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@@ -79,6 +79,7 @@ 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 (*gpioClockSet) (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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int (*waitForInterrupt) (int pin, int mS) ;
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@@ -97,6 +98,24 @@ void (*pwmSetClock) (int divisor) ;
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#define BCM_PASSWORD 0x5A000000
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+// The BCM2835 has 54 GPIO pins.
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+// BCM2835 data sheet, Page 90 onwards.
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+// There are 6 control registers, each control the functions of a block
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+// of 10 pins.
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+// Each control register has 10 sets of 3 bits per GPIO pin - the ALT values
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+//
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+// 000 = GPIO Pin X is an input
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+// 001 = GPIO Pin X is an output
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+// 100 = GPIO Pin X takes alternate function 0
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+// 101 = GPIO Pin X takes alternate function 1
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+// 110 = GPIO Pin X takes alternate function 2
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+// 111 = GPIO Pin X takes alternate function 3
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+// 011 = GPIO Pin X takes alternate function 4
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+// 010 = GPIO Pin X takes alternate function 5
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+//
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+// So the 3 bits for port X are:
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+// X / 10 + ((X % 10) * 3)
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+
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// Port function select bits
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#define FSEL_INPT 0b000
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@@ -110,20 +129,21 @@ void (*pwmSetClock) (int divisor) ;
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#define FSEL_ALT5 0b010
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// Access from ARM Running Linux
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-// Take from Gert/Doms code. Some of this is not in the manual
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+// Taken from Gert/Doms code. Some of this is not in the manual
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// that I can find )-:
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-#define BCM2708_PERI_BASE 0x20000000
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-#define GPIO_PADS (BCM2708_PERI_BASE + 0x100000)
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-#define CLOCK_BASE (BCM2708_PERI_BASE + 0x101000)
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-#define GPIO_BASE (BCM2708_PERI_BASE + 0x200000)
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-#define GPIO_TIMER (BCM2708_PERI_BASE + 0x00B000)
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-#define GPIO_PWM (BCM2708_PERI_BASE + 0x20C000)
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+#define BCM2708_PERI_BASE 0x20000000
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+#define GPIO_PADS (BCM2708_PERI_BASE + 0x00100000)
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+#define CLOCK_BASE (BCM2708_PERI_BASE + 0x00101000)
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+#define GPIO_BASE (BCM2708_PERI_BASE + 0x00200000)
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+#define GPIO_TIMER (BCM2708_PERI_BASE + 0x0000B000)
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+#define GPIO_PWM (BCM2708_PERI_BASE + 0x0020C000)
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#define PAGE_SIZE (4*1024)
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#define BLOCK_SIZE (4*1024)
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// PWM
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+// Word offsets into the PWM control region
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#define PWM_CONTROL 0
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#define PWM_STATUS 1
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@@ -132,17 +152,11 @@ void (*pwmSetClock) (int divisor) ;
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#define PWM1_RANGE 8
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#define PWM1_DATA 9
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+// Clock regsiter offsets
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+
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#define PWMCLK_CNTL 40
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#define PWMCLK_DIV 41
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-#define PWM1_MS_MODE 0x8000 // Run in MS mode
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-#define PWM1_USEFIFO 0x2000 // Data from FIFO
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-#define PWM1_REVPOLAR 0x1000 // Reverse polarity
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-#define PWM1_OFFSTATE 0x0800 // Ouput Off state
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-#define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
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-#define PWM1_SERIAL 0x0200 // Run in serial mode
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-#define PWM1_ENABLE 0x0100 // Channel Enable
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-
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#define PWM0_MS_MODE 0x0080 // Run in MS mode
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#define PWM0_USEFIFO 0x0020 // Data from FIFO
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#define PWM0_REVPOLAR 0x0010 // Reverse polarity
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@@ -151,7 +165,16 @@ void (*pwmSetClock) (int divisor) ;
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#define PWM0_SERIAL 0x0002 // Run in serial mode
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#define PWM0_ENABLE 0x0001 // Channel Enable
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+#define PWM1_MS_MODE 0x8000 // Run in MS mode
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+#define PWM1_USEFIFO 0x2000 // Data from FIFO
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+#define PWM1_REVPOLAR 0x1000 // Reverse polarity
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+#define PWM1_OFFSTATE 0x0800 // Ouput Off state
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+#define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
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+#define PWM1_SERIAL 0x0200 // Run in serial mode
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+#define PWM1_ENABLE 0x0100 // Channel Enable
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+
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// Timer
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+// Word offsets
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#define TIMER_LOAD (0x400 >> 2)
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#define TIMER_VALUE (0x404 >> 2)
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@@ -184,24 +207,6 @@ static int wiringPiMode = WPI_MODE_UNINITIALISED ;
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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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-// There are 6 control registers, each control the functions of a block
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-// of 10 pins.
