#include <string.h>
#include <time.h>
#include <fcntl.h>
+#include <pthread.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/types.h>
#include <sys/stat.h>
+#include <sys/wait.h>
#include "wiringPi.h"
static volatile uint32_t *timer ;
static volatile uint32_t *timerIrqRaw ;
+// Time for easy calculations
+
+static unsigned long long epoch ;
+
+// Misc
+
+static int wiringPiMode = WPI_MODE_UNINITIALISED ;
+
// Debugging
-static int wiringPiDebug = FALSE ;
+int wiringPiDebug = FALSE ;
// The BCM2835 has 54 GPIO pins.
// BCM2835 data sheet, Page 90 onwards.
static int sysFds [64] ;
+// ISR Data
+
+static void (*isrFunctions [64])(void) ;
+
+
// Doing it the Arduino way with lookup tables...
// Yes, it's probably more innefficient than all the bit-twidling, but it
// does tend to make it all a bit clearer. At least to me!
} ;
-// Time for easy calculations
-
-static unsigned long long epoch ;
-
/*
* Functions
*********************************************************************************
*********************************************************************************
*/
+static void piBoardRevOops (char *why)
+{
+ fprintf (stderr, "piBoardRev: Unable to determine board revision from /proc/cpuinfo\n") ;
+ fprintf (stderr, " -> %s\n", why) ;
+ fprintf (stderr, " -> You may want to check:\n") ;
+ fprintf (stderr, " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410\n") ;
+ exit (EXIT_FAILURE) ;
+}
+
int piBoardRev (void)
{
FILE *cpuFd ;
fclose (cpuFd) ;
if (line == NULL)
- {
- fprintf (stderr, "piBoardRev: Unable to determine board revision from /proc/cpuinfo\n") ;
- fprintf (stderr, " (No \"Revision\" line)\n") ;
- errno = 0 ;
- return -1 ;
- }
+ piBoardRevOops ("No \"Revision\" line") ;
+
+ line [strlen (line) - 1] = 0 ; // Chomp LF
+ if (wiringPiDebug)
+ printf ("piboardRev: Revision string: %s\n", line) ;
+
for (c = line ; *c ; ++c)
if (isdigit (*c))
break ;
if (!isdigit (*c))
- {
- fprintf (stderr, "piBoardRev: Unable to determine board revision from /proc/cpuinfo\n") ;
- fprintf (stderr, " (No numeric revision string in: \"%s\"\n", line) ;
- errno = 0 ;
- return -1 ;
- }
+ piBoardRevOops ("No numeric revision string") ;
// If you have overvolted the Pi, then it appears that the revision
// has 100000 added to it!
if (strlen (c) != 4)
printf ("piboardRev: This Pi has/is overvolted!\n") ;
- lastChar = c [strlen (c) - 2] ;
+ lastChar = line [strlen (line) - 1] ;
+
+ if (wiringPiDebug)
+ printf ("piboardRev: lastChar is: '%c' (%d, 0x%02X)\n", lastChar, lastChar, lastChar) ;
/**/ if ((lastChar == '2') || (lastChar == '3'))
boardRev = 1 ;
else
boardRev = 2 ;
-#ifdef DO_WE_CARE_ABOUT_THIS_NOW
- else
- {
- fprintf (stderr, "WARNING: wiringPi: Unable to determine board revision from \"%d\"\n", r) ;
- fprintf (stderr, " -> You may want to check:\n") ;
- fprintf (stderr, " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410\n") ;
- fprintf (stderr, " -> Assuming a Rev 1 board\n") ;
- boardRev = 1 ;
- }
-#endif
-
if (wiringPiDebug)
- printf ("piboardRev: Revision string: %s, board revision: %d\n", c, boardRev) ;
+ printf ("piBoardRev: Returning revision: %d\n", boardRev) ;
return boardRev ;
}
else
pinSet |= (1 << pinToGpio [pin]) ;
- *(gpio + gpioToGPCLR [0]) = pinClr ;
- *(gpio + gpioToGPSET [0]) = pinSet ;
-
mask <<= 1 ;
}
+
+ *(gpio + gpioToGPCLR [0]) = pinClr ;
+ *(gpio + gpioToGPSET [0]) = pinSet ;
}
void digitalWriteByteSys (int value)
}
+/*
+ * interruptHandler:
+ * This is a thread and gets started to wait for the interrupt we're
+ * hoping to catch. It will call the user-function when the interrupt
+ * fires.
+ *********************************************************************************
+ */
+
+static void *interruptHandler (void *arg)
+{
+ int myPin = *(int *)arg ;
+
+ (void)piHiPri (55) ; // Only effective if we run as root
+
+ for (;;)
+ if (waitForInterruptSys (myPin, -1) > 0)
+ isrFunctions [myPin] () ;
+
+ return NULL ;
+}
+
+
+/*
+ * wiringPiISR:
+ * Take the details and create an interrupt handler that will do a call-
+ * back to the user supplied function.
+ *********************************************************************************
+ */
+
+int wiringPiISR (int pin, int mode, void (*function)(void))
+{
+ pthread_t threadId ;
+ char fName [64] ;
+ char *modeS ;
+ char pinS [8] ;
+ pid_t pid ;
+
+ pin &= 63 ;
+
+ if (wiringPiMode == WPI_MODE_UNINITIALISED)
+ {
+ fprintf (stderr, "wiringPiISR: wiringPi has not been initialised. Unable to continue.\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+ else if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+
+// Now export the pin and set the right edge
+// We're going to use the gpio program to do this, so it assumes
+// a full installation of wiringPi. It's a bit 'clunky', but it
+// is a way that will work when we're running in "Sys" mode, as
+// a non-root user. (without sudo)
+
+ if (mode != INT_EDGE_SETUP)
+ {
+ /**/ if (mode == INT_EDGE_FALLING)
+ modeS = "falling" ;
+ else if (mode == INT_EDGE_RISING)
+ modeS = "rising" ;
+ else
+ modeS = "both" ;
+
+ sprintf (pinS, "%d", pin) ;
+
+ if ((pid = fork ()) < 0) // Fail
+ return pid ;
+
+ if (pid == 0) // Child, exec
+ {
+ execl ("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
+ return -1 ; // Failure ...
