Updated with latest changes

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.

build

@@ -0,0 +1,44 @@
+#!/bin/bash
+
+if [ x$1 = "xclean" ]; then
+  echo Cleaning
+  echo
+  cd wiringPi
+  make clean
+  cd ../gpio
+  make clean
+  cd ../examples
+  make clean
+  cd ..
+elif [ x$1 = "xuninstall" ]; then
+  echo Uninstalling
+  echo
+  echo "WiringPi library"
+  cd wiringPi
+  sudo make uninstall
+  echo
+  echo "GPIO Utility"
+  cd ../gpio
+  sudo make uninstall
+  cd ..
+else
+  echo wiringPi Build script - please wait...
+  echo
+  echo "WiringPi library"
+  cd wiringPi
+  make 
+  sudo make install
+  echo
+  echo "GPIO Utility"
+  cd ../gpio
+  make
+  sudo make install
+  echo
+  echo "Examples"
+  cd ../examples
+  make
+  cd ..
+fi
+
+echo
+echo All Done.

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]

examples/delayTest.c

@@ -3,30 +3,24 @@
 #include <unistd.h>
 #include <wiringPi.h>
 
-#include <time.h>
-#include <sys/types.h>
 #include <sys/time.h>
 
 #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 ;
 }

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 <stdio.h>
+#include <errno.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <wiringPi.h>
+#include <softPwm.h>
+
+#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 ;
+}

examples/serialRead.c

@@ -0,0 +1,31 @@
+
+/*
+ * serialRead.c:
+ *	Example program to read bytes from the Serial line
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+
+#include <wiringSerial.h>
+
+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) ;
+  }
+}

examples/servo.c

@@ -0,0 +1,33 @@
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <softServo.h>
+
+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) ;
+
+}

examples/tone.c

@@ -0,0 +1,37 @@
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <softTone.h>
+
+#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) ;
+    }
+  }
+
+}

gpio/COPYING

@@ -1,674 +0,0 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- 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.  For both users' and
-authors' sake, the GPL requires that modified versions be marked as
-changed, so that their problems will not be attributed erroneously to
-authors of previous versions.
-
-  Some devices are designed to deny users access to install or run
-modified versions of the software inside them, although the manufacturer
-can do so.  This is fundamentally incompatible with the aim of
-protecting users' freedom to change the software.  The systematic
-pattern of such abuse occurs in the area of products for individuals to
-use, which is precisely where it is most unacceptable.  Therefore, we
-have designed this version of the GPL to prohibit the practice for those
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-stand ready to extend this provision to those domains in future versions
-of the GPL, as needed to protect the freedom of users.
-
-  Finally, every program is threatened constantly by software patents.
-States should not allow patents to restrict development and use of
-software on general-purpose computers, but in those that do, we wish to
-avoid the special danger that patents applied to a free program could
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-
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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 <pin> <value>
-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 <value>
+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

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] <read/write/pwm/mode> ...\n"
-              "       gpio [-p] <read/write/mode> ...\n"
+              "       gpio [-g] <read/write/wb/pwm/mode> ...\n"
+              "       gpio [-p] <read/write/wb> ...\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]) ;

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
 
 

wiringPi/piNes.c

@@ -22,7 +22,7 @@
  ***********************************************************************
  */
 
-#include "wiringPi.h"
+#include <wiringPi.h>
 
 #include "piNes.h"
 

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 <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+//#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <sys/time.h>
+#include <pthread.h>
+
+#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) ;
+}

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 <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#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

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 <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#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 ;
+}

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 <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int  softToneCreate (int pin) ;
+extern void softToneWrite  (int pin, int frewq) ;
+
+#ifdef __cplusplus
+}
+#endif

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

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) ;

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 ;
 }

wiringPi/wiringPiSPI.c

@@ -52,7 +52,7 @@ static int         spiFds [2] ;
 
 int wiringPiSPIGetFd (int channel)
 {
-  return spiFds [channel &1] ;
+  return spiFds [channel & 1] ;
 }