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- /*
- * wiringPi:
- * Arduino look-a-like Wiring library for the Raspberry Pi
- * Copyright (c) 2012-2017 Gordon Henderson
- * Additional code for pwmSetClock by Chris Hall <chris@kchall.plus.com>
- *
- * Thanks to code samples from Gert Jan van Loo and the
- * BCM2835 ARM Peripherals manual, however it's missing
- * the clock section /grr/mutter/
- ***********************************************************************
- * This file is part of wiringPi:
- * https://projects.drogon.net/raspberry-pi/wiringpi/
- *
- * wiringPi is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * wiringPi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public
- * License along with wiringPi.
- * If not, see <http://www.gnu.org/licenses/>.
- ***********************************************************************
- */
- // Revisions:
- // 19 Jul 2012:
- // Moved to the LGPL
- // Added an abstraction layer to the main routines to save a tiny
- // bit of run-time and make the clode a little cleaner (if a little
- // larger)
- // Added waitForInterrupt code
- // Added piHiPri code
- //
- // 9 Jul 2012:
- // Added in support to use the /sys/class/gpio interface.
- // 2 Jul 2012:
- // Fixed a few more bugs to do with range-checking when in GPIO mode.
- // 11 Jun 2012:
- // Fixed some typos.
- // Added c++ support for the .h file
- // Added a new function to allow for using my "pin" numbers, or native
- // GPIO pin numbers.
- // Removed my busy-loop delay and replaced it with a call to delayMicroseconds
- //
- // 02 May 2012:
- // Added in the 2 UART pins
- // Change maxPins to numPins to more accurately reflect purpose
- #include <stdio.h>
- #include <stdarg.h>
- #include <stdint.h>
- #include <stdlib.h>
- #include <ctype.h>
- #include <poll.h>
- #include <unistd.h>
- #include <errno.h>
- #include <string.h>
- #include <time.h>
- #include <fcntl.h>
- #include <pthread.h>
- #include <sys/time.h>
- #include <sys/mman.h>
- #include <sys/stat.h>
- #include <sys/wait.h>
- #include <sys/ioctl.h>
- #include <asm/ioctl.h>
- #include "softPwm.h"
- #include "softTone.h"
- #include "wiringPi.h"
- #include "../version.h"
- // Environment Variables
- #define ENV_DEBUG "WIRINGPI_DEBUG"
- #define ENV_CODES "WIRINGPI_CODES"
- #define ENV_GPIOMEM "WIRINGPI_GPIOMEM"
- // Extend wiringPi with other pin-based devices and keep track of
- // them in this structure
- struct wiringPiNodeStruct *wiringPiNodes = NULL ;
- // BCM Magic
- #define BCM_PASSWORD 0x5A000000
- // The BCM2835 has 54 GPIO pins.
- // BCM2835 data sheet, Page 90 onwards.
- // There are 6 control registers, each control the functions of a block
- // of 10 pins.
- // Each control register has 10 sets of 3 bits per GPIO pin - the ALT values
- //
- // 000 = GPIO Pin X is an input
- // 001 = GPIO Pin X is an output
- // 100 = GPIO Pin X takes alternate function 0
- // 101 = GPIO Pin X takes alternate function 1
- // 110 = GPIO Pin X takes alternate function 2
- // 111 = GPIO Pin X takes alternate function 3
- // 011 = GPIO Pin X takes alternate function 4
- // 010 = GPIO Pin X takes alternate function 5
- //
- // So the 3 bits for port X are:
- // X / 10 + ((X % 10) * 3)
- // Port function select bits
- #define FSEL_INPT 0b000
- #define FSEL_OUTP 0b001
- #define FSEL_ALT0 0b100
- #define FSEL_ALT1 0b101
- #define FSEL_ALT2 0b110
- #define FSEL_ALT3 0b111
- #define FSEL_ALT4 0b011
- #define FSEL_ALT5 0b010
- // Access from ARM Running Linux
- // Taken from Gert/Doms code. Some of this is not in the manual
- // that I can find )-:
- //
- // Updates in September 2015 - all now static variables (and apologies for the caps)
- // due to the Pi v2, v3, etc. and the new /dev/gpiomem interface
- static volatile unsigned int GPIO_PADS ;
- static volatile unsigned int GPIO_CLOCK_BASE ;
- static volatile unsigned int GPIO_BASE ;
- static volatile unsigned int GPIO_TIMER ;
- static volatile unsigned int GPIO_PWM ;
- #define PAGE_SIZE (4*1024)
- #define BLOCK_SIZE (4*1024)
- // PWM
- // Word offsets into the PWM control region
- #define PWM_CONTROL 0
- #define PWM_STATUS 1
- #define PWM0_RANGE 4
- #define PWM0_DATA 5
- #define PWM1_RANGE 8
- #define PWM1_DATA 9
- // Clock regsiter offsets
- #define PWMCLK_CNTL 40
- #define PWMCLK_DIV 41
- #define PWM0_MS_MODE 0x0080 // Run in MS mode
- #define PWM0_USEFIFO 0x0020 // Data from FIFO
- #define PWM0_REVPOLAR 0x0010 // Reverse polarity
- #define PWM0_OFFSTATE 0x0008 // Ouput Off state
- #define PWM0_REPEATFF 0x0004 // Repeat last value if FIFO empty
- #define PWM0_SERIAL 0x0002 // Run in serial mode
- #define PWM0_ENABLE 0x0001 // Channel Enable
- #define PWM1_MS_MODE 0x8000 // Run in MS mode
- #define PWM1_USEFIFO 0x2000 // Data from FIFO
- #define PWM1_REVPOLAR 0x1000 // Reverse polarity
- #define PWM1_OFFSTATE 0x0800 // Ouput Off state
- #define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
- #define PWM1_SERIAL 0x0200 // Run in serial mode
- #define PWM1_ENABLE 0x0100 // Channel Enable
- // Timer
- // Word offsets
- #define TIMER_LOAD (0x400 >> 2)
- #define TIMER_VALUE (0x404 >> 2)
- #define TIMER_CONTROL (0x408 >> 2)
- #define TIMER_IRQ_CLR (0x40C >> 2)
- #define TIMER_IRQ_RAW (0x410 >> 2)
- #define TIMER_IRQ_MASK (0x414 >> 2)
- #define TIMER_RELOAD (0x418 >> 2)
- #define TIMER_PRE_DIV (0x41C >> 2)
- #define TIMER_COUNTER (0x420 >> 2)
- // Locals to hold pointers to the hardware
- static volatile uint32_t *gpio ;
- static volatile uint32_t *pwm ;
- static volatile uint32_t *clk ;
- static volatile uint32_t *pads ;
- #ifdef USE_TIMER
- static volatile uint32_t *timer ;
- static volatile uint32_t *timerIrqRaw ;
- #endif
- // Data for use with the boardId functions.
- // The order of entries here to correspond with the PI_MODEL_X
- // and PI_VERSION_X defines in wiringPi.h
- // Only intended for the gpio command - use at your own risk!
- // piGpioBase:
- // The base address of the GPIO memory mapped hardware IO
- #define GPIO_PERI_BASE_OLD 0x20000000
- #define GPIO_PERI_BASE_NEW 0x3F000000
- static volatile unsigned int piGpioBase = 0 ;
- const char *piModelNames [16] =
- {
- "Model A", // 0
- "Model B", // 1
- "Model A+", // 2
- "Model B+", // 3
- "Pi 2", // 4
- "Alpha", // 5
- "CM", // 6
- "Unknown07", // 07
- "Pi 3", // 08
- "Pi Zero", // 09
- "CM3", // 10
- "Unknown11", // 11
- "Pi Zero-W", // 12
- "Unknown13", // 13
- "Unknown14", // 14
- "Unknown15", // 15
- } ;
- const char *piRevisionNames [16] =
- {
- "00",
- "01",
- "02",
- "03",
- "04",
- "05",
- "06",
- "07",
- "08",
- "09",
- "10",
- "11",
- "12",
- "13",
- "14",
- "15",
- } ;
- const char *piMakerNames [16] =
- {
- "Sony", // 0
- "Egoman", // 1
- "Embest", // 2
- "Unknown", // 3
- "Embest", // 4
- "Unknown05", // 5
- "Unknown06", // 6
- "Unknown07", // 7
- "Unknown08", // 8
- "Unknown09", // 9
- "Unknown10", // 10
- "Unknown11", // 11
- "Unknown12", // 12
- "Unknown13", // 13
- "Unknown14", // 14
- "Unknown15", // 15
- } ;
- const int piMemorySize [8] =
- {
- 256, // 0
- 512, // 1
- 1024, // 2
- 0, // 3
- 0, // 4
- 0, // 5
- 0, // 6
- 0, // 7
- } ;
- // Time for easy calculations
- static uint64_t epochMilli, epochMicro ;
- // Misc
- static int wiringPiMode = WPI_MODE_UNINITIALISED ;
- static volatile int pinPass = -1 ;
- static pthread_mutex_t pinMutex ;
- // Debugging & Return codes
- int wiringPiDebug = FALSE ;
- int wiringPiReturnCodes = FALSE ;
- // Use /dev/gpiomem ?
