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Quite a few changes here.

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Added in generic 'blink' programs in the examples in C, RTB and Shell.
Updated wiringPi with a little big-file on the millis() function and
added in a new micros() function too.
Updated the examples with standard LGPL headers.
Added a new isr-osc.c test program - just for ISR timing purposes.
This commit is contained in:
Gordon Henderson
2013-01-28 13:00:47 +00:00
parent db925cea18
commit e8f6258004
27 changed files with 727 additions and 158 deletions
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12
wiringPi/lcd.c
View File

@@ -174,6 +174,18 @@ void lcdClear (int fd)
}
/*
* lcdSendCommand:
* Send any arbitary command to the display
*********************************************************************************
*/
void lcdSendCommand (int fd, uint8_t command)
{
struct lcdDataStruct *lcd = lcds [fd] ;
putCommand (lcd, command) ;
}
/*
* lcdPosition:
* Update the position of the cursor on the display

13
wiringPi/lcd.h
View File

@@ -30,12 +30,13 @@
extern "C" {
#endif
extern void lcdHome (int fd) ;
extern void lcdClear (int fd) ;
extern void lcdPosition (int fd, int x, int y) ;
extern void lcdPutchar (int fd, uint8_t data) ;
extern void lcdPuts (int fd, char *string) ;
extern void lcdPrintf (int fd, char *message, ...) ;
extern void lcdHome (int fd) ;
extern void lcdClear (int fd) ;
extern void lcdSendCommand (int fd, uint8_t command) ;
extern void lcdPosition (int fd, int x, int y) ;
extern void lcdPutchar (int fd, uint8_t data) ;
extern void lcdPuts (int fd, char *string) ;
extern void lcdPrintf (int fd, char *message, ...) ;
extern int lcdInit (int rows, int cols, int bits, int rs, int strb,
int d0, int d1, int d2, int d3, int d4, int d5, int d6, int d7) ;

