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@@ -65,10 +65,12 @@
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#include <string.h>
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#include <time.h>
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#include <fcntl.h>
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+#include <pthread.h>
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#include <sys/time.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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+#include <sys/wait.h>
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#include "wiringPi.h"
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@@ -173,9 +175,17 @@ static volatile uint32_t *pads ;
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static volatile uint32_t *timer ;
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static volatile uint32_t *timerIrqRaw ;
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+// Time for easy calculations
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+
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+static unsigned long long epoch ;
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+
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+// Misc
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+
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+static int wiringPiMode = WPI_MODE_UNINITIALISED ;
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+
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// Debugging
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-static int wiringPiDebug = FALSE ;
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+int wiringPiDebug = FALSE ;
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// The BCM2835 has 54 GPIO pins.
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// BCM2835 data sheet, Page 90 onwards.
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@@ -200,6 +210,11 @@ static int wiringPiDebug = FALSE ;
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static int sysFds [64] ;
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+// ISR Data
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+
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+static void (*isrFunctions [64])(void) ;
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+
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+
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// Doing it the Arduino way with lookup tables...
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// Yes, it's probably more innefficient than all the bit-twidling, but it
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// does tend to make it all a bit clearer. At least to me!
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@@ -370,10 +385,6 @@ static uint8_t gpioToPwmPort [] =
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} ;
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-// Time for easy calculations
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-
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-static unsigned long long epoch ;
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-
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/*
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* Functions
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*********************************************************************************
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@@ -418,6 +429,15 @@ int wpiPinToGpio (int wpiPin)
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*********************************************************************************
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*/
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+static void piBoardRevOops (char *why)
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+{
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+ fprintf (stderr, "piBoardRev: Unable to determine board revision from /proc/cpuinfo\n") ;
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+ fprintf (stderr, " -> %s\n", why) ;
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+ fprintf (stderr, " -> You may want to check:\n") ;
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+ fprintf (stderr, " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410\n") ;
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+ exit (EXIT_FAILURE) ;
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+}
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+
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int piBoardRev (void)
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{
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FILE *cpuFd ;
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@@ -440,24 +460,19 @@ int piBoardRev (void)
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fclose (cpuFd) ;
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if (line == NULL)
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- {
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- fprintf (stderr, "piBoardRev: Unable to determine board revision from /proc/cpuinfo\n") ;
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- fprintf (stderr, " (No \"Revision\" line)\n") ;
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- errno = 0 ;
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- return -1 ;
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- }
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+ piBoardRevOops ("No \"Revision\" line") ;
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+
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+ line [strlen (line) - 1] = 0 ; // Chomp LF
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+ if (wiringPiDebug)
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+ printf ("piboardRev: Revision string: %s\n", line) ;
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+
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for (c = line ; *c ; ++c)
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if (isdigit (*c))
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break ;
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if (!isdigit (*c))
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- {
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- fprintf (stderr, "piBoardRev: Unable to determine board revision from /proc/cpuinfo\n") ;
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- fprintf (stderr, " (No numeric revision string in: \"%s\"\n", line) ;
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- errno = 0 ;
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- return -1 ;
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- }
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+ piBoardRevOops ("No numeric revision string") ;
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// If you have overvolted the Pi, then it appears that the revision
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// has 100000 added to it!
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@@ -466,26 +481,18 @@ int piBoardRev (void)
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if (strlen (c) != 4)
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printf ("piboardRev: This Pi has/is overvolted!\n") ;
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- lastChar = c [strlen (c) - 2] ;
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+ lastChar = line [strlen (line) - 1] ;
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+
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+ if (wiringPiDebug)
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+ printf ("piboardRev: lastChar is: '%c' (%d, 0x%02X)\n", lastChar, lastChar, lastChar) ;
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/**/ if ((lastChar == '2') || (lastChar == '3'))
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boardRev = 1 ;
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else
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boardRev = 2 ;
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-#ifdef DO_WE_CARE_ABOUT_THIS_NOW
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- else
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- {
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- fprintf (stderr, "WARNING: wiringPi: Unable to determine board revision from \"%d\"\n", r) ;
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- fprintf (stderr, " -> You may want to check:\n") ;
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- fprintf (stderr, " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410\n") ;
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- fprintf (stderr, " -> Assuming a Rev 1 board\n") ;
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- boardRev = 1 ;
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- }
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-#endif
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-
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if (wiringPiDebug)
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- printf ("piboardRev: Revision string: %s, board revision: %d\n", c, boardRev) ;
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+ printf ("piBoardRev: Returning revision: %d\n", boardRev) ;
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return boardRev ;
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}
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@@ -741,11 +748,11 @@ void digitalWriteByteGpio (int value)
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else
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pinSet |= (1 << pinToGpio [pin]) ;
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- *(gpio + gpioToGPCLR [0]) = pinClr ;
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- *(gpio + gpioToGPSET [0]) = pinSet ;
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-
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mask <<= 1 ;
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}
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+
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+ *(gpio + gpioToGPCLR [0]) = pinClr ;
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+ *(gpio + gpioToGPSET [0]) = pinSet ;
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}
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void digitalWriteByteSys (int value)
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@@ -943,6 +950,99 @@ int waitForInterruptGpio (int pin, int mS)
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}
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+/*
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+ * interruptHandler:
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+ * This is a thread and gets started to wait for the interrupt we're
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+ * hoping to catch. It will call the user-function when the interrupt
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+ * fires.
