/class/gpio directory. + +.TP +.B exports +Print a list (if any) of all the exported GPIO pins and their current values. + +.SH "WiringPi vs. GPIO Pin numbering" + +.PP +.TS +r r l. +WiringPi GPIO Function +_ +0 17 +1 18 (PWM) +2 21 +3 22 +4 23 +5 24 +6 25 +7 4 +8 0 SDA0 +9 1 SCL0 +10 8 SPI CE0 +11 7 SPI CE1 +12 10 SPI MOSI +13 9 SPI MISO +14 11 SPI SCLK +15 14 TxD +16 15 RxD +.TE + +.SH FILES + +.TP 2.2i +.I gpio +executable + +.SH EXAMPLES +.TP 2.2i +gpio mode 4 output # Set pin 4 to output +.PP +gpio -g mode 23 output # Set GPIO pin 23 to output (same as WiringPi pin 4) +.PP +gpio mode 1 pwm # Set pin 1 to PWM mode +.PP +gpio pwm 1 512 # Set pin 1 to PWM value 512 - half brightness +.PP +gpio export 17 out # Set GPIO Pin 17 to output +.PP +gpio export 0 in # Set GPIO Pin 0 (SDA0) to input. +.PP +gpio -g read 0 # Read GPIO Pin 0 (SDA0) + +.SH "NOTES" + +When using the \fIexport\fR, \fIedge\fR or \fIunexport\fR commands, the +pin numbers are \fBalways\fR native BCM_GPIO numbers and never wiringPi +pin numbers. + +.SH "SEE ALSO" + +.LP +WiringPi's home page +.IP +https://projects.drogon.net/raspberry-pi/wiringpi/ + +.SH AUTHOR + +Gordon Henderson + +.SH "REPORTING BUGS" + +Report bugs to + +.SH COPYRIGHT + +Copyright (c) 2012 Gordon Henderson +This is free software; see the source for copying conditions. There is NO +warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. diff --git a/gpio/gpio.c b/gpio/gpio.c new file mode 100644 index 0000000..54dfbc3 --- /dev/null +++ b/gpio/gpio.c @@ -0,0 +1,755 @@ +/* + * gpio.c: + * Set-UID command-line interface to the Raspberry Pi's GPIO + * Copyright (c) 2012 Gordon Henderson + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef TRUE +# define TRUE (1==1) +# define FALSE (1==2) +#endif + +#define VERSION "1.1" + +static int wpMode ; + +char *usage = "Usage: gpio -v\n" + " gpio [-g] ...\n" + " gpio [-p] ...\n" + " gpio export/edge/unexport/unexportall/exports ...\n" + " gpio drive \n" + " gpio load spi/i2c" ; + + + +/* + * changeOwner: + * Change the ownership of the file to the real userId of the calling + * program so we can access it. + ********************************************************************************* + */ + +static void changeOwner (char *cmd, char *file) +{ + uid_t uid = getuid () ; + uid_t gid = getgid () ; + + if (chown (file, uid, gid) != 0) + { + if (errno == ENOENT) // Warn that it's not there + fprintf (stderr, "%s: Warning: File not present: %s\n", cmd, file) ; + else + { + fprintf (stderr, "%s: Unable to change ownership of %s: %s\n", cmd, file, strerror (errno)) ; + exit (1) ; + } + } +} + + +/* + * moduleLoaded: + * Return true/false if the supplied module is loaded + ********************************************************************************* + */ + +static int moduleLoaded (char *modName) +{ + int len = strlen (modName) ; + int found = FALSE ; + FILE *fd = fopen ("/proc/modules", "r") ; + char line [80] ; + + if (fd == NULL) + { + fprintf (stderr, "gpio: Unable to check modules: %s\n", strerror (errno)) ; + exit (1) ; + } + + while (fgets (line, 80, fd) != NULL) + { + if (strncmp (line, modName, len) != 0) + continue ; + + found = TRUE ; + break ; + } + + fclose (fd) ; + + return found ; +} + + +/* + * doLoad: + * Load either the spi or i2c modules and change device ownerships, etc. + ********************************************************************************* + */ + +static void _doLoadUsage (char *argv []) +{ + fprintf (stderr, "Usage: %s load \n", argv [0]) ; + exit (1) ; +} + +static void doLoad (int argc, char *argv []) +{ + char *module ; + char cmd [80] ; + char *file1, *file2 ; + + if (argc != 3) + _doLoadUsage (argv) ; + + /**/ if (strcasecmp (argv [2], "spi") == 0) + { + module = "spi_bcm2708" ; + file1 = "/dev/spidev0.0" ; + file2 = "/dev/spidev0.1" ; + } + else if (strcasecmp (argv [2], "i2c") == 0) + { + module = "i2c_bcm2708" ; + file1 = "/dev/i2c-0" ; + file2 = "/dev/i2c-1" ; + } + else + _doLoadUsage (argv) ; + + if (!moduleLoaded (module)) + { + sprintf (cmd, "modprobe %s", module) ; + system (cmd) ; + } + + if (!moduleLoaded (module)) + { + fprintf (stderr, "%s: Unable to load %s\n", argv [0], module) ; + exit (1) ; + } + + sleep (1) ; // To let things get settled + + changeOwner (argv [0], file1) ; + changeOwner (argv [0], file2) ; +} + + + +/* + * doExports: + * List all GPIO exports + ********************************************************************************* + */ + +void doExports (void) +{ + int fd ; + int i, l, first ; + char fName [128] ; + char buf [16] ; + +// Rather crude, but who knows what others are up to... + + for (first = 0, i = 0 ; i < 64 ; ++i) + { + +// Try to read the direction + + sprintf (fName, "/sys/class/gpio/gpio%d/direction", i) ; + if ((fd = open (fName, O_RDONLY)) == -1) + continue ; + + if (first == 0) + { + ++first ; + printf ("GPIO Pins exported:\n") ; + } + + printf ("%4d: ", i) ; + + if ((l = read (fd, buf, 16)) == 0) + sprintf (buf, "%s", "?") ; + + buf [l] = 0 ; + if ((buf [strlen (buf) - 1]) == '\n') + buf [strlen (buf) - 1] = 0 ; + + printf ("%-3s", buf) ; + + close (fd) ; + +// Try to Read the value + + sprintf (fName, "/sys/class/gpio/gpio%d/value", i) ; + if ((fd = open (fName, O_RDONLY)) == -1) + { + printf ("No Value file (huh?)\n") ; + continue ; + } + + if ((l = read (fd, buf, 16)) == 0) + sprintf (buf, "%s", "?") ; + + buf [l] = 0 ; + if ((buf [strlen (buf) - 1]) == '\n') + buf [strlen (buf) - 1] = 0 ; + + printf (" %s", buf) ; + +// Read any edge trigger file + + sprintf (fName, "/sys/class/gpio/gpio%d/edge", i) ; + if ((fd = open (fName, O_RDONLY)) == -1) + { + printf ("\n") ; + continue ; + } + + if ((l = read (fd, buf, 16)) == 0) + sprintf (buf, "%s", "?") ; + + buf [l] = 0 ; + if ((buf [strlen (buf) - 1]) == '\n') + buf [strlen (buf) - 1] = 0 ; + + printf (" %-8s\n", buf) ; + + close (fd) ; + } +} + + +/* + * doExport: + * gpio export pin mode + * This uses the /sys/class/gpio device interface. + ********************************************************************************* + */ + +void doExport (int argc, char *argv []) +{ + FILE *fd ; + int pin ; + char *mode ; + char fName [128] ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s export pin mode\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + mode = argv [3] ; + + if ((fd = fopen ("/sys/class/gpio/export", "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ; + exit (1) ; + } + + fprintf (fd, "%d\n", pin) ; + fclose (fd) ; + + sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin) ; + if ((fd = fopen (fName, "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ; + exit (1) ; + } + + /**/ if ((strcasecmp (mode, "in") == 0) || (strcasecmp (mode, "input") == 0)) + fprintf (fd, "in\n") ; + else if ((strcasecmp (mode, "out") == 0) || (strcasecmp (mode, "output") == 0)) + fprintf (fd, "out\n") ; + else + { + fprintf (stderr, "%s: Invalid mode: %s. Should be in or out\n", argv [1], mode) ; + exit (1) ; + } + + fclose (fd) ; + +// Change ownership so the current user can actually use it! + + sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ; + changeOwner (argv [0], fName) ; + + sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ; + changeOwner (argv [0], fName) ; + +} + + +/* + * doEdge: + * gpio edge pin mode + * Easy access to changing the edge trigger on a GPIO pin + * This uses the /sys/class/gpio device interface. + ********************************************************************************* + */ + +void doEdge (int argc, char *argv []) +{ + FILE *fd ; + int pin ; + char *mode ; + char fName [128] ; + uid_t uid ; + gid_t gid ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s edge pin mode\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + mode = argv [3] ; + +// Export the pin and set direction to input + + if ((fd = fopen ("/sys/class/gpio/export", "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ; + exit (1) ; + } + + fprintf (fd, "%d\n", pin) ; + fclose (fd) ; + + sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin) ; + if ((fd = fopen (fName, "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ; + exit (1) ; + } + + fprintf (fd, "in\n") ; + fclose (fd) ; + + sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ; + if ((fd = fopen (fName, "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO edge interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ; + exit (1) ; + } + + /**/ if (strcasecmp (mode, "none") == 0) + fprintf (fd, "none\n") ; + else if (strcasecmp (mode, "rising") == 0) + fprintf (fd, "rising\n") ; + else if (strcasecmp (mode, "falling") == 0) + fprintf (fd, "falling\n") ; + else if (strcasecmp (mode, "both") == 0) + fprintf (fd, "both\n") ; + else + { + fprintf (stderr, "%s: Invalid mode: %s. Should be none, rising, falling or both\n", argv [1], mode) ; + exit (1) ; + } + +// Change ownership so the current user can actually use it! + + uid = getuid () ; + gid = getgid () ; + + sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ; + if (chown (fName, uid, gid) != 0) + { + fprintf (stderr, "%s: Unable to change ownership of the value file: %s\n", argv [1], strerror (errno)) ; + exit (1) ; + } + +// Also change ownership of the edge file + + sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ; + if (chown (fName, uid, gid) != 0) + { + fprintf (stderr, "%s: Unable to change ownership of the value file: %s\n", argv [1], strerror (errno)) ; + exit (1) ; + } + + fclose (fd) ; +} + + +/* + * doUnexport: + * gpio unexport pin + * This uses the /sys/class/gpio device interface. + ********************************************************************************* + */ + +void doUnexport (int argc, char *argv []) +{ + FILE *fd ; + int pin ; + + if (argc != 3) + { + fprintf (stderr, "Usage: %s unexport pin\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((fd = fopen ("/sys/class/gpio/unexport", "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO export interface\n", argv [0]) ; + exit (1) ; + } + + fprintf (fd, "%d\n", pin) ; + fclose (fd) ; +} + + +/* + * doUnexportAll: + * gpio unexportall + * Un-Export all the GPIO pins. + * This uses the /sys/class/gpio device interface. + ********************************************************************************* + */ + +void doUnexportall (int argc, char *argv []) +{ + FILE *fd ; + int pin ; + + for (pin = 0 ; pin < 63 ; ++pin) + { + if ((fd = fopen ("/sys/class/gpio/unexport", "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO export interface\n", argv [0]) ; + exit (1) ; + } + fprintf (fd, "%d\n", pin) ; + fclose (fd) ; + } +} + + +/* + * doMode: + * gpio mode pin mode ... + ********************************************************************************* + */ + +void doMode (int argc, char *argv []) +{ + int pin ; + char *mode ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s mode pin mode\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) + return ; + + mode = argv [3] ; + + /**/ if (strcasecmp (mode, "in") == 0) + pinMode (pin, INPUT) ; + else if (strcasecmp (mode, "out") == 0) + pinMode (pin, OUTPUT) ; + else if (strcasecmp (mode, "pwm") == 0) + pinMode (pin, PWM_OUTPUT) ; + else if (strcasecmp (mode, "up") == 0) + pullUpDnControl (pin, PUD_UP) ; + else if (strcasecmp (mode, "down") == 0) + pullUpDnControl (pin, PUD_DOWN) ; + else if (strcasecmp (mode, "tri") == 0) + pullUpDnControl (pin, PUD_OFF) ; + else + { + fprintf (stderr, "%s: Invalid mode: %s. Should be in/out/pwm/up/down/tri\n", argv [1], mode) ; + exit (1) ; + } +} + + +/* + * doPadDrive: + * gpio drive group value + ********************************************************************************* + */ + +void doPadDrive (int argc, char *argv []) +{ + int group, val ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s drive group value\n", argv [0]) ; + exit (1) ; + } + + group = atoi (argv [2]) ; + val = atoi (argv [3]) ; + + if ((group < 0) || (group > 2)) + { + fprintf (stderr, "%s: drive group not 0, 1 or 2: %d\n", argv [0], group) ; + exit (1) ; + } + + if ((val < 0) || (val > 7)) + { + fprintf (stderr, "%s: drive value not 0-7: %d\n", argv [0], val) ; + exit (1) ; + } + + setPadDrive (group, val) ; +} + + +/* + * doWrite: + * gpio write pin value + ********************************************************************************* + */ + +void doWrite (int argc, char *argv []) +{ + int pin, val ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s write pin value\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) + return ; + + val = atoi (argv [3]) ; + + /**/ if (val == 0) + digitalWrite (pin, LOW) ; + else + digitalWrite (pin, HIGH) ; +} + + +/* + * doRead: + * Read a pin and return the value + ********************************************************************************* + */ + +void doRead (int argc, char *argv []) +{ + int pin, val ; + + if (argc != 3) + { + fprintf (stderr, "Usage: %s read pin\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) + { + printf ("0\n") ; + return ; + } + + val = digitalRead (pin) ; + + printf ("%s\n", val == 0 ? "0" : "1") ; +} + + +/* + * doPwm: + * Output a PWM value on a pin + ********************************************************************************* + */ + +void doPwm (int argc, char *argv []) +{ + int pin, val ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s pwm \n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) + return ; + + val = atoi (argv [3]) ; + + pwmWrite (pin, val) ; +} + + +/* + * main: + * Start here + ********************************************************************************* + */ + +int main (int argc, char *argv []) +{ + int i ; + + if (argc == 1) + { + fprintf (stderr, "%s: %s\n", argv [0], usage) ; + return 1 ; + } + + if (strcasecmp (argv [1], "-v") == 0) + { + printf ("gpio version: %s\n", VERSION) ; + printf ("Copyright (c) 2012 Gordon Henderson\n") ; + printf ("This is free software with ABSOLUTELY NO WARRANTY.\n") ; + printf ("For details type: %s -warranty\n", argv [0]) ; + return 0 ; + } + + if (strcasecmp (argv [1], "-warranty") == 0) + { + printf ("gpio version: %s\n", VERSION) ; + printf ("Copyright (c) 2012 Gordon Henderson\n") ; + printf ("\n") ; + printf (" This program is free software; you can redistribute it and/or modify\n") ; + printf (" it under the terms of the GNU Leser General Public License as published\n") ; + printf (" by the Free Software Foundation, either version 3 of the License, or\n") ; + printf (" (at your option) any later version.\n") ; + printf ("\n") ; + printf (" This program is distributed in the hope that it will be useful,\n") ; + printf (" but WITHOUT ANY WARRANTY; without even the implied warranty of\n") ; + printf (" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n") ; + printf (" GNU Lesser General Public License for more details.\n") ; + printf ("\n") ; + printf (" You should have received a copy of the GNU Lesser General Public License\n") ; + printf (" along with this program. If not, see .\n") ; + printf ("\n") ; + return 0 ; + } + + if (geteuid () != 0) + { + fprintf (stderr, "%s: Must be root to run. Program should be suid root. This is an error.\n", argv [0]) ; + return 1 ; + } + +// Initial test for /sys/class/gpio operations: + + /**/ if (strcasecmp (argv [1], "exports" ) == 0) { doExports () ; return 0 ; } + else if (strcasecmp (argv [1], "export" ) == 0) { doExport (argc, argv) ; return 0 ; } + else if (strcasecmp (argv [1], "edge" ) == 0) { doEdge (argc, argv) ; return 0 ; } + else if (strcasecmp (argv [1], "unexportall") == 0) { doUnexportall (argc, argv) ; return 0 ; } + else if (strcasecmp (argv [1], "unexport" ) == 0) { doUnexport (argc, argv) ; return 0 ; } + else if (strcasecmp (argv [1], "load" ) == 0) { doLoad (argc, argv) ; return 0 ; } + +// Check for -g argument + + if (strcasecmp (argv [1], "-g") == 0) + { + if (wiringPiSetupGpio () == -1) + { + fprintf (stderr, "%s: Unable to initialise GPIO in GPIO mode.\n", argv [0]) ; + exit (1) ; + } + + for (i = 2 ; i < argc ; ++i) + argv [i - 1] = argv [i] ; + --argc ; + wpMode = WPI_MODE_GPIO ; + } + +// Check for -p argument for PiFace + + else if (strcasecmp (argv [1], "-p") == 0) + { + if (wiringPiSetupPiFaceForGpioProg () == -1) + { + fprintf (stderr, "%s: Unable to initialise PiFace.\n", argv [0]) ; + exit (1) ; + } + + for (i = 2 ; i < argc ; ++i) + argv [i - 1] = argv [i] ; + --argc ; + wpMode = WPI_MODE_PIFACE ; + } + +// Default to wiringPi mode + + else + { + if (wiringPiSetup () == -1) + { + fprintf (stderr, "%s: Unable to initialise GPIO in wiringPi mode\n", argv [0]) ; + exit (1) ; + } + wpMode = WPI_MODE_PINS ; + } + +// Check for wiring commands + + /**/ if (strcasecmp (argv [1], "write" ) == 0) + doWrite (argc, argv) ; + else if (strcasecmp (argv [1], "read" ) == 0) + doRead (argc, argv) ; + else if (strcasecmp (argv [1], "mode" ) == 0) + doMode (argc, argv) ; + else if (strcasecmp (argv [1], "pwm" ) == 0) + doPwm (argc, argv) ; + else if (strcasecmp (argv [1], "drive" ) == 0) + doPadDrive (argc, argv) ; + else + { + fprintf (stderr, "%s: Unknown command: %s. (read/write/pwm/mode/drive expected)\n", argv [0], argv [1]) ; + exit (1) ; + } + return 0 ; +} diff --git a/gpio/test.sh b/gpio/test.sh new file mode 100755 index 0000000..7127528 --- /dev/null +++ b/gpio/test.sh @@ -0,0 +1,23 @@ +#!/bin/bash + +# Simple test - assumes LEDs on Pins 0-7. + +for i in `seq 0 7`; +do + gpio mode $i out +done + +while true; +do + for i in `seq 0 7`; + do + gpio write $i 1 + sleep 0.1 + done + + for i in `seq 0 7`; + do + gpio write $i 0 + sleep 0.1 + done +done diff --git a/wiringPi/.wiringPiFace.c.swp b/wiringPi/.wiringPiFace.c.swp new file mode 100644 index 0000000..3eff7de Binary files /dev/null and b/wiringPi/.wiringPiFace.c.swp differ diff --git a/wiringPi/COPYING.LESSER b/wiringPi/COPYING.LESSER new file mode 100644 index 0000000..65c5ca8 --- /dev/null +++ b/wiringPi/COPYING.LESSER @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. 