commit 2c13e6148d78a8168c1c3e41d7e62670e0aca172 Author: Gordon Henderson Date: Tue Jul 10 13:37:06 2012 +0100 Initial Commit diff --git a/README b/README new file mode 100644 index 0000000..781510a --- /dev/null +++ b/README @@ -0,0 +1,7 @@ + +WiringPi: An implementation of most of the Arduino Wiring + functions for the Raspberry Pi + +Full details at: + https://projects.drogon.net/raspberry-pi/wiringpi/ + diff --git a/examples/Makefile b/examples/Makefile new file mode 100644 index 0000000..72ce1eb --- /dev/null +++ b/examples/Makefile @@ -0,0 +1,71 @@ +# +# Makefile: +# wiringPi - Wiring Compatable library for the Raspberry Pi +# https://projects.drogon.net/wiring-pi +# +# Copyright (c) 2012 Gordon Henderson +################################################################################# +# This file is part of wiringPi: +# Wiring Compatable library for the Raspberry Pi +# +# wiringPi is free software: you can redistribute it and/or modify +# it under the terms of the GNU 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 General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with wiringPi. If not, see . +################################################################################# + + +#DEBUG = -g -O0 +DEBUG = -O3 +CC = gcc +INCLUDE = -I/usr/local/include +CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe + +LDFLAGS = -L/usr/local/lib +LIBS = -lwiringPi + +# Should not alter anything below this line +############################################################################### + +SRC = test1.c test2.c speed.c + +OBJ = test1.o test2.o speed.o + +all: test1 test2 speed + +test1: test1.o + @echo [link] + $(CC) -o $@ test1.o $(LDFLAGS) $(LIBS) + +test2: test2.o + @echo [link] + $(CC) -o $@ test2.o $(LDFLAGS) $(LIBS) + +speed: speed.o + @echo [link] + $(CC) -o $@ speed.o $(LDFLAGS) $(LIBS) + + +.c.o: + @echo [CC] $< + @$(CC) -c $(CFLAGS) $< -o $@ + +clean: + rm -f $(OBJ) *~ core tags test1 test2 speed + +tags: $(SRC) + @echo [ctags] + @ctags $(SRC) + +depend: + makedepend -Y $(SRC) + +# DO NOT DELETE diff --git a/examples/speed.c b/examples/speed.c new file mode 100644 index 0000000..409c994 --- /dev/null +++ b/examples/speed.c @@ -0,0 +1,103 @@ + +/* + * speed.c: + * Simple program to measure the speed of the various GPIO + * access mechanisms. + */ + +#include + +#include +#include +#include + +#define FAST_COUNT 10000000 +#define SLOW_COUNT 1000000 + + +int main (void) +{ + int i ; + uint32_t start, end, count, sum, perSec ; + + printf ("Raspberry Pi wiringPi speed test program\n") ; + +// Start the standard way + + if (wiringPiSetup () == -1) + exit (1) ; + + printf ("Native wiringPi method: (%8d iterations)\n", FAST_COUNT) ; + + pinMode (0, OUTPUT) ; + + sum = 0 ; + for (i = 0 ; i < 3 ; ++i) + { + printf (" Pass: %d: ", i) ; + fflush (stdout) ; + + start = millis () ; + for (count = 0 ; count < FAST_COUNT ; ++count) + digitalWrite (0, 1) ; + end = millis () ; + printf (" %8dmS\n", end - start) ; + sum += (end - start) ; + } + digitalWrite (0, 0) ; + printf (" Average: %8dmS", sum / 3) ; + perSec = (int)(double)FAST_COUNT / (double)((double)sum / 3.0) * 1000.0 ; + printf (": %6d/sec\n", perSec) ; + + + printf ("Native GPIO method: (%8d iterations)\n", FAST_COUNT) ; + + wiringPiGpioMode (WPI_MODE_GPIO) ; + + pinMode (17, OUTPUT) ; + + sum = 0 ; + for (i = 0 ; i < 3 ; ++i) + { + printf (" Pass: %d: ", i) ; + fflush (stdout) ; + + start = millis () ; + for (count = 0 ; count < 10000000 ; ++count) + digitalWrite (17, 1) ; + end = millis () ; + printf (" %8dmS\n", end - start) ; + sum += (end - start) ; + } + digitalWrite (17, 0) ; + printf (" Average: %8dmS", sum / 3) ; + perSec = (int)(double)FAST_COUNT / (double)((double)sum / 3.0) * 1000.0 ; + printf (": %6d/sec\n", perSec) ; + + +// Switch to SYS mode: + + wiringPiSetupSys () ; + + printf ("/sys/class/gpio method: (%8d iterations)\n", SLOW_COUNT) ; + + sum = 0 ; + for (i = 0 ; i < 3 ; ++i) + { + printf (" Pass: %d: ", i) ; + fflush (stdout) ; + + start = millis () ; + for (count = 0 ; count < SLOW_COUNT ; ++count) + digitalWrite (17, 1) ; + end = millis () ; + printf (" %8dmS\n", end - start) ; + sum += (end - start) ; + } + digitalWrite (17, 0) ; + printf (" Average: %8dmS", sum / 3) ; + perSec = (int)(double)SLOW_COUNT / (double)((double)sum / 3.0) * 1000.0 ; + printf (": %6d/sec\n", perSec) ; + + return 0 ; +} diff --git a/examples/test1 b/examples/test1 new file mode 100755 index 0000000..dfa08c8 Binary files /dev/null and b/examples/test1 differ diff --git a/examples/test1.c b/examples/test1.c new file mode 100644 index 0000000..7eb0abd --- /dev/null +++ b/examples/test1.c @@ -0,0 +1,91 @@ + +/* + * test1.c: + * Simple test program to test the wiringPi functions + */ + +#include + +#include +#include +#include + + +// Simple sequencer data +// Triplets of LED, On/Off and delay + +uint8_t data [] = +{ + 0, 1, 1, + 1, 1, 1, + 0, 0, 0, 2, 1, 1, + 1, 0, 0, 3, 1, 1, + 2, 0, 0, 4, 1, 1, + 3, 0, 0, 5, 1, 1, + 4, 0, 0, 6, 1, 1, + 5, 0, 0, 7, 1, 1, + 6, 0, 1, + 7, 0, 1, + + 0, 0, 1, // Extra delay + +// Back again + + 7, 1, 1, + 6, 1, 1, + 7, 0, 0, 5, 1, 1, + 6, 0, 0, 4, 1, 1, + 5, 0, 0, 3, 1, 1, + 4, 0, 0, 2, 1, 1, + 3, 0, 0, 1, 1, 1, + 2, 0, 0, 0, 1, 1, + 1, 0, 1, + 0, 0, 1, + + 0, 0, 1, // Extra delay + + 9, 9, 9, // End marker + +} ; + + +int main (void) +{ + int pin ; + int dataPtr ; + int l, s, d ; + + printf ("Raspberry Pi wiringPi test program\n") ; + + if (wiringPiSetup () == -1) + exit (1) ; + + for (pin = 0 ; pin < 8 ; ++pin) + pinMode (pin, OUTPUT) ; + + pinMode (8, INPUT) ; // Pin 8 SDA0 - Has on-board 2k2 pull-up resistor + + dataPtr = 0 ; + + for (;;) + { + l = data [dataPtr++] ; // LED + s = data [dataPtr++] ; // State + d = data [dataPtr++] ; // Duration (10ths) + + if ((l + s + d) == 27) + { + dataPtr = 0 ; + continue ; + } + + digitalWrite (l, s) ; + + if (digitalRead (8) == 0) // Pressed as our switch shorts to ground + delay (d * 10) ; // Faster! + else + delay (d * 100) ; + } + + return 0 ; +} diff --git a/examples/test2 b/examples/test2 new file mode 100755 index 0000000..d1f143a Binary files /dev/null and b/examples/test2 differ diff --git a/examples/test2.c b/examples/test2.c new file mode 100644 index 0000000..e34013c --- /dev/null +++ b/examples/test2.c @@ -0,0 +1,41 @@ + +/* + * test2.c: + * Simple test program to test the wiringPi functions + * PWM test + */ + +#include + +#include +#include +#include + +int main (void) +{ + int bright ; + + printf ("Raspberry Pi wiringPi PWM test program\n") ; + + if (wiringPiSetup () == -1) + exit (1) ; + + pinMode (1, PWM_OUTPUT) ; + + for (;;) + { + for (bright = 0 ; bright < 1024 ; ++bright) + { + pwmWrite (1, bright) ; + delay (1) ; + } + + for (bright = 1023 ; bright >= 0 ; --bright) + { + pwmWrite (1, bright) ; + delay (1) ; + } + } + + return 0 ; +} diff --git a/gpio/COPYING b/gpio/COPYING new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/gpio/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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No Surrender of Others' Freedom. + + If conditions are imposed on you (whether by court order, agreement or +otherwise) that contradict the conditions of this License, they do not +excuse you from the conditions of this License. If you cannot convey a +covered work so as to satisfy simultaneously your obligations under this +License and any other pertinent obligations, then as a consequence you may +not convey it at all. For example, if you agree to terms that obligate you +to collect a royalty for further conveying from those to whom you convey +the Program, the only way you could satisfy both those terms and this +License would be to refrain entirely from conveying the Program. + + 13. 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Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program 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 General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/gpio/Makefile b/gpio/Makefile new file mode 100644 index 0000000..043e329 --- /dev/null +++ b/gpio/Makefile @@ -0,0 +1,73 @@ +# +# Makefile: +# wiringPi - Wiring Compatable library for the Raspberry Pi +# https://projects.drogon.net/wiring-pi +# +# Copyright (c) 2012 Gordon Henderson +################################################################################# +# This file is part of wiringPi: +# Wiring Compatable library for the Raspberry Pi +# +# wiringPi is free software: you can redistribute it and/or modify +# it under the terms of the GNU 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 General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with wiringPi. If not, see . +################################################################################# + + +#DEBUG = -g -O0 +DEBUG = -O3 +CC = gcc +INCLUDE = -I/usr/local/include +CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe + +LDFLAGS = -L/usr/local/lib +LIBS = -lwiringPi + +# Should not alter anything below this line +############################################################################### + +SRC = gpio.c + +OBJ = gpio.o + +all: gpio + +gpio: gpio.o + @echo [LD] + @$(CC) -o $@ gpio.o $(LDFLAGS) $(LIBS) + +.c.o: + @echo [CC] $< + @$(CC) -c $(CFLAGS) $< -o $@ + +clean: + rm -f $(OBJ) gpio *~ core tags + +tags: $(SRC) + @echo [ctags] + @ctags $(SRC) + +depend: + makedepend -Y $(SRC) + +install: + cp gpio /usr/local/bin + chown root.root /usr/local/bin/gpio + chmod 4755 /usr/local/bin/gpio + mkdir -p /usr/local/man/man1 + cp gpio.1 /usr/local/man/man1 + +uninstall: + rm -f /usr/local/bin/gpio + rm -f /usr/local/man/man1/gpio.1 + +# DO NOT DELETE diff --git a/gpio/gpio.1 b/gpio/gpio.1 new file mode 100644 index 0000000..25c8da5 --- /dev/null +++ b/gpio/gpio.1 @@ -0,0 +1,145 @@ +.TH "GPIO" "14 June 2012" "Command-Line access to Raspberry Pi GPIO" + +.SH NAME +gpio \- Command-line access to Raspberry Pi GPIO + +.SH SYNOPSIS +.B gpio +.RB [ \-g ] +.RB < read/write/pwm/mode ...> +.TP +.B gpio +.RB < export/unexport/exports ...> + +.SH DESCRIPTION + +.B GPIO +is a command line tool to allow the user easy access to the GPIO pins +on the Raspberry Pi. It's designed for simple testing and diagnostic +purposes, but can be used in shell scripts for general if somewhat slow +control of the GPIO pins. + +Additionally, it can be used to set the exports in the /sys/class/gpio +system directory to allow subsequent programs to use the /sys/class/gpio +interface without needing to be run as root. + +.SH OPTIONS + +.TP +.B \-g +Use the BCM_GPIO pins numbers rather than WiringPi pin numbers. + +.TP +.B read +Read the digital value of the given pin and print 0 or 1 to represent the +respective logic levels. + +.TP +.B write +Write the given value (0 or 1) to the pin. + +.TP +.B pwm +Write a PWM value (0-1023) to the given pin. + +.TP +.B mode +Set a pin into input, output or pwm mode. Can also use the literals up, down or tri +to set the internal pull-up, pull-down or tristate controls. + +.TP +.B export +Export a GPIO pin in the /sys/class/gpio directory. Use like the mode command above +however only in and out are supported at this time. + +Once a GPIO pin has been exported, the +.B gpio +program changes the ownership of the /sys/class/gpio/gpioX/value pseudo file to +that of the user running the +.B gpio +program. This means that you can have a small script of gpio exports to setup +the gpio pins as your program requires without the need to run anything as +root, or with the sudo