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@@ -77,6 +77,7 @@
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void (*pinMode) (int pin, int mode) ;
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void (*pullUpDnControl) (int pin, int pud) ;
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void (*digitalWrite) (int pin, int value) ;
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+void (*digitalWriteByte) (int value) ;
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void (*pwmWrite) (int pin, int value) ;
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void (*setPadDrive) (int group, int value) ;
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int (*digitalRead) (int pin) ;
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@@ -399,15 +400,15 @@ int wpiPinToGpio (int wpiPin)
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* Revision is currently 1 or 2. -1 is returned on error.
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*
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* Much confusion here )-:
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- * Seems there ar esome boards with 0000 in them (mistake in manufacture)
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- * and some board with 0005 in them (another mistake in manufacture).
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+ * Seems there are some boards with 0000 in them (mistake in manufacture)
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+ * and some board with 0005 in them (another mistake in manufacture?)
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* So the distinction between boards that I can see is:
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* 0000 - Error
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* 0001 - Not used
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* 0002 - Rev 1
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* 0003 - Rev 1
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* 0004 - Rev 2
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- * 0005 - Rev 2
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+ * 0005 - Rev 2 (but error)
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* 0006 - Rev 2
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* 000f - Rev 2 + 512MB
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*
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@@ -499,6 +500,8 @@ int piBoardRev (void)
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void pinModeGpio (int pin, int mode)
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{
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+// register int barrier ;
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+
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int fSel, shift, alt ;
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pin &= 63 ;
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@@ -519,30 +522,40 @@ void pinModeGpio (int pin, int mode)
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*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
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+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
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+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
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+
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// Page 107 of the BCM Peripherals manual talks about the GPIO clocks,
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// but I'm assuming (hoping!) that this applies to other clocks too.
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*(pwm + PWM_CONTROL) = 0 ; // Stop PWM
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+
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*(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
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- delayMicroseconds (110) ; // See comments in pwmSetClockWPi
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+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
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- (void)*(pwm + PWM_CONTROL) ;
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- while ((*(pwm + PWM_CONTROL) & 0x80) != 0) // Wait for clock to be !BUSY
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+ while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY
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delayMicroseconds (1) ;
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*(clk + PWMCLK_DIV) = BCM_PASSWORD | (32 << 12) ; // set pwm div to 32 (19.2/32 = 600KHz)
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*(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x11 ; // enable clk
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-// Default range regsiter of 1024
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+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
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+
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+// Default range register of 1024
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- *(pwm + PWM0_DATA) = 0 ; *(pwm + PWM0_RANGE) = 1024 ;
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- *(pwm + PWM1_DATA) = 0 ; *(pwm + PWM1_RANGE) = 1024 ;
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+ *(pwm + PWM0_RANGE) = 1024 ; delayMicroseconds (10) ;
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+ *(pwm + PWM1_RANGE) = 1024 ; delayMicroseconds (10) ;
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+ *(pwm + PWM0_DATA) = 0 ; delayMicroseconds (10) ;
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+ *(pwm + PWM1_DATA) = 0 ; delayMicroseconds (10) ;
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// Enable PWMs in balanced mode (default)
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*(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ;
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+
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+ delay (100) ;
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}
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+
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// When we change mode of any pin, we remove the pull up/downs
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// Or we used to... Hm. Commented out now because for some wieird reason,
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// it seems to block subsequent attempts to set the pull up/downs and I've
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@@ -629,7 +642,7 @@ void pwmSetClockWPi (int divisor)
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*(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
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delayMicroseconds (110) ; // prevents clock going sloooow
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- while ((*(pwm + PWM_CONTROL) & 0x80) != 0) // Wait for clock to be !BUSY
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+ while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY
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delayMicroseconds (1) ;
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*(clk + PWMCLK_DIV) = BCM_PASSWORD | (divisor << 12) ;
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@@ -704,6 +717,50 @@ void digitalWriteSys (int pin, int value)
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}
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+/*
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+ * digitalWriteByte:
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+ * Write an 8-bit byte to the first 8 GPIO pins - try to do it as
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+ * fast as possible.