- int wiringPiTryGpioMem = FALSE ;
- // sysFds:
- // Map a file descriptor from the /sys/class/gpio/gpioX/value
- static int sysFds [64] =
- {
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
- } ;
- // 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!
- // pinToGpio:
- // Take a Wiring pin (0 through X) and re-map it to the BCM_GPIO pin
- // Cope for 3 different board revisions here.
- static int *pinToGpio ;
- // Revision 1, 1.1:
- static int pinToGpioR1 [64] =
- {
- 17, 18, 21, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7: wpi 0 - 7
- 0, 1, // I2C - SDA1, SCL1 wpi 8 - 9
- 8, 7, // SPI - CE1, CE0 wpi 10 - 11
- 10, 9, 11, // SPI - MOSI, MISO, SCLK wpi 12 - 14
- 14, 15, // UART - Tx, Rx wpi 15 - 16
- // Padding:
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 31
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
- } ;
- // Revision 2:
- static int pinToGpioR2 [64] =
- {
- 17, 18, 27, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7: wpi 0 - 7
- 2, 3, // I2C - SDA0, SCL0 wpi 8 - 9
- 8, 7, // SPI - CE1, CE0 wpi 10 - 11
- 10, 9, 11, // SPI - MOSI, MISO, SCLK wpi 12 - 14
- 14, 15, // UART - Tx, Rx wpi 15 - 16
- 28, 29, 30, 31, // Rev 2: New GPIOs 8 though 11 wpi 17 - 20
- 5, 6, 13, 19, 26, // B+ wpi 21, 22, 23, 24, 25
- 12, 16, 20, 21, // B+ wpi 26, 27, 28, 29
- 0, 1, // B+ wpi 30, 31
- // Padding:
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
- } ;
- // physToGpio:
- // Take a physical pin (1 through 26) and re-map it to the BCM_GPIO pin
- // Cope for 2 different board revisions here.
- // Also add in the P5 connector, so the P5 pins are 3,4,5,6, so 53,54,55,56
- static int *physToGpio ;
- static int physToGpioR1 [64] =
- {
- -1, // 0
- -1, -1, // 1, 2
- 0, -1,
- 1, -1,
- 4, 14,
- -1, 15,
- 17, 18,
- 21, -1,
- 22, 23,
- -1, 24,
- 10, -1,
- 9, 25,
- 11, 8,
- -1, 7, // 25, 26
- -1, -1, -1, -1, -1, // ... 31
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
- -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
- } ;
- static int physToGpioR2 [64] =
- {
- -1, // 0
- -1, -1, // 1, 2
- 2, -1,
- 3, -1,
- 4, 14,
- -1, 15,
- 17, 18,
- 27, -1,
- 22, 23,
- -1, 24,
- 10, -1,
- 9, 25,
- 11, 8,
- -1, 7, // 25, 26
- // B+
- 0, 1,
- 5, -1,
- 6, 12,
- 13, -1,
- 19, 16,
- 26, 20,
- -1, 21,
- // the P5 connector on the Rev 2 boards:
- -1, -1,
- -1, -1,
- -1, -1,
- -1, -1,
- -1, -1,
- 28, 29,
- 30, 31,
- -1, -1,
- -1, -1,
- -1, -1,
- -1, -1,
- } ;
- // gpioToGPFSEL:
- // Map a BCM_GPIO pin to it's Function Selection
- // control port. (GPFSEL 0-5)
- // Groups of 10 - 3 bits per Function - 30 bits per port
- static uint8_t gpioToGPFSEL [] =
- {
- 0,0,0,0,0,0,0,0,0,0,
- 1,1,1,1,1,1,1,1,1,1,
- 2,2,2,2,2,2,2,2,2,2,
- 3,3,3,3,3,3,3,3,3,3,
- 4,4,4,4,4,4,4,4,4,4,
- 5,5,5,5,5,5,5,5,5,5,
- } ;
- // gpioToShift
- // Define the shift up for the 3 bits per pin in each GPFSEL port
- static uint8_t gpioToShift [] =
- {
- 0,3,6,9,12,15,18,21,24,27,
- 0,3,6,9,12,15,18,21,24,27,
- 0,3,6,9,12,15,18,21,24,27,
- 0,3,6,9,12,15,18,21,24,27,
- 0,3,6,9,12,15,18,21,24,27,
- 0,3,6,9,12,15,18,21,24,27,
- } ;
- // gpioToGPSET:
- // (Word) offset to the GPIO Set registers for each GPIO pin
- static uint8_t gpioToGPSET [] =
- {
- 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7,
- 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8,
- } ;
- // gpioToGPCLR:
- // (Word) offset to the GPIO Clear registers for each GPIO pin
- static uint8_t gpioToGPCLR [] =
- {
- 10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,
- 11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,
- } ;
- // gpioToGPLEV:
- // (Word) offset to the GPIO Input level registers for each GPIO pin
- static uint8_t gpioToGPLEV [] =
- {
- 13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,
- 14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,
- } ;
- #ifdef notYetReady
- // gpioToEDS
- // (Word) offset to the Event Detect Status
- static uint8_t gpioToEDS [] =
- {
- 16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,
- 17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,
- } ;
- // gpioToREN
- // (Word) offset to the Rising edge ENable register
- static uint8_t gpioToREN [] =
- {
- 19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,
- 20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,
- } ;
- // gpioToFEN
- // (Word) offset to the Falling edgde ENable register
- static uint8_t gpioToFEN [] =
- {
- 22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,
- 23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,
- } ;
- #endif
- // GPPUD:
- // GPIO Pin pull up/down register
- #define GPPUD 37
- // gpioToPUDCLK
- // (Word) offset to the Pull Up Down Clock regsiter
- static uint8_t gpioToPUDCLK [] =
- {
- 38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,
- 39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,
- } ;
- // gpioToPwmALT
- // the ALT value to put a GPIO pin into PWM mode
- static uint8_t gpioToPwmALT [] =
- {
- 0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
- 0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, 0, 0, // 8 -> 15
- 0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, 0, 0, // 16 -> 23
- 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
- 0, 0, 0, 0, 0, 0, 0, 0, // 32 -> 39
- FSEL_ALT0, FSEL_ALT0, 0, 0, 0, FSEL_ALT0, 0, 0, // 40 -> 47
- 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
- 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
- } ;
- // gpioToPwmPort
- // The port value to put a GPIO pin into PWM mode
- static uint8_t gpioToPwmPort [] =
- {
- 0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
- 0, 0, 0, 0, PWM0_DATA, PWM1_DATA, 0, 0, // 8 -> 15
- 0, 0, PWM0_DATA, PWM1_DATA, 0, 0, 0, 0, // 16 -> 23
- 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
- 0, 0, 0, 0, 0, 0, 0, 0, // 32 -> 39
- PWM0_DATA, PWM1_DATA, 0, 0, 0, PWM1_DATA, 0, 0, // 40 -> 47
- 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
- 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
- } ;
- // gpioToGpClkALT:
- // ALT value to put a GPIO pin into GP Clock mode.
- // On the Pi we can really only use BCM_GPIO_4 and BCM_GPIO_21
- // for clocks 0 and 1 respectively, however I'll include the full
- // list for completeness - maybe one day...
- #define GPIO_CLOCK_SOURCE 1
- // gpioToGpClkALT0:
- static uint8_t gpioToGpClkALT0 [] =
- {
- 0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, // 0 -> 7
- 0, 0, 0, 0, 0, 0, 0, 0, // 8 -> 15
- 0, 0, 0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, // 16 -> 23
- 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
- FSEL_ALT0, 0, FSEL_ALT0, 0, 0, 0, 0, 0, // 32 -> 39
- 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, 0, 0, // 40 -> 47
- 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
- 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
- } ;
- // gpioToClk:
- // (word) Offsets to the clock Control and Divisor register
- static uint8_t gpioToClkCon [] =
- {
- -1, -1, -1, -1, 28, 30, 32, -1, // 0 -> 7
- -1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
- -1, -1, -1, -1, 28, 30, -1, -1, // 16 -> 23
- -1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
- 28, -1, 28, -1, -1, -1, -1, -1, // 32 -> 39
- -1, -1, 28, 30, 28, -1, -1, -1, // 40 -> 47
- -1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
- -1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
- } ;
- static uint8_t gpioToClkDiv [] =
- {
- -1, -1, -1, -1, 29, 31, 33, -1, // 0 -> 7
- -1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
- -1, -1, -1, -1, 29, 31, -1, -1, // 16 -> 23
- -1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
- 29, -1, 29, -1, -1, -1, -1, -1, // 32 -> 39
- -1, -1, 29, 31, 29, -1, -1, -1, // 40 -> 47
- -1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
- -1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
- } ;
- /*
- * Functions
- *********************************************************************************
- */
- /*
- * wiringPiFailure:
- * Fail. Or not.