command. + +.TP +.B unexport +Un-Export a GPIO pin in the /sys/class/gpio directory. + +.TP +.B exports +Print a list (if any) of all the exported GPIO pins and their current values. + +.SH "WiringPi vs. GPIO Pin numbering" + +.PP +.TS +r r l. +WiringPi GPIO Function +_ +0 17 +1 18 (PWM) +2 21 +3 22 +4 23 +5 24 +6 25 +7 4 +8 0 SDA0 +9 1 SCL0 +10 8 SPI CE0 +11 7 SPI CE1 +12 10 SPI MOSI +13 9 SPI MISO +14 11 SPI SCLK +15 14 TxD +16 15 RxD +.TE + +.SH FILES + +.TP 2.2i +.I gpio +executable + +.SH EXAMPLES +.TP 2.2i +gpio mode 4 output # Set pin 4 to output +.PP +gpio -g mode 23 output # Set GPIO pin 23 to output (same as WiringPi pin 4) +.PP +gpio mode 1 pwm # Set pin 1 to PWM mode +.PP +gpio pwm 1 512 # Set pin 1 to PWM value 512 - half brightness +.PP +gpio export 17 out # Set GPIO Pin 17 to output +.PP +gpio export 0 in # Set GPIO Pin 0 (SDA0) to input. +.PP +gpio -g read 0 # Read GPIO Pin 0 (SDA0) + +.SH "NOTES" + +When using the export or unexport commands, the pin numbers are +.B always +native GPIO numbers and never wiringPi pin numbers. + +.SH "SEE ALSO" + +.LP +WiringPi's home page +.IP +https://projects.drogon.net/raspberry-pi/wiringpi/ + +.SH AUTHOR + +Gordon Henderson + +.SH "REPORTING BUGS" + +Report bugs to + +.SH COPYRIGHT + +Copyright (c) 2012 Gordon Henderson +This is free software; see the source for copying conditions. There is NO +warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. diff --git a/gpio/gpio.c b/gpio/gpio.c new file mode 100644 index 0000000..7aa1d5f --- /dev/null +++ b/gpio/gpio.c @@ -0,0 +1,418 @@ +/* + * gpio.c: + * Set-UID command-line interface to the Raspberry Pi's GPIO + * Copyright (c) 2012 Gordon Henderson + *********************************************************************** + * 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 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +//#include +#include + + +static int wpMode ; + + +char *usage = "Usage: gpio [-g] ..." ; + + +/* + * doExports: + * List all GPIO exports + ********************************************************************************* + */ + +void doExports (void) +{ + int fd ; + int i, l, first ; + char fName [128] ; + char dir, val ; + +// Rather crude, but who knows what others are up to... + + for (first = 0, i = 0 ; i < 64 ; ++i) + { + +// Try to read the direction + + sprintf (fName, "/sys/class/gpio/gpio%d/direction", i) ; + if ((fd = open (fName, O_RDONLY)) == -1) + continue ; + + if (first == 0) + { + ++first ; + printf ("GPIO Pins exported:\n") ; + } + + printf ("%4d: ", i) ; + + if ((l = read (fd, &dir, 1)) == 0) + { + printf ("Empty direction file (why?)\n") ; + close (fd) ; + continue ; + } + + /**/ if (dir == 'o') + printf ("Output ") ; + else if (dir == 'i') + printf ("Input ") ; + else + printf ("Wrong ") ; + + close (fd) ; + +// Try to Read the value + + sprintf (fName, "/sys/class/gpio/gpio%d/value", i) ; + if ((fd = open (fName, O_RDONLY)) == -1) + { + printf ("No Value file (huh?)\n") ; + continue ; + } + + if ((l = read (fd, &val, 1)) == 0) + { + printf ("Empty Value file (why?)\n") ; + close (fd) ; + continue ; + } + + /**/ if (val == '0' ) + printf ("(0)\n") ; + else if (val == '1') + printf ("(1)\n") ; + else + printf ("(?)\n") ; + + close (fd) ; + } +} + + +/* + * doExport: + * gpio export pin mode + * This uses the /sys/class/gpio device interface. + ********************************************************************************* + */ + +void doExport (int argc, char *argv []) +{ + FILE *fd ; + int pin ; + char *mode ; + char fName [128] ; + uid_t uid ; + gid_t gid ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s export pin mode\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + mode = argv [3] ; + + if ((fd = fopen ("/sys/class/gpio/export", "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ; + exit (1) ; + } + + fprintf (fd, "%d\n", pin) ; + fclose (fd) ; + + sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin) ; + if ((fd = fopen (fName, "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ; + exit (1) ; + } + + /**/ if (strcasecmp (mode, "in") == 0) + fprintf (fd, "in\n") ; + else if (strcasecmp (mode, "out") == 0) + fprintf (fd, "out\n") ; + else + { + fprintf (stderr, "%s: Invalid mode: %s. Should be in or out\n", argv [1], mode) ; + exit (1) ; + } + + fclose (fd) ; + +// Change ownership so the current user can actually use it! + + uid = getuid () ; + gid = getgid () ; + + sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ; + if (chown (fName, uid, gid) != 0) + { + fprintf (stderr, "%s: Unable to change ownership of the value file: %s\n", argv [1], strerror (errno)) ; + exit (1) ; + } + +} + + +/* + * doUnexport: + * gpio unexport pin + * This uses the /sys/class/gpio device interface. + ********************************************************************************* + */ + +void doUnexport (int argc, char *argv []) +{ + FILE *fd ; + int pin ; + + if (argc != 3) + { + fprintf (stderr, "Usage: %s unexport pin\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((fd = fopen ("/sys/class/gpio/unexport", "w")) == NULL) + { + fprintf (stderr, "%s: Unable to open GPIO export interface\n", argv [0]) ; + exit (1) ; + } + + fprintf (fd, "%d\n", pin) ; + fclose (fd) ; +} + +/* + * doMode: + * gpio mode pin mode ... + ********************************************************************************* + */ + +void doMode (int argc, char *argv []) +{ + int pin ; + char *mode ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s mode pin mode\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) + return ; + + mode = argv [3] ; + + /**/ if (strcasecmp (mode, "in") == 0) + pinMode (pin, INPUT) ; + else if (strcasecmp (mode, "out") == 0) + pinMode (pin, OUTPUT) ; + else