mirror of
https://github.com/clockworkpi/WiringPi.git
synced 2025-12-12 16:08:49 +01:00
Added a clock mode to enable the GPIo pins to be set with
one of the GPCLK drivers to generate a frequency up to 19.2MHz. Tidied some code up and added the clock functions into the gpio utility.
This commit is contained in:
Gordon Henderson
parent
4ba36e247a
commit
56c77b5a2e
10
gpio/gpio.1
10
gpio/gpio.1
@ -9,7 +9,7 @@ gpio \- Command-line access to Raspberry Pi and PiFace GPIO
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.PP
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.B gpio
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.B [ \-g ]
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.B read/write/wb/pwm/mode ...
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.B read/write/wb/pwm/clock/mode ...
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.PP
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.B gpio
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.B [ \-p ]
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@ -104,7 +104,13 @@ mode.
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.TP
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.B pwm <pin> <value>
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Write a PWM value (0-1023) to the given pin.
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Write a PWM value (0-1023) to the given pin. The pin needs to be put
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into PWM mode first.
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.TP
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.B clock <pin> <frequency>
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Set the output frequency on the given pin. The pin needs to be put into
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clock mode first.
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.TP
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.B mode <pin> <mode>
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47
gpio/gpio.c
47
gpio/gpio.c
@ -42,13 +42,13 @@ extern int wiringPiDebug ;
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# define FALSE (1==2)
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#endif
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#define VERSION "1.10"
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#define VERSION "1.11"
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static int wpMode ;
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char *usage = "Usage: gpio -v\n"
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" gpio -h\n"
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" gpio [-g] <read/write/wb/pwm/mode> ...\n"
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" gpio [-g] <read/write/wb/pwm/clock/mode> ...\n"
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" gpio [-p] <read/write/wb> ...\n"
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" gpio readall\n"
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" gpio unexportall/exports ...\n"
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@ -541,15 +541,16 @@ void doMode (int argc, char *argv [])
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mode = argv [3] ;
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/**/ if (strcasecmp (mode, "in") == 0) pinMode (pin, INPUT) ;
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else if (strcasecmp (mode, "out") == 0) pinMode (pin, OUTPUT) ;
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else if (strcasecmp (mode, "pwm") == 0) pinMode (pin, PWM_OUTPUT) ;
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else if (strcasecmp (mode, "up") == 0) pullUpDnControl (pin, PUD_UP) ;
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else if (strcasecmp (mode, "down") == 0) pullUpDnControl (pin, PUD_DOWN) ;
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else if (strcasecmp (mode, "tri") == 0) pullUpDnControl (pin, PUD_OFF) ;
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/**/ if (strcasecmp (mode, "in") == 0) pinMode (pin, INPUT) ;
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else if (strcasecmp (mode, "out") == 0) pinMode (pin, OUTPUT) ;
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else if (strcasecmp (mode, "pwm") == 0) pinMode (pin, PWM_OUTPUT) ;
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else if (strcasecmp (mode, "clock") == 0) pinMode (pin, GPIO_CLOCK) ;
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else if (strcasecmp (mode, "up") == 0) pullUpDnControl (pin, PUD_UP) ;
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else if (strcasecmp (mode, "down") == 0) pullUpDnControl (pin, PUD_DOWN) ;
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else if (strcasecmp (mode, "tri") == 0) pullUpDnControl (pin, PUD_OFF) ;
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else
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{
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fprintf (stderr, "%s: Invalid mode: %s. Should be in/out/pwm/up/down/tri\n", argv [1], mode) ;
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fprintf (stderr, "%s: Invalid mode: %s. Should be in/out/pwm/clock/up/down/tri\n", argv [1], mode) ;
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exit (1) ;
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}
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}
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@ -754,6 +755,33 @@ void doRead (int argc, char *argv [])
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}
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/*
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* doClock:
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* Output a clock on a pin
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*********************************************************************************
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*/
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void doClock (int argc, char *argv [])
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{
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int pin, freq ;
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if (argc != 4)
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{
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fprintf (stderr, "Usage: %s clock <pin> <freq>\n", argv [0]) ;
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exit (1) ;
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}
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pin = atoi (argv [2]) ;
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if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS)))
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return ;
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freq = atoi (argv [3]) ;
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gpioClockSet (pin, freq) ;
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}
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/*
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* doPwm:
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* Output a PWM value on a pin
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@ -980,6 +1008,7 @@ int main (int argc, char *argv [])
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else if (strcasecmp (argv [1], "write") == 0) doWrite (argc, argv) ;
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else if (strcasecmp (argv [1], "wb") == 0) doWriteByte (argc, argv) ;
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else if (strcasecmp (argv [1], "pwm" ) == 0) doPwm (argc, argv) ;
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else if (strcasecmp (argv [1], "clock") == 0) doClock (argc, argv) ;
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else if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ;
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else
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{
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@ -79,6 +79,7 @@ void (*pullUpDnControl) (int pin, int pud) ;
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void (*digitalWrite) (int pin, int value) ;
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void (*digitalWriteByte) (int value) ;
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void (*pwmWrite) (int pin, int value) ;
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void (*gpioClockSet) (int pin, int value) ;
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void (*setPadDrive) (int group, int value) ;
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int (*digitalRead) (int pin) ;
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int (*waitForInterrupt) (int pin, int mS) ;
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@ -97,6 +98,24 @@ void (*pwmSetClock) (int divisor) ;
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#define BCM_PASSWORD 0x5A000000
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// The BCM2835 has 54 GPIO pins.