- *********************************************************************************
- */
- int wiringPiFailure (int fatal, const char *message, ...)
- {
- va_list argp ;
- char buffer [1024] ;
- if (!fatal && wiringPiReturnCodes)
- return -1 ;
- va_start (argp, message) ;
- vsnprintf (buffer, 1023, message, argp) ;
- va_end (argp) ;
- fprintf (stderr, "%s", buffer) ;
- exit (EXIT_FAILURE) ;
- return 0 ;
- }
- /*
- * piGpioLayout:
- * Return a number representing the hardware revision of the board.
- * This is not strictly the board revision but is used to check the
- * layout of the GPIO connector - and there are 2 types that we are
- * really interested in here. The very earliest Pi's and the
- * ones that came after that which switched some pins ....
- *
- * Revision 1 really means the early Model A and B's.
- * Revision 2 is everything else - it covers the B, B+ and CM.
- * ... and the Pi 2 - which is a B+ ++ ...
- * ... and the Pi 0 - which is an A+ ...
- *
- * The main difference between the revision 1 and 2 system that I use here
- * is the mapping of the GPIO pins. From revision 2, the Pi Foundation changed
- * 3 GPIO pins on the (original) 26-way header - BCM_GPIO 22 was dropped and
- * replaced with 27, and 0 + 1 - I2C bus 0 was changed to 2 + 3; I2C bus 1.
- *
- * Additionally, here we set the piModel2 flag too. This is again, nothing to
- * do with the actual model, but the major version numbers - the GPIO base
- * hardware address changed at model 2 and above (not the Zero though)
- *
- *********************************************************************************
- */
- static void piGpioLayoutOops (const char *why)
- {
- fprintf (stderr, "Oops: Unable to determine board revision from /proc/cpuinfo\n") ;
- fprintf (stderr, " -> %s\n", why) ;
- fprintf (stderr, " -> You'd best google the error to find out why.\n") ;
- //fprintf (stderr, " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410\n") ;
- exit (EXIT_FAILURE) ;
- }
- int piGpioLayout (void)
- {
- FILE *cpuFd ;
- char line [120] ;
- char *c ;
- static int gpioLayout = -1 ;
- if (gpioLayout != -1) // No point checking twice
- return gpioLayout ;
- if ((cpuFd = fopen ("/proc/cpuinfo", "r")) == NULL)
- piGpioLayoutOops ("Unable to open /proc/cpuinfo") ;
- // Start by looking for the Architecture to make sure we're really running
- // on a Pi. I'm getting fed-up with people whinging at me because
- // they can't get it to work on weirdFruitPi boards...
- while (fgets (line, 120, cpuFd) != NULL)
- if (strncmp (line, "Hardware", 8) == 0)
- break ;
- if (strncmp (line, "Hardware", 8) != 0)
- piGpioLayoutOops ("No \"Hardware\" line") ;
- if (wiringPiDebug)
- printf ("piGpioLayout: Hardware: %s\n", line) ;
- // See if it's BCM2708 or BCM2709 or the new BCM2835.
- // OK. As of Kernel 4.8, we have BCM2835 only, regardless of model.
- // However I still want to check because it will trap the cheapskates and rip-
- // off merchants who want to use wiringPi on non-Raspberry Pi platforms - which
- // I do not support so don't email me your bleating whinges about anything
- // other than a genuine Raspberry Pi.
- if (! (strstr (line, "BCM2708") || strstr (line, "BCM2709") || strstr (line, "BCM2835")))
- {
- fprintf (stderr, "Unable to determine hardware version. I see: %s,\n", line) ;
- fprintf (stderr, " - expecting BCM2708, BCM2709 or BCM2835.\n") ;
- fprintf (stderr, "If this is a genuine Raspberry Pi then please report this\n") ;
- fprintf (stderr, "to projects@drogon.net. If this is not a Raspberry Pi then you\n") ;
- fprintf (stderr, "are on your own as wiringPi is designed to support the\n") ;
- fprintf (stderr, "Raspberry Pi ONLY.\n") ;
- exit (EXIT_FAILURE) ;
- }
- // Right - we're Probably on a Raspberry Pi. Check the revision field for the real
- // hardware type
- // In-future, I ought to use the device tree as there are now Pi entries in
- // /proc/device-tree/ ...
- // but I'll leave that for the next revision.
- // Isolate the Revision line
- rewind (cpuFd) ;
- while (fgets (line, 120, cpuFd) != NULL)
- if (strncmp (line, "Revision", 8) == 0)
- break ;
- fclose (cpuFd) ;
- if (strncmp (line, "Revision", 8) != 0)
- piGpioLayoutOops ("No \"Revision\" line") ;
- // Chomp trailing CR/NL
- for (c = &line [strlen (line) - 1] ; (*c == '\n') || (*c == '\r') ; --c)
- *c = 0 ;
-
- if (wiringPiDebug)
- printf ("piGpioLayout: Revision string: %s\n", line) ;
- // Scan to the first character of the revision number
- for (c = line ; *c ; ++c)
- if (*c == ':')
- break ;
- if (*c != ':')
- piGpioLayoutOops ("Bogus \"Revision\" line (no colon)") ;
- // Chomp spaces
- ++c ;
- while (isspace (*c))
- ++c ;
- if (!isxdigit (*c))
- piGpioLayoutOops ("Bogus \"Revision\" line (no hex digit at start of revision)") ;
- // Make sure its long enough
- if (strlen (c) < 4)
- piGpioLayoutOops ("Bogus revision line (too small)") ;
- // Isolate last 4 characters: (in-case of overvolting or new encoding scheme)
- c = c + strlen (c) - 4 ;
- if (wiringPiDebug)
- printf ("piGpioLayout: last4Chars are: \"%s\"\n", c) ;
- if ( (strcmp (c, "0002") == 0) || (strcmp (c, "0003") == 0))
- gpioLayout = 1 ;
- else
- gpioLayout = 2 ; // Covers everything else from the B revision 2 to the B+, the Pi v2, v3, zero and CM's.
- if (wiringPiDebug)
- printf ("piGpioLayoutOops: Returning revision: %d\n", gpioLayout) ;
- return gpioLayout ;
- }
- /*
- * piBoardRev:
- * Deprecated, but does the same as piGpioLayout
- *********************************************************************************
- */
- int piBoardRev (void)
- {
- return piGpioLayout () ;
- }
- /*
- * piBoardId:
- * Return the real details of the board we have.
- *
- * This is undocumented and really only intended for the GPIO command.
- * Use at your own risk!
- *
- * Seems there are some boards with 0000 in them (mistake in manufacture)
- * So the distinction between boards that I can see is:
- *
- * 0000 - Error
- * 0001 - Not used
- *
- * Original Pi boards:
- * 0002 - Model B, Rev 1, 256MB, Egoman
- * 0003 - Model B, Rev 1.1, 256MB, Egoman, Fuses/D14 removed.
- *
- * Newer Pi's with remapped GPIO:
- * 0004 - Model B, Rev 1.2, 256MB, Sony
- * 0005 - Model B, Rev 1.2, 256MB, Egoman
- * 0006 - Model B, Rev 1.2, 256MB, Egoman
- *
- * 0007 - Model A, Rev 1.2, 256MB, Egoman
- * 0008 - Model A, Rev 1.2, 256MB, Sony
- * 0009 - Model A, Rev 1.2, 256MB, Egoman
- *
- * 000d - Model B, Rev 1.2, 512MB, Egoman (Red Pi, Blue Pi?)
- * 000e - Model B, Rev 1.2, 512MB, Sony
- * 000f - Model B, Rev 1.2, 512MB, Egoman
- *
- * 0010 - Model B+, Rev 1.2, 512MB, Sony
- * 0013 - Model B+ Rev 1.2, 512MB, Embest
- * 0016 - Model B+ Rev 1.2, 512MB, Sony
- * 0019 - Model B+ Rev 1.2, 512MB, Egoman
- *
- * 0011 - Pi CM, Rev 1.1, 512MB, Sony
- * 0014 - Pi CM, Rev 1.1, 512MB, Embest
- * 0017 - Pi CM, Rev 1.1, 512MB, Sony
- * 001a - Pi CM, Rev 1.1, 512MB, Egoman
- *
- * 0012 - Model A+ Rev 1.1, 256MB, Sony
- * 0015 - Model A+ Rev 1.1, 512MB, Embest
- * 0018 - Model A+ Rev 1.1, 256MB, Sony
- * 001b - Model A+ Rev 1.1, 256MB, Egoman
- *
- * A small thorn is the olde style overvolting - that will add in
- * 1000000
- *
- * The Pi compute module has an revision of 0011 or 0014 - since we only
- * check the last digit, then it's 1, therefore it'll default to not 2 or
- * 3 for a Rev 1, so will appear as a Rev 2. This is fine for the most part, but
- * we'll properly detect the Compute Module later and adjust accordingly.