if (strcasecmp (mode, "pwm") == 0) + pinMode (pin, PWM_OUTPUT) ; + else if (strcasecmp (mode, "up") == 0) + pullUpDnControl (pin, PUD_UP) ; + else if (strcasecmp (mode, "down") == 0) + pullUpDnControl (pin, PUD_DOWN) ; + else if (strcasecmp (mode, "tri") == 0) + pullUpDnControl (pin, PUD_OFF) ; + else + { + fprintf (stderr, "%s: Invalid mode: %s. Should be in/out/pwm/up/down/tri\n", argv [1], mode) ; + exit (1) ; + } +} + +/* + * doWrite: + * gpio write pin value + ********************************************************************************* + */ + +void doWrite (int argc, char *argv []) +{ + int pin, val ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s write pin value\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) + return ; + + val = atoi (argv [3]) ; + + /**/ if (val == 0) + digitalWrite (pin, LOW) ; + else + digitalWrite (pin, HIGH) ; +} + + +/* + * doRead: + * Read a pin and return the value + ********************************************************************************* + */ + +void doRead (int argc, char *argv []) +{ + int pin, val ; + + if (argc != 3) + { + fprintf (stderr, "Usage: %s read pin\n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) + { + printf ("0\n") ; + return ; + } + + val = digitalRead (pin) ; + + printf ("%s\n", val == 0 ? "0" : "1") ; +} + + +/* + * doPwm: + * Output a PWM value on a pin + ********************************************************************************* + */ + +void doPwm (int argc, char *argv []) +{ + int pin, val ; + + if (argc != 4) + { + fprintf (stderr, "Usage: %s pwm \n", argv [0]) ; + exit (1) ; + } + + pin = atoi (argv [2]) ; + + if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) + return ; + + val = atoi (argv [3]) ; + + pwmWrite (pin, val) ; +} + + +/* + * main: + * Start here + ********************************************************************************* + */ + +int main (int argc, char *argv []) +{ + int i ; + + if (argc == 1) + { + fprintf (stderr, "%s: %s\n", argv [0], usage) ; + return 1 ; + } + + if (geteuid () != 0) + { + fprintf (stderr, "%s: Must be root to run\n", argv [0]) ; + return 1 ; + } + +// Initial test for /sys/class/gpio operations: + + /**/ if (strcasecmp (argv [1], "exports" ) == 0) + { doExports () ; return 0 ; } + else if (strcasecmp (argv [1], "export" ) == 0) + { doExport (argc, argv) ; return 0 ; } + else if (strcasecmp (argv [1], "unexport") == 0) + { doUnexport (argc, argv) ; return 0 ; } + +// Check for -g argument + + if (strcasecmp (argv [1], "-g") == 0) + { + if (wiringPiSetupGpio () == -1) + { + fprintf (stderr, "%s: Unable to initialise GPIO in GPIO mode.\n", argv [0]) ; + exit (1) ; + } + + for (i = 2 ; i < argc ; ++i) + argv [i - 1] = argv [i] ; + --argc ; + wpMode = WPI_MODE_GPIO ; + } + else + { + if (wiringPiSetup () == -1) + { + fprintf (stderr, "%s: Unable to initialise GPIO in wiringPi mode\n", argv [0]) ; + exit (1) ; + } + wpMode = WPI_MODE_PINS ; + } + + /**/ if (strcasecmp (argv [1], "write" ) == 0) + doWrite (argc, argv) ; + else if (strcasecmp (argv [1], "read" ) == 0) + doRead (argc, argv) ; + else if (strcasecmp (argv [1], "mode" ) == 0) + doMode (argc, argv) ; + else if (strcasecmp (argv [1], "pwm" ) == 0) + doPwm (argc, argv) ; + else + { + fprintf (stderr, "%s: Unknown command: %s. (read/write/pwm/mode/export/unexport expected)\n", argv [0], argv [1]) ; + exit (1) ; + } + return 0 ; +} diff --git a/gpio/test.sh b/gpio/test.sh new file mode 100755 index 0000000..7127528 --- /dev/null +++ b/gpio/test.sh @@ -0,0 +1,23 @@ +#!/bin/bash + +# Simple test - assumes LEDs on Pins 0-7. + +for i in `seq 0 7`; +do + gpio mode $i out +done + +while true; +do + for i in `seq 0 7`; + do + gpio write $i 1 + sleep 0.1 + done + + for i in `seq 0 7`; + do + gpio write $i 0 + sleep 0.1 + done +done diff --git a/wiringPi/COPYING b/wiringPi/COPYING new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/wiringPi/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a program--to make sure it remains free +software for all its users. We, the Free Software Foundation, use the +GNU General Public License for most of our software; it applies also to +any other work released this way by its authors. You can apply it to +your programs, too. + + When we speak of free software, we are referring to freedom, not +price. Our General Public Licenses are designed to make sure that you +have the freedom to distribute copies of free software (and charge for +them if you wish), that you receive source code or can get it if you +want it, that you can change the software or use pieces of it in new +free programs, and that you know you can do these things. + + To protect your rights, we need to prevent others from denying you +these rights or asking you to surrender the rights. Therefore, you have +certain responsibilities if you distribute copies of the software, or if +you modify it: responsibilities to respect the freedom of others. + + For example, if you distribute copies of such a program, whether +gratis or for a fee, you must pass on to the recipients the same +freedoms that you received. You must make sure that they, too, receive +or can get the source code. And you must show them these terms so they +know their rights. + + Developers that use the GNU GPL protect your rights with two steps: +(1) assert copyright on the software, and (2) offer you this License +giving you legal permission to copy, distribute and/or modify it. + + For the developers' and authors' protection, the GPL clearly explains +that there is no warranty for this free software. 