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+ * However it still needs 2 operations to set the bits, so any external
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+ * hardware must not rely on seeing a change as there will be a change
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+ * to set the outputs bits to zero, then another change to set the 1's
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+ *********************************************************************************
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+ */
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+
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+void digitalWriteByteGpio (int value)
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+{
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+ uint32_t pinSet = 0 ;
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+ uint32_t pinClr = 0 ;
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+ int mask = 1 ;
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+ int pin ;
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+
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+ for (pin = 0 ; pin < 8 ; ++pin)
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+ {
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+ if ((value & mask) == 0)
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+ pinClr |= (1 << pinToGpio [pin]) ;
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+ else
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+ pinSet |= (1 << pinToGpio [pin]) ;
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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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+ mask <<= 1 ;
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+ }
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+}
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+
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+void digitalWriteByteSys (int value)
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+{
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+ int mask = 1 ;
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+ int pin ;
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+
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+ for (pin = 0 ; pin < 8 ; ++pin)
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+ {
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+ digitalWriteSys (pinToGpio [pin], value & mask) ;
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+ mask <<= 1 ;
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+ }
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+}
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+
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+
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/*
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* pwmWrite:
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* Set an output PWM value
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@@ -915,6 +972,9 @@ void delay (unsigned int howLong)
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* somewhat sub-optimal in that it uses 100% CPU, something not an issue
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* in a microcontroller, but under a multi-tasking, multi-user OS, it's
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* wastefull, however we've no real choice )-:
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+ *
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+ * Plan B: It seems all might not be well with that plan, so changing it
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+ * to use gettimeofday () and poll on that instead...
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*********************************************************************************
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*/
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@@ -930,16 +990,31 @@ void delayMicrosecondsSys (unsigned int howLong)
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void delayMicrosecondsHard (unsigned int howLong)
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{
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+#ifdef HARD_TIMER
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+ volatile unsigned int dummy ;
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+
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*(timer + TIMER_LOAD) = howLong ;
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*(timer + TIMER_IRQ_CLR) = 0 ;
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- while (*timerIrqRaw == 0)
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- ;
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+ dummy = *timerIrqRaw ;
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+ while (dummy == 0)
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+ dummy = *timerIrqRaw ;
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+#else
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+ struct timeval tNow, tLong, tEnd ;
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+
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+ gettimeofday (&tNow, NULL) ;
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+ tLong.tv_sec = howLong / 1000000 ;
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+ tLong.tv_usec = howLong % 1000000 ;
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+ timeradd (&tNow, &tLong, &tEnd) ;
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+
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+ while (timercmp (&tNow, &tEnd, <))
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+ gettimeofday (&tNow, NULL) ;
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+#endif
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}
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void delayMicrosecondsWPi (unsigned int howLong)
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{
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- struct timespec sleeper, dummy ;
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+ struct timespec sleeper ;
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/**/ if (howLong == 0)
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return ;
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@@ -949,7 +1024,7 @@ void delayMicrosecondsWPi (unsigned int howLong)
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{
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sleeper.tv_sec = 0 ;
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sleeper.tv_nsec = (long)(howLong * 1000) ;
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- nanosleep (&sleeper, &dummy) ;
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+ nanosleep (&sleeper, NULL) ;
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}
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}
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@@ -998,6 +1073,7 @@ int wiringPiSetup (void)
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pinMode = pinModeWPi ;
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pullUpDnControl = pullUpDnControlWPi ;
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digitalWrite = digitalWriteWPi ;
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+ digitalWriteByte = digitalWriteByteGpio ; // Same code
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pwmWrite = pwmWriteWPi ;
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setPadDrive = setPadDriveWPi ;
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digitalRead = digitalReadWPi ;
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@@ -1166,6 +1242,7 @@ int wiringPiSetupGpio (void)
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pinMode = pinModeGpio ;
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pullUpDnControl = pullUpDnControlGpio ;
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digitalWrite = digitalWriteGpio ;
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+ digitalWriteByte = digitalWriteByteGpio ;
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pwmWrite = pwmWriteGpio ;
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setPadDrive = setPadDriveGpio ;
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digitalRead = digitalReadGpio ;
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@@ -1190,6 +1267,7 @@ int wiringPiSetupGpio (void)
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int wiringPiSetupSys (void)
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{
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+ int boardRev ;
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int pin ;
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struct timeval tv ;
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char fName [128] ;
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@@ -1200,6 +1278,7 @@ int wiringPiSetupSys (void)
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pinMode = pinModeSys ;
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pullUpDnControl = pullUpDnControlSys ;
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digitalWrite = digitalWriteSys ;
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+ digitalWriteByte = digitalWriteByteSys ;
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pwmWrite = pwmWriteSys ;
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setPadDrive = setPadDriveSys ;
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digitalRead = digitalReadSys ;
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@@ -1209,6 +1288,14 @@ int wiringPiSetupSys (void)
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pwmSetRange = pwmSetRangeSys ;
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pwmSetClock = pwmSetClockSys ;
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+ if ((boardRev = piBoardRev ()) < 0)
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+ return -1 ;
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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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// Open and scan the directory, looking for exported GPIOs, and pre-open
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// the 'value' interface to speed things up for later
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