- *
- * And then things changed with the introduction of the v2...
- *
- * For Pi v2 and subsequent models - e.g. the Zero:
- *
- * [USER:8] [NEW:1] [MEMSIZE:3] [MANUFACTURER:4] [PROCESSOR:4] [TYPE:8] [REV:4]
- * NEW 23: will be 1 for the new scheme, 0 for the old scheme
- * MEMSIZE 20: 0=256M 1=512M 2=1G
- * MANUFACTURER 16: 0=SONY 1=EGOMAN 2=EMBEST
- * PROCESSOR 12: 0=2835 1=2836
- * TYPE 04: 0=MODELA 1=MODELB 2=MODELA+ 3=MODELB+ 4=Pi2 MODEL B 5=ALPHA 6=CM
- * REV 00: 0=REV0 1=REV1 2=REV2
- *********************************************************************************
- */
- void piBoardId (int *model, int *rev, int *mem, int *maker, int *warranty)
- {
- FILE *cpuFd ;
- char line [120] ;
- char *c ;
- unsigned int revision ;
- int bRev, bType, bProc, bMfg, bMem, bWarranty ;
- // Will deal with the properly later on - for now, lets just get it going...
- // unsigned int modelNum ;
- (void)piGpioLayout () ; // Call this first to make sure all's OK. Don't care about the result.
- if ((cpuFd = fopen ("/proc/cpuinfo", "r")) == NULL)
- piGpioLayoutOops ("Unable to open /proc/cpuinfo") ;
- while (fgets (line, 120, cpuFd) != NULL)
- if (strncmp (line, "Revision", 8) == 0)
- break ;
- fclose (cpuFd) ;
- if (strncmp (line, "Revision", 8) != 0)
- piGpioLayoutOops ("No \"Revision\" line") ;
- // Chomp trailing CR/NL
- for (c = &line [strlen (line) - 1] ; (*c == '\n') || (*c == '\r') ; --c)
- *c = 0 ;
-
- if (wiringPiDebug)
- printf ("piBoardId: Revision string: %s\n", line) ;
- // Need to work out if it's using the new or old encoding scheme:
- // Scan to the first character of the revision number
- for (c = line ; *c ; ++c)
- if (*c == ':')
- break ;
- if (*c != ':')
- piGpioLayoutOops ("Bogus \"Revision\" line (no colon)") ;
- // Chomp spaces
- ++c ;
- while (isspace (*c))
- ++c ;
- if (!isxdigit (*c))
- piGpioLayoutOops ("Bogus \"Revision\" line (no hex digit at start of revision)") ;
- revision = (unsigned int)strtol (c, NULL, 16) ; // Hex number with no leading 0x
- // Check for new way:
- if ((revision & (1 << 23)) != 0) // New way
- {
- if (wiringPiDebug)
- printf ("piBoardId: New Way: revision is: 0x%08X\n", revision) ;
- bRev = (revision & (0x0F << 0)) >> 0 ;
- bType = (revision & (0xFF << 4)) >> 4 ;
- bProc = (revision & (0x0F << 12)) >> 12 ; // Not used for now.
- bMfg = (revision & (0x0F << 16)) >> 16 ;
- bMem = (revision & (0x07 << 20)) >> 20 ;
- bWarranty = (revision & (0x03 << 24)) != 0 ;
-
- *model = bType ;
- *rev = bRev ;
- *mem = bMem ;
- *maker = bMfg ;
- *warranty = bWarranty ;
- if (wiringPiDebug)
- printf ("piBoardId: rev: %d, type: %d, proc: %d, mfg: %d, mem: %d, warranty: %d\n",
- bRev, bType, bProc, bMfg, bMem, bWarranty) ;
- }
- else // Old way
- {
- if (wiringPiDebug)
- printf ("piBoardId: Old Way: revision is: %s\n", c) ;
- if (!isdigit (*c))
- piGpioLayoutOops ("Bogus \"Revision\" line (no digit at start of revision)") ;
- // Make sure its long enough
- if (strlen (c) < 4)
- piGpioLayoutOops ("Bogus \"Revision\" line (not long enough)") ;
- // If longer than 4, we'll assume it's been overvolted
- *warranty = strlen (c) > 4 ;
-
- // Extract last 4 characters:
- c = c + strlen (c) - 4 ;
- // Fill out the replys as appropriate
- /**/ if (strcmp (c, "0002") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1 ; *mem = 0 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "0003") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1_1 ; *mem = 0 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "0004") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1_2 ; *mem = 0 ; *maker = PI_MAKER_SONY ; }
- else if (strcmp (c, "0005") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1_2 ; *mem = 0 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "0006") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1_2 ; *mem = 0 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "0007") == 0) { *model = PI_MODEL_A ; *rev = PI_VERSION_1_2 ; *mem = 0 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "0008") == 0) { *model = PI_MODEL_A ; *rev = PI_VERSION_1_2 ; *mem = 0 ; *maker = PI_MAKER_SONY ; ; }
- else if (strcmp (c, "0009") == 0) { *model = PI_MODEL_A ; *rev = PI_VERSION_1_2 ; *mem = 0 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "000d") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1_2 ; *mem = 1 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "000e") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1_2 ; *mem = 1 ; *maker = PI_MAKER_SONY ; }
- else if (strcmp (c, "000f") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1_2 ; *mem = 1 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "0010") == 0) { *model = PI_MODEL_BP ; *rev = PI_VERSION_1_2 ; *mem = 1 ; *maker = PI_MAKER_SONY ; }
- else if (strcmp (c, "0013") == 0) { *model = PI_MODEL_BP ; *rev = PI_VERSION_1_2 ; *mem = 1 ; *maker = PI_MAKER_EMBEST ; }
- else if (strcmp (c, "0016") == 0) { *model = PI_MODEL_BP ; *rev = PI_VERSION_1_2 ; *mem = 1 ; *maker = PI_MAKER_SONY ; }
- else if (strcmp (c, "0019") == 0) { *model = PI_MODEL_BP ; *rev = PI_VERSION_1_2 ; *mem = 1 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "0011") == 0) { *model = PI_MODEL_CM ; *rev = PI_VERSION_1_1 ; *mem = 1 ; *maker = PI_MAKER_SONY ; }
- else if (strcmp (c, "0014") == 0) { *model = PI_MODEL_CM ; *rev = PI_VERSION_1_1 ; *mem = 1 ; *maker = PI_MAKER_EMBEST ; }
- else if (strcmp (c, "0017") == 0) { *model = PI_MODEL_CM ; *rev = PI_VERSION_1_1 ; *mem = 1 ; *maker = PI_MAKER_SONY ; }
- else if (strcmp (c, "001a") == 0) { *model = PI_MODEL_CM ; *rev = PI_VERSION_1_1 ; *mem = 1 ; *maker = PI_MAKER_EGOMAN ; }
- else if (strcmp (c, "0012") == 0) { *model = PI_MODEL_AP ; *rev = PI_VERSION_1_1 ; *mem = 0 ; *maker = PI_MAKER_SONY ; }
- else if (strcmp (c, "0015") == 0) { *model = PI_MODEL_AP ; *rev = PI_VERSION_1_1 ; *mem = 1 ; *maker = PI_MAKER_EMBEST ; }
- else if (strcmp (c, "0018") == 0) { *model = PI_MODEL_AP ; *rev = PI_VERSION_1_1 ; *mem = 0 ; *maker = PI_MAKER_SONY ; }
- else if (strcmp (c, "001b") == 0) { *model = PI_MODEL_AP ; *rev = PI_VERSION_1_1 ; *mem = 0 ; *maker = PI_MAKER_EGOMAN ; }
- else { *model = 0 ; *rev = 0 ; *mem = 0 ; *maker = 0 ; }
- }
- }
-
- /*
- * wpiPinToGpio:
- * Translate a wiringPi Pin number to native GPIO pin number.
- * Provided for external support.
- *********************************************************************************
- */
- int wpiPinToGpio (int wpiPin)
- {
- return pinToGpio [wpiPin & 63] ;
- }
- /*
- * physPinToGpio:
- * Translate a physical Pin number to native GPIO pin number.
- * Provided for external support.
