diff --git a/People b/People index 2c5fa92..e0c262c 100644 --- a/People +++ b/People @@ -8,3 +8,8 @@ Nick Lott: (And others) Philipp Stefan Neininger: Minor bug in the Makefile to do with cross compiling +Chris McSweeny + Hints and tips about the use of arithmetic in gettimeofday() + inside the dealyMicrosecondsHard() function. + And spotting a couple of schoolboy errors in the (experimental) + softServo code, prompting me to completely re-write it. diff --git a/examples/Makefile b/examples/Makefile index 16bf7e2..738d36c 100644 --- a/examples/Makefile +++ b/examples/Makefile @@ -30,16 +30,19 @@ INCLUDE = -I/usr/local/include CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe LDFLAGS = -L/usr/local/lib -LIBS = -lwiringPi +LDLIBS = -lwiringPi # Should not alter anything below this line ############################################################################### -SRC = test1.c test2.c speed.c lcd.c wfi.c piface.c gertboard.c nes.c delayTest.c softPwm.c +SRC = test1.c test2.c speed.c lcd.c wfi.c \ + piface.c gertboard.c nes.c \ + pwm.c tone.c servo.c \ + delayTest.c serialRead.c okLed.c -OBJ = test1.o test2.o speed.o lcd.o wfi.o piface.o gertboard.o nes.o delayTest.o softPwm.o +OBJ = $(SRC:.c=.o) -BINS = test1 test2 speed lcd wfi piface gertboard nes delayTest softPwm +BINS = $(SRC:.c=) all: @cat README.TXT @@ -48,43 +51,59 @@ all: test1: test1.o @echo [link] - $(CC) -o $@ test1.o $(LDFLAGS) $(LIBS) + @$(CC) -o $@ test1.o $(LDFLAGS) $(LDLIBS) test2: test2.o @echo [link] - $(CC) -o $@ test2.o $(LDFLAGS) $(LIBS) + @$(CC) -o $@ test2.o $(LDFLAGS) $(LDLIBS) speed: speed.o @echo [link] - $(CC) -o $@ speed.o $(LDFLAGS) $(LIBS) + @$(CC) -o $@ speed.o $(LDFLAGS) $(LDLIBS) lcd: lcd.o @echo [link] - $(CC) -o $@ lcd.o $(LDFLAGS) $(LIBS) + @$(CC) -o $@ lcd.o $(LDFLAGS) $(LDLIBS) wfi: wfi.o @echo [link] - $(CC) -o $@ wfi.o $(LDFLAGS) $(LIBS) -lpthread + @$(CC) -o $@ wfi.o $(LDFLAGS) $(LDLIBS) piface: piface.o @echo [link] - $(CC) -o $@ piface.o $(LDFLAGS) $(LIBS) -lpthread + @$(CC) -o $@ piface.o $(LDFLAGS) $(LDLIBS) -lpthread gertboard: gertboard.o @echo [link] - $(CC) -o $@ gertboard.o $(LDFLAGS) $(LIBS) -lm + @$(CC) -o $@ gertboard.o $(LDFLAGS) $(LDLIBS) -lm nes: nes.o @echo [link] - $(CC) -o $@ nes.o $(LDFLAGS) $(LIBS) -lm + @$(CC) -o $@ nes.o $(LDFLAGS) $(LDLIBS) -lm -softPwm: softPwm.o +pwm: pwm.o @echo [link] - $(CC) -o $@ softPwm.o $(LDFLAGS) $(LIBS) -lm -lpthread + @$(CC) -o $@ pwm.o $(LDFLAGS) $(LDLIBS) -lm -lpthread delayTest: delayTest.o @echo [link] - $(CC) -o $@ delayTest.o $(LDFLAGS) $(LIBS) + @$(CC) -o $@ delayTest.o $(LDFLAGS) $(LDLIBS) + +serialRead: serialRead.o + @echo [link] + @$(CC) -o $@ serialRead.o $(LDFLAGS) $(LDLIBS) + +okLed: okLed.o + @echo [link] + @$(CC) -o $@ okLed.o $(LDFLAGS) $(LDLIBS) + +tone: tone.o + @echo [link] + @$(CC) -o $@ tone.o $(LDFLAGS) $(LDLIBS) + +servo: servo.o + @echo [link] + @$(CC) -o $@ servo.o $(LDFLAGS) $(LDLIBS) .c.o: @@ -92,7 +111,7 @@ delayTest: delayTest.o @$(CC) -c $(CFLAGS) $< -o $@ clean: - rm -f $(OBJ) *~ core tags test1 test2 speed lcd wfi piface gertboard nes delayTest softPwm + rm -f $(OBJ) *~ core tags $(BINS) tags: $(SRC) @echo [ctags] diff --git a/examples/delayTest.c b/examples/delayTest.c index 8c95522..d05f3ff 100644 --- a/examples/delayTest.c +++ b/examples/delayTest.c @@ -3,30 +3,24 @@ #include #include -#include -#include #include #define CYCLES 1000 -#define DELAY 99 int main() { int x ; struct timeval t1, t2 ; - long long t ; - unsigned int max, min ; - - unsigned int values [CYCLES] ; - - max = 0 ; - min = 1000000 ; + int t ; + int max, min ; + int del ; + int underRuns, overRuns, exactRuns, total ; + int descheds ; if (wiringPiSetup () == -1) return 1 ; - piHiPri (10) ; - sleep (1) ; + piHiPri (10) ; sleep (1) ; // Baseline test @@ -34,35 +28,56 @@ int main() gettimeofday (&t2, NULL) ; t = t2.tv_usec - t1.tv_usec ; - printf ("Baseline test: %lld\n", t); + printf ("Baseline test: %d\n", t); - for (x = 0 ; x < CYCLES ; ++x) + for (del = 1 ; del < 200 ; ++del) { - gettimeofday (&t1, NULL) ; - delayMicroseconds (DELAY) ; - gettimeofday (&t2, NULL) ; - - t = t2.tv_usec - t1.tv_usec ; - if (t > max) max = t ; - if (t < min) min = t ; - values [x] = t ; - } + underRuns = overRuns = exactRuns = total = 0 ; + descheds = 0 ; + max = del ; + min = del ; - printf ("Done: Max: %d, min: %d\n", max, min) ; + for (x = 0 ; x < CYCLES ; ++x) + { + for (;;) // Repeat this if we get a delay over 999uS + { // -> High probability Linux has deschedulled us + gettimeofday (&t1, NULL) ; + delayMicroseconds (del) ; + gettimeofday (&t2, NULL) ; - for (x = 0 ; x < CYCLES ; ++x) - { - printf ("%4d", values [x]) ; - if (values [x] > DELAY) - printf (".") ; - else if (values [x] < DELAY) - printf ("-") ; - else - printf (" ") ; - if (((x + 1) % 20) == 0) - printf ("\n") ; + if (t2.tv_usec < t1.tv_usec) // Counter wrapped + t = (1000000 + t2.tv_usec) - t1.tv_usec; + else + t = t2.tv_usec - t1.tv_usec ; + if (t > 999) + { + ++descheds ; + continue ; + } + else + break ; + } + + if (t > max) + { + max = t ; + ++overRuns ; + } + else if (t < min) + { + min = t ; + ++underRuns ; + } + else + ++exactRuns ; + + total += t ; + } + printf ("Delay: %3d. Min: %3d, Max: %3d, Unders: %3d, Overs: %3d, Exacts: %3d, Average: %3d, Descheds: %2d\n", + del, min, max, underRuns, overRuns, exactRuns, total / CYCLES, descheds) ; + fflush (stdout) ; + delay (1) ; } - printf ("\n") ; return 0 ; } diff --git a/examples/okLed.c b/examples/okLed.c new file mode 100644 index 0000000..3bf21e2 --- /dev/null +++ b/examples/okLed.c @@ -0,0 +1,65 @@ +/* + * okLed: + * Make the OK LED on the Pi Pulsate... + * Copyright (c) 2012 gordon Henderson, but please Share and Enjoy! + * + * Originally posted to the Raspberry Pi forums: + * http://www.raspberrypi.org/phpBB3/viewtopic.php?p=162581#p162581 + * + * Compile this and store it somewhere, then kick it off at boot time + * e.g. by putting it in /etc/rc.local and running it in the + * background & + * + */ + +#include +#include +#include +#include +#include + +#include +#include + +#define OK_LED 16 + +int main () +{ + int fd, i ; + + if ((fd = open ("/sys/class/leds/led0/trigger", O_RDWR)) < 0) + { + fprintf (stderr, "Unable to change LED trigger: %s\n", strerror (errno)) ; + return 1 ; + } + + write (fd, "none\n", 5) ; + close (fd) ; + + if (wiringPiSetupGpio () < 0) + { + fprintf (stderr, "Unable to setup GPIO: %s\n", strerror (errno)) ; + return 1 ; + } + + softPwmCreate (OK_LED, 0, 100) ; + + for (;;) + { + for (i = 0 ; i <= 100 ; ++i) + { + softPwmWrite (OK_LED, i) ; + delay (10) ; + } + delay (50) ; + + for (i = 100 ; i >= 0 ; --i) + { + softPwmWrite (OK_LED, i) ; + delay (10) ; + } + delay (10) ; + } + + return 0 ; +} diff --git a/examples/softPwm.c b/examples/pwm.c similarity index 100% rename from examples/softPwm.c rename to examples/pwm.c diff --git a/examples/serialRead.c b/examples/serialRead.c new file mode 100644 index 0000000..34b9bad --- /dev/null +++ b/examples/serialRead.c @@ -0,0 +1,31 @@ + +/* + * serialRead.c: + * Example program to read bytes from the Serial line + * + */ + +#include +#include +#include + +#include + +int main () +{ + int fd ; + + if ((fd = serialOpen ("/dev/ttyAMA0", 115200)) < 0) + { + fprintf (stderr, "Unable to open serial device: %s\n", strerror (errno)) ; + return 1 ; + } + +// Loop, getting and printing characters + + for (;;) + { + putchar (serialGetchar (fd)) ; + fflush (stdout) ; + } +} diff --git a/examples/servo.c b/examples/servo.c new file mode 100644 index 0000000..0237832 --- /dev/null +++ b/examples/servo.c @@ -0,0 +1,33 @@ + +#include +#include +#include + +#include +#include + +int main () +{ + if (wiringPiSetup () == -1) + { + fprintf (stdout, "oops: %s\n", strerror (errno)) ; + return 1 ; + } + + softServoSetup (0, 1, 2, 3, 4, 5, 6, 7) ; + + softServoWrite (0, 0) ; +/* + softServoWrite (1, 1000) ; + softServoWrite (2, 1100) ; + softServoWrite (3, 1200) ; + softServoWrite (4, 1300) ; + softServoWrite (5, 1400) ; + softServoWrite (6, 1500) ; + softServoWrite (7, 2200) ; +*/ + + for (;;) + delay (10) ; + +} diff --git a/examples/tone.c b/examples/tone.c new file mode 100644 index 0000000..8b1fcd7 --- /dev/null +++ b/examples/tone.c @@ -0,0 +1,37 @@ + +#include +#include +#include + +#include +#include + +#define RANGE 100 +#define NUM_LEDS 12 + +int scale [8] = { 262, 294, 330, 349, 392, 440, 494, 525 } ; + +int main () +{ + int i, j ; + char buf [80] ; + + if (wiringPiSetup () == -1) + { + fprintf (stdout, "oops: %s\n", strerror (errno)) ; + return 1 ; + } + + softToneCreate (3) ; + + for (;;) + { + for (i = 0 ; i < 8 ; ++i) + { + printf ("%3d\n", i) ; + softToneWrite (3, scale [i]) ; + delay (500) ; + } + } + +} diff --git a/gpio/gpio.1 b/gpio/gpio.1 index be38791..c39e5dc 100644 --- a/gpio/gpio.1 +++ b/gpio/gpio.1 @@ -9,11 +9,11 @@ gpio \- Command-line access to Raspberry Pi and PiFace GPIO .PP .B gpio .B [ \-g ] -.B read/write/pwm/mode ... +.B read/write/wb/pwm/mode ... .PP .B gpio .B [ \-p ] -.B read/write/mode +.B read/write/wb .B ... .PP .B gpio @@ -82,7 +82,14 @@ respective logic levels. .TP .B write -Write the given value (0 or 1) to the pin. +Write the given value (0 or 1) to the pin. You need to set the pin +to output mode first. + +.TP +.B wb +Write the given byte to the 8 main GPIO pins. You can prefix it with 0x +to specify a hexadecimal number. You need to set pins to output mode +first. .TP .B readall diff --git a/gpio/gpio.c b/gpio/gpio.c index f019c1f..52fcb6f 100644 --- a/gpio/gpio.c +++ b/gpio/gpio.c @@ -40,14 +40,14 @@ # define FALSE (1==2) #endif -#define VERSION "1.4" +#define VERSION "1.5" static int wpMode ; char *usage = "Usage: gpio -v\n" " gpio -h\n" - " gpio [-g] ...\n" - " gpio [-p] ...\n" + " gpio [-g] ...\n" + " gpio [-p] ...\n" " gpio readall\n" " gpio unexportall/exports ...\n" " gpio export/edge/unexport ...\n" @@ -133,7 +133,7 @@ static void _doLoadUsage (char *argv []) static void doLoad (int argc, char *argv []) { - char *module ; + char *module1, *module2 ; char cmd [80] ; char *file1, *file2 ; @@ -142,28 +142,36 @@ static void doLoad (int argc, char *argv []) /**/ if (strcasecmp (argv [2], "spi") == 0) { - module = "spi_bcm2708" ; + module1 = "spidev" ; + module2 = "spi_bcm2708" ; file1 = "/dev/spidev0.0" ; file2 = "/dev/spidev0.1" ; } else if (strcasecmp (argv [2], "i2c") == 0) { - module = "i2c_bcm2708" ; + module1 = "i2c_dev" ; + module2 = "i2c_bcm2708" ; file1 = "/dev/i2c-0" ; file2 = "/dev/i2c-1" ; } else _doLoadUsage (argv) ; - if (!moduleLoaded (module)) + if (!moduleLoaded (module1)) { - sprintf (cmd, "modprobe %s", module) ; + sprintf (cmd, "modprobe %s", module1) ; system (cmd) ; } - if (!moduleLoaded (module)) + if (!moduleLoaded (module2)) { - fprintf (stderr, "%s: Unable to load %s\n", argv [0], module) ; + sprintf (cmd, "modprobe %s", module2) ; + system (cmd) ; + } + + if (!moduleLoaded (module2)) + { + fprintf (stderr, "%s: Unable to load %s\n", argv [0], module2) ; exit (1) ; } @@ -588,6 +596,7 @@ static void doPadDrive (int argc, char *argv []) /* * doGbw: * gpio gbw channel value + * Gertboard Write - To the Analog output ********************************************************************************* */ @@ -629,6 +638,7 @@ static void doGbw (int argc, char *argv []) /* * doGbr: * gpio gbr channel + * From the analog input ********************************************************************************* */ @@ -682,7 +692,12 @@ static void doWrite (int argc, char *argv []) if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS))) return ; - val = atoi (argv [3]) ; + /**/ if ((strcasecmp (argv [3], "up") == 0) || (strcasecmp (argv [3], "on") == 0)) + val = 1 ; + else if ((strcasecmp (argv [3], "down") == 0) || (strcasecmp (argv [3], "off") == 0)) + val = 0 ; + else + val = atoi (argv [3]) ; /**/ if (val == 0) digitalWrite (pin, LOW) ; @@ -690,6 +705,27 @@ static void doWrite (int argc, char *argv []) digitalWrite (pin, HIGH) ; } +/* + * doWriteByte: + * gpio write value + ********************************************************************************* + */ + +static void doWriteByte (int argc, char *argv []) +{ + int val ; + + if (argc != 3) + { + fprintf (stderr, "Usage: %s wb value\n", argv [0]) ; + exit (1) ; + } + + val = (int)strtol (argv [2], NULL, 0) ; + + digitalWriteByte (val) ; +} + /* * doRead: @@ -936,11 +972,12 @@ int main (int argc, char *argv []) // Check for wiring commands - /**/ if (strcasecmp (argv [1], "readall" ) == 0) doReadall () ; - else if (strcasecmp (argv [1], "read" ) == 0) doRead (argc, argv) ; - else if (strcasecmp (argv [1], "write") == 0) doWrite (argc, argv) ; - else if (strcasecmp (argv [1], "pwm" ) == 0) doPwm (argc, argv) ; - else if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ; + /**/ if (strcasecmp (argv [1], "readall" ) == 0) doReadall () ; + else if (strcasecmp (argv [1], "read" ) == 0) doRead (argc, argv) ; + else if (strcasecmp (argv [1], "write") == 0) doWrite (argc, argv) ; + else if (strcasecmp (argv [1], "wb") == 0) doWriteByte (argc, argv) ; + else if (strcasecmp (argv [1], "pwm" ) == 0) doPwm (argc, argv) ; + else if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ; else { fprintf (stderr, "%s: Unknown command: %s.