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+ *********************************************************************************
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+ */
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+
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+static void *interruptHandler (void *arg)
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+{
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+ int myPin = *(int *)arg ;
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+
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+ (void)piHiPri (55) ; // Only effective if we run as root
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+
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+ for (;;)
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+ if (waitForInterruptSys (myPin, -1) > 0)
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+ isrFunctions [myPin] () ;
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+
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+ return NULL ;
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+}
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+
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+
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+/*
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+ * wiringPiISR:
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+ * Take the details and create an interrupt handler that will do a call-
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+ * back to the user supplied function.
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+ *********************************************************************************
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+ */
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+
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+int wiringPiISR (int pin, int mode, void (*function)(void))
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+{
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+ pthread_t threadId ;
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+ char fName [64] ;
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+ char *modeS ;
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+ char pinS [8] ;
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+ pid_t pid ;
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+
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+ pin &= 63 ;
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+
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+ if (wiringPiMode == WPI_MODE_UNINITIALISED)
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+ {
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+ fprintf (stderr, "wiringPiISR: wiringPi has not been initialised. Unable to continue.\n") ;
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+ exit (EXIT_FAILURE) ;
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+ }
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+ else if (wiringPiMode == WPI_MODE_PINS)
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+ pin = pinToGpio [pin] ;
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+
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+// Now export the pin and set the right edge
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+// We're going to use the gpio program to do this, so it assumes
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+// a full installation of wiringPi. It's a bit 'clunky', but it
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+// is a way that will work when we're running in "Sys" mode, as
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+// a non-root user. (without sudo)
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+
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+ if (mode != INT_EDGE_SETUP)
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+ {
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+ /**/ if (mode == INT_EDGE_FALLING)
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+ modeS = "falling" ;
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+ else if (mode == INT_EDGE_RISING)
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+ modeS = "rising" ;
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+ else
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+ modeS = "both" ;
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+
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+ sprintf (pinS, "%d", pin) ;
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+
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+ if ((pid = fork ()) < 0) // Fail
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+ return pid ;
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+
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+ if (pid == 0) // Child, exec
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+ {
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+ execl ("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
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+ return -1 ; // Failure ...
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+ }
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+ else // Parent, wait
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+ wait (NULL) ;
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+ }
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+
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+// Now pre-open the /sys/class node - it may already be open if
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+// we had set it up earlier, but this will do no harm.
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+
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+ sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
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+ if ((sysFds [pin] = open (fName, O_RDWR)) < 0)
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+ return -1 ;
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+
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+ isrFunctions [pin] = function ;
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+
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+ pthread_create (&threadId, NULL, interruptHandler, &pin) ;
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+
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+ delay (1) ;
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+
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+ return 0 ;
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+}
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+
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+
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/*
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* delay:
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* Wait for some number of milli seconds
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@@ -1064,8 +1164,17 @@ int wiringPiSetup (void)
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uint8_t *gpioMem, *pwmMem, *clkMem, *padsMem, *timerMem ;
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struct timeval tv ;
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+ if (geteuid () != 0)
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+ {
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+ fprintf (stderr, "Must be root to call wiringPiSetup(). (Did you forget sudo?)\n") ;
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+ exit (EXIT_FAILURE) ;
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+ }
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+
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if (getenv ("WIRINGPI_DEBUG") != NULL)
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+ {
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+ printf ("wiringPi: Debug mode enabled\n") ;
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wiringPiDebug = TRUE ;
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+ }
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if (wiringPiDebug)
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printf ("wiringPi: wiringPiSetup called\n") ;
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@@ -1083,8 +1192,7 @@ int wiringPiSetup (void)
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pwmSetRange = pwmSetRangeWPi ;
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pwmSetClock = pwmSetClockWPi ;
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- if ((boardRev = piBoardRev ()) < 0)
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- return -1 ;
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+ boardRev = piBoardRev () ;
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if (boardRev == 1)
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pinToGpio = pinToGpioR1 ;
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@@ -1105,7 +1213,8 @@ int wiringPiSetup (void)
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if ((gpioMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