- *********************************************************************************
- */
- int physPinToGpio (int physPin)
- {
- return physToGpio [physPin & 63] ;
- }
- /*
- * setPadDrive:
- * Set the PAD driver value
- *********************************************************************************
- */
- void setPadDrive (int group, int value)
- {
- uint32_t wrVal ;
- if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
- {
- if ((group < 0) || (group > 2))
- return ;
- wrVal = BCM_PASSWORD | 0x18 | (value & 7) ;
- *(pads + group + 11) = wrVal ;
- if (wiringPiDebug)
- {
- printf ("setPadDrive: Group: %d, value: %d (%08X)\n", group, value, wrVal) ;
- printf ("Read : %08X\n", *(pads + group + 11)) ;
- }
- }
- }
- /*
- * getAlt:
- * Returns the ALT bits for a given port. Only really of-use
- * for the gpio readall command (I think)
- *********************************************************************************
- */
- int getAlt (int pin)
- {
- int fSel, shift, alt ;
- pin &= 63 ;
- /**/ if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- else if (wiringPiMode != WPI_MODE_GPIO)
- return 0 ;
- fSel = gpioToGPFSEL [pin] ;
- shift = gpioToShift [pin] ;
- alt = (*(gpio + fSel) >> shift) & 7 ;
- return alt ;
- }
- /*
- * pwmSetMode:
- * Select the native "balanced" mode, or standard mark:space mode
- *********************************************************************************
- */
- void pwmSetMode (int mode)
- {
- if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
- {
- if (mode == PWM_MODE_MS)
- *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE | PWM0_MS_MODE | PWM1_MS_MODE ;
- else
- *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ;
- }
- }
- /*
- * pwmSetRange:
- * Set the PWM range register. We set both range registers to the same
- * value. If you want different in your own code, then write your own.
- *********************************************************************************
- */
- void pwmSetRange (unsigned int range)
- {
- if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
- {
- *(pwm + PWM0_RANGE) = range ; delayMicroseconds (10) ;
- *(pwm + PWM1_RANGE) = range ; delayMicroseconds (10) ;
- }
- }
- /*
- * pwmSetClock:
- * Set/Change the PWM clock. Originally my code, but changed
- * (for the better!) by Chris Hall, <chris@kchall.plus.com>
- * after further study of the manual and testing with a 'scope
- *********************************************************************************
- */
- void pwmSetClock (int divisor)
- {
- uint32_t pwm_control ;
- divisor &= 4095 ;
- if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
- {
- if (wiringPiDebug)
- printf ("Setting to: %d. Current: 0x%08X\n", divisor, *(clk + PWMCLK_DIV)) ;
- pwm_control = *(pwm + PWM_CONTROL) ; // preserve PWM_CONTROL
- // We need to stop PWM prior to stopping PWM clock in MS mode otherwise BUSY
- // stays high.
- *(pwm + PWM_CONTROL) = 0 ; // Stop PWM
- // Stop PWM clock before changing divisor. The delay after this does need to
- // this big (95uS occasionally fails, 100uS OK), it's almost as though the BUSY
- // flag is not working properly in balanced mode. Without the delay when DIV is
- // adjusted the clock sometimes switches to very slow, once slow further DIV
- // adjustments do nothing and it's difficult to get out of this mode.
- *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
- delayMicroseconds (110) ; // prevents clock going sloooow
- while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY
- delayMicroseconds (1) ;
- *(clk + PWMCLK_DIV) = BCM_PASSWORD | (divisor << 12) ;
- *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x11 ; // Start PWM clock
- *(pwm + PWM_CONTROL) = pwm_control ; // restore PWM_CONTROL
- if (wiringPiDebug)
- printf ("Set to: %d. Now : 0x%08X\n", divisor, *(clk + PWMCLK_DIV)) ;
- }
- }
- /*
- * gpioClockSet:
- * Set the freuency on a GPIO clock pin
- *********************************************************************************
- */
- void gpioClockSet (int pin, int freq)
- {
- int divi, divr, divf ;
- pin &= 63 ;
- /**/ if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- else if (wiringPiMode != WPI_MODE_GPIO)
- return ;
-
- divi = 19200000 / freq ;
- divr = 19200000 % freq ;
- divf = (int)((double)divr * 4096.0 / 19200000.0) ;
- if (divi > 4095)
- divi = 4095 ;
- *(clk + gpioToClkCon [pin]) = BCM_PASSWORD | GPIO_CLOCK_SOURCE ; // Stop GPIO Clock
- while ((*(clk + gpioToClkCon [pin]) & 0x80) != 0) // ... and wait
- ;
- *(clk + gpioToClkDiv [pin]) = BCM_PASSWORD | (divi << 12) | divf ; // Set dividers
- *(clk + gpioToClkCon [pin]) = BCM_PASSWORD | 0x10 | GPIO_CLOCK_SOURCE ; // Start Clock
- }
- /*
- * wiringPiFindNode:
- * Locate our device node
- *********************************************************************************
- */
- struct wiringPiNodeStruct *wiringPiFindNode (int pin)
- {
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- while (node != NULL)
- if ((pin >= node->pinBase) && (pin <= node->pinMax))
- return node ;
- else
- node = node->next ;
- return NULL ;
- }
- /*
- * wiringPiNewNode:
- * Create a new GPIO node into the wiringPi handling system
- *********************************************************************************
- */
- static void pinModeDummy (UNU struct wiringPiNodeStruct *node, UNU int pin, UNU int mode) { return ; }
- static void pullUpDnControlDummy (UNU struct wiringPiNodeStruct *node, UNU int pin, UNU int pud) { return ; }
- static unsigned int digitalRead8Dummy (UNU struct wiringPiNodeStruct *node, UNU int UNU pin) { return 0 ; }
- static void digitalWrite8Dummy (UNU struct wiringPiNodeStruct *node, UNU int pin, UNU int value) { return ; }
- static int digitalReadDummy (UNU struct wiringPiNodeStruct *node, UNU int UNU pin) { return LOW ; }
- static void digitalWriteDummy (UNU struct wiringPiNodeStruct *node, UNU int pin, UNU int value) { return ; }
- static void pwmWriteDummy (UNU struct wiringPiNodeStruct *node, UNU int pin, UNU int value) { return ; }
- static int analogReadDummy (UNU struct wiringPiNodeStruct *node, UNU int pin) { return 0 ; }
- static void analogWriteDummy (UNU struct wiringPiNodeStruct *node, UNU int pin, UNU int value) { return ; }
- struct wiringPiNodeStruct *wiringPiNewNode (int pinBase, int numPins)
- {
- int pin ;
- struct wiringPiNodeStruct *node ;
- // Minimum pin base is 64
- if (pinBase < 64)
- (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: pinBase of %d is < 64\n", pinBase) ;
- // Check all pins in-case there is overlap:
- for (pin = pinBase ; pin < (pinBase + numPins) ; ++pin)
- if (wiringPiFindNode (pin) != NULL)
- (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: Pin %d overlaps with existing definition\n", pin) ;
- node = (struct wiringPiNodeStruct *)calloc (sizeof (struct wiringPiNodeStruct), 1) ; // calloc zeros
- if (node == NULL)
- (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: Unable to allocate memory: %s\n", strerror (errno)) ;
- node->pinBase = pinBase ;
- node->pinMax = pinBase + numPins - 1 ;
- node->pinMode = pinModeDummy ;
- node->pullUpDnControl = pullUpDnControlDummy ;
- node->digitalRead = digitalReadDummy ;
- //node->digitalRead8 = digitalRead8Dummy ;
- node->digitalWrite = digitalWriteDummy ;
- //node->digitalWrite8 = digitalWrite8Dummy ;
- node->pwmWrite = pwmWriteDummy ;
- node->analogRead = analogReadDummy ;
- node->analogWrite = analogWriteDummy ;
- node->next = wiringPiNodes ;
- wiringPiNodes = node ;
- return node ;
- }
- #ifdef notYetReady
- /*
- * pinED01:
- * pinED10:
- * Enables edge-detect mode on a pin - from a 0 to a 1 or 1 to 0
- * Pin must already be in input mode with appropriate pull up/downs set.