\n", argv [0], argv [1]) ; diff --git a/wiringPi/Makefile b/wiringPi/Makefile index c0a39f9..e18a654 100644 --- a/wiringPi/Makefile +++ b/wiringPi/Makefile @@ -24,8 +24,12 @@ DYN_VERS_MAJ=1 DYN_VERS_MIN=0 +VERSION=$(DYN_VERS_MAJ).$(DYN_VERS_MIN) +DESTDIR=/usr +PREFIX=/local + STATIC=libwiringPi.a -DYNAMIC=libwiringPi.so.$(DYN_VERS_MAJ).$(DYN_VERS_MIN) +DYNAMIC=libwiringPi.so.$(VERSION) #DEBUG = -g -O0 DEBUG = -O2 @@ -41,21 +45,22 @@ LIBS = SRC = wiringPi.c wiringPiFace.c wiringSerial.c wiringShift.c \ gertboard.c \ piNes.c \ - lcd.c piHiPri.c piThread.c softPwm.c wiringPiSPI.c + lcd.c piHiPri.c piThread.c wiringPiSPI.c \ + softPwm.c softServo.c softTone.c OBJ = $(SRC:.c=.o) -#all: $(STATIC) $(DYNAMIC) -all: $(DYNAMIC) +all: $(STATIC) $(DYNAMIC) +#all: $(DYNAMIC) $(STATIC): $(OBJ) - @echo [Link (Static)] + @echo "[Link (Static)]" @ar rcs $(STATIC) $(OBJ) @ranlib $(STATIC) - @size $(STATIC) +# @size $(STATIC) $(DYNAMIC): $(OBJ) - @echo [Link] + @echo "[Link (Dynamic)]" @$(CC) -shared -Wl,-soname,libwiringPi.so.1 -o libwiringPi.so.1.0 -lpthread $(OBJ) .c.o: @@ -74,34 +79,38 @@ tags: $(SRC) .PHONEY: install 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 wiringSerial.h /usr/local/include - @install -m 0644 wiringShift.h /usr/local/include - @install -m 0644 gertboard.h /usr/local/include - @install -m 0644 piNes.h /usr/local/include - @install -m 0644 softPwm.h /usr/local/include - @install -m 0644 lcd.h /usr/local/include - @install -m 0644 wiringPiSPI.h /usr/local/include -# @install -m 0644 libwiringPi.a /usr/local/lib - @install -m 0755 libwiringPi.so.1.0 /usr/local/lib - @ln -sf /usr/local/lib/libwiringPi.so.1.0 /usr/local/lib/libwiringPi.so - @ln -sf /usr/local/lib/libwiringPi.so.1.0 /usr/local/lib/libwiringPi.so.1 + @install -m 0755 -d $(DESTDIR)$(PREFIX)/lib + @install -m 0755 -d $(DESTDIR)$(PREFIX)/include + @install -m 0644 wiringPi.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 wiringSerial.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 wiringShift.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 gertboard.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 piNes.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 softPwm.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 softServo.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 softTone.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 lcd.h $(DESTDIR)$(PREFIX)/include + @install -m 0644 wiringPiSPI.h $(DESTDIR)$(PREFIX)/include + @install -m 0755 libwiringPi.a $(DESTDIR)$(PREFIX)/lib + @install -m 0755 libwiringPi.so.$(VERSION) $(DESTDIR)$(PREFIX)/lib + @ln -sf $(DESTDIR)$(PREFIX)/lib/libwiringPi.so.$(VERSION) $(DESTDIR)/lib/libwiringPi.so + @ln -sf $(DESTDIR)$(PREFIX)/lib/libwiringPi.so.$(VERSION) $(DESTDIR)/lib/libwiringPi.so.1 @ldconfig .PHONEY: uninstall uninstall: @echo "[UnInstall]" - @rm -f /usr/local/include/wiringPi.h - @rm -f /usr/local/include/wiringSerial.h - @rm -f /usr/local/include/wiringShift.h - @rm -f /usr/local/include/gertboard.h - @rm -f /usr/local/include/piNes.h - @rm -f /usr/local/include/softPwm.h - @rm -f /usr/local/include/lcd.h - @rm -f /usr/local/include/wiringPiSPI.h - @rm -f /usr/local/lib/libwiringPi.* + @rm -f $(DESTDIR)$(PREFIX)/include/wiringPi.h + @rm -f $(DESTDIR)$(PREFIX)/include/wiringSerial.h + @rm -f $(DESTDIR)$(PREFIX)/include/wiringShift.h + @rm -f $(DESTDIR)$(PREFIX)/include/gertboard.h + @rm -f $(DESTDIR)$(PREFIX)/include/piNes.h + @rm -f $(DESTDIR)$(PREFIX)/include/softPwm.h + @rm -f $(DESTDIR)$(PREFIX)/include/softServo.h + @rm -f $(DESTDIR)$(PREFIX)/include/softTone.h + @rm -f $(DESTDIR)$(PREFIX)/include/lcd.h + @rm -f $(DESTDIR)$(PREFIX)/include/wiringPiSPI.h + @rm -f $(DESTDIR)$(PREFIX)/lib/libwiringPi.