+ }
+ else // Parent, wait
+ wait (NULL) ;
+ }
+
+// Now pre-open the /sys/class node - it may already be open if
+// we had set it up earlier, but this will do no harm.
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
+ if ((sysFds [pin] = open (fName, O_RDWR)) < 0)
+ return -1 ;
+
+ isrFunctions [pin] = function ;
+
+ pthread_create (&threadId, NULL, interruptHandler, &pin) ;
+
+ delay (1) ;
+
+ return 0 ;
+}
+
+
/*
* delay:
* Wait for some number of milli seconds
uint8_t *gpioMem, *pwmMem, *clkMem, *padsMem, *timerMem ;
struct timeval tv ;
+ if (geteuid () != 0)
+ {
+ fprintf (stderr, "Must be root to call wiringPiSetup(). (Did you forget sudo?)\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+
if (getenv ("WIRINGPI_DEBUG") != NULL)
+ {
+ printf ("wiringPi: Debug mode enabled\n") ;
wiringPiDebug = TRUE ;
+ }
if (wiringPiDebug)
printf ("wiringPi: wiringPiSetup called\n") ;
pwmSetRange = pwmSetRangeWPi ;
pwmSetClock = pwmSetClockWPi ;
- if ((boardRev = piBoardRev ()) < 0)
- return -1 ;
+ boardRev = piBoardRev () ;
if (boardRev == 1)
pinToGpio = pinToGpioR1 ;
if ((gpioMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
- fprintf (stderr, "wiringPiSetup: malloc failed: %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
if ((int32_t)gpio < 0)
{
- fprintf (stderr, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ;
return -1 ;
}
if ((pwmMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
- fprintf (stderr, "wiringPiSetup: pwmMem malloc failed: %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: pwmMem malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
if ((int32_t)pwm < 0)
{
- fprintf (stderr, "wiringPiSetup: mmap failed (pwm): %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: mmap failed (pwm): %s\n", strerror (errno)) ;
return -1 ;
}
if ((clkMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
- fprintf (stderr, "wiringPiSetup: clkMem malloc failed: %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: clkMem malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
if ((int32_t)clk < 0)
{
- fprintf (stderr, "wiringPiSetup: mmap failed (clk): %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: mmap failed (clk): %s\n", strerror (errno)) ;
return -1 ;
}
if ((padsMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
- fprintf (stderr, "wiringPiSetup: padsMem malloc failed: %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: padsMem malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
if ((int32_t)pads < 0)
{
- fprintf (stderr, "wiringPiSetup: mmap failed (pads): %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: mmap failed (pads): %s\n", strerror (errno)) ;
return -1 ;
}
if ((timerMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
- fprintf (stderr, "wiringPiSetup: timerMem malloc failed: %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: timerMem malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
if ((int32_t)timer < 0)
{
- fprintf (stderr, "wiringPiSetup: mmap failed (timer): %s\n", strerror (errno)) ;
+ if (wiringPiDebug)
+ fprintf (stderr, "wiringPiSetup: mmap failed (timer): %s\n", strerror (errno)) ;
return -1 ;
}
gettimeofday (&tv, NULL) ;
epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
+ wiringPiMode = WPI_MODE_PINS ;
+
return 0 ;
}
{
int x ;
- if (wiringPiDebug)
- printf ("wiringPi: wiringPiSetupGpio called\n") ;
+ if (geteuid () != 0)
+ {
+ fprintf (stderr, "Must be root to call wiringPiSetupGpio(). (Did you forget sudo?)\n") ;
+ exit (EXIT_FAILURE) ;
+ }
if ((x = wiringPiSetup ()) < 0)
return x ;
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetupGpio called\n") ;
+
pinMode = pinModeGpio ;
pullUpDnControl = pullUpDnControlGpio ;
digitalWrite = digitalWriteGpio ;
pwmSetRange = pwmSetRangeWPi ;
pwmSetClock = pwmSetClockWPi ;
+ wiringPiMode = WPI_MODE_GPIO ;
+
return 0 ;
}
struct timeval tv ;
char fName [128] ;
+ if (getenv ("WIRINGPI_DEBUG") != NULL)
+ wiringPiDebug = TRUE ;
+
if (wiringPiDebug)
printf ("wiringPi: wiringPiSetupSys called\n") ;
pwmSetRange = pwmSetRangeSys ;
pwmSetClock = pwmSetClockSys ;
- if ((boardRev = piBoardRev ()) < 0)
- return -1 ;
+ boardRev = piBoardRev () ;
if (boardRev == 1)
pinToGpio = pinToGpioR1 ;
else
pinToGpio = pinToGpioR2 ;
-
// Open and scan the directory, looking for exported GPIOs, and pre-open
// the 'value' interface to speed things up for later
gettimeofday (&tv, NULL) ;
epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
+ wiringPiMode = WPI_MODE_GPIO_SYS ;
+
return 0 ;
}
~ianmdlvl / wiringPi.git / blobdiff