- *********************************************************************************
- */
- void pinEnableED01Pi (int pin)
- {
- pin = pinToGpio [pin & 63] ;
- }
- #endif
- /*
- *********************************************************************************
- * Core Functions
- *********************************************************************************
- */
- /*
- * pinModeAlt:
- * This is an un-documented special to let you set any pin to any mode
- *********************************************************************************
- */
- void pinModeAlt (int pin, int mode)
- {
- int fSel, shift ;
- if ((pin & PI_GPIO_MASK) == 0) // On-board pin
- {
- /**/ if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- else if (wiringPiMode != WPI_MODE_GPIO)
- return ;
- fSel = gpioToGPFSEL [pin] ;
- shift = gpioToShift [pin] ;
- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | ((mode & 0x7) << shift) ;
- }
- }
- /*
- * pinMode:
- * Sets the mode of a pin to be input, output or PWM output
- *********************************************************************************
- */
- void pinMode (int pin, int mode)
- {
- int fSel, shift, alt ;
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- int origPin = pin ;
- if ((pin & PI_GPIO_MASK) == 0) // On-board pin
- {
- /**/ if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- else if (wiringPiMode != WPI_MODE_GPIO)
- return ;
- softPwmStop (origPin) ;
- softToneStop (origPin) ;
- fSel = gpioToGPFSEL [pin] ;
- shift = gpioToShift [pin] ;
- /**/ if (mode == INPUT)
- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
- else if (mode == OUTPUT)
- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
- else if (mode == SOFT_PWM_OUTPUT)
- softPwmCreate (origPin, 0, 100) ;
- else if (mode == SOFT_TONE_OUTPUT)
- softToneCreate (origPin) ;
- else if (mode == PWM_TONE_OUTPUT)
- {
- pinMode (origPin, PWM_OUTPUT) ; // Call myself to enable PWM mode
- pwmSetMode (PWM_MODE_MS) ;
- }
- else if (mode == PWM_OUTPUT)
- {
- if ((alt = gpioToPwmALT [pin]) == 0) // Not a hardware capable PWM pin
- return ;
- // Set pin to PWM mode
- *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
- delayMicroseconds (110) ; // See comments in pwmSetClockWPi
- pwmSetMode (PWM_MODE_BAL) ; // Pi default mode
- pwmSetRange (1024) ; // Default range of 1024
- pwmSetClock (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) ;
- gpioClockSet (pin, 100000) ;
- }
- }
- else
- {
- if ((node = wiringPiFindNode (pin)) != NULL)
- node->pinMode (node, pin, mode) ;
- return ;
- }
- }
- /*
- * pullUpDownCtrl:
- * Control the internal pull-up/down resistors on a GPIO pin
- * The Arduino only has pull-ups and these are enabled by writing 1
- * to a port when in input mode - this paradigm doesn't quite apply
- * here though.
- *********************************************************************************
- */
- void pullUpDnControl (int pin, int pud)
- {
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
- {
- /**/ if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- else if (wiringPiMode != WPI_MODE_GPIO)
- return ;
- *(gpio + GPPUD) = pud & 3 ; delayMicroseconds (5) ;
- *(gpio + gpioToPUDCLK [pin]) = 1 << (pin & 31) ; delayMicroseconds (5) ;
-
- *(gpio + GPPUD) = 0 ; delayMicroseconds (5) ;
- *(gpio + gpioToPUDCLK [pin]) = 0 ; delayMicroseconds (5) ;
- }
- else // Extension module
- {
- if ((node = wiringPiFindNode (pin)) != NULL)
- node->pullUpDnControl (node, pin, pud) ;
- return ;
- }
- }
- /*
- * digitalRead:
- * Read the value of a given Pin, returning HIGH or LOW
- *********************************************************************************
- */
- int digitalRead (int pin)
- {
- char c ;
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
- {
- /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS) // Sys mode
- {
- if (sysFds [pin] == -1)
- return LOW ;
- lseek (sysFds [pin], 0L, SEEK_SET) ;
- read (sysFds [pin], &c, 1) ;
- return (c == '0') ? LOW : HIGH ;
- }
- else if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- else if (wiringPiMode != WPI_MODE_GPIO)
- return LOW ;
- if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0)
- return HIGH ;
- else
- return LOW ;
- }
- else
- {
- if ((node = wiringPiFindNode (pin)) == NULL)
- return LOW ;
- return node->digitalRead (node, pin) ;
- }
- }
- /*
- * digitalRead8:
- * Read 8-bits (a byte) from given start pin.
- *********************************************************************************
- unsigned int digitalRead8 (int pin)
- {
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
- return 0 ;
- else
- {
- if ((node = wiringPiFindNode (pin)) == NULL)
- return LOW ;
- return node->digitalRead8 (node, pin) ;
- }
- }
- */
- /*
- * digitalWrite:
- * Set an output bit
- *********************************************************************************
- */
- void digitalWrite (int pin, int value)
- {
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
- {
- /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS) // Sys mode
- {
- if (sysFds [pin] != -1)
- {
- if (value == LOW)
- write (sysFds [pin], "0\n", 2) ;
- else
- write (sysFds [pin], "1\n", 2) ;
- }
- return ;
- }
- else if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- else if (wiringPiMode != WPI_MODE_GPIO)
- return ;
- if (value == LOW)
- *(gpio + gpioToGPCLR [pin]) = 1 << (pin & 31) ;
- else
- *(gpio + gpioToGPSET [pin]) = 1 << (pin & 31) ;
- }
- else
- {
- if ((node = wiringPiFindNode (pin)) != NULL)
- node->digitalWrite (node, pin, value) ;
- }
- }
- /*
- * digitalWrite8:
- * Set an output 8-bit byte on the device from the given pin number
- *********************************************************************************
- void digitalWrite8 (int pin, int value)
- {
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
- return ;
- else
- {
- if ((node = wiringPiFindNode (pin)) != NULL)
- node->digitalWrite8 (node, pin, value) ;
- }
- }
- */
- /*
- * pwmWrite:
- * Set an output PWM value
- *********************************************************************************
- */
- void pwmWrite (int pin, int value)
- {
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
- {
- /**/ if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- else if (wiringPiMode != WPI_MODE_GPIO)
- return ;
- *(pwm + gpioToPwmPort [pin]) = value ;
- }
- else
- {
- if ((node = wiringPiFindNode (pin)) != NULL)
- node->pwmWrite (node, pin, value) ;
- }
- }
- /*
- * analogRead:
- * Read the analog value of a given Pin.
- * There is no on-board Pi analog hardware,
- * so this needs to go to a new node.
- *********************************************************************************
- */
- int analogRead (int pin)
- {
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- if ((node = wiringPiFindNode (pin)) == NULL)
- return 0 ;
- else
- return node->analogRead (node, pin) ;
- }
- /*
- * analogWrite:
- * Write the analog value to the given Pin.
- * There is no on-board Pi analog hardware,
- * so this needs to go to a new node.
- *********************************************************************************
- */
- void analogWrite (int pin, int value)
- {
- struct wiringPiNodeStruct *node = wiringPiNodes ;
- if ((node = wiringPiFindNode (pin)) == NULL)
- return ;
- node->analogWrite (node, pin, value) ;
- }
- /*
- * pwmToneWrite:
- * Pi Specific.
- * Output the given frequency on the Pi's PWM pin
- *********************************************************************************
- */
- void pwmToneWrite (int pin, int freq)
- {
- int range ;
- if (freq == 0)
- pwmWrite (pin, 0) ; // Off
- else
- {
- range = 600000 / freq ;
- pwmSetRange (range) ;
- pwmWrite (pin, freq / 2) ;
- }
- }
- /*
- * digitalWriteByte:
- * digitalReadByte:
- * Pi Specific
- * Write an 8-bit byte to the first 8 GPIO pins - try to do it as
- * fast as possible.
- * However it still needs 2 operations to set the bits, so any external
- * hardware must not rely on seeing a change as there will be a change
- * to set the outputs bits to zero, then another change to set the 1's
- * Reading is just bit fiddling.
- * These are wiringPi pin numbers 0..7, or BCM_GPIO pin numbers
- * 17, 18, 22, 23, 24, 24, 4 on a Pi v1 rev 0-3
- * 17, 18, 27, 23, 24, 24, 4 on a Pi v1 rev 3 onwards or B+, 2, 3, zero
- *********************************************************************************
- */
- void digitalWriteByte (const int value)
- {
- uint32_t pinSet = 0 ;
- uint32_t pinClr = 0 ;
- int mask = 1 ;
- int pin ;
- /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
- {
- for (pin = 0 ; pin < 8 ; ++pin)
- {
- digitalWrite (pinToGpio [pin], value & mask) ;
- mask <<= 1 ;
- }
- return ;
- }
- else
- {
- for (pin = 0 ; pin < 8 ; ++pin)
- {
- if ((value & mask) == 0)
- pinClr |= (1 << pinToGpio [pin]) ;
- else
- pinSet |= (1 << pinToGpio [pin]) ;
- mask <<= 1 ;
- }
- *(gpio + gpioToGPCLR [0]) = pinClr ;
- *(gpio + gpioToGPSET [0]) = pinSet ;
- }
- }
- unsigned int digitalReadByte (void)
- {
- int pin, x ;
- uint32_t raw ;
- uint32_t data = 0 ;
- /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
- {
- for (pin = 0 ; pin < 8 ; ++pin)
- {
- x = digitalRead (pinToGpio [pin]) ;
- data = (data << 1) | x ;
- }
- }
- else
- {
- raw = *(gpio + gpioToGPLEV [0]) ; // First bank for these pins
- for (pin = 0 ; pin < 8 ; ++pin)
- {
- x = pinToGpio [pin] ;
- data = (data << 1) | (((raw & (1 << x)) == 0) ? 0 : 1) ;
- }
- }
- return data ;
- }
- /*
- * digitalWriteByte2:
- * digitalReadByte2:
- * Pi Specific
- * Write an 8-bit byte to the second set of 8 GPIO pins. This is marginally
- * faster than the first lot as these are consecutive BCM_GPIO pin numbers.