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// BCM2835 data sheet, Page 90 onwards.
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// There are 6 control registers, each control the functions of a block
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// of 10 pins.
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// Each control register has 10 sets of 3 bits per GPIO pin - the ALT values
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//
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// 000 = GPIO Pin X is an input
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// 001 = GPIO Pin X is an output
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// 100 = GPIO Pin X takes alternate function 0
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// 101 = GPIO Pin X takes alternate function 1
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// 110 = GPIO Pin X takes alternate function 2
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// 111 = GPIO Pin X takes alternate function 3
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// 011 = GPIO Pin X takes alternate function 4
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// 010 = GPIO Pin X takes alternate function 5
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//
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// So the 3 bits for port X are:
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// X / 10 + ((X % 10) * 3)
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// Port function select bits
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#define FSEL_INPT 0b000
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@ -110,20 +129,21 @@ void (*pwmSetClock) (int divisor) ;
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#define FSEL_ALT5 0b010
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// Access from ARM Running Linux
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// Take from Gert/Doms code. Some of this is not in the manual
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// Taken from Gert/Doms code. Some of this is not in the manual
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// that I can find )-:
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#define BCM2708_PERI_BASE 0x20000000
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#define GPIO_PADS (BCM2708_PERI_BASE + 0x100000)
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#define CLOCK_BASE (BCM2708_PERI_BASE + 0x101000)
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#define GPIO_BASE (BCM2708_PERI_BASE + 0x200000)
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#define GPIO_TIMER (BCM2708_PERI_BASE + 0x00B000)
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#define GPIO_PWM (BCM2708_PERI_BASE + 0x20C000)
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#define BCM2708_PERI_BASE 0x20000000
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#define GPIO_PADS (BCM2708_PERI_BASE + 0x00100000)
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#define CLOCK_BASE (BCM2708_PERI_BASE + 0x00101000)
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#define GPIO_BASE (BCM2708_PERI_BASE + 0x00200000)
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#define GPIO_TIMER (BCM2708_PERI_BASE + 0x0000B000)
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#define GPIO_PWM (BCM2708_PERI_BASE + 0x0020C000)
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#define PAGE_SIZE (4*1024)
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#define BLOCK_SIZE (4*1024)
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// PWM
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// Word offsets into the PWM control region
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#define PWM_CONTROL 0
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#define PWM_STATUS 1
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@ -132,17 +152,11 @@ void (*pwmSetClock) (int divisor) ;
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#define PWM1_RANGE 8
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#define PWM1_DATA 9
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// Clock regsiter offsets
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#define PWMCLK_CNTL 40
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#define PWMCLK_DIV 41
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#define PWM1_MS_MODE 0x8000 // Run in MS mode
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#define PWM1_USEFIFO 0x2000 // Data from FIFO
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#define PWM1_REVPOLAR 0x1000 // Reverse polarity
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#define PWM1_OFFSTATE 0x0800 // Ouput Off state
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#define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
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#define PWM1_SERIAL 0x0200 // Run in serial mode
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#define PWM1_ENABLE 0x0100 // Channel Enable
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#define PWM0_MS_MODE 0x0080 // Run in MS mode
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#define PWM0_USEFIFO 0x0020 // Data from FIFO
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#define PWM0_REVPOLAR 0x0010 // Reverse polarity
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@ -151,7 +165,16 @@ void (*pwmSetClock) (int divisor) ;
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#define PWM0_SERIAL 0x0002 // Run in serial mode
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#define PWM0_ENABLE 0x0001 // Channel Enable
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#define PWM1_MS_MODE 0x8000 // Run in MS mode
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#define PWM1_USEFIFO 0x2000 // Data from FIFO
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#define PWM1_REVPOLAR 0x1000 // Reverse polarity
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#define PWM1_OFFSTATE 0x0800 // Ouput Off state
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#define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
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#define PWM1_SERIAL 0x0200 // Run in serial mode
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#define PWM1_ENABLE 0x0100 // Channel Enable
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// Timer
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// Word offsets
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#define TIMER_LOAD (0x400 >> 2)
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#define TIMER_VALUE (0x404 >> 2)
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@ -184,24 +207,6 @@ static int wiringPiMode = WPI_MODE_UNINITIALISED ;
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int wiringPiDebug = FALSE ;
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// The BCM2835 has 54 GPIO pins.