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Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/wiringPi/Makefile b/wiringPi/Makefile new file mode 100644 index 0000000..51f4773 --- /dev/null +++ b/wiringPi/Makefile @@ -0,0 +1,101 @@ +# +# Makefile: +# wiringPi - Wiring Compatable library for the Raspberry Pi +# +# Copyright (c) 2012 Gordon Henderson +################################################################################# +# This file is part of wiringPi: +# https://projects.drogon.net/raspberry-pi/wiringpi/ +# +# wiringPi is free software: you can redistribute it and/or modify +# it under the terms of the GNU Lesser General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# wiringPi is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public License +# along with wiringPi. If not, see . +################################################################################# + + +TARGET=libwiringPi.a + +#DEBUG = -g -O0 +DEBUG = -O3 +CC = gcc +INCLUDE = -I. +CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe + +LIBS = + +# Should not alter anything below this line +############################################################################### + +SRC = wiringPi.c wiringPiFace.c wiringSerial.c wiringShift.c \ + gertboard.c \ + piNes.c \ + lcd.c piHiPri.c piThread.c + +OBJ = wiringPi.o wiringPiFace.o wiringSerial.o wiringShift.o \ + gertboard.o \ + piNes.o \ + lcd.o piHiPri.o piThread.o + +all: $(TARGET) + +$(TARGET): $(OBJ) + @echo [AR] $(OBJ) + @ar rcs $(TARGET) $(OBJ) + @ranlib $(TARGET) + @size $(TARGET) + +.c.o: + @echo [CC] $< + @$(CC) -c $(CFLAGS) $< -o $@ + +clean: + rm -f $(OBJ) $(TARGET) *~ core tags Makefile.bak + +tags: $(SRC) + @echo [ctags] + @ctags $(SRC) + +depend: + makedepend -Y $(SRC) + +install: $(TARGET) + @echo [install] + install -m 0755 -d /usr/local/lib + install -m 0755 -d /usr/local/include + install -m 0644 wiringPi.h /usr/local/include + install -m 0644 wiringSerial.h /usr/local/include + install -m 0644 wiringShift.h /usr/local/include + install -m 0644 gertboard.h /usr/local/include + install -m 0644 piNes.h /usr/local/include + install -m 0644 lcd.h /usr/local/include + install -m 0644 libwiringPi.a /usr/local/lib + +uninstall: + @echo [uninstall] + rm -f /usr/local/include/lcd.h + rm -f /usr/local/include/wiringShift.h + rm -f /usr/local/include/wiringPi.h + rm -f /usr/local/lib/libwiringPi.a + + + +# DO NOT DELETE + +wiringPi.o: wiringPi.h +wiringPiFace.o: wiringPi.h +wiringSerial.o: wiringSerial.h +wiringShift.o: wiringPi.h wiringShift.h +gertboard.o: gertboard.h +piNes.o: wiringPi.h piNes.h +lcd.o: wiringPi.h lcd.h +piHiPri.o: wiringPi.h +piThread.o: wiringPi.h diff --git a/wiringPi/README b/wiringPi/README new file mode 100644 index 0000000..052cd41 --- /dev/null +++ b/wiringPi/README @@ -0,0 +1,9 @@ + +WiringPi: An implementation of most of the Arduino Wiring + functions for the Raspberry Pi + +-- And a lot lot more! + +Full details at: + https://projects.drogon.net/raspberry-pi/wiringpi/ + diff --git a/wiringPi/gertboard.c b/wiringPi/gertboard.c new file mode 100644 index 0000000..bd7e60a --- /dev/null +++ b/wiringPi/gertboard.c @@ -0,0 +1,184 @@ +/* + * gertboard.c: + * Access routines for the SPI devices on the Gertboard + * Copyright (c) 2012 Gordon Henderson + * + * The Gertboard has: + * + * An MCP3002 dual-channel A to D convertor connected + * to the SPI bus, selected by chip-select A, and: + * + * An MCP4802 dual-channel D to A convertor connected + * to the SPI bus, selected via chip-select B. + * + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + + +#include +#include +#include +#include +#include + +#include "gertboard.h" + + +// The SPI bus parameters +// Variables as they need to be passed as pointers later on + +static char *spiA2D = "/dev/spidev0.0" ; +static char *spiD2A = "/dev/spidev0.1" ; +static uint8_t spiMode = 0 ; +static uint8_t spiBPW = 8 ; +static uint32_t spiSpeed = 100000 ; // 1MHz +static uint16_t spiDelay = 0; + +// Locals here to keep track of everything + +static int spiFdA2D ; +static int spiFdD2A ; + + +/* + * gertboardAnalogWrite: + * Write an 8-bit data value to the MCP4802 Analog to digital + * convertor on the Gertboard. + ********************************************************************************* + */ + +void gertboardAnalogWrite (int chan, int value) +{ + uint8_t spiBufTx [2] ; + uint8_t spiBufRx [2] ; + struct spi_ioc_transfer spi ; + + uint8_t chanBits, dataBits ; + + if (chan == 0) + chanBits = 0x30 ; + else + chanBits = 0xB0 ; + + chanBits |= ((value >> 4) & 0x0F) ; + dataBits = ((value << 4) & 0xF0) ; + + spiBufTx [0] = chanBits ; + spiBufTx [1] = dataBits ; + + spi.tx_buf = (unsigned long)spiBufTx ; + spi.rx_buf = (unsigned long)spiBufRx ; + spi.len = 2 ; + spi.delay_usecs = spiDelay ; + spi.speed_hz = spiSpeed ; + spi.bits_per_word = spiBPW ; + + ioctl (spiFdD2A, SPI_IOC_MESSAGE(1), &spi) ; +} + + +/* + * gertboardAnalogRead: + * Return the analog value of the given channel (0/1). + * The A/D is a 10-bit device + ********************************************************************************* + */ + +int gertboardAnalogRead (int chan) +{ + uint8_t spiBufTx [4] ; + uint8_t spiBufRx [4] ; + struct spi_ioc_transfer spi ; + + uint8_t chanBits ; + + if (chan == 0) + chanBits = 0b0110100 ; + else + chanBits = 0b0111100 ; + + spiBufTx [0] = chanBits ; + spiBufTx [1] = 0 ; + + spi.tx_buf = (unsigned long)spiBufTx ; + spi.rx_buf = (unsigned long)spiBufRx ; + spi.len = 4 ; + spi.delay_usecs = spiDelay ; + spi.speed_hz = spiSpeed ; + spi.bits_per_word = spiBPW ; + + ioctl (spiFdA2D, SPI_IOC_MESSAGE(1), &spi) ; + + return spiBufRx [0] << 8 | spiBufRx [1] ; +} + + +/* + * setParams: + * Output the SPI bus parameters to the given device + ********************************************************************************* + */ + +static int setParams (int fd) +{ + if (ioctl (fd, SPI_IOC_WR_MODE, &spiMode) < 0) + return -1 ; + + if (ioctl (fd, SPI_IOC_RD_MODE, &spiMode) < 0) + return -1 ; + + if (ioctl (fd, SPI_IOC_WR_BITS_PER_WORD, &spiBPW) < 0) + return -1 ; + + if (ioctl (fd, SPI_IOC_RD_BITS_PER_WORD, &spiBPW) < 0) + return -1 ; + + if (ioctl (fd, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed) < 0) + return -1 ; + + if (ioctl (fd, SPI_IOC_RD_MAX_SPEED_HZ, &spiSpeed) < 0) + return -1 ; + + return 0 ; +} + + +/* + * gertboardSPISetup: + * Initialise the SPI bus, etc. + ********************************************************************************* + */ + +int gertboardSPISetup (void) +{ + if ((spiFdA2D = open (spiA2D, O_RDWR)) < 0) + return -1 ; + + if (setParams (spiFdA2D) != 0) + return -1 ; + + if ((spiFdD2A = open (spiD2A, O_RDWR)) < 0) + return -1 ; + + if (setParams (spiFdD2A) != 0) + return -1 ; + + return 0 ; +} diff --git a/wiringPi/gertboard.h b/wiringPi/gertboard.h new file mode 100644 index 0000000..98fd1e7 --- /dev/null +++ b/wiringPi/gertboard.h @@ -0,0 +1,39 @@ +/* + * gertboard.h: + * Access routines for the SPI devices on the Gertboard + * Copyright (c) 2012 Gordon Henderson + * + * The Gertboard has an MCP4802 dual-channel D to A convertor + * connected to the SPI bus, selected via chip-select B. + * + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +#ifdef __cplusplus +extern "C" { +#endif + +extern void gertboardAnalogWrite (int chan, int value) ; +extern int gertboardAnalogRead (int chan) ; +extern int gertboardSPISetup (void) ; + +#ifdef __cplusplus +} +#endif diff --git a/wiringPi/lcd.c b/wiringPi/lcd.c new file mode 100644 index 0000000..6826a60 --- /dev/null +++ b/wiringPi/lcd.c @@ -0,0 +1,365 @@ +/* + * lcd.c: + * Text-based LCD driver. + * This is designed to drive the parallel interface LCD drivers + * based in the Hitachi HD44780U controller and compatables. + * + * Copyright (c) 2012 Gordon Henderson. + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#include +#include +#include +#include + +#include "wiringPi.h" +#include "lcd.h" + +// Commands + +#define LCD_CLEAR 0x01 +#define LCD_HOME 0x02 +#define LCD_ENTRY 0x04 +#define LCD_ON_OFF 0x08 +#define LCD_CDSHIFT 0x10 +#define LCD_FUNC 0x20 +#define LCD_CGRAM 0x40 +#define LCD_DGRAM 0x80 + +#define LCD_ENTRY_SH 0x01 +#define LCD_ENTRY_ID 0x02 + +#define LCD_ON_OFF_B 0x01 +#define LCD_ON_OFF_C 0x02 +#define LCD_ON_OFF_D 0x04 + +#define LCD_FUNC_F 0x04 +#define LCD_FUNC_N 0x08 +#define LCD_FUNC_DL 0x10 + +#define LCD_CDSHIFT_RL 0x04 + +struct lcdDataStruct +{ + uint8_t bits, rows, cols ; + uint8_t rsPin, strbPin ; + uint8_t dataPins [8] ; +} ; + +struct lcdDataStruct *lcds [MAX_LCDS] ; + + +/* + * strobe: + * Toggle the strobe (Really the "E") pin to the device. + * According to the docs, data is latched on the falling edge. + ********************************************************************************* + */ + +static void strobe (struct lcdDataStruct *lcd) +{ + digitalWrite (lcd->strbPin, 1) ; delayMicroseconds (1) ; + digitalWrite (lcd->strbPin, 0) ; delayMicroseconds (50) ; +} + + +/* + * sentDataCmd: + * Send an data or command byte to the display. + ********************************************************************************* + */ + +static void sendDataCmd (struct lcdDataStruct *lcd, uint8_t data) +{ + uint8_t i, d4 ; + + if (lcd->bits == 4) + { + d4 = (data >> 4) & 0x0F; + for (i = 0 ; i < 4 ; ++i) + { + digitalWrite (lcd->dataPins [i], (d4 & 1)) ; + d4 >>= 1 ; + } + strobe (lcd) ; + + d4 = data & 0x0F ; + for (i = 0 ; i < 4 ; ++i) + { + digitalWrite (lcd->dataPins [i], (d4 & 1)) ; + d4 >>= 1 ; + } + } + else + { + for (i = 0 ; i < 8 ; ++i) + { + digitalWrite (lcd->dataPins [i], (data & 1)) ; + data >>= 1 ; + } + } + strobe (lcd) ; +} + + +/* + * putCommand: + * Send a command byte to the display + ********************************************************************************* + */ + +static void putCommand (struct lcdDataStruct *lcd, uint8_t command) +{ + digitalWrite (lcd->rsPin, 0) ; + sendDataCmd (lcd, command) ; +} + +static void put4Command (struct lcdDataStruct *lcd, uint8_t command) +{ + uint8_t i ; + + digitalWrite (lcd->rsPin, 0) ; + + for (i = 0 ; i < 4 ; ++i) + { + digitalWrite (lcd->dataPins [i], (command & 1)) ; + command >>= 1 ; + } + strobe (lcd) ; +} + + +/* + ********************************************************************************* + * User Code below here + ********************************************************************************* + */ + +/* + * lcdHome: lcdClear: + * Home the cursor or clear the screen. + ********************************************************************************* + */ + +void lcdHome (int fd) +{ + struct lcdDataStruct *lcd = lcds [fd] ; + putCommand (lcd, LCD_HOME) ; +} + +void lcdClear (int fd) +{ + struct lcdDataStruct *lcd = lcds [fd] ; + putCommand (lcd, LCD_CLEAR) ; +} + + +/* + * lcdPosition: + * Update the position of the cursor on the display + ********************************************************************************* + */ + + +void lcdPosition (int fd, int x, int y) +{ + static uint8_t rowOff [4] = { 0x00, 0x40, 0x14, 0x54 } ; + struct lcdDataStruct *lcd = lcds [fd] ; + + putCommand (lcd, x + (LCD_DGRAM | rowOff [y])) ; +} + + +/* + * lcdPutchar: + * Send a data byte to be displayed on the display + ********************************************************************************* + */ + +void lcdPutchar (int fd, uint8_t data) +{ + struct lcdDataStruct *lcd = lcds [fd] ; + + digitalWrite (lcd->rsPin, 1) ; + sendDataCmd (lcd, data) ; +} + + +/* + * lcdPuts: + * Send a string to be displayed on the display + ********************************************************************************* + */ + +void lcdPuts (int fd, char *string) +{ + while (*string) + lcdPutchar (fd, *string++) ; +} + + +/* + * lcdPrintf: + * Printf to an LCD display + ********************************************************************************* + */ + +void lcdPrintf (int fd, char *message, ...) +{ + va_list argp ; + char buffer [1024] ; + + va_start (argp, message) ; + vsnprintf (buffer, 1023, message, argp) ; + va_end (argp) ; + + lcdPuts (fd, buffer) ; +} + + +/* + * lcdInit: + * Take a lot of parameters and initialise the LCD, and return a handle to + * that LCD, or -1 if any error. + ********************************************************************************* + */ + +int lcdInit (int rows, int cols, int bits, int rs, int strb, + int d0, int d1, int d2, int d3, int d4, int d5, int d6, int d7) +{ + static int initialised = 0 ; + + uint8_t func ; + int i ; + int lcdFd = -1 ; + struct lcdDataStruct *lcd ; + + if (initialised == 0) + { + initialised = 1 ; + for (i = 0 ; i < MAX_LCDS ; ++i) + lcds [i] = NULL ; + } + +// Simple sanity checks + + if (! ((bits == 4) || (bits == 8))) + return -1 ; + + if ((rows < 0) || (rows > 20)) + return -1 ; + + if ((cols < 0) || (cols > 20)) + return -1 ; + +// Create a new LCD: + + for (i = 0 ; i < MAX_LCDS ; ++i) + { + if (lcds [i] == NULL) + { + lcdFd = i ; + break ; + } + } + + if (lcdFd == -1) + return -1 ; + + lcd = malloc (sizeof (struct lcdDataStruct)) ; + if (lcd == NULL) + return -1 ; + + lcd->rsPin = rs ; + lcd->strbPin = strb ; + lcd->bits = 8 ; // For now - we'll set it properly later. + lcd->rows = rows ; + lcd->cols = cols ; + + lcd->dataPins [0] = d0 ; + lcd->dataPins [1] = d1 ; + lcd->dataPins [2] = d2 ; + lcd->dataPins [3] = d3 ; + lcd->dataPins [4] = d4 ; + lcd->dataPins [5] = d5 ; + lcd->dataPins [6] = d6 ; + lcd->dataPins [7] = d7 ; + + lcds [lcdFd] = lcd ; + + digitalWrite (lcd->rsPin, 0) ; pinMode (lcd->rsPin, OUTPUT) ; + digitalWrite (lcd->strbPin, 0) ; pinMode (lcd->strbPin, OUTPUT) ; + + for (i = 0 ; i < bits ; ++i) + { + digitalWrite (lcd->dataPins [i], 0) ; + pinMode (lcd->dataPins [i], OUTPUT) ; + } + delay (35) ; // mS + + +// 4-bit mode? +// OK. This is a PIG and it's not at all obvious from the documentation I had, +// so I guess some others have worked through either with better documentation +// or more trial and error... Anyway here goes: +// +// It seems that the controller needs to see the FUNC command at least 3 times +// consecutively - in 8-bit mode. If you're only using 8-bit mode, then it appears +// that you can get away with one func-set, however I'd not rely on it... +// +// So to set 4-bit mode, you need to send the commands one nibble at a time, +// the same three times, but send the command to set it into 8-bit mode those +// three times, then send a final 4th command to set it into 4-bit mode, and only +// then can you flip the switch for the rest of the library to work in 4-bit +// mode which sends the commands as 2 x 4-bit values. + + if (bits == 4) + { + func = LCD_FUNC | LCD_FUNC_DL ; // Set 8-bit mode 3 times + put4Command (lcd, func >> 4) ; delay (35) ; + put4Command (lcd, func >> 4) ; delay (35) ; + put4Command (lcd, func >> 4) ; delay (35) ; + func = LCD_FUNC ; // 4th set: 4-bit mode + put4Command (lcd, func >> 4) ; delay (35) ; + lcd->bits = 4 ; + } + else + { + func = LCD_FUNC | LCD_FUNC_DL ; + putCommand (lcd, func ) ; delay (35) ; + putCommand (lcd, func ) ; delay (35) ; + putCommand (lcd, func ) ; delay (35) ; + } + + if (lcd->rows > 1) + { + func |= LCD_FUNC_N ; + putCommand (lcd, func) ; delay (35) ; + } + +// Rest of the initialisation sequence + + putCommand (lcd, LCD_ON_OFF | LCD_ON_OFF_D) ; delay (2) ; + putCommand (lcd, LCD_ENTRY | LCD_ENTRY_ID) ; delay (2) ; + putCommand (lcd, LCD_CDSHIFT | LCD_CDSHIFT_RL) ; delay (2) ; + putCommand (lcd, LCD_CLEAR) ; delay (5) ; + + return lcdFd ; +} diff --git a/wiringPi/lcd.h b/wiringPi/lcd.h new file mode 100644 index 0000000..094f5f5 --- /dev/null +++ b/wiringPi/lcd.h @@ -0,0 +1,37 @@ +/* + * lcd.h: + * Text-based LCD driver. + * This is designed to drive the parallel interface LCD drivers + * based in the Hitachi HD44780U controller and compatables. + * + * Copyright (c) 2012 Gordon Henderson. + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#define MAX_LCDS 8 + +extern void lcdHome (int fd) ; +extern void lcdClear (int fd) ; +extern void lcdPosition (int fd, int x, int y) ; +extern void lcdPutchar (int fd, uint8_t data) ; +extern void lcdPuts (int fd, char *string) ; +extern void lcdPrintf (int fd, char *message, ...) ; + +extern int lcdInit (int rows, int cols, int bits, int rs, int strb, + int d0, int d1, int d2, int d3, int d4, int d5, int d6, int d7) ; diff --git a/wiringPi/piHiPri.c b/wiringPi/piHiPri.c new file mode 100644 index 0000000..e7e06b4 --- /dev/null +++ b/wiringPi/piHiPri.c @@ -0,0 +1,50 @@ +/* + * piHiPri: + * Simple way to get your program running at high priority + * with realtime schedulling. + * + * Copyright (c) 2012 Gordon Henderson + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +#include +#include + +#include "wiringPi.h" + + +/* + * piHiPri: + * Attempt to set a high priority schedulling for the running program + ********************************************************************************* + */ + +int piHiPri (int pri) +{ + struct sched_param sched ; + + memset (&sched, 0, sizeof(sched)) ; + + if (pri > sched_get_priority_max (SCHED_RR)) + pri = sched_get_priority_max (SCHED_RR) ; + + sched.sched_priority = pri ; + return sched_setscheduler (0, SCHED_RR, &sched) ; +} diff --git a/wiringPi/piNes.c b/wiringPi/piNes.c new file mode 100644 index 0000000..1722d31 --- /dev/null +++ b/wiringPi/piNes.c @@ -0,0 +1,115 @@ +/* + * piNes.c: + * Driver for the NES Joystick controller on the Raspberry Pi + * Copyright (c) 2012 Gordon Henderson + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +#include + +#include "piNes.h" + +#define MAX_NES_JOYSTICKS 8 + +#define NES_RIGHT 0x01 +#define NES_LEFT 0x02 +#define NES_DOWN 0x04 +#define NES_UP 0x08 +#define NES_START 0x10 +#define NES_SELECT 0x20 +#define NES_B 0x40 +#define NES_A 0x80 + + +// Data to store the pins for each controller + +struct nesPinsStruct +{ + unsigned int cPin, dPin, lPin ; +} ; + +static struct nesPinsStruct nesPins [MAX_NES_JOYSTICKS] ; + +static int joysticks = 0 ; + + +/* + * setupNesJoystick: + * Create a new NES joystick interface, program the pins, etc. + ********************************************************************************* + */ + +int setupNesJoystick (int dPin, int cPin, int lPin) +{ + if (joysticks == MAX_NES_JOYSTICKS) + return -1 ; + + nesPins [joysticks].dPin = dPin ; + nesPins [joysticks].cPin = cPin ; + nesPins [joysticks].lPin = lPin ; + + digitalWrite (lPin, LOW) ; + digitalWrite (cPin, LOW) ; + + pinMode (lPin, OUTPUT) ; + pinMode (cPin, OUTPUT) ; + pinMode (dPin, INPUT) ; + + return joysticks++ ; +} + + +/* + * readNesJoystick: + * Do a single scan of the NES Joystick. + ********************************************************************************* + */ + +unsigned int readNesJoystick (int joystick) +{ + unsigned int value = 0 ; + int i ; + + struct nesPinsStruct *pins = &nesPins [joystick] ; + +// Toggle Latch - which presents the first bit + + digitalWrite (pins->lPin, HIGH) ; + delayMicroseconds (1) ; + digitalWrite (pins->lPin, LOW) ; + delayMicroseconds (1) ; + +// Read first bit + + value = digitalRead (pins->dPin) ; + +// Now get the next 7 bits with the clock + + for (i = 0 ; i < 7 ; ++i) + { + digitalWrite (pins->cPin, HIGH) ; + delayMicroseconds (1) ; + digitalWrite (pins->cPin, LOW) ; + delayMicroseconds (1) ; + value = (value << 1) | digitalRead (pins->dPin) ; + } + + return ~value ; +} diff --git a/wiringPi/piNes.h b/wiringPi/piNes.h new file mode 100644 index 0000000..b76c415 --- /dev/null +++ b/wiringPi/piNes.h @@ -0,0 +1,37 @@ +/* + * piNes.h: + * Driver for the NES Joystick controller on the Raspberry Pi + * Copyright (c) 2012 Gordon Henderson + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +#define MAX_NES_JOYSTICKS 8 + +#define NES_RIGHT 0x01 +#define NES_LEFT 0x02 +#define NES_DOWN 0x04 +#define NES_UP 0x08 +#define NES_START 0x10 +#define NES_SELECT 0x20 +#define NES_B 0x40 +#define NES_A 0x80 + +extern int setupNesJoystick (int dPin, int cPin, int lPin) ; +extern unsigned int readNesJoystick (int joystick) ; diff --git a/wiringPi/piThread.c b/wiringPi/piThread.c new file mode 100644 index 0000000..b0499be --- /dev/null +++ b/wiringPi/piThread.c @@ -0,0 +1,63 @@ +/* + * piThread.c: + * Provide a simplified interface to pthreads + * + * Copyright (c) 2012 Gordon Henderson + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +#include +#include "wiringPi.h" + +static pthread_mutex_t piMutexes [4] ; + + + +/* + * piThreadCreate: + * Create and start a thread + ********************************************************************************* + */ + +int piThreadCreate (void *(*fn)(void *)) +{ + pthread_t myThread ; + + return pthread_create (&myThread, NULL, fn, NULL) ; +} + +/* + * piLock: piUnlock: + * Activate/Deactivate a mutex. + * We're keeping things simple here and only tracking 4 mutexes which + * is more than enough for out entry-level pthread programming + ********************************************************************************* + */ + +void piLock (int key) +{ + pthread_mutex_lock (&piMutexes [key]) ; +} + +void piUnlock (int key) +{ + pthread_mutex_unlock (&piMutexes [key]) ; +} + diff --git a/wiringPi/wiringPi.c b/wiringPi/wiringPi.c new file mode 100644 index 0000000..35717ef --- /dev/null +++ b/wiringPi/wiringPi.c @@ -0,0 +1,981 @@ +/* + * wiringPi: + * Arduino compatable (ish) Wiring library for the Raspberry Pi + * Copyright (c) 2012 Gordon Henderson + * + * Thanks to code samples from Gert Jan van Loo and the + * BCM2835 ARM Peripherals manual, however it's missing + * the clock section /grr/mutter/ + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +// Revisions: +// 19 Jul 2012: +// Moved to the LGPL +// Added an abstraction layer to the main routines to save a tiny +// bit of run-time and make the clode a little cleaner (if a little +// larger) +// Added waitForInterrupt code +// Added piHiPri code +// +// 9 Jul 2012: +// Added in support to use the /sys/class/gpio interface. +// 2 Jul 2012: +// Fixed a few more bugs to do with range-checking when in GPIO mode. +// 11 Jun 2012: +// Fixed some typos. +// Added c++ support for the .h file +// Added a new function to allow for using my "pin" numbers, or native +// GPIO pin numbers. +// Removed my busy-loop delay and replaced it with a call to delayMicroseconds +// +// 02 May 2012: +// Added in the 2 UART pins +// Change maxPins to numPins to more accurately reflect purpose + +// Pad drive current fiddling + +#undef DEBUG_PADS + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#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 + +// BCM Magic + +#define BCM_PASSWORD 0x5A000000 + + +// Port function select bits + +#define FSEL_INPT 0b000 +#define FSEL_OUTP 0b001 +#define FSEL_ALT0 0b100 +#define FSEL_ALT0 0b100 +#define FSEL_ALT1 0b101 +#define FSEL_ALT2 0b110 +#define FSEL_ALT3 0b111 +#define FSEL_ALT4 0b011 +#define FSEL_ALT5 0b010 + +// Access from ARM Running Linux +// Take 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 PAGE_SIZE (4*1024) +#define BLOCK_SIZE (4*1024) + +// PWM + +#define PWM_CONTROL 0 +#define PWM_STATUS 1 +#define PWM0_RANGE 4 +#define PWM0_DATA 5 +#define PWM1_RANGE 8 +#define PWM1_DATA 9 + +#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_OFFSTATE 0x0008 // Ouput Off state +#define PWM0_REPEATFF 0x0004 // Repeat last value if FIFO empty +#define PWM0_SERIAL 0x0002 // Run in serial mode +#define PWM0_ENABLE 0x0001 // Channel Enable + +// Timer + +#define TIMER_LOAD (0x400 >> 2) +#define TIMER_VALUE (0x404 >> 2) +#define TIMER_CONTROL (0x408 >> 2) +#define TIMER_IRQ_CLR (0x40C >> 2) +#define TIMER_IRQ_RAW (0x410 >> 2) +#define TIMER_IRQ_MASK (0x414 >> 2) +#define TIMER_RELOAD (0x418 >> 2) +#define TIMER_PRE_DIV (0x41C >> 2) +#define TIMER_COUNTER (0x420 >> 2) + +// Locals to hold pointers to the hardware + +static volatile uint32_t *gpio ; +static volatile uint32_t *pwm ; +static volatile uint32_t *clk ; +static volatile uint32_t *pads ; +static volatile uint32_t *timer ; + +static volatile uint32_t *timerIrqRaw ; + +// 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) + +// sysFds: +// Map a file descriptor from the /sys/class/gpio/gpioX/value + +static int sysFds [64] ; + +// Doing it the Arduino way with lookup tables... +// Yes, it's probably more innefficient than all the bit-twidling, but it +// does tend to make it all a bit clearer. At least to me! + +// pinToGpio: +// Take a Wiring pin (0 through X) and re-map it to the BCM_GPIO pin + +static int pinToGpio [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 + +// 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 +} ; + +// gpioToGPFSEL: +// Map a BCM_GPIO pin to it's control port. (GPFSEL 0-5) + +static uint8_t gpioToGPFSEL [] = +{ + 0,0,0,0,0,0,0,0,0,0, + 1,1,1,1,1,1,1,1,1,1, + 2,2,2,2,2,2,2,2,2,2, + 3,3,3,3,3,3,3,3,3,3, + 4,4,4,4,4,4,4,4,4,4, + 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 + +static uint8_t gpioToShift [] = +{ + 0,3,6,9,12,15,18,21,24,27, + 0,3,6,9,12,15,18,21,24,27, + 0,3,6,9,12,15,18,21,24,27, + 0,3,6,9,12,15,18,21,24,27, + 0,3,6,9,12,15,18,21,24,27, +} ; + +// gpioToGPSET: +// (Word) offset to the GPIO Set registers for each GPIO pin + +static uint8_t gpioToGPSET [] = +{ + 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, + 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, +} ; + +// gpioToGPCLR: +// (Word) offset to the GPIO Clear registers for each GPIO pin + +static uint8_t gpioToGPCLR [] = +{ + 10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10, + 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 + +static uint8_t gpioToGPLEV [] = +{ + 13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13, + 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 + +static uint8_t gpioToEDS [] = +{ + 16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16, + 17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17, +} ; + +// gpioToREN +// (Word) offset to the Rising edgde ENable register + +static uint8_t gpioToREN [] = +{ + 19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19, + 20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20, +} ; + +// gpioToFEN +// (Word) offset to the Falling edgde ENable register + +static uint8_t gpioToFEN [] = +{ + 22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22, + 23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, +} ; +#endif + +// gpioToPUDCLK +// (Word) offset to the Pull Up Down Clock regsiter + +#define GPPUD 37 + +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 + +static uint8_t gpioToPwmALT [] = +{ + 0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7 + 0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, 0, 0, // 8 -> 15 + 0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, 0, 0, // 16 -> 23 + 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31 + 0, 0, 0, 0, 0, 0, 0, 0, // 32 -> 39 + FSEL_ALT0, FSEL_ALT0, 0, 0, 0, FSEL_ALT0, 0, 0, // 40 -> 47 + 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55 + 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63 +} ; + +static uint8_t gpioToPwmPort [] = +{ + 0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7 + 0, 0, 0, 0, PWM0_DATA, PWM1_DATA, 0, 0, // 8 -> 15 + 0, 0, PWM0_DATA, PWM1_DATA, 0, 0, 0, 0, // 16 -> 23 + 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31 + 0, 0, 0, 0, 0, 0, 0, 0, // 32 -> 39 + PWM0_DATA, PWM1_DATA, 0, 0, 0, PWM1_DATA, 0, 0, // 40 -> 47 + 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55 + 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63 + +} ; + + +// Time for easy calculations + +static unsigned long long epoch ; + +////////////////////////////////////////////////////////////////////////////////// + + +/* + * pinMode: + * Sets the mode of a pin to be input, output or PWM output + ********************************************************************************* + */ + +void pinModeGpio (int pin, int mode) +{ + static int pwmRunning = FALSE ; + int fSel, shift, alt ; + + pin &= 63 ; + + 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) ; + +// 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... + + if (!pwmRunning) + { + +// 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) ; + +// Enable