* @ldconfig diff --git a/wiringPi/softServo.c b/wiringPi/softServo.c new file mode 100644 index 0000000..a6ff1fb --- /dev/null +++ b/wiringPi/softServo.c @@ -0,0 +1,202 @@ +/* + * softServo.c: + * Provide N channels of software driven PWM suitable for RC + * servo motors. + * 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 Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +//#include +#include +#include +#include +#include + +#include "wiringPi.h" +#include "softServo.h" + +// RC Servo motors are a bit of an oddity - designed in the days when +// radio control was experimental and people were tryin to make +// things as simple as possible as it was all very expensive... +// +// So... To drive an RC Servo motor, you need to send it a modified PWM +// signal - it needs anything from 1ms to 2ms - with 1ms meaning +// to move the server fully left, and 2ms meaning to move it fully +// right. Then you need a long gap before sending the next pulse. +// The reason for this is that you send a multiplexed stream of these +// pulses up the radio signal into the reciever which de-multiplexes +// them into the signals for each individual servo. Typically there +// might be 8 channels, so you need at least 8 "slots" of 2mS pulses +// meaning the entire frame must fit into a 16mS slot - which would +// then be repeated... +// +// In practice we have a total slot width of about 20mS - so we're sending 50 +// updates per second to each servo. +// +// In this code, we don't need to be too fussy about the gap as we're not doing +// the multipexing, but it does need to be at least 10mS, and preferably 16 +// from what I've been able to determine. + + +#define MAX_SERVOS 8 + +static int pinMap [MAX_SERVOS] ; // Keep track of our pins +static int pulseWidth [MAX_SERVOS] ; // microseconds + + +/* + * softServoThread: + * Thread to do the actual Servo PWM output + ********************************************************************************* + */ + +static PI_THREAD (softServoThread) +{ + register int i, j, k, m, tmp ; + int lastDelay, pin, servo ; + + int myDelays [MAX_SERVOS] ; + int myPins [MAX_SERVOS] ; + + struct timeval tNow, tStart, tPeriod, tGap, tTotal ; + struct timespec tNs ; + + tTotal.tv_sec = 0 ; + tTotal.tv_usec = 8000 ; + + piHiPri (50) ; + + for (;;) + { + gettimeofday (&tStart, NULL) ; + + memcpy (myDelays, pulseWidth, sizeof (myDelays)) ; + memcpy (myPins, pinMap, sizeof (myPins)) ; + +// Sort the delays (& pins), shortest first + + for (m = MAX_SERVOS / 2 ; m > 0 ; m /= 2 ) + for (j = m ; j < MAX_SERVOS ; ++j) + for (i = j - m ; i >= 0 ; i -= m) + { + k = i + m ; + if (myDelays [k] >= myDelays [i]) + break ; + else // Swap + { + tmp = myDelays [i] ; myDelays [i] = myDelays [k] ; myDelays [k] = tmp ; + tmp = myPins [i] ; myPins [i] = myPins [k] ; myPins [k] = tmp ; + } + } + +// All on + + lastDelay = 0 ; + for (servo = 0 ; servo < MAX_SERVOS ; ++servo) + { + if ((pin = myPins [servo]) == -1) + continue ; + + digitalWrite (pin, HIGH) ; + myDelays [servo] = myDelays [servo] - lastDelay ; + lastDelay += myDelays [servo] ; + } + +// Now loop, turning them all off as required + + for (servo = 0 ; servo < MAX_SERVOS ; ++servo) + { + if ((pin = myPins [servo]) == -1) + continue ; + + delayMicroseconds (myDelays [servo]) ; + digitalWrite (pin, LOW) ; + } + +// Wait until the end of an 8mS time-slot + + gettimeofday (&tNow, NULL) ; + timersub (&tNow, &tStart, &tPeriod) ; + timersub (&tTotal, &tPeriod, &tGap) ; + tNs.tv_sec = tGap.tv_sec ; + tNs.tv_nsec = tGap.tv_usec * 1000 ; + nanosleep (&tNs, NULL) ; + } + + return NULL ; +} + + +/* + * softServoWrite: + * Write a Servo value to the given pin + ********************************************************************************* + */ + +void softServoWrite (int servoPin, int value) +{ + int servo ; + + servoPin &= 63 ; + + /**/ if (value < -250) + value = -250 ; + else if (value > 1250) + value = 1250 ; + + for (servo = 0 ; servo < MAX_SERVOS ; ++servo) + if (pinMap [servo] == servoPin) + pulseWidth [servo] = value + 1000 ; // uS +} + + +/* + * softServoSetup: + * Setup the software servo system + ********************************************************************************* + */ + +int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7) +{ + int servo ; + + if (p0 != -1) { pinMode (p0, OUTPUT) ; digitalWrite (p0, LOW) ; } + if (p1 != -1) { pinMode (p1, OUTPUT) ; digitalWrite (p1, LOW) ; } + if (p2 != -1) { pinMode (p2, OUTPUT) ; digitalWrite (p2, LOW) ; } + if (p3 != -1) { pinMode (p3, OUTPUT) ; digitalWrite (p3, LOW) ; } + if (p4 != -1) { pinMode (p4, OUTPUT) ; digitalWrite (p4, LOW) ; } + if (p5 != -1) { pinMode (p5, OUTPUT) ; digitalWrite (p5, LOW) ; } + if (p6 != -1) { pinMode (p6, OUTPUT) ; digitalWrite (p6, LOW) ; } + if (p7 != -1) { pinMode (p7, OUTPUT) ; digitalWrite (p7, LOW) ; } + + pinMap [0] = p0 ; + pinMap [1] = p1 ; + pinMap [2] = p2 ; + pinMap [3] = p3 ; + pinMap [4] = p4 ; + pinMap [5] = p5 ; + pinMap [6] = p6 ; + pinMap [7] = p7 ; + + for (servo = 0 ; servo < MAX_SERVOS ; ++servo) + pulseWidth [servo] = 1500 ; // Mid point + + return piThreadCreate (softServoThread) ; +} diff --git a/wiringPi/softServo.h b/wiringPi/softServo.h new file mode 100644 index 0000000..794cf55 --- /dev/null +++ b/wiringPi/softServo.h @@ -0,0 +1,35 @@ +/* + * softServo.h: + * Provide N channels of software driven PWM suitable for RC + * servo motors. + * 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 Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +#ifdef __cplusplus +extern "C" { +#endif + +extern void softServoWrite (int pin, int value) ; +extern int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7) ; + +#ifdef __cplusplus +} +#endif diff --git a/wiringPi/softTone.c b/wiringPi/softTone.c new file mode 100644 index 0000000..d14c2a2 --- /dev/null +++ b/wiringPi/softTone.c @@ -0,0 +1,119 @@ +/* + * softTone.c: + * For that authentic retro sound... + * Er... A little experiment to produce tones out of a Pi using + * one (or 2) GPIO pins and a piezeo "speaker" element. + * (Or a high impedance speaker, but don'y blame me if you blow-up + * the GPIO pins!) + * 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 Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +#include +#include + +#include "wiringPi.h" +#include "softTone.h" + +#define MAX_PINS 64 + +#define PULSE_TIME 100 + +static int frewqs [MAX_PINS] ; + +static int newPin = -1 ; + + +/* + * softToneThread: + * Thread to do the actual PWM output + ********************************************************************************* + */ + +static PI_THREAD (softToneThread) +{ + int pin, frewq, halfPeriod ; + + pin = newPin ; + newPin = -1 ; + + piHiPri (50) ; + + for (;;) + { + frewq = frewqs [pin] ; + if (frewq != 0) + { + halfPeriod = 500000 / frewq ; + + digitalWrite (pin, HIGH) ; + delayMicroseconds (halfPeriod) ; + + digitalWrite (pin, LOW) ; + delayMicroseconds (halfPeriod) ; + } + } + + return NULL ; +} + + +/* + * softToneWrite: + * Write a frequency value to the given pin + ********************************************************************************* + */ + +void softToneWrite (int pin, int frewq) +{ + pin &= 63 ; + + /**/ if (frewq < 0) + frewq = 0 ; + else if (frewq > 5000) // Max 5KHz + frewq = 5000 ; + + frewqs [pin] = frewq ; +} + + +/* + * softToneCreate: + * Create a new tone thread. + ********************************************************************************* + */ + +int softToneCreate (int pin) +{ + int res ; + + pinMode (pin, OUTPUT) ; + digitalWrite (pin, LOW) ; + + frewqs [pin] = 0 ; + + newPin = pin ; + res = piThreadCreate (softToneThread) ; + + while (newPin != -1) + delay (1) ; + + return res ; +} diff --git a/wiringPi/softTone.h b/wiringPi/softTone.h new file mode 100644 index 0000000..80c64fe --- /dev/null +++ b/wiringPi/softTone.h @@ -0,0 +1,38 @@ +/* + * softTone.c: + * For that authentic retro sound... + * Er... A little experiment to produce tones out of a Pi using + * one (or 2) GPIO pins and a piezeo "speaker" element. + * (Or a high impedance speaker, but don'y blame me if you blow-up + * the GPIO pins!) + * 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 Lesser General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * wiringPi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with wiringPi. + * If not, see . + *********************************************************************** + */ + +#ifdef __cplusplus +extern "C" { +#endif + +extern int softToneCreate (int pin) ; +extern void softToneWrite (int pin, int frewq) ; + +#ifdef __cplusplus +} +#endif diff --git a/wiringPi/wiringPi.c b/wiringPi/wiringPi.c index 9fe3ab1..df4d969 100644 --- a/wiringPi/wiringPi.c +++ b/wiringPi/wiringPi.c @@ -77,6 +77,7 @@ void (*pinMode) (int pin, int mode) ; void (*pullUpDnControl) (int pin, int pud) ; void (*digitalWrite) (int pin, int value) ; +void (*digitalWriteByte) (int value) ; void (*pwmWrite) (int pin, int value) ; void (*setPadDrive) (int group, int value) ; int (*digitalRead) (int pin) ; @@ -399,15 +400,15 @@ int wpiPinToGpio (int wpiPin) * Revision is currently 1 or 2. -1 is returned on error. * * Much confusion here )-: - * Seems there ar esome boards with 0000 in them (mistake in manufacture) - * and some board with 0005 in them (another mistake in manufacture). + * Seems there are some boards with 0000 in them (mistake in manufacture) + * and some board with 0005 in them (another mistake in manufacture?) * So the distinction between boards that I can see is: * 0000 - Error * 0001 - Not used * 0002 - Rev 1 * 0003 - Rev 1 * 0004 - Rev 2 - * 0005 - Rev 2 + * 0005 - Rev 2 (but error) * 0006 - Rev 2 * 000f - Rev 2 + 512MB * @@ -499,6 +500,8 @@ int piBoardRev (void) void pinModeGpio (int pin, int mode) { +// register int barrier ; + int fSel, shift, alt ; pin &= 63 ; @@ -519,30 +522,40 @@ void pinModeGpio (int pin, int mode) *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ; + delayMicroseconds (110) ; // See comments in pwmSetClockWPi + *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ; + // Page 107 of the BCM Peripherals manual talks about the GPIO clocks, // but I'm assuming (hoping!) that this applies to other clocks too. *(pwm + PWM_CONTROL) = 0 ; // Stop PWM + *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock - delayMicroseconds (110) ; // See comments in pwmSetClockWPi + delayMicroseconds (110) ; // See comments in pwmSetClockWPi - (void)*(pwm + PWM_CONTROL) ; - while ((*(pwm + PWM_CONTROL) & 0x80) != 0) // Wait for clock to be !BUSY + while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY delayMicroseconds (1) ; *(clk + PWMCLK_DIV) = BCM_PASSWORD | (32 << 12) ; // set pwm div to 32 (19.2/32 = 600KHz) *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x11 ; // enable clk -// Default range regsiter of 1024 + delayMicroseconds (110) ; // See comments in pwmSetClockWPi + +// Default range register of 1024 - *(pwm + PWM0_DATA) = 0 ; *(pwm + PWM0_RANGE) = 1024 ; - *(pwm + PWM1_DATA) = 0 ; *(pwm + PWM1_RANGE) = 1024 ; + *(pwm + PWM0_RANGE) = 1024 ; delayMicroseconds (10) ; + *(pwm + PWM1_RANGE) = 1024 ; delayMicroseconds (10) ; + *(pwm + PWM0_DATA) = 0 ; delayMicroseconds (10) ; + *(pwm + PWM1_DATA) = 0 ; delayMicroseconds (10) ; // Enable PWMs in balanced mode (default) *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ; + + delay (100) ; } + // When we change mode of any pin, we remove the pull up/downs // Or we used to... Hm. Commented out now because for some wieird reason, // it seems to block subsequent attempts to set the pull up/downs and I've @@ -629,7 +642,7 @@ void pwmSetClockWPi (int divisor) *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock delayMicroseconds (110) ; // prevents clock going sloooow - while ((*(pwm + PWM_CONTROL) & 0x80) != 0) // Wait for clock to be !BUSY + while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY delayMicroseconds (1) ; *(clk + PWMCLK_DIV) = BCM_PASSWORD | (divisor << 12) ; @@ -705,6 +718,50 @@ void digitalWriteSys (int pin, int value) /* + * digitalWriteByte: + * Write an 8-bit byte to the first 8 GPIO pins - try to do it as + * fast as possible. + * However it still needs 2 operations to set the bits, so any external + * hardware must not rely on seeing a change as there will be a change + * to set the outputs bits to zero, then another change to set the 1's + ********************************************************************************* + */ + +void digitalWriteByteGpio (int value) +{ + uint32_t pinSet = 0 ; + uint32_t pinClr = 0 ; + int mask = 1 ; + int pin ; + + for (pin = 0 ; pin < 8 ; ++pin) + { + if ((value & mask) == 0) + pinClr |= (1 << pinToGpio [pin]) ; + else + pinSet |= (1 << pinToGpio [pin]) ; + + *(gpio + gpioToGPCLR [0]) = pinClr ; + *(gpio + gpioToGPSET [0]) = pinSet ; + + mask <<= 1 ; + } +} + +void digitalWriteByteSys (int value) +{ + int mask = 1 ; + int pin ; + + for (pin = 0 ; pin < 8 ; ++pin) + { + digitalWriteSys (pinToGpio [pin], value & mask) ; + mask <<= 1 ; + } +} + + +/* * pwmWrite: * Set an output PWM value ********************************************************************************* @@ -915,6 +972,9 @@ void delay (unsigned int howLong) * somewhat sub-optimal in that it uses 100% CPU, something not an issue * in a microcontroller, but under a multi-tasking, multi-user OS, it's * wastefull, however we've no real choice )-: + * + * Plan B: It seems all might not be well with that plan, so changing it + * to use gettimeofday () and poll on that instead... ********************************************************************************* */ @@ -930,16 +990,31 @@ void delayMicrosecondsSys (unsigned int howLong) void delayMicrosecondsHard (unsigned int howLong) { +#ifdef HARD_TIMER + volatile