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// BCM2835 data sheet, Page 90 onwards.
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// There are 6 control registers, each control the functions of a block
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// of 10 pins.
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// Each control register has 10 sets of 3 bits per GPIO pin:
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//
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// 000 = GPIO Pin X is an input
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// 001 = GPIO Pin X is an output
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// 100 = GPIO Pin X takes alternate function 0
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// 101 = GPIO Pin X takes alternate function 1
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// 110 = GPIO Pin X takes alternate function 2
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// 111 = GPIO Pin X takes alternate function 3
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// 011 = GPIO Pin X takes alternate function 4
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// 010 = GPIO Pin X takes alternate function 5
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//
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// So the 3 bits for port X are:
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// X / 10 + ((X % 10) * 3)
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// sysFds:
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// Map a file descriptor from the /sys/class/gpio/gpioX/value
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@ -341,11 +346,14 @@ static uint8_t gpioToFEN [] =
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#endif
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// gpioToPUDCLK
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// (Word) offset to the Pull Up Down Clock regsiter
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// GPPUD:
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// GPIO Pin pull up/down register
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#define GPPUD 37
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// gpioToPUDCLK
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// (Word) offset to the Pull Up Down Clock regsiter
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static uint8_t gpioToPUDCLK [] =
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{
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38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,
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@ -368,6 +376,9 @@ static uint8_t gpioToPwmALT [] =
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0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
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} ;
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// gpioToPwmPort
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// The port value to put a GPIO pin into PWM mode
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static uint8_t gpioToPwmPort [] =
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{
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0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
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@ -381,6 +392,55 @@ static uint8_t gpioToPwmPort [] =
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} ;
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// gpioToGpClkALT:
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// ALT value to put a GPIO pin into GP Clock mode.
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// On the Pi we can really only use BCM_GPIO_4 and BCM_GPIO_21
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// for clocks 0 and 1 respectivey, however I'll include the full
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// list for completeness - maybe one day...
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#define GPIO_CLOCK_SOURCE 1
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// gpioToGpClkALT0:
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static uint8_t gpioToGpClkALT0 [] =
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{
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0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, // 0 -> 7
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0, 0, 0, 0, 0, 0, 0, 0, // 8 -> 15
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0, 0, 0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, // 16 -> 23
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0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
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FSEL_ALT0, 0, FSEL_ALT0, 0, 0, 0, 0, 0, // 32 -> 39
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0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, 0, 0, // 40 -> 47
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0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
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0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
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} ;
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// gpioToClk:
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// (word) Offsets to the clock Control and Divisor register
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static uint8_t gpioToClkCon [] =
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{
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-1, -1, -1, -1, 28, 30, 32, -1, // 0 -> 7
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-1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
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-1, -1, -1, -1, 28, 30, -1, -1, // 16 -> 23
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-1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
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28, -1, 28, -1, -1, -1, -1, -1, // 32 -> 39
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-1, -1, 28, 30, 28, -1, -1, -1, // 40 -> 47
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-1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
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-1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
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} ;
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static uint8_t gpioToClkDiv [] =
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{
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-1, -1, -1, -1, 29, 31, 33, -1, // 0 -> 7
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-1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
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-1, -1, -1, -1, 29, 31, -1, -1, // 16 -> 23
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-1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
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29, -1, 29, -1, -1, -1, -1, -1, // 32 -> 39
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-1, -1, 29, 31, 29, -1, -1, -1, // 40 -> 47
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-1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
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-1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
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} ;
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/*
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* Functions
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@ -496,93 +556,6 @@ int piBoardRev (void)
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/*
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* pinMode:
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* Sets the mode of a pin to be input, output or PWM output
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*********************************************************************************
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*/
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void pinModeGpio (int pin, int mode)
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{
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// register int barrier ;
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int fSel, shift, alt ;
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pin &= 63 ;
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fSel = gpioToGPFSEL [pin] ;
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shift = gpioToShift [pin] ;
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/**/ if (mode == INPUT)
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*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
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else if (mode == OUTPUT)
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*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
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else if (mode == PWM_OUTPUT)
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{
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if ((alt = gpioToPwmALT [pin]) == 0) // Not a PWM pin
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return ;
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// Set pin to PWM mode
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*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
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delayMicroseconds (110) ; // See comments in pwmSetClockWPi
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*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
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// Page 107 of the BCM Peripherals manual talks about the GPIO clocks,
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// but I'm assuming (hoping!) that this applies to other clocks too.