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But first, please read +. diff --git a/wiringPi/Makefile b/wiringPi/Makefile new file mode 100644 index 0000000..abcd35f --- /dev/null +++ b/wiringPi/Makefile @@ -0,0 +1,83 @@ +# +# Makefile: +# wiringPi - Wiring Compatable library for the Raspberry Pi +# +# Copyright (c) 2012 Gordon Henderson +################################################################################# +# 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 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 General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with wiringPi. If not, see . +################################################################################# + + +TARGET=libwiringPi.a + +#DEBUG = -g -O0 +DEBUG = -O3 +CC = gcc +INCLUDE = -I. +CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe + +LIBS = + +# Should not alter anything below this line +############################################################################### + +SRC = wiringPi.c serial.c wiringShift.c + +OBJ = wiringPi.o serial.o wiringShift.o + +all: $(TARGET) + +$(TARGET): $(OBJ) + @echo [AR] $(OBJ) + @ar rcs $(TARGET) $(OBJ) + @size $(TARGET) + +.c.o: + @echo [CC] $< + @$(CC) -c $(CFLAGS) $< -o $@ + +clean: + rm -f $(OBJ) $(TARGET) *~ core tags Makefile.bak + +tags: $(SRC) + @echo [ctags] + @ctags $(SRC) + +depend: + makedepend -Y $(SRC) + +install: $(TARGET) + @echo [install] + install -m 0755 -d /usr/local/lib + install -m 0755 -d /usr/local/include + install -m 0644 wiringPi.h /usr/local/include + install -m 0644 serial.h /usr/local/include + install -m 0644 wiringShift.h /usr/local/include + install -m 0644 libwiringPi.a /usr/local/lib + +uninstall: + @echo [uninstall] + rm -f /usr/local/include/wiringPi.h + rm -f /usr/local/lib/libwiringPi.a + + + +# DO NOT DELETE + +wiringPi.o: wiringPi.h +serial.o: serial.h +wiringShift.o: wiringPi.h wiringShift.h diff --git a/wiringPi/README b/wiringPi/README new file mode 100644 index 0000000..781510a --- /dev/null +++ b/wiringPi/README @@ -0,0 +1,7 @@ + +WiringPi: An implementation of most of the Arduino Wiring + functions for the Raspberry Pi + +Full details at: + https://projects.drogon.net/raspberry-pi/wiringpi/ + diff --git a/wiringPi/serial.c b/wiringPi/serial.c new file mode 100644 index 0000000..abf9544 --- /dev/null +++ b/wiringPi/serial.c @@ -0,0 +1,204 @@ +/* + * serial.c: + * Handle a serial port + *********************************************************************** + * 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 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "serial.h" + +/* + * serialOpen: + * Open and initialise the serial port, setting all the right + * port parameters - or as many as are required - hopefully! + ********************************************************************************* + */ + +int serialOpen (char *device, int baud) +{ + struct termios options ; + speed_t myBaud ; + int status, fd ; + +#ifdef DEBUG + printf ("openSerialPort: <%s> baud: $d\n", device, baud) ; +#endif + + switch (baud) + { + case 50: myBaud = B50 ; break ; + case 75: myBaud = B75 ; break ; + case 110: myBaud = B110 ; break ; + case 134: myBaud = B134 ; break ; + case 150: myBaud = B150 ; break ; + case 200: myBaud = B200 ; break ; + case 300: myBaud = B300 ; break ; + case 600: myBaud = B600 ; break ; + case 1200: myBaud = B1200 ; break ; + case 1800: myBaud = B1800 ; break ; + case 2400: myBaud = B2400 ; break ; + case 9600: myBaud = B9600 ; break ; + case 19200: myBaud = B19200 ; break ; + case 38400: myBaud = B38400 ; break ; + case 57600: myBaud = B57600 ; break ; + case 115200: myBaud = B115200 ; break ; + case 230400: myBaud = B230400 ; break ; + + default: + return -2 ; + } + + if ((fd = open (device, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK)) == -1) + return -1 ; + + fcntl (fd, F_SETFL, O_RDWR) ; + +// Get and modify current options: + + tcgetattr (fd, &options) ; + + cfmakeraw (&options) ; + cfsetispeed (&options, myBaud) ; + cfsetospeed (&options, myBaud) ; + + options.c_cflag |= (CLOCAL | CREAD) ; + options.c_cflag &= ~PARENB ; + options.c_cflag &= ~CSTOPB ; + options.c_cflag &= ~CSIZE ; + options.c_cflag |= CS8 ; + options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG) ; + options.c_oflag &= ~OPOST ; + + options.c_cc [VMIN] = 0 ; + options.c_cc [VTIME] = 100 ; // Ten seconds (100 deciseconds) + + tcsetattr (fd, TCSANOW, &options) ; + + ioctl (fd, TIOCMGET, &status); + + status |= TIOCM_DTR ; + status |= TIOCM_RTS ; + + ioctl (fd, TIOCMSET, &status); + + usleep (10000) ; // 10mS + + return fd ; +} + + +/* + * serialClose: + * Release the serial port + ********************************************************************************* + */ + +void serialClose (int fd) +{ + close (fd) ; +} + + +/* + * serialPutchar: + * Send a single character to the serial port + ********************************************************************************* + */ + +void serialPutchar (int fd, uint8_t c) +{ + write (fd, &c, 1) ; +} + + +/* + * serialPuts: + * Send a string to the serial port + ********************************************************************************* + */ + +void serialPuts (int fd, char *s) +{ + write (fd, s, strlen (s)) ; +} + +/* + * serialPrintf: + * Printf over Serial + ********************************************************************************* + */ + +void serialPrintf (int fd, char *message, ...) +{ + va_list argp ; + char buffer [1024] ; + + va_start (argp, message) ; + vsnprintf (buffer, 1023, message, argp) ; + va_end (argp) ; + + serialPuts (fd, buffer) ; +} + + +/* + * serialDataAvail: + * Return the number of bytes of data avalable to be read in the serial port + ********************************************************************************* + */ + +int serialDataAvail (int fd) +{ + int result ; + + if (ioctl (fd, FIONREAD, &result) == -1) + return -1 ; + + return result ; +} + + +/* + * serialGetchar: + * Get a single character from the serial device. + * Note: Zero is a valid character and this function will time-out after + * 10 seconds. + ********************************************************************************* + */ + +int serialGetchar (int fd) +{ + uint8_t x ; + + if (read (fd, &x, 1) != 1) + return -1 ; + + return ((int)x) & 0xFF ; +} diff --git a/wiringPi/serial.h b/wiringPi/serial.h new file mode 100644 index 0000000..477a8a6 --- /dev/null +++ b/wiringPi/serial.h @@ -0,0 +1,41 @@ +/* + * serial.h: + * Handle a serial port + *********************************************************************** + * 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 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#ifndef _STDINT_H +# include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +extern int serialOpen (char *device, int baud) ; +extern void serialClose (int fd) ; +extern void serialPutchar (int fd, uint8_t c) ; +extern void serialPuts (int fd, char *s) ; +extern void serialPrintf (int fd, char *message, ...) ; +extern int serialDataAvail (int fd) ; +extern int serialGetchar (int fd) ; + +#ifdef __cplusplus +} +#endif diff --git a/wiringPi/wiringPi.c b/wiringPi/wiringPi.c new file mode 100644 index 0000000..dcad15e --- /dev/null +++ b/wiringPi/wiringPi.c @@ -0,0 +1,729 @@ +/* + * wiringPi: + * Arduino compatable (ish) Wiring library for the Raspberry Pi + * Copyright (c) 2012 Gordon Henderson + * + * 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 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +// Revisions: +// 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 + +// Pad drive current fiddling + +#undef DEBUG_PADS + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + + +#include "wiringPi.h" + +#ifndef TRUE +#define TRUE (1==1) +#define FALSE (1==2) +#endif + +// Port function select bits + +#define FSEL_INPT 0b000 +#define FSEL_OUTP 0b001 +#define FSEL_ALT0 0b100 +#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 +// Take from Gerts code. Some of this is not in the manual +// that I can find )-: + +#define BCM2708_PERI_BASE 0x20000000 +#define GPIO_PADS (BCM2708_PERI_BASE + 0x100000) +#define CLOCK_BASE (BCM2708_PERI_BASE + 0x101000) +#define GPIO_BASE (BCM2708_PERI_BASE + 0x200000) +#define GPIO_PWM (BCM2708_PERI_BASE + 0x20C000) + +#define PAGE_SIZE (4*1024) +#define BLOCK_SIZE (4*1024) + +// PWM + +#define PWM_CONTROL 0 +#define PWM_STATUS 1 +#define PWM0_RANGE 4 +#define PWM0_DATA 5 +#define PWM1_RANGE 8 +#define PWM1_DATA 9 + +#define PWMCLK_CNTL 40 +#define PWMCLK_DIV 41 + +#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 + +#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 + + +// Locals to hold pointers to the hardware + +static volatile uint32_t *gpio ; +static volatile uint32_t *pwm ; +static volatile uint32_t *clk ; + +// 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: +// +// 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) + +// sysFds: +// Map a file descriptor from the /sys/class/gpio/gpioX/value file + +static int sysFds [64] ; + +// Mode + +static int gpioPinMode ; + +// 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 + +static int pinToGpio [] = +{ + 17, 18, 21, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7 + 0, 1, // I2C - SDA0, SCL0 + 8, 7, // SPI - CE1, CE0 + 10, 9, 11, // SPI - MOSI, MISO, SCLK + 14, 15, // UART - Tx, Rx +} ; + +// gpioToGPFSEL: +// Map a BCM_GPIO pin to it's control port. (GPFSEL 0-5) + +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, +} ; + +// 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, +} ; + +// 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 +} ; + +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 + +} ; + + +// Time for easy calculations + +static unsigned long long epoch ; + +////////////////////////////////////////////////////////////////////////////////// + + +/* + * wiringPiGpioMode: + * Set the mode - use Pin numbers (0-16) or GPIO number (seemingly random) + ********************************************************************************* + */ + +void wiringPiGpioMode (int mode) +{ + gpioPinMode = mode ; +} + + +/* + * 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. + ********************************************************************************* + */ + +int wiringPiSetup (void) +{ + int fd ; + uint8_t *gpioMem, *pwmMem, *clkMem ; + struct timeval tv ; + +#ifdef DEBUG_PADS + uint8_t *gpioMem, *padsMem, *pwmMem, *clkMem ; + uint32_t *pads ; +#endif + +// Set Pin mode by default + + wiringPiGpioMode (WPI_MODE_PINS) ; + +// Open the master /dev/memory device + + if ((fd = open ("/dev/mem", O_RDWR | O_SYNC) ) < 0) + { + fprintf (stderr, "wiringPiSetup: Unable to open /dev/mem: %s\n", strerror (errno)) ; + return -1 ; + } + +// GPIO: + +// Allocate 2 pages - 1 ... + + if ((gpioMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL) + { + fprintf (stderr, "wiringPiSetup: malloc failed: %s\n", strerror (errno)) ; + return -1 ; + } + +// ... presumably to make sure we can round it up to a whole page size + + if (((uint32_t)gpioMem % PAGE_SIZE) != 0) + gpioMem += PAGE_SIZE - ((uint32_t)gpioMem % PAGE_SIZE) ; + + gpio = (uint32_t *)mmap((caddr_t)gpioMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_BASE) ; + + if ((int32_t)gpio < 0) + { + fprintf (stderr, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ; + return -1 ; + } + +// PWM + + if ((pwmMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL) + { + fprintf (stderr, "wiringPiSetup: pwmMem malloc failed: %s\n", strerror (errno)) ; + return -1 ; + } + + if (((uint32_t)pwmMem % PAGE_SIZE) != 0) + pwmMem += PAGE_SIZE - ((uint32_t)pwmMem % PAGE_SIZE) ; + + pwm = (uint32_t *)mmap(pwmMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_PWM) ; + + if ((int32_t)pwm < 0) + { + fprintf (stderr, "wiringPiSetup: mmap failed (pwm): %s\n", strerror (errno)) ; + return -1 ; + } + +// Clock control (needed for PWM) + + if ((clkMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL) + { + fprintf (stderr, "wiringPiSetup: clkMem malloc failed: %s\n", strerror (errno)) ; + return -1 ; + } + + if (((uint32_t)clkMem % PAGE_SIZE) != 0) + clkMem += PAGE_SIZE - ((uint32_t)clkMem % PAGE_SIZE) ; + + clk = (uint32_t *)mmap(clkMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, CLOCK_BASE) ; + + if ((int32_t)clk < 0) + { + fprintf (stderr, "wiringPiSetup: mmap failed (clk): %s\n", strerror (errno)) ; + return -1 ; + } + +#ifdef DEBUG_PADS + if ((padsMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL) + { + fprintf (stderr, "wiringPiSetup: padsMem malloc failed: %s\n", strerror (errno)) ; + return -1 ; + } + + if (((uint32_t)padsMem % PAGE_SIZE) != 0) + padsMem += PAGE_SIZE - ((uint32_t)padsMem % PAGE_SIZE) ; + + pads = (uint32_t *)mmap(padsMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_PADS) ; + + if ((int32_t)pads < 0) + { + fprintf (stderr, "wiringPiSetup: mmap failed (pads): %s\n", strerror (errno)) ; + return -1 ; + } + + printf ("Checking pads @ 0x%08X\n", (unsigned int)pads) ; + + printf ("%08X %08X %08X\n", *(pads + 11), *(pads + 12), *(pads + 13)) ; +// *(pads + 11) = 0x1F ; + printf ("%08X %08X %08X\n", *(pads + 11), *(pads + 12), *(pads + 13)) ; +#endif + + gettimeofday (&tv, NULL) ; + epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ; + + 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) +{ + int x = wiringPiSetup () ; + + if (x != 0) + return x ; + + wiringPiGpioMode (WPI_MODE_GPIO) ; + 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 fd, pin ; + struct timeval tv ; + char fName [128] ; + +// Set GPIO_SYS mode by default + + wiringPiGpioMode (WPI_MODE_GPIO_SYS) ; + +// Open and scan the directory, looking for exported GPIOs, and pre-open +// the 'value' part to speed things up for later + + for (pin = 0 ; pin < 64 ; ++pin) + { + sysFds [pin] = -1 ; + sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ; + if ((fd = open (fName, O_RDWR)) == -1) + continue ; + sysFds [pin] = fd ; + } + + gettimeofday (&tv, NULL) ; + epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ; + + return 0 ; +} + + +/* + * pinMode: + * Sets the mode of a pin to be input, output or PWM output + ********************************************************************************* + */ + +void pinMode (int pin, int mode) +{ + static int pwmRunning = FALSE ; + + int gpioPin, fSel, shift ; + int alt ; + +// We can't change the mode in GPIO_SYS mode + + if (gpioPinMode == WPI_MODE_GPIO_SYS) + return ; + + if (gpioPinMode == WPI_MODE_PINS) + { + if ((pin < 0) || (pin >= NUM_PINS)) + return ; + gpioPin = pinToGpio [pin] ; + } + else + gpioPin = pin ; + + fSel = gpioToGPFSEL [gpioPin] ; + shift = gpioToShift [gpioPin] ; + + /**/ 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 == PWM_OUTPUT) + { + if ((alt = gpioToPwmALT [gpioPin]) == 0) // Not a PWM pin + return ; + +// Set pin to PWM mode + + *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ; + +// We didn't initialise the PWM hardware at setup time - because it's possible that +// something else is using the PWM - e.g. the Audio systems! So if we use PWM +// here, then we're assuming that nothing else is, otherwise things are going +// to sound a bit funny... + + if (!pwmRunning) + { + +// Gert/Doms Values + *(clk + PWMCLK_DIV) = 0x5A000000 | (32<<12) ; // set pwm div to 32 (19.2/3 = 600KHz) + *(clk + PWMCLK_CNTL) = 0x5A000011 ; // Source=osc and enable + digitalWrite (pin, LOW) ; + *(pwm + PWM_CONTROL) = 0 ; // Disable PWM + delayMicroseconds (10) ; + *(pwm + PWM0_RANGE) = 0x400 ; + delayMicroseconds (10) ; + *(pwm + PWM1_RANGE) = 0x400 ; + delayMicroseconds (10) ; + +// Enable PWMs + + *(pwm + PWM0_DATA) = 512 ; + *(pwm + PWM1_DATA) = 512 ; + + *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ; + } + + } + +// When we change mode of any pin, we remove the pull up/downs + + pullUpDnControl (pin, PUD_OFF) ; +} + + +/* + * digitalWrite: + * Set an output bit + ********************************************************************************* + */ + +void digitalWrite (int pin, int value) +{ + int gpioPin ; + + if (gpioPinMode == WPI_MODE_PINS) + { + if ((pin < 0) || (pin >= NUM_PINS)) + return ; + gpioPin = pinToGpio [pin] ; + } + else + gpioPin = pin ; + + if (gpioPinMode == WPI_MODE_GPIO_SYS) + { + if (sysFds [gpioPin] != -1) + { + if (value == LOW) + write (sysFds [gpioPin], "0\n", 2) ; + else + write (sysFds [gpioPin], "1\n", 2) ; + } + } + else + { + if (value == LOW) + *(gpio + gpioToGPCLR [gpioPin]) = 1 << gpioPin ; + else + *(gpio + gpioToGPSET [gpioPin]) = 1 << gpioPin ; + } +} + + +/* + * pwnWrite: + * Set an output PWM value + ********************************************************************************* + */ + +void pwmWrite (int pin, int value) +{ + int port, gpioPin ; + +// We can't do this in GPIO_SYS mode + + if (gpioPinMode == WPI_MODE_GPIO_SYS) + return ; + + if (gpioPinMode == WPI_MODE_PINS) + { + if ((pin < 0) || (pin >= NUM_PINS)) + return ; + gpioPin = pinToGpio [pin] ; + } + else + gpioPin = pin ; + + port = gpioToPwmPort [gpioPin] ; + + *(pwm + port) = value & ~0x400 ; +} + + +/* + * digitalRead: + * Read the value of a given Pin, returning HIGH or LOW + ********************************************************************************* + */ + +int digitalRead (int pin) +{ + int gpioPin ; + char c ; + + if (gpioPinMode == WPI_MODE_PINS) + { + if ((pin < 0) || (pin >= NUM_PINS)) + return 0 ; + gpioPin = pinToGpio [pin] ; + } + else + gpioPin = pin ; + + if (gpioPinMode == WPI_MODE_GPIO_SYS) + { + if (sysFds [gpioPin] == -1) + return 0 ; + else + { + lseek (sysFds [gpioPin], 0L, SEEK_SET) ; + read (sysFds [gpioPin], &c, 1) ; + return (c == '0') ? 