169
wiringPi/wiringPi.c
View File

@@ -51,9 +51,6 @@
// Added in the 2 UART pins
// Change maxPins to numPins to more accurately reflect purpose
// Pad drive current fiddling
#undef DEBUG_PADS
#include <stdio.h>
#include <stdint.h>
@@ -68,15 +65,16 @@
#include <pthread.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/wait.h>
#include <sys/ioctl.h>
#include "wiringPi.h"
// Function stubs
void (*pinMode) (int pin, int mode) ;
int (*getAlt) (int pin) ;
void (*pullUpDnControl) (int pin, int pud) ;
void (*digitalWrite) (int pin, int value) ;
void (*digitalWriteByte) (int value) ;
@@ -84,7 +82,6 @@ void (*pwmWrite) (int pin, int value) ;
void (*setPadDrive) (int group, int value) ;
int (*digitalRead) (int pin) ;
int (*waitForInterrupt) (int pin, int mS) ;
void (*delayMicroseconds) (unsigned int howLong) ;
void (*pwmSetMode) (int mode) ;
void (*pwmSetRange) (unsigned int range) ;
void (*pwmSetClock) (int divisor) ;
@@ -177,7 +174,7 @@ static volatile uint32_t *timerIrqRaw ;
// Time for easy calculations
static unsigned long long epoch ;
static uint64_t epochMilli, epochMicro ;
// Misc
@@ -586,6 +583,38 @@ void pinModeSys (int pin, int mode)
}
/*
* getAlt:
* Returns the ALT bits for a given port. Only really of-use
* for the gpio readall command (I think)
*********************************************************************************
*/
int getAltGpio (int pin)
{
int fSel, shift, alt ;
pin &= 63 ;
fSel = gpioToGPFSEL [pin] ;
shift = gpioToShift [pin] ;
alt = (*(gpio + fSel) >> shift) & 7 ;
return alt ;
}
int getAltWPi (int pin)
{
return getAltGpio (pinToGpio [pin & 63]) ;
}
int getAltSys (int pin)
{
return 0 ;
}
/*
* pwmControl:
* Allow the user to control some of the PWM functions
@@ -627,7 +656,7 @@ void pwmSetRangeSys (unsigned int range)
void pwmSetClockWPi (int divisor)
{
unsigned int pwm_control ;
uint32_t pwm_control ;
divisor &= 4095 ;
if (wiringPiDebug)
@@ -811,10 +840,11 @@ void setPadDriveWPi (int group, int value)
wrVal = BCM_PASSWORD | 0x18 | (value & 7) ;
*(pads + group + 11) = wrVal ;
#ifdef DEBUG_PADS
printf ("setPadDrive: Group: %d, value: %d (%08X)\n", group, value, wrVal) ;
printf ("Read : %08X\n", *(pads + group + 11)) ;
#endif
if (wiringPiDebug)
{
printf ("setPadDrive: Group: %d, value: %d (%08X)\n", group, value, wrVal) ;
printf ("Read : %08X\n", *(pads + group + 11)) ;
}
}
void setPadDriveGpio (int group, int value)
@@ -913,22 +943,12 @@ void pullUpDnControlSys (int pin, int pud)
int waitForInterruptSys (int pin, int mS)
{
int fd, x ;
char buf [8] ;
uint8_t c ;
struct pollfd polls ;
if ((fd = sysFds [pin & 63]) == -1)
return -2 ;
// Do a dummy read
x = read (fd, buf, 6) ;
if (x < 0)
return x ;
// And seek
lseek (fd, 0, SEEK_SET) ;
// Setup poll structure
polls.fd = fd ;
@@ -936,7 +956,14 @@ int waitForInterruptSys (int pin, int mS)
// Wait for it ...
return poll (&polls, 1, mS) ;
x = poll (&polls, 1, mS) ;
// Do a dummy read to clear the interrupt
// A one character read appars to be enough.
(void)read (fd, &c, 1) ;
return x ;
}
int waitForInterruptWPi (int pin, int mS)
@@ -986,6 +1013,8 @@ int wiringPiISR (int pin, int mode, void (*function)(void))
char *modeS ;
char pinS [8] ;
pid_t pid ;
int count, i ;
uint8_t c ;
pin &= 63 ;
@@ -1027,12 +1056,18 @@ int wiringPiISR (int pin, int mode, void (*function)(void))
}
// Now pre-open the /sys/class node - it may already be open if
// we had set it up earlier, but this will do no harm.
// we are in Sys mode, but this will do no harm.
sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
if ((sysFds [pin] = open (fName, O_RDWR)) < 0)
return -1 ;
// Clear any initial pending interrupt
ioctl (sysFds [pin], FIONREAD, &count) ;
for (i = 0 ; i < count ; ++i)
read (sysFds [pin], &c, 1) ;
isrFunctions [pin] = function ;
pthread_create (&threadId, NULL, interruptHandler, &pin) ;
@@ -1043,6 +1078,22 @@ int wiringPiISR (int pin, int mode, void (*function)(void))
}
/*
* initialiseEpoch:
* Initialise our start-of-time variable to be the current unix
* time in milliseconds.
*********************************************************************************
*/
static void initialiseEpoch (void)
{
struct timeval tv ;
gettimeofday (&tv, NULL) ;
epochMilli = (uint64_t)tv.tv_sec * (uint64_t)1000 + (uint64_t)(tv.tv_usec / 1000) ;
epochMicro = (uint64_t)tv.tv_sec * (uint64_t)1000000 + (uint64_t)(tv.tv_usec) ;
}
/*
* delay:
* Wait for some number of milli seconds
@@ -1078,28 +1129,8 @@ void delay (unsigned int howLong)
*********************************************************************************
*/
void delayMicrosecondsSys (unsigned int howLong)
{
struct timespec sleeper, dummy ;
sleeper.tv_sec = 0 ;
sleeper.tv_nsec = (long)(howLong * 1000) ;
nanosleep (&sleeper, &dummy) ;
}
void delayMicrosecondsHard (unsigned int howLong)
{
#ifdef HARD_TIMER
volatile unsigned int dummy ;
*(timer + TIMER_LOAD) = howLong ;
*(timer + TIMER_IRQ_CLR) = 0 ;