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*(pwm + PWM_CONTROL) = 0 ; // Stop PWM
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*(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
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delayMicroseconds (110) ; // See comments in pwmSetClockWPi
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while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY
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delayMicroseconds (1) ;
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*(clk + PWMCLK_DIV) = BCM_PASSWORD | (32 << 12) ; // set pwm div to 32 (19.2/32 = 600KHz)
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*(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x11 ; // enable clk
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delayMicroseconds (110) ; // See comments in pwmSetClockWPi
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// Default range register of 1024
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*(pwm + PWM0_RANGE) = 1024 ; delayMicroseconds (10) ;
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*(pwm + PWM1_RANGE) = 1024 ; delayMicroseconds (10) ;
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*(pwm + PWM0_DATA) = 0 ; delayMicroseconds (10) ;
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*(pwm + PWM1_DATA) = 0 ; delayMicroseconds (10) ;
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// Enable PWMs in balanced mode (default)
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*(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ;
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delay (100) ;
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}
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// When we change mode of any pin, we remove the pull up/downs
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// Or we used to... Hm. Commented out now because for some wieird reason,
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// it seems to block subsequent attempts to set the pull up/downs and I've
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// not quite gotten to the bottom of why this happens
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// The down-side is that the pull up/downs are rememberd in the SoC between
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// power cycles, so it's going to be a good idea to explicitly set them in
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// any new code.
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//
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// pullUpDnControl (pin, PUD_OFF) ;
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}
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void pinModeWPi (int pin, int mode)
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{
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pinModeGpio (pinToGpio [pin & 63], mode) ;
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}
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void pinModeSys (int pin, int mode)
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{
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return ;
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}
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/*
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* getAlt:
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* Returns the ALT bits for a given port. Only really of-use
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@ -824,6 +797,44 @@ void pwmWriteSys (int pin, int value)
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}
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/*
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* gpioClockSet:
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* Set the freuency on a GPIO clock pin
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*********************************************************************************
|
||||
*/
|
||||
|
||||