PWMs + + *(pwm + PWM0_DATA) = 512 ; + *(pwm + PWM1_DATA) = 512 ; + + *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ; + + pwmRunning = TRUE ; + } + + } + +// When we change mode of any pin, we remove the pull up/downs + + pullUpDnControl (pin, PUD_OFF) ; +} + +void pinModeWPi (int pin, int mode) +{ + pinModeGpio (pinToGpio [pin & 63], mode) ; +} + +void pinModeSys (int pin, int mode) +{ + return ; +} + + +#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) +{ + pin = pinToGpio [pin & 63] ; +} +#endif + + + +/* + * digitalWrite: + * Set an output bit + ********************************************************************************* + */ + +void digitalWriteWPi (int pin, int value) +{ + pin = pinToGpio [pin & 63] ; + + if (value == LOW) + *(gpio + gpioToGPCLR [pin]) = 1 << (pin & 31) ; + else + *(gpio + gpioToGPSET [pin]) = 1 << (pin & 31) ; +} + +void digitalWriteGpio (int pin, int value) +{ + pin &= 63 ; + + if (value == LOW) + *(gpio + gpioToGPCLR [pin]) = 1 << (pin & 31) ; + else + *(gpio + gpioToGPSET [pin]) = 1 << (pin & 31) ; +} + +void digitalWriteSys (int pin, int value) +{ + pin &= 63 ; + + if (sysFds [pin] != -1) + { + if (value == LOW) + write (sysFds [pin], "0\n", 2) ; + else + write (sysFds [pin], "1\n", 2) ; + } +} + + +/* + * pwnWrite: + * Set an output PWM value + ********************************************************************************* + */ + +void pwmWriteWPi (int pin, int value) +{ + int port ; + + pin = pinToGpio [pin & 63] ; + port = gpioToPwmPort [pin] ; + + *(pwm + port) = value & 0x3FF ; +} + +void pwmWriteGpio (int pin, int value) +{ + int port ; + + pin = pin & 63 ; + port = gpioToPwmPort [pin] ; + + *(pwm + port) = value & 0x3FF ; +} + +void pwmWriteSys (int pin, int value) +{ + return ; +} + + +/* + * setPadDrive: + * Set the PAD driver value + ********************************************************************************* + */ + +void setPadDriveWPi (int group, int value) +{ + 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 +} + +void setPadDriveGpio (int group, int value) +{ + setPadDriveWPi (group, value) ; +} + +void setPadDriveSys (int group, int value) +{ + return ; +} + + +/* + * digitalRead: + * Read the value of a given Pin, returning HIGH or LOW + ********************************************************************************* + */ + +int digitalReadWPi (int pin) +{ + pin = pinToGpio [pin & 63] ; + + if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0) + return HIGH ; + else + return LOW ; +} + +int digitalReadGpio (int pin) +{ + pin &= 63 ; + + if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0) + return HIGH ; + else + return LOW ; +} + +int digitalReadSys (int pin) +{ + char c ; + + pin &= 63 ; + + if (sysFds [pin] == -1) + return 0 ; + + lseek (sysFds [pin], 0L, SEEK_SET) ; + read (sysFds [pin], &c, 1) ; + return (c == '0') ? 0 : 1 ; +} + + +/* + * 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 pullUpDnControlWPi (int pin, int pud) +{ + pin = pinToGpio [pin & 63] ; + pud &= 3 ; + + *(gpio + GPPUD) = pud ; delayMicroseconds (10) ; + *(gpio + gpioToPUDCLK [pin]) = 1 << (pin & 31) ; delayMicroseconds (10) ; + + *(gpio + GPPUD) = 0 ; + *(gpio + gpioToPUDCLK [pin]) = 0 ; +} + +void pullUpDnControlGpio (int pin, int pud) +{ + pin &= 63 ; + pud &= 3 ; + + *(gpio + GPPUD) = pud ; delayMicroseconds (10) ; + *(gpio + gpioToPUDCLK [pin]) = 1 << (pin & 31) ; delayMicroseconds (10) ; + + *(gpio + GPPUD) = 0 ; + *(gpio + gpioToPUDCLK [pin]) = 0 ; +} + +void pullUpDnControlSys (int pin, int pud) +{ + return ; +} + + +/* + * waitForInterrupt: + * 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 + * way for a bit more efficiency. + ********************************************************************************* + */ + +int waitForInterruptSys (int pin, int mS) +{ + int fd, x ; + char buf [8] ; + 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 + + lseek (fd, 0, SEEK_SET) ; + +// Setup poll structure + + polls.fd = fd ; + polls.events = POLLPRI ; // Urgent data! + +// Wait for it ... + + return poll (&polls, 1, mS) ; +} + +int waitForInterruptWPi (int pin, int mS) +{ + return waitForInterruptSys (pinToGpio [pin & 63], mS) ; +} + +int waitForInterruptGpio (int pin, int mS) +{ + return waitForInterruptSys (pin, mS) ; +} + + + + +/* + * delay: + * Wait for some number of milli seconds + ********************************************************************************* + */ + +void delay (unsigned int howLong) +{ + struct timespec sleeper, dummy ; + + sleeper.tv_sec = (time_t)(howLong / 1000) ; + sleeper.tv_nsec = (long)(howLong % 1000) * 1000000 ; + + nanosleep (&sleeper, &dummy) ; +} + +/* + * delayMicroseconds: + * This is somewhat intersting. It seems that on the Pi, a single call + * to nanosleep takes some 80 to 130 microseconds anyway, so while + * obeying the standards (may take longer), it's not always what we + * want! + * + * So what I'll do now is if the delay is less than 100uS we'll do it + * in a hard loop, watching a built-in counter on the ARM chip. This is + * 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 )-: + ********************************************************************************* + */ + +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 ; + + while (*timerIrqRaw == 0) + ; +} + +void delayMicrosecondsWPi (unsigned int howLong) +{ + struct timespec sleeper, dummy ; + + /**/ if (howLong == 0) + return ; + else if (howLong < 100) + delayMicrosecondsHard (howLong) ; + else + { + sleeper.tv_sec = 0 ; + sleeper.tv_nsec = (long)(howLong * 1000) ; + nanosleep (&sleeper, &dummy) ; + } +} + + +/* + * millis: + * Return a number of milliseconds as an unsigned int. + ********************************************************************************* + */ + +unsigned int millis (void) +{ + struct timeval tv ; + unsigned long long t1 ; + + gettimeofday (&tv, NULL) ; + + t1 = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ; + + return (uint32_t)(t1 - epoch) ; +} + + +/* + * wiringPiSetup: + * Must be called once at the start of your program execution. + * + * Default setup: Initialises the system into wiringPi Pin mode and uses the + * memory mapped hardware directly. + ********************************************************************************* + */ + +int wiringPiSetup (void) +{ + int fd ; + uint8_t *gpioMem, *pwmMem, *clkMem, *padsMem, *timerMem ; + struct timeval tv ; + + pinMode = pinModeWPi ; + pullUpDnControl = pullUpDnControlWPi ; + digitalWrite = digitalWriteWPi ; + pwmWrite = pwmWriteWPi ; + setPadDrive = setPadDriveWPi ; + digitalRead = digitalReadWPi ; + waitForInterrupt = waitForInterruptWPi ; + delayMicroseconds = delayMicrosecondsWPi ; + +// Open the master /dev/memory device + + if ((fd = open ("/dev/mem", O_RDWR | O_SYNC) ) < 0) + { + fprintf (stderr, "wiringPiSetup: Unable to open /dev/mem: %s\n", strerror (errno)) ; + return -1 ; + } + +// GPIO: + +// Allocate 2 pages - 1 ... + + if ((gpioMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL) + { + fprintf (stderr, "wiringPiSetup: malloc failed: %s\n", strerror (errno)) ; + return -1 ; + } + +// ... 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) + { + fprintf (stderr, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ; + return -1 ; + } + +// PWM + + if ((pwmMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL) + { + fprintf (stderr, "wiringPiSetup: pwmMem malloc failed: %s\n", strerror (errno)) ; + return -1 ; + } + + if (((uint32_t)pwmMem % PAGE_SIZE) != 0) + pwmMem += PAGE_SIZE - ((uint32_t)pwmMem % PAGE_SIZE) ; + + pwm = (uint32_t *)mmap(pwmMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_PWM) ; + + if ((int32_t)pwm < 0) + { + fprintf (stderr, "wiringPiSetup: mmap failed (pwm): %s\n", strerror (errno)) ; + return -1 ; + } + +// Clock control (needed for PWM) + + if ((clkMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL) + { + fprintf (stderr, "wiringPiSetup: clkMem malloc failed: %s\n", strerror (errno)) ; + return -1 ; + } + + if (((uint32_t)clkMem % PAGE_SIZE) != 0) + clkMem += PAGE_SIZE - ((uint32_t)clkMem % PAGE_SIZE) ; + + clk = (uint32_t *)mmap(clkMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, CLOCK_BASE) ; + + if ((int32_t)clk < 0) + { + fprintf (stderr, "wiringPiSetup: mmap failed (clk): %s\n", strerror (errno)) ; + return -1 ; + } + +// 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 + +// 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 ; + } + +// Set the timer to free-running, 1MHz. +// 0xF9 is 249, the timer divide is base clock / (divide+1) +// so base clock is 250MHz / 250 = 1MHz. + + *(timer + TIMER_CONTROL) = 0x0000280 ; + *(timer + TIMER_PRE_DIV) = 0x00000F9 ; + timerIrqRaw = timer + TIMER_IRQ_RAW ; + +// Initialise our epoch for millis() + + gettimeofday (&tv, NULL) ; + epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ; + + return 0 ; +} + + +/* + * wiringPiSetupGpio: + * Must be called once at the start of your program execution. + * + * GPIO setup: Initialises the system into GPIO Pin mode and uses the + * memory mapped hardware directly. + ********************************************************************************* + */ + +int wiringPiSetupGpio (void) +{ + int x = wiringPiSetup () ; + + if (x != 0) + return x ; + + pinMode = pinModeGpio ; + pullUpDnControl = pullUpDnControlGpio ; + digitalWrite = digitalWriteGpio ; + pwmWrite = pwmWriteGpio ; + setPadDrive = setPadDriveGpio ; + digitalRead = digitalReadGpio ; + waitForInterrupt = waitForInterruptGpio ; + delayMicroseconds = delayMicrosecondsWPi ; // Same + + return 0 ; +} + + +/* + * wiringPiSetupSys: + * Must be called once at the start of your program execution. + * + * Initialisation (again), however this time we are using the /sys/class/gpio + * interface to the GPIO systems - slightly slower, but always usable as + * a non-root user, assuming the devices are already exported and setup correctly. + */ + +int wiringPiSetupSys (void) +{ + int pin ; + struct timeval tv ; + char fName [128] ; + + pinMode = pinModeSys ; + pullUpDnControl = pullUpDnControlSys ; + digitalWrite = digitalWriteSys ; + pwmWrite = pwmWriteSys ; + setPadDrive = setPadDriveSys ; + digitalRead = digitalReadSys ; + waitForInterrupt = waitForInterruptSys ; + delayMicroseconds = delayMicrosecondsSys ; + +// Open and scan the directory, looking for exported GPIOs, and pre-open +// the 'value' interface to speed things up for later + + for (pin = 0 ; pin < 64 ; ++pin) + { + sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ; + sysFds [pin] = open (fName, O_RDWR) ; + } + +// Initialise the epoch for mills() ... + + gettimeofday (&tv, NULL) ; + epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ; + + return 0 ; +} + + diff --git a/wiringPi/wiringPi.h b/wiringPi/wiringPi.h new file mode 100644 index 0000000..5b9c8c7 --- /dev/null +++ b/wiringPi/wiringPi.h @@ -0,0 +1,95 @@ +/* + * wiringPi: + * Arduino compatable (ish) Wiring library for the Raspberry Pi + * Copyright (c) 2012 Gordon Henderson + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +// Handy defines + +#define NUM_PINS 17 + +#define WPI_MODE_PINS 0 +#define WPI_MODE_GPIO 1 +#define WPI_MODE_GPIO_SYS 2 +#define WPI_MODE_PIFACE 3 + +#define INPUT 0 +#define OUTPUT 1 +#define PWM_OUTPUT 2 + +#define LOW 0 +#define HIGH 1 + +#define PUD_OFF 0 +#define PUD_DOWN 1 +#define PUD_UP 2 + +// Function prototypes +// c++ wrappers thanks to a commend by Nick Lott +// (and others on the Raspberry Pi forums) + +#ifdef __cplusplus +extern "C" { +#endif + +// Basic wiringPi functions + +extern int wiringPiSetup (void) ; +extern int wiringPiSetupSys (void) ; +extern int wiringPiSetupGpio (void) ; +extern int wiringPiSetupPiFace (void) ; + +extern int wiringPiSetupPiFaceForGpioProg (void) ; // Don't use this - for gpio program only + +extern void (*pinMode) (int pin, int mode) ; +extern void (*pullUpDnControl) (int pin, int pud) ; +extern void (*digitalWrite) (int pin, int value) ; +extern void (*pwmWrite) (int pin, int value) ; +extern void (*setPadDrive) (int group, int value) ; +extern int (*digitalRead) (int pin) ; +extern void (*delayMicroseconds) (unsigned int howLong) ; + +// Interrupts + +extern int (*waitForInterrupt) (int pin, int mS) ; + +// Threads + +#define PI_THREAD(X) void *X (void *dummy) + +extern int piThreadCreate (void *(*fn)(void *)) ; +extern void piLock (int key) ; +extern void piUnlock (int key) ; + +// Schedulling priority + +extern int piHiPri (int pri) ; + + +// Extras from arduino land + +extern void delay (unsigned int howLong) ; +//extern void delayMicroseconds (unsigned int howLong) ; +//extern void delayMicrosecondsHard (unsigned int howLong) ; +extern unsigned int millis (void) ; + +#ifdef __cplusplus +} +#endif diff --git a/wiringPi/wiringPiFace.c b/wiringPi/wiringPiFace.c new file mode 100644 index 0000000..2425413 --- /dev/null +++ b/wiringPi/wiringPiFace.c @@ -0,0 +1,355 @@ +/* + * wiringPiFace: + * Arduino compatable (ish) Wiring library for the Raspberry Pi + * Copyright (c) 2012 Gordon Henderson + * + * This file to interface with the PiFace peripheral device which + * has an MCP23S17 GPIO device connected via the SPI bus. + * + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + + +#include +#include +#include +#include +#include +#include + +#include "wiringPi.h" + + +// The SPI bus parameters +// Variables as they need to be passed as pointers later on + +static char *spiDevice = "/dev/spidev0.0" ; +static uint8_t spiMode = 0 ; +static uint8_t spiBPW = 8 ; +static uint32_t spiSpeed = 5000000 ; +static uint16_t spiDelay = 0; + +// Locals here to keep track of everything + +static int spiFd ; + +// The MCP23S17 doesn't have bit-set operations, so it's +// cheaper to keep a copy here than to read/modify/write it + +uint8_t dataOutRegister = 0 ; +uint8_t pudRegister = 0 ; + +// MCP23S17 Registers + +#define IOCON 0x0A + +#define IODIRA 0x00 +#define IPOLA 0x02 +#define GPINTENA 0x04 +#define DEFVALA 0x06 +#define INTCONA 0x08 +#define GPPUA 0x0C +#define INTFA 0x0E +#define INTCAPA 0x10 +#define GPIOA 0x12 +#define OLATA 0x14 + +#define IODIRB 0x01 +#define IPOLB 0x03 +#define GPINTENB 0x05 +#define DEFVALB 0x07 +#define INTCONB 0x09 +#define GPPUB 0x0D +#define INTFB 0x0F +#define INTCAPB 0x11 +#define GPIOB 0x13 +#define OLATB 0x15 + +// Bits in the IOCON register + +#define IOCON_BANK_MODE 0x80 +#define IOCON_MIRROR 0x40 +#define IOCON_SEQOP 0x20 +#define IOCON_DISSLW 0x10 +#define IOCON_HAEN 0x08 +#define IOCON_ODR 0x04 +#define IOCON_INTPOL 0x02 +#define IOCON_UNUSED 0x01 + +// Default initialisation mode + +#define IOCON_INIT (IOCON_SEQOP) + +// Command codes + +#define CMD_WRITE 0x40 +#define CMD_READ 0x41 + + +/* + * writeByte: + * Write a byte to a register on the MCP23S17 on the SPI bus. + * This is using the synchronous access mechanism. + ********************************************************************************* + */ + +static void writeByte (uint8_t reg, uint8_t data) +{ + uint8_t spiBufTx [3] ; + uint8_t spiBufRx [3] ; + struct spi_ioc_transfer spi ; + + spiBufTx [0] = CMD_WRITE ; + spiBufTx [1] = reg ; + spiBufTx [2] = data ; + + spi.tx_buf = (unsigned long)spiBufTx ; + spi.rx_buf = (unsigned long)spiBufRx ; + spi.len = 3 ; + spi.delay_usecs = spiDelay ; + spi.speed_hz = spiSpeed ; + spi.bits_per_word = spiBPW ; + + ioctl (spiFd, SPI_IOC_MESSAGE(1), &spi) ; +} + +/* + * readByte: + * Read a byte from a register on the MCP23S17 on the SPI bus. + * This is the synchronous access mechanism. + * What appears to happen is that the data returned is at + * the same offset as the number of bytes written to the device. So if we + * write 2 bytes (e.g. command then register number), then the data returned + * will by at the 3rd byte... + ********************************************************************************* + */ + +static uint8_t readByte (uint8_t reg) +{ + uint8_t tx [4] ; + uint8_t rx [4] ; + struct spi_ioc_transfer spi ; + + tx [0] = CMD_READ ; + tx [1] = reg ; + tx [2] = 0 ; + + spi.tx_buf = (unsigned long)tx ; + spi.rx_buf = (unsigned long)rx ; + spi.len = 3 ; + spi.delay_usecs = spiDelay ; + spi.speed_hz = spiSpeed ; + spi.bits_per_word = spiBPW ; + + ioctl (spiFd, SPI_IOC_MESSAGE(1), &spi) ; + + return rx [2] ; +} + + +/* + * digitalWritePiFace: + * Perform the digitalWrite function on the PiFace board + ********************************************************************************* + */ + +void digitalWritePiFace (int pin, int value) +{ + uint8_t mask = 1 << pin ; + + if (value == 0) + dataOutRegister &= (~mask) ; + else + dataOutRegister |= mask ; + + writeByte (GPIOA, dataOutRegister) ; +} + + +void digitalWritePiFaceSpecial (int pin, int value) +{ + uint8_t mask = 1 << pin ; + uint8_t old ; + + old = readByte (GPIOA) ; + + if (value == 0) + old &= (~mask) ; + else + old |= mask ; + + writeByte (GPIOA, old) ; +} + + +/* + * digitalReadPiFace: + * Perform the digitalRead function on the PiFace board + ********************************************************************************* + */ + +int digitalReadPiFace (int pin) +{ + uint8_t mask = 1 << pin ; + + if ((readByte (GPIOB) & mask) != 0) + return HIGH ; + else + return LOW ; +} + + +/* + * pullUpDnControlPiFace: + * Perform the pullUpDnControl function on the PiFace board + ********************************************************************************* + */ + +void pullUpDnControlPiFace (int pin, int pud) +{ + uint8_t mask = 1 << pin ; + + if (pud == PUD_UP) + pudRegister |= mask ; + else + pudRegister &= (~mask) ; + + writeByte (GPPUB, pudRegister) ; + +} + + +void pullUpDnControlPiFaceSpecial (int pin, int pud) +{ + uint8_t mask = 1 << pin ; + uint8_t old ; + + old = readByte (GPPUB) ; + + if (pud == PUD_UP) + old |= mask ; + else + old &= (~mask) ; + + writeByte (GPPUB, old) ; + +} + + + +/* + * Dummy functions that are not used in this mode + ********************************************************************************* + */ + +void pinModePiFace (int pin, int mode) {} +void pwmWritePiFace (int pin, int value) {} +int waitForInterruptPiFace (int pin, int mS) { return 0 ; } + + +/* + * wiringPiSetupPiFace + * Setup the SPI interface and initialise the MCP23S17 chip + ********************************************************************************* + */ + +static int _wiringPiSetupPiFace (void) +{ + if ((spiFd = open (spiDevice, O_RDWR)) < 0) + return -1 ; + +// Set SPI