- * However they overlap with the original read/write bytes.
- *********************************************************************************
- */
- void digitalWriteByte2 (const int value)
- {
- register int mask = 1 ;
- register int pin ;
- /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
- {
- for (pin = 20 ; pin < 28 ; ++pin)
- {
- digitalWrite (pin, value & mask) ;
- mask <<= 1 ;
- }
- return ;
- }
- else
- {
- *(gpio + gpioToGPCLR [0]) = (~value & 0xFF) << 20 ; // 0x0FF00000; ILJ > CHANGE: Old causes glitch
- *(gpio + gpioToGPSET [0]) = ( value & 0xFF) << 20 ;
- }
- }
- unsigned int digitalReadByte2 (void)
- {
- int pin, x ;
- uint32_t data = 0 ;
- /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
- {
- for (pin = 20 ; pin < 28 ; ++pin)
- {
- x = digitalRead (pin) ;
- data = (data << 1) | x ;
- }
- }
- else
- data = ((*(gpio + gpioToGPLEV [0])) >> 20) & 0xFF ; // First bank for these pins
- return data ;
- }
- /*
- * waitForInterrupt:
- * Pi Specific.
- * Wait for Interrupt on a GPIO pin.
- * This is actually done via the /sys/class/gpio interface regardless of
- * the wiringPi access mode in-use. Maybe sometime it might get a better
- * way for a bit more efficiency.
- *********************************************************************************
- */
- int waitForInterrupt (int pin, int mS)
- {
- int fd, x ;
- uint8_t c ;
- struct pollfd polls ;
- /**/ if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
- if ((fd = sysFds [pin]) == -1)
- return -2 ;
- // Setup poll structure
- polls.fd = fd ;
- polls.events = POLLPRI | POLLERR ;
- // Wait for it ...
- x = poll (&polls, 1, mS) ;
- // If no error, do a dummy read to clear the interrupt
- // A one character read appars to be enough.
- if (x > 0)
- {
- lseek (fd, 0, SEEK_SET) ; // Rewind
- (void)read (fd, &c, 1) ; // Read & clear
- }
- return x ;
- }
- /*
- * 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 (UNU void *arg)
- {
- int myPin ;
- (void)piHiPri (55) ; // Only effective if we run as root
- myPin = pinPass ;
- pinPass = -1 ;
- for (;;)
- if (waitForInterrupt (myPin, -1) > 0)
- isrFunctions [myPin] () ;
- return NULL ;
- }
- /*
- * wiringPiISR:
- * Pi Specific.
- * 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 ;
- const char *modeS ;
- char fName [64] ;
- char pinS [8] ;
- pid_t pid ;
- int count, i ;
- char c ;
- int bcmGpioPin ;
- if ((pin < 0) || (pin > 63))
- return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-63 (%d)\n", pin) ;
- /**/ if (wiringPiMode == WPI_MODE_UNINITIALISED)
- return wiringPiFailure (WPI_FATAL, "wiringPiISR: wiringPi has not been initialised. Unable to continue.\n") ;
- else if (wiringPiMode == WPI_MODE_PINS)
- bcmGpioPin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- bcmGpioPin = physToGpio [pin] ;
- else
- bcmGpioPin = 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", bcmGpioPin) ;
- if ((pid = fork ()) < 0) // Fail
- return wiringPiFailure (WPI_FATAL, "wiringPiISR: fork failed: %s\n", strerror (errno)) ;
- if (pid == 0) // Child, exec
- {
- /**/ if (access ("/usr/local/bin/gpio", X_OK) == 0)
- {
- execl ("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
- return wiringPiFailure (WPI_FATAL, "wiringPiISR: execl failed: %s\n", strerror (errno)) ;
- }
- else if (access ("/usr/bin/gpio", X_OK) == 0)
- {
- execl ("/usr/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
- return wiringPiFailure (WPI_FATAL, "wiringPiISR: execl failed: %s\n", strerror (errno)) ;
- }
- else
- return wiringPiFailure (WPI_FATAL, "wiringPiISR: Can't find gpio program\n") ;
- }
- else // Parent, wait
- wait (NULL) ;
- }
- // Now pre-open the /sys/class node - but it may already be open if
- // we are in Sys mode...
- if (sysFds [bcmGpioPin] == -1)
- {
- sprintf (fName, "/sys/class/gpio/gpio%d/value", bcmGpioPin) ;
- if ((sysFds [bcmGpioPin] = open (fName, O_RDWR)) < 0)
- return wiringPiFailure (WPI_FATAL, "wiringPiISR: unable to open %s: %s\n", fName, strerror (errno)) ;
- }
- // Clear any initial pending interrupt
- ioctl (sysFds [bcmGpioPin], FIONREAD, &count) ;
- for (i = 0 ; i < count ; ++i)
- read (sysFds [bcmGpioPin], &c, 1) ;
- isrFunctions [pin] = function ;
- pthread_mutex_lock (&pinMutex) ;
- pinPass = pin ;
- pthread_create (&threadId, NULL, interruptHandler, NULL) ;
- while (pinPass != -1)
- delay (1) ;
- pthread_mutex_unlock (&pinMutex) ;
- return 0 ;
- }
- /*
- * initialiseEpoch:
- * Initialise our start-of-time variable to be the current unix
- * time in milliseconds and microseconds.
- *********************************************************************************
- */
- static void initialiseEpoch (void)
- {
- #ifdef OLD_WAY
- struct timeval tv ;
- gettimeofday (&tv, NULL) ;
- epochMilli = (uint64_t)tv.tv_sec * (uint64_t)1000 + (uint64_t)(tv.tv_usec / 1000) ;
- epochMicro = (uint64_t)tv.tv_sec * (uint64_t)1000000 + (uint64_t)(tv.tv_usec) ;
- #else
- struct timespec ts ;
- clock_gettime (CLOCK_MONOTONIC_RAW, &ts) ;
- epochMilli = (uint64_t)ts.tv_sec * (uint64_t)1000 + (uint64_t)(ts.tv_nsec / 1000000L) ;
- epochMicro = (uint64_t)ts.tv_sec * (uint64_t)1000000 + (uint64_t)(ts.tv_nsec / 1000L) ;
- #endif
- }
- /*
- * delay:
- * Wait for some number of milliseconds
- *********************************************************************************
- */
- void delay (unsigned int howLong)
- {
- struct timespec sleeper, dummy ;
- sleeper.tv_sec = (time_t)(howLong / 1000) ;
- sleeper.tv_nsec = (long)(howLong % 1000) * 1000000 ;
- nanosleep (&sleeper, &dummy) ;
- }
- /*
- * delayMicroseconds:
- * This is somewhat intersting. It seems that on the Pi, a single call
- * to nanosleep takes some 80 to 130 microseconds anyway, so while
- * obeying the standards (may take longer), it's not always what we
- * want!
- *
- * So what I'll do now is if the delay is less than 100uS we'll do it
- * in a hard loop, watching a built-in counter on the ARM chip. This is
- * somewhat sub-optimal in that it uses 100% CPU, something not an issue
- * in a microcontroller, but under a multi-tasking, multi-user OS, it's
- * wastefull, however we've no real choice )-:
- *
- * Plan B: It seems all might not be well with that plan, so changing it
- * to use gettimeofday () and poll on that instead...
- *********************************************************************************
- */
- void delayMicrosecondsHard (unsigned int howLong)
- {
- struct timeval tNow, tLong, tEnd ;
- gettimeofday (&tNow, NULL) ;
- tLong.tv_sec = howLong / 1000000 ;
- tLong.tv_usec = howLong % 1000000 ;
- timeradd (&tNow, &tLong, &tEnd) ;
- while (timercmp (&tNow, &tEnd, <))
- gettimeofday (&tNow, NULL) ;
- }
- void delayMicroseconds (unsigned int howLong)
- {
- struct timespec sleeper ;
- unsigned int uSecs = howLong % 1000000 ;
- unsigned int wSecs = howLong / 1000000 ;
- /**/ if (howLong == 0)
- return ;
- else if (howLong < 100)
- delayMicrosecondsHard (howLong) ;
- else
- {
- sleeper.tv_sec = wSecs ;
- sleeper.tv_nsec = (long)(uSecs * 1000L) ;
- nanosleep (&sleeper, NULL) ;
- }
- }
- /*
- * millis:
- * Return a number of milliseconds as an unsigned int.
- * Wraps at 49 days.