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-// Each control register has 10 sets of 3 bits per GPIO pin:
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-//
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-// 000 = GPIO Pin X is an input
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-// 001 = GPIO Pin X is an output
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-// 100 = GPIO Pin X takes alternate function 0
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-// 101 = GPIO Pin X takes alternate function 1
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-// 110 = GPIO Pin X takes alternate function 2
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-// 111 = GPIO Pin X takes alternate function 3
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-// 011 = GPIO Pin X takes alternate function 4
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-// 010 = GPIO Pin X takes alternate function 5
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-//
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-// So the 3 bits for port X are:
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-// X / 10 + ((X % 10) * 3)
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-
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// sysFds:
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// Map a file descriptor from the /sys/class/gpio/gpioX/value
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@@ -341,11 +346,14 @@ static uint8_t gpioToFEN [] =
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#endif
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-// gpioToPUDCLK
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-// (Word) offset to the Pull Up Down Clock regsiter
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+// GPPUD:
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+// GPIO Pin pull up/down register
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#define GPPUD 37
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+// gpioToPUDCLK
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+// (Word) offset to the Pull Up Down Clock regsiter
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+
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static uint8_t gpioToPUDCLK [] =
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{
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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,
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@@ -368,6 +376,9 @@ static uint8_t gpioToPwmALT [] =
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0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
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} ;
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+// gpioToPwmPort
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+// The port value to put a GPIO pin into PWM mode
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+
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static uint8_t gpioToPwmPort [] =
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{
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0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
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@@ -381,6 +392,55 @@ static uint8_t gpioToPwmPort [] =
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} ;
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+// gpioToGpClkALT:
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+// ALT value to put a GPIO pin into GP Clock mode.
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+// On the Pi we can really only use BCM_GPIO_4 and BCM_GPIO_21
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+// for clocks 0 and 1 respectivey, however I'll include the full
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+// list for completeness - maybe one day...
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+
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+#define GPIO_CLOCK_SOURCE 1
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+
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+// gpioToGpClkALT0:
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+
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+static uint8_t gpioToGpClkALT0 [] =
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+{
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+ 0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, // 0 -> 7
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+ 0, 0, 0, 0, 0, 0, 0, 0, // 8 -> 15
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+ 0, 0, 0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, // 16 -> 23
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+ 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
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+ FSEL_ALT0, 0, FSEL_ALT0, 0, 0, 0, 0, 0, // 32 -> 39
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+ 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, 0, 0, // 40 -> 47
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+ 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
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+ 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
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+} ;
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+
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+// gpioToClk:
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+// (word) Offsets to the clock Control and Divisor register
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+
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+static uint8_t gpioToClkCon [] =
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+{
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+ -1, -1, -1, -1, 28, 30, 32, -1, // 0 -> 7
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+ -1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
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+ -1, -1, -1, -1, 28, 30, -1, -1, // 16 -> 23
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+ -1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
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+ 28, -1, 28, -1, -1, -1, -1, -1, // 32 -> 39
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+ -1, -1, 28, 30, 28, -1, -1, -1, // 40 -> 47
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+ -1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
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+ -1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
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+} ;
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+
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+static uint8_t gpioToClkDiv [] =
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+{
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+ -1, -1, -1, -1, 29, 31, 33, -1, // 0 -> 7
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+ -1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
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+ -1, -1, -1, -1, 29, 31, -1, -1, // 16 -> 23
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+ -1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
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+ 29, -1, 29, -1, -1, -1, -1, -1, // 32 -> 39
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+ -1, -1, 29, 31, 29, -1, -1, -1, // 40 -> 47
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+ -1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
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+ -1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
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+} ;
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+
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/*
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* Functions
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@@ -496,93 +556,6 @@ int piBoardRev (void)
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-/*
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- * pinMode:
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- * Sets the mode of a pin to be input, output or PWM output
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- *********************************************************************************
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- */
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-
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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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-
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- pin &= 63 ;
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-
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- fSel = gpioToGPFSEL [pin] ;
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- shift = gpioToShift [pin] ;
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-
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- /**/ if (mode == INPUT)
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- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
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- else if (mode == OUTPUT)
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- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
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- else if (mode == PWM_OUTPUT)
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- {
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- if ((alt = gpioToPwmALT [pin]) == 0) // Not a PWM pin
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- return ;
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-
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-// Set pin to PWM mode
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-
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- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
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-
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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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-
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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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-
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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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-
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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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-
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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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-
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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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-
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-// Enable PWMs in balanced mode (default)
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-
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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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-
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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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-// not quite gotten to the bottom of why this happens
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-// The down-side is that the pull up/downs are rememberd in the SoC between
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-// power cycles, so it's going to be a good idea to explicitly set them in
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-// any new code.