0 : 1 ; + } + } + else + { + if ((*(gpio + gpioToGPLEV [gpioPin]) & (1 << gpioPin)) != 0) + return HIGH ; + else + return LOW ; + } +} + +/* + * 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) +{ + int gpioPin ; + +// We can't do this in GPIO_SYS mode + + if (gpioPinMode == WPI_MODE_GPIO_SYS) + return ; + + if (gpioPinMode == WPI_MODE_PINS) + { + if ((pin < 0) || (pin >= NUM_PINS)) + return ; + gpioPin = pinToGpio [pin] ; + } + else + gpioPin = pin ; + + *(gpio + 37) = pud ; + delayMicroseconds (10) ; + *(gpio + gpioToPUDCLK [gpioPin]) = 1 << gpioPin ; + delayMicroseconds (10) ; + + *(gpio + 37) = 0 ; + *(gpio + gpioToPUDCLK [gpioPin]) = 0 ; +} + + +/* + * delay: delayMicroseconds + * Wait for some number of milli/micro seconds + ********************************************************************************* + */ + +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) ; +} + +void delayMicroseconds (unsigned int howLong) +{ + struct timespec sleeper, dummy ; + + sleeper.tv_sec = 0 ; + sleeper.tv_nsec = (long)(howLong * 1000) ; + + nanosleep (&sleeper, &dummy) ; +} + +/* + * millis: + * Return a number of milliseconds as an unsigned int. + ********************************************************************************* + */ + +unsigned int millis (void) +{ + struct timeval tv ; + unsigned long long t1 ; + + gettimeofday (&tv, NULL) ; + + t1 = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ; + + return (uint32_t)(t1 - epoch) ; +} diff --git a/wiringPi/wiringPi.h b/wiringPi/wiringPi.h new file mode 100644 index 0000000..fcb7ae6 --- /dev/null +++ b/wiringPi/wiringPi.h @@ -0,0 +1,69 @@ +/* + * wiringPi: + * Arduino compatable (ish) Wiring library for the Raspberry Pi + * Copyright (c) 2012 Gordon Henderson + *********************************************************************** + * 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 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +// Handy defines + +#define NUM_PINS 17 + +#define WPI_MODE_PINS 0 +#define WPI_MODE_GPIO 1 +#define WPI_MODE_GPIO_SYS 2 + +#define INPUT 0 +#define OUTPUT 1 +#define PWM_OUTPUT 2 + +#define LOW 0 +#define HIGH 1 + +#define PUD_OFF 0 +#define PUD_DOWN 1 +#define PUD_UP 2 + +// Function prototypes +// c++ wrappers thanks to a commend by Nick Lott +// (and others on the Raspberry Pi forums) + +#ifdef __cplusplus +extern "C" { +#endif + +extern int wiringPiSetup (void) ; +extern int wiringPiSetupSys (void) ; +extern int wiringPiSetupGpio (void) ; + +extern void wiringPiGpioMode (int mode) ; + +extern void pullUpDnControl (int pin, int pud) ; +extern void pinMode (int pin, int mode) ; +extern void digitalWrite (int pin, int value) ; +extern void pwmWrite (int pin, int value) ; +extern int digitalRead (int pin) ; + +extern void delay (unsigned int howLong) ; +extern void delayMicroseconds (unsigned int howLong) ; +extern unsigned int millis (void) ; + +#ifdef __cplusplus +} +#endif diff --git a/wiringPi/wiringShift.c b/wiringPi/wiringShift.c new file mode 100644 index 0000000..68c5faf --- /dev/null +++ b/wiringPi/wiringShift.c @@ -0,0 +1,84 @@ +/* + * wiringShift.c: + * Emulate some of the Arduino wiring functionality. + * + * Copyright (c) 2009-2012 Gordon Henderson. + *********************************************************************** + * 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 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#include + +#include "wiringPi.h" +#include "wiringShift.h" + +/* + * shiftIn: + * Shift data in from a clocked source + ********************************************************************************* + */ + +uint8_t shiftIn (uint8_t dPin, uint8_t cPin, uint8_t order) +{ + uint8_t value = 0 ; + int8_t i ; + + if (order == MSBFIRST) + for (i = 7 ; i >= 0 ; --i) + { + digitalWrite (cPin, HIGH) ; + value |= digitalRead (dPin) << i ; + digitalWrite (cPin, LOW) ; + } + else + for (i = 0 ; i < 8 ; ++i) + { + digitalWrite (cPin, HIGH) ; + value |= digitalRead (dPin) << i ; + digitalWrite (cPin, LOW) ; + } + + return value; +} + + +/* + * shiftOut: + * Shift data out to a clocked source + ********************************************************************************* + */ + +void shiftOut (uint8_t dPin, uint8_t cPin, uint8_t order, uint8_t val) +{ + int8_t i; + + if (order == MSBFIRST) + for (i = 7 ; i >= 0 ; --i) + { + digitalWrite (dPin, val & (1 << i)) ; + digitalWrite (cPin, HIGH) ; + digitalWrite (cPin, LOW) ; + } + else + for (i = 0 ; i < 8 ; ++i) + { + digitalWrite (dPin, val & (1 << i)) ; + digitalWrite (cPin, HIGH) ; + digitalWrite (cPin, LOW) ; + } +} diff --git a/wiringPi/wiringShift.h b/wiringPi/wiringShift.h new file mode 100644 index 0000000..d723c5f --- /dev/null +++ b/wiringPi/wiringShift.h @@ -0,0 +1,41 @@ +/* + * wiringShift.h: + * Emulate some of the Arduino wiring functionality. + * + * Copyright (c) 2009-2012 Gordon Henderson. + *********************************************************************** + * 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 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with wiringPi. If not, see . + *********************************************************************** + */ + +#define LSBFIRST 0 +#define MSBFIRST 1 + +#ifndef _STDINT_H +# include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +extern uint8_t shiftIn (uint8_t dPin, uint8_t cPin, uint8_t order) ; +extern void shiftOut (uint8_t dPin, uint8_t cPin, uint8_t order, uint8_t val) ; + +#ifdef __cplusplus +} +#endif