- *********************************************************************************
- */
- unsigned int millis (void)
- {
- uint64_t now ;
- #ifdef OLD_WAY
- struct timeval tv ;
- gettimeofday (&tv, NULL) ;
- now = (uint64_t)tv.tv_sec * (uint64_t)1000 + (uint64_t)(tv.tv_usec / 1000) ;
- #else
- struct timespec ts ;
- clock_gettime (CLOCK_MONOTONIC_RAW, &ts) ;
- now = (uint64_t)ts.tv_sec * (uint64_t)1000 + (uint64_t)(ts.tv_nsec / 1000000L) ;
- #endif
- return (uint32_t)(now - epochMilli) ;
- }
- /*
- * micros:
- * Return a number of microseconds as an unsigned int.
- * Wraps after 71 minutes.
- *********************************************************************************
- */
- unsigned int micros (void)
- {
- uint64_t now ;
- #ifdef OLD_WAY
- struct timeval tv ;
- gettimeofday (&tv, NULL) ;
- now = (uint64_t)tv.tv_sec * (uint64_t)1000000 + (uint64_t)tv.tv_usec ;
- #else
- struct timespec ts ;
- clock_gettime (CLOCK_MONOTONIC_RAW, &ts) ;
- now = (uint64_t)ts.tv_sec * (uint64_t)1000000 + (uint64_t)(ts.tv_nsec / 1000) ;
- #endif
- return (uint32_t)(now - epochMicro) ;
- }
- /*
- * wiringPiVersion:
- * Return our current version number
- *********************************************************************************
- */
- void wiringPiVersion (int *major, int *minor)
- {
- *major = VERSION_MAJOR ;
- *minor = VERSION_MINOR ;
- }
- /*
- * wiringPiSetup:
- * Must be called once at the start of your program execution.
- *
- * Default setup: Initialises the system into wiringPi Pin mode and uses the
- * memory mapped hardware directly.
- *
- * Changed now to revert to "gpio" mode if we're running on a Compute Module.
- *********************************************************************************
- */
- int wiringPiSetup (void)
- {
- int fd ;
- int model, rev, mem, maker, overVolted ;
- static int alreadyDoneThis = FALSE ;
- // It's actually a fatal error to call any of the wiringPiSetup routines more than once,
- // (you run out of file handles!) but I'm fed-up with the useless twats who email
- // me bleating that there is a bug in my code, so screw-em.
- if (alreadyDoneThis)
- return 0 ;
- alreadyDoneThis = TRUE ;
- if (getenv (ENV_DEBUG) != NULL)
- wiringPiDebug = TRUE ;
- if (getenv (ENV_CODES) != NULL)
- wiringPiReturnCodes = TRUE ;
- if (wiringPiDebug)
- printf ("wiringPi: wiringPiSetup called\n") ;
- // Get the board ID information. We're not really using the information here,
- // but it will give us information like the GPIO layout scheme (2 variants
- // on the older 26-pin Pi's) and the GPIO peripheral base address.
- // and if we're running on a compute module, then wiringPi pin numbers
- // don't really many anything, so force native BCM mode anyway.
- piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
- if ((model == PI_MODEL_CM) || (model == PI_MODEL_CM3))
- wiringPiMode = WPI_MODE_GPIO ;
- else
- wiringPiMode = WPI_MODE_PINS ;
- /**/ if (piGpioLayout () == 1) // A, B, Rev 1, 1.1
- {
- pinToGpio = pinToGpioR1 ;
- physToGpio = physToGpioR1 ;
- }
- else // A2, B2, A+, B+, CM, Pi2, Pi3, Zero
- {
- pinToGpio = pinToGpioR2 ;
- physToGpio = physToGpioR2 ;
- }
- // ...
- switch (model)
- {
- case PI_MODEL_A: case PI_MODEL_B:
- case PI_MODEL_AP: case PI_MODEL_BP:
- case PI_ALPHA: case PI_MODEL_CM: case PI_MODEL_ZERO:
- piGpioBase = GPIO_PERI_BASE_OLD ;
- break ;
- default:
- piGpioBase = GPIO_PERI_BASE_NEW ;
- break ;
- }
- // Open the master /dev/ memory control device
- // Device strategy: December 2016:
- // Try /dev/mem. If that fails, then
- // try /dev/gpiomem. If that fails then game over.
- if ((fd = open ("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC) ) < 0)
- {
- if ((fd = open ("/dev/gpiomem", O_RDWR | O_SYNC | O_CLOEXEC) ) < 0)
- return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: Unable to open /dev/mem or /dev/gpiomem: %s.\n Try running with sudo?\n", strerror (errno)) ;
- piGpioBase = 0 ;
- }
- // Set the offsets into the memory interface.
- GPIO_PADS = piGpioBase + 0x00100000 ;
- GPIO_CLOCK_BASE = piGpioBase + 0x00101000 ;
- GPIO_BASE = piGpioBase + 0x00200000 ;
- GPIO_TIMER = piGpioBase + 0x0000B000 ;
- GPIO_PWM = piGpioBase + 0x0020C000 ;
- // Map the individual hardware components
- // GPIO:
- gpio = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_BASE) ;
- if (gpio == MAP_FAILED)
- return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (GPIO) failed: %s\n", strerror (errno)) ;
- // PWM
- pwm = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_PWM) ;
- if (pwm == MAP_FAILED)
- return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (PWM) failed: %s\n", strerror (errno)) ;
-
- // Clock control (needed for PWM)
- clk = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_CLOCK_BASE) ;
- if (clk == MAP_FAILED)
- return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (CLOCK) failed: %s\n", strerror (errno)) ;
-
- // The drive pads
- pads = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_PADS) ;
- if (pads == MAP_FAILED)
- return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (PADS) failed: %s\n", strerror (errno)) ;
- #ifdef USE_TIMER
- // The system timer
- timer = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_TIMER) ;
- if (timer == MAP_FAILED)
- return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (TIMER) failed: %s\n", strerror (errno)) ;
- // Set the timer to free-running, 1MHz.
- // 0xF9 is 249, the timer divide is base clock / (divide+1)
- // so base clock is 250MHz / 250 = 1MHz.
- *(timer + TIMER_CONTROL) = 0x0000280 ;
- *(timer + TIMER_PRE_DIV) = 0x00000F9 ;
- timerIrqRaw = timer + TIMER_IRQ_RAW ;
- #endif
- initialiseEpoch () ;
- return 0 ;
- }
- /*
- * wiringPiSetupGpio:
- * Must be called once at the start of your program execution.
- *
- * GPIO setup: Initialises the system into GPIO Pin mode and uses the
- * memory mapped hardware directly.
- *********************************************************************************
- */
- int wiringPiSetupGpio (void)
- {
- (void)wiringPiSetup () ;
- if (wiringPiDebug)
- printf ("wiringPi: wiringPiSetupGpio called\n") ;
- wiringPiMode = WPI_MODE_GPIO ;
- return 0 ;
- }
- /*
- * wiringPiSetupPhys:
- * Must be called once at the start of your program execution.
- *
- * Phys setup: Initialises the system into Physical Pin mode and uses the
- * memory mapped hardware directly.
- *********************************************************************************
- */
- int wiringPiSetupPhys (void)
- {
- (void)wiringPiSetup () ;
- if (wiringPiDebug)
- printf ("wiringPi: wiringPiSetupPhys called\n") ;
- wiringPiMode = WPI_MODE_PHYS ;
- return 0 ;
- }
- /*
- * wiringPiSetupSys:
- * Must be called once at the start of your program execution.
- *
- * Initialisation (again), however this time we are using the /sys/class/gpio
- * interface to the GPIO systems - slightly slower, but always usable as
- * a non-root user, assuming the devices are already exported and setup correctly.
- */
- int wiringPiSetupSys (void)
- {
- int pin ;
- char fName [128] ;
- static int alreadyDoneThis = FALSE ;
- // It's actually a fatal error to call any of the wiringPiSetup routines more than once,
- // (you run out of file handles!) but I'm fed-up with the useless twats who email
- // me bleating that there is a bug in my code, so screw-em.
- if (alreadyDoneThis)
- return 0 ;
- alreadyDoneThis = TRUE ;
- if (getenv (ENV_DEBUG) != NULL)
- wiringPiDebug = TRUE ;
- if (getenv (ENV_CODES) != NULL)
- wiringPiReturnCodes = TRUE ;
- if (wiringPiDebug)
- printf ("wiringPi: wiringPiSetupSys called\n") ;
- if (piGpioLayout () == 1)
- {
- pinToGpio = pinToGpioR1 ;
- physToGpio = physToGpioR1 ;
- }
- else
- {
- pinToGpio = pinToGpioR2 ;
- physToGpio = physToGpioR2 ;
- }
- // Open and scan the directory, looking for exported GPIOs, and pre-open
- // the 'value' interface to speed things up for later
-
- for (pin = 0 ; pin < 64 ; ++pin)
- {
- sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
- sysFds [pin] = open (fName, O_RDWR) ;
- }
- initialiseEpoch () ;
- wiringPiMode = WPI_MODE_GPIO_SYS ;
- return 0 ;
- }
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