dummy = *timerIrqRaw ;
while (dummy == 0)
dummy = *timerIrqRaw ;
#else
struct timeval tNow, tLong, tEnd ;
gettimeofday (&tNow, NULL) ;
@@ -1109,10 +1140,9 @@ void delayMicrosecondsHard (unsigned int howLong)
while (timercmp (&tNow, &tEnd, <))
gettimeofday (&tNow, NULL) ;
#endif
}
void delayMicrosecondsWPi (unsigned int howLong)
void delayMicroseconds (unsigned int howLong)
{
struct timespec sleeper ;
@@ -1138,13 +1168,30 @@ void delayMicrosecondsWPi (unsigned int howLong)
unsigned int millis (void)
{
struct timeval tv ;
unsigned long long t1 ;
uint64_t now ;
gettimeofday (&tv, NULL) ;
now = (uint64_t)tv.tv_sec * (uint64_t)1000 + (uint64_t)(tv.tv_usec / 1000) ;
t1 = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
return (uint32_t)(now - epochMilli) ;
}
return (uint32_t)(t1 - epoch) ;
/*
* micros:
* Return a number of microseconds as an unsigned int.
*********************************************************************************
*/
unsigned int micros (void)
{
struct timeval tv ;
uint64_t now ;
gettimeofday (&tv, NULL) ;
now = (uint64_t)tv.tv_sec * (uint64_t)1000000 + (uint64_t)tv.tv_usec ;
return (uint32_t)(now - epochMicro) ;
}
@@ -1161,8 +1208,6 @@ int wiringPiSetup (void)
{
int fd ;
int boardRev ;
//uint8_t *gpioMem, *pwmMem, *clkMem, *padsMem, *timerMem ;
struct timeval tv ;
if (geteuid () != 0)
{
@@ -1180,6 +1225,7 @@ int wiringPiSetup (void)
printf ("wiringPi: wiringPiSetup called\n") ;
pinMode = pinModeWPi ;
getAlt = getAltWPi ;
pullUpDnControl = pullUpDnControlWPi ;
digitalWrite = digitalWriteWPi ;
digitalWriteByte = digitalWriteByteGpio ; // Same code
@@ -1187,7 +1233,6 @@ int wiringPiSetup (void)
setPadDrive = setPadDriveWPi ;
digitalRead = digitalReadWPi ;
waitForInterrupt = waitForInterruptWPi ;
delayMicroseconds = delayMicrosecondsWPi ;
pwmSetMode = pwmSetModeWPi ;
pwmSetRange = pwmSetRangeWPi ;
pwmSetClock = pwmSetClockWPi ;
@@ -1268,11 +1313,6 @@ int wiringPiSetup (void)
return -1 ;
}
#ifdef DEBUG_PADS
printf ("Checking pads @ 0x%08X\n", (unsigned int)pads) ;
printf (" -> %08X %08X %08X\n", *(pads + 11), *(pads + 12), *(pads + 13)) ;
#endif
// The system timer
timer = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_TIMER) ;
@@ -1295,10 +1335,7 @@ int wiringPiSetup (void)
*(timer + TIMER_PRE_DIV) = 0x00000F9 ;
timerIrqRaw = timer + TIMER_IRQ_RAW ;
// Initialise our epoch for millis()
gettimeofday (&tv, NULL) ;
epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
initialiseEpoch () ;
wiringPiMode = WPI_MODE_PINS ;
@@ -1332,6 +1369,7 @@ int wiringPiSetupGpio (void)
printf ("wiringPi: wiringPiSetupGpio called\n") ;
pinMode = pinModeGpio ;
getAlt = getAltGpio ;
pullUpDnControl = pullUpDnControlGpio ;
digitalWrite = digitalWriteGpio ;
digitalWriteByte = digitalWriteByteGpio ;
@@ -1339,7 +1377,6 @@ int wiringPiSetupGpio (void)
setPadDrive = setPadDriveGpio ;
digitalRead = digitalReadGpio ;
waitForInterrupt = waitForInterruptGpio ;
delayMicroseconds = delayMicrosecondsWPi ; // Same
pwmSetMode = pwmSetModeWPi ;
pwmSetRange = pwmSetRangeWPi ;
pwmSetClock = pwmSetClockWPi ;
@@ -1363,7 +1400,6 @@ int wiringPiSetupSys (void)
{
int boardRev ;
int pin ;
struct timeval tv ;
char fName [128] ;
if (getenv ("WIRINGPI_DEBUG") != NULL)
@@ -1373,6 +1409,7 @@ int wiringPiSetupSys (void)
printf ("wiringPi: wiringPiSetupSys called\n") ;
pinMode = pinModeSys ;
getAlt = getAltSys ;
pullUpDnControl = pullUpDnControlSys ;
digitalWrite = digitalWriteSys ;
digitalWriteByte = digitalWriteByteSys ;
@@ -1380,7 +1417,6 @@ int wiringPiSetupSys (void)
setPadDrive = setPadDriveSys ;
digitalRead = digitalReadSys ;
waitForInterrupt = waitForInterruptSys ;
delayMicroseconds = delayMicrosecondsSys ;
pwmSetMode = pwmSetModeSys ;
pwmSetRange = pwmSetRangeSys ;
pwmSetClock = pwmSetClockSys ;
@@ -1401,10 +1437,7 @@ int wiringPiSetupSys (void)
sysFds [pin] = open (fName, O_RDWR) ;
}
// Initialise the epoch for mills() ...
gettimeofday (&tv, NULL) ;
epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
initialiseEpoch () ;
wiringPiMode = WPI_MODE_GPIO_SYS ;

4
wiringPi/wiringPi.h
View File

@@ -81,13 +81,13 @@ extern int wpiPinToGpio (int wpiPin) ;
extern int wiringPiSetupPiFaceForGpioProg (void) ; // Don't use this - for gpio program only
extern void (*pinMode) (int pin, int mode) ;
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 (*pwmWrite) (int pin, int value) ;
extern void (*setPadDrive) (int group, int value) ;
extern int (*digitalRead) (int pin) ;
extern void (*delayMicroseconds) (unsigned int howLong) ;
extern void (*pwmSetMode) (int mode) ;
extern void (*pwmSetRange) (unsigned int range) ;
extern void (*pwmSetClock) (int divisor) ;
@@ -111,7 +111,9 @@ extern int piHiPri (int pri) ;
// Extras from arduino land
extern void delay (unsigned int howLong) ;
extern void delayMicroseconds (unsigned int howLong) ;
extern unsigned int millis (void) ;
extern unsigned int micros (void) ;
#ifdef __cplusplus
}