unsigned int dummy ; + *(timer + TIMER_LOAD) = howLong ; *(timer + TIMER_IRQ_CLR) = 0 ; - while (*timerIrqRaw == 0) - ; + dummy = *timerIrqRaw ; + while (dummy == 0) + dummy = *timerIrqRaw ; +#else + struct timeval tNow, tLong, tEnd ; + + gettimeofday (&tNow, NULL) ; + tLong.tv_sec = howLong / 1000000 ; + tLong.tv_usec = howLong % 1000000 ; + timeradd (&tNow, &tLong, &tEnd) ; + + while (timercmp (&tNow, &tEnd, <)) + gettimeofday (&tNow, NULL) ; +#endif } void delayMicrosecondsWPi (unsigned int howLong) { - struct timespec sleeper, dummy ; + struct timespec sleeper ; /**/ if (howLong == 0) return ; @@ -949,7 +1024,7 @@ void delayMicrosecondsWPi (unsigned int howLong) { sleeper.tv_sec = 0 ; sleeper.tv_nsec = (long)(howLong * 1000) ; - nanosleep (&sleeper, &dummy) ; + nanosleep (&sleeper, NULL) ; } } @@ -998,6 +1073,7 @@ int wiringPiSetup (void) pinMode = pinModeWPi ; pullUpDnControl = pullUpDnControlWPi ; digitalWrite = digitalWriteWPi ; + digitalWriteByte = digitalWriteByteGpio ; // Same code pwmWrite = pwmWriteWPi ; setPadDrive = setPadDriveWPi ; digitalRead = digitalReadWPi ; @@ -1166,6 +1242,7 @@ int wiringPiSetupGpio (void) pinMode = pinModeGpio ; pullUpDnControl = pullUpDnControlGpio ; digitalWrite = digitalWriteGpio ; + digitalWriteByte = digitalWriteByteGpio ; pwmWrite = pwmWriteGpio ; setPadDrive = setPadDriveGpio ; digitalRead = digitalReadGpio ; @@ -1190,6 +1267,7 @@ int wiringPiSetupGpio (void) int wiringPiSetupSys (void) { + int boardRev ; int pin ; struct timeval tv ; char fName [128] ; @@ -1200,6 +1278,7 @@ int wiringPiSetupSys (void) pinMode = pinModeSys ; pullUpDnControl = pullUpDnControlSys ; digitalWrite = digitalWriteSys ; + digitalWriteByte = digitalWriteByteSys ; pwmWrite = pwmWriteSys ; setPadDrive = setPadDriveSys ; digitalRead = digitalReadSys ; @@ -1209,6 +1288,14 @@ int wiringPiSetupSys (void) pwmSetRange = pwmSetRangeSys ; pwmSetClock = pwmSetClockSys ; + if ((boardRev = piBoardRev ()) < 0) + return -1 ; + + if (boardRev == 1) + pinToGpio = pinToGpioR1 ; + else + pinToGpio = pinToGpioR2 ; + // Open and scan the directory, looking for exported GPIOs, and pre-open // the 'value' interface to speed things up for later diff --git a/wiringPi/wiringPi.h b/wiringPi/wiringPi.h index cab3080..6a7278e 100644 --- a/wiringPi/wiringPi.h +++ b/wiringPi/wiringPi.h @@ -70,6 +70,7 @@ extern int wiringPiSetupPiFaceForGpioProg (void) ; // Don't use this - for gpio extern void (*pinMode) (int pin, int mode) ; 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) ; diff --git a/wiringPi/wiringPiFace.c b/wiringPi/wiringPiFace.c index 2425413..ac3c6fa 100644 --- a/wiringPi/wiringPiFace.c +++ b/wiringPi/wiringPiFace.c @@ -182,6 +182,11 @@ void digitalWritePiFace (int pin, int value) writeByte (GPIOA, dataOutRegister) ; } +void digitalWriteBytePiFace (int value) +{ + writeByte (GPIOA, value) ; +} + void digitalWritePiFaceSpecial (int pin, int value) { @@ -318,12 +323,13 @@ int wiringPiSetupPiFace (void) writeByte (GPIOA, 0x00) ; // Set all outptus off writeByte (GPPUB, 0x00) ; // Disable any pull-ups on port B - pinMode = pinModePiFace ; - pullUpDnControl = pullUpDnControlPiFace ; - digitalWrite = digitalWritePiFace ; - pwmWrite = pwmWritePiFace ; - digitalRead = digitalReadPiFace ; - waitForInterrupt = waitForInterruptPiFace ; + pinMode = pinModePiFace ; + pullUpDnControl = pullUpDnControlPiFace ; + digitalWrite = digitalWritePiFace ; + digitalWriteByte = digitalWriteBytePiFace ; + pwmWrite = pwmWritePiFace ; + digitalRead = digitalReadPiFace ; + waitForInterrupt = waitForInterruptPiFace ; return 0 ; } @@ -344,12 +350,13 @@ int wiringPiSetupPiFaceForGpioProg (void) if (x != 0) return x ; - pinMode = pinModePiFace ; + pinMode = pinModePiFace ; pullUpDnControl = pullUpDnControlPiFaceSpecial ; digitalWrite = digitalWritePiFaceSpecial ; - pwmWrite = pwmWritePiFace ; - digitalRead = digitalReadPiFace ; - waitForInterrupt = waitForInterruptPiFace ; + digitalWriteByte = digitalWriteBytePiFace ; + pwmWrite = pwmWritePiFace ; + digitalRead = digitalReadPiFace ; + waitForInterrupt = waitForInterruptPiFace ; return 0 ; } diff --git a/wiringPi/wiringPiSPI.c b/wiringPi/wiringPiSPI.c index f2e3000..4441498 100644 --- a/wiringPi/wiringPiSPI.c +++ b/wiringPi/wiringPiSPI.c @@ -52,7 +52,7 @@ static int spiFds [2] ; int wiringPiSPIGetFd (int channel) { - return spiFds [channel &1] ; + return spiFds [channel & 1] ; }