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{
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- fprintf (stderr, "wiringPiSetup: malloc failed: %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: malloc failed: %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1118,7 +1227,8 @@ int wiringPiSetup (void)
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if ((int32_t)gpio < 0)
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{
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- fprintf (stderr, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1126,7 +1236,8 @@ int wiringPiSetup (void)
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if ((pwmMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
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{
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- fprintf (stderr, "wiringPiSetup: pwmMem malloc failed: %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: pwmMem malloc failed: %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1137,7 +1248,8 @@ int wiringPiSetup (void)
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if ((int32_t)pwm < 0)
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{
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- fprintf (stderr, "wiringPiSetup: mmap failed (pwm): %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: mmap failed (pwm): %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1145,7 +1257,8 @@ int wiringPiSetup (void)
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if ((clkMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
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{
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- fprintf (stderr, "wiringPiSetup: clkMem malloc failed: %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: clkMem malloc failed: %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1156,7 +1269,8 @@ int wiringPiSetup (void)
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if ((int32_t)clk < 0)
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{
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- fprintf (stderr, "wiringPiSetup: mmap failed (clk): %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: mmap failed (clk): %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1164,7 +1278,8 @@ int wiringPiSetup (void)
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if ((padsMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
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{
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- fprintf (stderr, "wiringPiSetup: padsMem malloc failed: %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: padsMem malloc failed: %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1175,7 +1290,8 @@ int wiringPiSetup (void)
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if ((int32_t)pads < 0)
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{
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- fprintf (stderr, "wiringPiSetup: mmap failed (pads): %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: mmap failed (pads): %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1188,7 +1304,8 @@ int wiringPiSetup (void)
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if ((timerMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
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{
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- fprintf (stderr, "wiringPiSetup: timerMem malloc failed: %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: timerMem malloc failed: %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1199,7 +1316,8 @@ int wiringPiSetup (void)
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if ((int32_t)timer < 0)
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{
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- fprintf (stderr, "wiringPiSetup: mmap failed (timer): %s\n", strerror (errno)) ;
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+ if (wiringPiDebug)
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+ fprintf (stderr, "wiringPiSetup: mmap failed (timer): %s\n", strerror (errno)) ;
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return -1 ;
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}
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@@ -1216,6 +1334,8 @@ int wiringPiSetup (void)
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gettimeofday (&tv, NULL) ;
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epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
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+ wiringPiMode = WPI_MODE_PINS ;
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+
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return 0 ;
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}
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@@ -1233,12 +1353,18 @@ int wiringPiSetupGpio (void)
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{
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int x ;
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- if (wiringPiDebug)
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- printf ("wiringPi: wiringPiSetupGpio called\n") ;
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+ if (geteuid () != 0)
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+ {
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+ fprintf (stderr, "Must be root to call wiringPiSetupGpio(). (Did you forget sudo?)\n") ;
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+ exit (EXIT_FAILURE) ;
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+ }
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if ((x = wiringPiSetup ()) < 0)
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return x ;
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+ if (wiringPiDebug)
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+ printf ("wiringPi: wiringPiSetupGpio called\n") ;
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+
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pinMode = pinModeGpio ;
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pullUpDnControl = pullUpDnControlGpio ;
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digitalWrite = digitalWriteGpio ;
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@@ -1252,6 +1378,8 @@ int wiringPiSetupGpio (void)
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pwmSetRange = pwmSetRangeWPi ;
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pwmSetClock = pwmSetClockWPi ;
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+ wiringPiMode = WPI_MODE_GPIO ;
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+
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return 0 ;
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}
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@@ -1272,6 +1400,9 @@ int wiringPiSetupSys (void)
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struct timeval tv ;
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char fName [128] ;
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+ if (getenv ("WIRINGPI_DEBUG") != NULL)
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+ wiringPiDebug = TRUE ;
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+
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if (wiringPiDebug)
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printf ("wiringPi: wiringPiSetupSys called\n") ;
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|
|
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|
@@ -1288,15 +1419,13 @@ int wiringPiSetupSys (void)
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pwmSetRange = pwmSetRangeSys ;
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|
pwmSetClock = pwmSetClockSys ;
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|
|
|
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- if ((boardRev = piBoardRev ()) < 0)
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|
- return -1 ;
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+ boardRev = piBoardRev () ;
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|
|
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if (boardRev == 1)
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|
pinToGpio = pinToGpioR1 ;
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else
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|
pinToGpio = pinToGpioR2 ;
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|
|
|
|
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-
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// Open and scan the directory, looking for exported GPIOs, and pre-open
|
|
|
// the 'value' interface to speed things up for later
|
|
|
|
|
@@ -1311,5 +1440,7 @@ int wiringPiSetupSys (void)
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|
|
gettimeofday (&tv, NULL) ;
|
|
|
epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
|
|
|
|
|
|
+ wiringPiMode = WPI_MODE_GPIO_SYS ;
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|
|
+
|
|
|
return 0 ;
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|
|
}
|