parameters +// Why are we doing a read after write? +// I don't know - just blindliy copying an example elsewhere... -GH- + + if (ioctl (spiFd, SPI_IOC_WR_MODE, &spiMode) < 0) + return -1 ; + + if (ioctl (spiFd, SPI_IOC_RD_MODE, &spiMode) < 0) + return -1 ; + + if (ioctl (spiFd, SPI_IOC_WR_BITS_PER_WORD, &spiBPW) < 0) + return -1 ; + + if (ioctl (spiFd, SPI_IOC_RD_BITS_PER_WORD, &spiBPW) < 0) + return -1 ; + + if (ioctl (spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed) < 0) + return -1 ; + + if (ioctl (spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &spiSpeed) < 0) + return -1 ; + +// Setup the MCP23S17 + + writeByte (IOCON, IOCON_INIT) ; + + writeByte (IODIRA, 0x00) ; // Port A -> Outputs + writeByte (IODIRB, 0xFF) ; // Port B -> Inputs + + return 0 ; +} + + +int wiringPiSetupPiFace (void) +{ + int x = _wiringPiSetupPiFace () ; + + if (x != 0) + return x ; + + writeByte (GPIOA, 0x00) ; // Set all outptus off + writeByte (GPPUB, 0x00) ; // Disable any pull-ups on port B + + pinMode = pinModePiFace ; + pullUpDnControl = pullUpDnControlPiFace ; + digitalWrite = digitalWritePiFace ; + pwmWrite = pwmWritePiFace ; + digitalRead = digitalReadPiFace ; + waitForInterrupt = waitForInterruptPiFace ; + + return 0 ; +} + + +/* + * wiringPiSetupPiFaceForGpioProg: + * Setup the SPI interface and initialise the MCP23S17 chip + * Special version for the gpio program + ********************************************************************************* + */ + + +int wiringPiSetupPiFaceForGpioProg (void) +{ + int x = _wiringPiSetupPiFace () ; + + if (x != 0) + return x ; + + pinMode = pinModePiFace ; + pullUpDnControl = pullUpDnControlPiFaceSpecial ; + digitalWrite = digitalWritePiFaceSpecial ; + pwmWrite = pwmWritePiFace ; + digitalRead = digitalReadPiFace ; + waitForInterrupt = waitForInterruptPiFace ; + + return 0 ; +} diff --git a/wiringPi/wiringSerial.c b/wiringPi/wiringSerial.c new file mode 100644 index 0000000..b401894 --- /dev/null +++ b/wiringPi/wiringSerial.c @@ -0,0 +1,218 @@ +/* + * wiringSerial.c: + * Handle a serial port + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#undef DEBUG + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "wiringSerial.h" + +/* + * serialOpen: + * Open and initialise the serial port, setting all the right + * port parameters - or as many as are required - hopefully! + ********************************************************************************* + */ + +int serialOpen (char *device, int baud) +{ + struct termios options ; + speed_t myBaud ; + int status, fd ; + +#ifdef DEBUG + printf ("openSerialPort: <%s> baud: $d\n", device, baud) ; +#endif + + switch (baud) + { + case 50: myBaud = B50 ; break ; + case 75: myBaud = B75 ; break ; + case 110: myBaud = B110 ; break ; + case 134: myBaud = B134 ; break ; + case 150: myBaud = B150 ; break ; + case 200: myBaud = B200 ; break ; + case 300: myBaud = B300 ; break ; + case 600: myBaud = B600 ; break ; + case 1200: myBaud = B1200 ; break ; + case 1800: myBaud = B1800 ; break ; + case 2400: myBaud = B2400 ; break ; + case 9600: myBaud = B9600 ; break ; + case 19200: myBaud = B19200 ; break ; + case 38400: myBaud = B38400 ; break ; + case 57600: myBaud = B57600 ; break ; + case 115200: myBaud = B115200 ; break ; + case 230400: myBaud = B230400 ; break ; + + default: + return -2 ; + } + + if ((fd = open (device, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK)) == -1) + return -1 ; + + fcntl (fd, F_SETFL, O_RDWR) ; + +// Get and modify current options: + + tcgetattr (fd, &options) ; + + cfmakeraw (&options) ; + cfsetispeed (&options, myBaud) ; + cfsetospeed (&options, myBaud) ; + + options.c_cflag |= (CLOCAL | CREAD) ; + options.c_cflag &= ~PARENB ; + options.c_cflag &= ~CSTOPB ; + options.c_cflag &= ~CSIZE ; + options.c_cflag |= CS8 ; + options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG) ; + options.c_oflag &= ~OPOST ; + + options.c_cc [VMIN] = 0 ; + options.c_cc [VTIME] = 100 ; // Ten seconds (100 deciseconds) + + tcsetattr (fd, TCSANOW | TCSAFLUSH, &options) ; + + ioctl (fd, TIOCMGET, &status); + + status |= TIOCM_DTR ; + status |= TIOCM_RTS ; + + ioctl (fd, TIOCMSET, &status); + + usleep (10000) ; // 10mS + + return fd ; +} + + +/* + * serialFlush: + * Flush the serial buffers (both tx & rx) + ********************************************************************************* + */ + +void serialFlush (int fd) +{ + tcflush (fd, TCIOFLUSH) ; +} + + +/* + * serialClose: + * Release the serial port + ********************************************************************************* + */ + +void serialClose (int fd) +{ + close (fd) ; +} + + +/* + * serialPutchar: + * Send a single character to the serial port + ********************************************************************************* + */ + +void serialPutchar (int fd, unsigned char c) +{ + write (fd, &c, 1) ; +} + + +/* + * serialPuts: + * Send a string to the serial port + ********************************************************************************* + */ + +void serialPuts (int fd, char *s) +{ + write (fd, s, strlen (s)) ; +} + +/* + * serialPrintf: + * Printf over Serial + ********************************************************************************* + */ + +void serialPrintf (int fd, char *message, ...) +{ + va_list argp ; + char buffer [1024] ; + + va_start (argp, message) ; + vsnprintf (buffer, 1023, message, argp) ; + va_end (argp) ; + + serialPuts (fd, buffer) ; +} + + +/* + * serialDataAvail: + * Return the number of bytes of data avalable to be read in the serial port + ********************************************************************************* + */ + +int serialDataAvail (int fd) +{ + int result ; + + if (ioctl (fd, FIONREAD, &result) == -1) + return -1 ; + + return result ; +} + + +/* + * serialGetchar: + * Get a single character from the serial device. + * Note: Zero is a valid character and this function will time-out after + * 10 seconds. + ********************************************************************************* + */ + +int serialGetchar (int fd) +{ + uint8_t x ; + + if (read (fd, &x, 1) != 1) + return -1 ; + + return ((int)x) & 0xFF ; +} diff --git a/wiringPi/wiringSerial.h b/wiringPi/wiringSerial.h new file mode 100644 index 0000000..1a4198c --- /dev/null +++ b/wiringPi/wiringSerial.h @@ -0,0 +1,38 @@ +/* + * wiringSerial.h: + * Handle a serial port + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#ifdef __cplusplus +extern "C" { +#endif + +extern int serialOpen (char *device, int baud) ; +extern void serialClose (int fd) ; +extern void serialFlush (int fd) ; +extern void serialPutchar (int fd, unsigned char c) ; +extern void serialPuts (int fd, char *s) ; +extern void serialPrintf (int fd, char *message, ...) ; +extern int serialDataAvail (int fd) ; +extern int serialGetchar (int fd) ; + +#ifdef __cplusplus +} +#endif diff --git a/wiringPi/wiringShift.c b/wiringPi/wiringShift.c new file mode 100644 index 0000000..b9b7a44 --- /dev/null +++ b/wiringPi/wiringShift.c @@ -0,0 +1,84 @@ +/* + * wiringShift.c: + * Emulate some of the Arduino wiring functionality. + * + * Copyright (c) 2009-2012 Gordon Henderson. + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#include + +#include "wiringPi.h" +#include "wiringShift.h" + +/* + * shiftIn: + * Shift data in from a clocked source + ********************************************************************************* + */ + +uint8_t shiftIn (uint8_t dPin, uint8_t cPin, uint8_t order) +{ + uint8_t value = 0 ; + int8_t i ; + + if (order == MSBFIRST) + for (i = 7 ; i >= 0 ; --i) + { + digitalWrite (cPin, HIGH) ; + value |= digitalRead (dPin) << i ; + digitalWrite (cPin, LOW) ; + } + else + for (i = 0 ; i < 8 ; ++i) + { + digitalWrite (cPin, HIGH) ; + value |= digitalRead (dPin) << i ; + digitalWrite (cPin, LOW) ; + } + + return value; +} + + +/* + * shiftOut: + * Shift data out to a clocked source + ********************************************************************************* + */ + +void shiftOut (uint8_t dPin, uint8_t cPin, uint8_t order, uint8_t val) +{ + int8_t i; + + if (order == MSBFIRST) + for (i = 7 ; i >= 0 ; --i) + { + digitalWrite (dPin, val & (1 << i)) ; + digitalWrite (cPin, HIGH) ; + digitalWrite (cPin, LOW) ; + } + else + for (i = 0 ; i < 8 ; ++i) + { + digitalWrite (dPin, val & (1 << i)) ; + digitalWrite (cPin, HIGH) ; + digitalWrite (cPin, LOW) ; + } +} diff --git a/wiringPi/wiringShift.h b/wiringPi/wiringShift.h new file mode 100644 index 0000000..a3f4581 --- /dev/null +++ b/wiringPi/wiringShift.h @@ -0,0 +1,41 @@ +/* + * wiringShift.h: + * Emulate some of the Arduino wiring functionality. + * + * Copyright (c) 2009-2012 Gordon Henderson. + *********************************************************************** + * This file is part of wiringPi: + * https://projects.drogon.net/raspberry-pi/wiringpi/ + * + * wiringPi is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#define LSBFIRST 0 +#define MSBFIRST 1 + +#ifndef _STDINT_H +# include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +extern uint8_t shiftIn (uint8_t dPin, uint8_t cPin, uint8_t order) ; +extern void shiftOut (uint8_t dPin, uint8_t cPin, uint8_t order, uint8_t val) ; + +#ifdef __cplusplus +} +#endif