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-//
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-// pullUpDnControl (pin, PUD_OFF) ;
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-
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-}
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-
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-void pinModeWPi (int pin, int mode)
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-{
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- pinModeGpio (pinToGpio [pin & 63], mode) ;
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-}
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-
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-void pinModeSys (int pin, int mode)
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-{
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- return ;
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-}
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-
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-
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/*
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* getAlt:
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* Returns the ALT bits for a given port. Only really of-use
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@@ -824,6 +797,44 @@ void pwmWriteSys (int pin, int value)
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}
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+/*
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+ * gpioClockSet:
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+ * Set the freuency on a GPIO clock pin
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+ *********************************************************************************
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+ */
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+
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+void gpioClockSetGpio (int pin, int freq)
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+{
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+ int divi, divr, divf ;
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+
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+ pin &= 63 ;
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+
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+ divi = 19200000 / freq ;
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+ divr = 19200000 % freq ;
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+ divf = (int)((double)divr * 4096.0 / 19200000.0) ;
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+
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+ if (divi > 4095)
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+ divi = 4095 ;
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+
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+ *(clk + gpioToClkCon [pin]) = BCM_PASSWORD | GPIO_CLOCK_SOURCE ; // Stop GPIO Clock
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+ while ((*(clk + gpioToClkCon [pin]) & 0x80) != 0) // ... and wait
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+ ;
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+
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+ *(clk + gpioToClkDiv [pin]) = BCM_PASSWORD | (divi << 12) | divf ; // Set dividers
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+ *(clk + gpioToClkCon [pin]) = BCM_PASSWORD | 0x10 | GPIO_CLOCK_SOURCE ; // Start Clock
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+}
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+
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+void gpioClockSetWPi (int pin, int freq)
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+{
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+ gpioClockSetGpio (pinToGpio [pin & 63], freq) ;
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+}
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+
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+void gpioClockSetSys (int pin, int freq)
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+{
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+ return ;
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+}
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+
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+
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/*
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* setPadDrive:
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* Set the PAD driver value
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@@ -931,6 +942,65 @@ void pullUpDnControlSys (int pin, int pud)
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}
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+/*
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+ * pinMode:
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+ * Sets the mode of a pin to be input, output or PWM output
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+ *********************************************************************************
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+ */
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+
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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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+
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+ pin &= 63 ;
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+
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+ fSel = gpioToGPFSEL [pin] ;
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+ shift = gpioToShift [pin] ;
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+
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+ /**/ if (mode == INPUT)
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+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
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+ else if (mode == OUTPUT)
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+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
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+ else if (mode == PWM_OUTPUT)
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+ {
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+ if ((alt = gpioToPwmALT [pin]) == 0) // Not a PWM pin
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+ return ;
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+
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+// Set pin to PWM mode
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+
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+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
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+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
|
|
|
+
|
|
|
+ pwmSetModeWPi (PWM_MODE_BAL) ; // Pi default mode
|
|
|
+ pwmSetRangeWPi (1024) ; // Default range of 1024
|
|
|
+ pwmSetClockWPi (32) ; // 19.2 / 32 = 600KHz - Also starts the PWM
|
|
|
+ }
|
|
|
+ else if (mode == GPIO_CLOCK)
|
|
|
+ {
|
|
|
+ if ((alt = gpioToGpClkALT0 [pin]) == 0) // Not a GPIO_CLOCK pin
|
|
|
+ return ;
|
|
|
+
|
|
|
+// Set pin to GPIO_CLOCK mode and set the clock frequency to 100KHz
|
|
|
+
|
|
|
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
|
|
|
+ delayMicroseconds (110) ;
|
|
|
+ gpioClockSetGpio (pin, 100000) ;
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void pinModeWPi (int pin, int mode)
|
|
|
+{
|
|
|
+ pinModeGpio (pinToGpio [pin & 63], mode) ;
|
|
|
+}
|
|
|
+
|
|
|
+void pinModeSys (int pin, int mode)
|
|
|
+{
|
|
|
+ return ;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
/*
|
|
|
* waitForInterrupt:
|
|
|
* Wait for Interrupt on a GPIO pin.
|
|
@@ -1229,6 +1299,7 @@ int wiringPiSetup (void)
|
|
|
pullUpDnControl = pullUpDnControlWPi ;
|
|
|
digitalWrite = digitalWriteWPi ;
|
|
|
digitalWriteByte = digitalWriteByteGpio ; // Same code
|
|
|
+ gpioClockSet = gpioClockSetWPi ;
|
|
|
pwmWrite = pwmWriteWPi ;
|
|
|
setPadDrive = setPadDriveWPi ;
|
|
|
digitalRead = digitalReadWPi ;
|
|
@@ -1373,6 +1444,7 @@ int wiringPiSetupGpio (void)
|
|
|
pullUpDnControl = pullUpDnControlGpio ;
|
|
|
digitalWrite = digitalWriteGpio ;
|
|
|
digitalWriteByte = digitalWriteByteGpio ;
|
|
|
+ gpioClockSet = gpioClockSetGpio ;
|
|
|
pwmWrite = pwmWriteGpio ;
|
|
|
setPadDrive = setPadDriveGpio ;
|
|
|
digitalRead = digitalReadGpio ;
|
|
@@ -1413,6 +1485,7 @@ int wiringPiSetupSys (void)
|
|
|
pullUpDnControl = pullUpDnControlSys ;
|
|
|
digitalWrite = digitalWriteSys ;
|
|
|
digitalWriteByte = digitalWriteByteSys ;
|
|
|
+ gpioClockSet = gpioClockSetSys ;
|
|
|
pwmWrite = pwmWriteSys ;
|
|
|
setPadDrive = setPadDriveSys ;
|
|
|
digitalRead = digitalReadSys ;
|