void gpioClockSetGpio (int pin, int freq)
|
||||
{
|
||||
int divi, divr, divf ;
|
||||
|
||||
pin &= 63 ;
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
void gpioClockSetWPi (int pin, int freq)
|
||||
{
|
||||
gpioClockSetGpio (pinToGpio [pin & 63], freq) ;
|
||||
}
|
||||
|
||||
void gpioClockSetSys (int pin, int freq)
|
||||
{
|
||||
return ;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* setPadDrive:
|
||||
* Set the PAD driver value
|
||||
@ -931,6 +942,65 @@ void pullUpDnControlSys (int pin, int pud)
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* pinMode:
|
||||
* Sets the mode of a pin to be input, output or PWM output
|
||||
*********************************************************************************
|
||||
*/
|
||||
|
||||
void pinModeGpio (int pin, int mode)
|
||||
{
|
||||
// register int barrier ;
|
||||
|
||||
int fSel, shift, alt ;
|
||||
|
||||
pin &= 63 ;
|
||||
|
||||
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 == PWM_OUTPUT)
|
||||
{
|
||||
if ((alt = gpioToPwmALT [pin]) == 0) // Not a PWM pin
|
||||
return ;
|
||||
|
||||
// Set pin to PWM mode
|
||||
|
||||
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
|
||||
delayMicroseconds (110) ; // See comments in pwmSetClockWPi
|
||||
|
||||
pwmSetModeWPi (PWM_MODE_BAL) ; // Pi default mode
|
||||
pwmSetRangeWPi (1024) ; // Default range of 1024
|
||||
pwmSetClockWPi (32) ; // 19.2 / 32 = 600KHz - Also starts the PWM
|
||||
}
|
||||
else if (mode == GPIO_CLOCK)
|
||||
{
|
||||
if ((alt = gpioToGpClkALT0 [pin]) == 0) // Not a GPIO_CLOCK pin
|
||||
return ;
|
||||
|
||||
// Set pin to GPIO_CLOCK mode and set the clock frequency to 100KHz
|
||||
|
||||
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
|
||||
delayMicroseconds (110) ;
|
||||
gpioClockSetGpio (pin, 100000) ;
|
||||
}
|
||||
}
|
||||
|
||||
void pinModeWPi (int pin, int mode)
|
||||
{
|
||||
pinModeGpio (pinToGpio [pin & 63], mode) ;
|
||||
}
|
||||
|
||||
void pinModeSys (int pin, int mode)
|
||||
{
|
||||
return ;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* waitForInterrupt:
|
||||
* Wait for Interrupt on a GPIO pin.
|
||||
@ -1229,6 +1299,7 @@ int wiringPiSetup (void)
|
||||
pullUpDnControl = pullUpDnControlWPi ;
|
||||
digitalWrite = digitalWriteWPi ;
|
||||
digitalWriteByte = digitalWriteByteGpio ; // Same code
|
||||
gpioClockSet = gpioClockSetWPi ;
|
||||
pwmWrite = pwmWriteWPi ;
|
||||
setPadDrive = setPadDriveWPi ;
|
||||
digitalRead = digitalReadWPi ;
|
||||
@ -1373,6 +1444,7 @@ int wiringPiSetupGpio (void)
|
||||
pullUpDnControl = pullUpDnControlGpio ;
|
||||
digitalWrite = digitalWriteGpio ;
|
||||
digitalWriteByte = digitalWriteByteGpio ;
|
||||
gpioClockSet = gpioClockSetGpio ;
|
||||
pwmWrite = pwmWriteGpio ;
|
||||
setPadDrive = setPadDriveGpio ;
|
||||
digitalRead = digitalReadGpio ;
|
||||
@ -1413,6 +1485,7 @@ int wiringPiSetupSys (void)
|
||||
pullUpDnControl = pullUpDnControlSys ;
|
||||
digitalWrite = digitalWriteSys ;
|
||||
digitalWriteByte = digitalWriteByteSys ;
|
||||
gpioClockSet = gpioClockSetSys ;
|
||||
pwmWrite = pwmWriteSys ;
|
||||
setPadDrive = setPadDriveSys ;
|
||||
digitalRead = digitalReadSys ;
|
||||
|
||||
@ -32,13 +32,18 @@
|
||||
#define WPI_MODE_PIFACE 3
|
||||
#define WPI_MODE_UNINITIALISED -1
|
||||
|
||||
// Pin modes
|
||||
|
||||
#define INPUT 0
|
||||
#define OUTPUT 1
|
||||
#define PWM_OUTPUT 2
|
||||
#define GPIO_CLOCK 3
|
||||
|
||||
#define LOW 0
|
||||
#define HIGH 1
|
||||
|
||||
// Pull up/down/none
|
||||
|
||||
#define PUD_OFF 0
|
||||
#define PUD_DOWN 1
|
||||
#define PUD_UP 2
|
||||
@ -85,6 +90,7 @@ extern int (*getAlt) (int pin) ;
|
||||
extern void (*pullUpDnControl) (int pin, int pud) ;
|
||||
extern void (*digitalWrite) (int pin, int value) ;
|
||||
extern void (*digitalWriteByte) (int value) ;
|
||||
extern void (*gpioClockSet) (int pin, int freq) ;
|
||||
extern void (*pwmWrite) (int pin, int value) ;
|
||||
extern void (*setPadDrive) (int group, int value) ;
|
||||
extern int (*digitalRead) (int pin) ;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user