/*
* wiringPi:
* Arduino compatable (ish) Wiring library for the Raspberry Pi
* Copyright (c) 2012 Gordon Henderson
*
* Thanks to code samples from Gert Jan van Loo and the
* BCM2835 ARM Peripherals manual, however it's missing
* the clock section /grr/mutter/
***********************************************************************
* This file is part of wiringPi:
* https://projects.drogon.net/raspberry-pi/wiringpi/
*
* wiringPi is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* wiringPi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with wiringPi. If not, see .
***********************************************************************
*/
// Revisions:
// 2 Jul 2012:
// Fixed a few more bugs to do with range-checking when in GPIO mode.
// 11 Jun 2012:
// Fixed some typos.
// Added c++ support for the .h file
// Added a new function to allow for using my "pin" numbers, or native
// GPIO pin numbers.
// Removed my busy-loop delay and replaced it with a call to delayMicroseconds
//
// 02 May 2012:
// Added in the 2 UART pins
// Change maxPins to numPins to more accurately reflect purpose
// Pad drive current fiddling
#undef DEBUG_PADS
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include "wiringPi.h"
#ifndef TRUE
#define TRUE (1==1)
#define FALSE (1==2)
#endif
// Port function select bits
#define FSEL_INPT 0b000
#define FSEL_OUTP 0b001
#define FSEL_ALT0 0b100
#define FSEL_ALT0 0b100
#define FSEL_ALT1 0b101
#define FSEL_ALT2 0b110
#define FSEL_ALT3 0b111
#define FSEL_ALT4 0b011
#define FSEL_ALT5 0b010
// Access from ARM Running Linux
// Take from Gerts code. Some of this is not in the manual
// that I can find )-:
#define BCM2708_PERI_BASE 0x20000000
#define GPIO_PADS (BCM2708_PERI_BASE + 0x100000)
#define CLOCK_BASE (BCM2708_PERI_BASE + 0x101000)
#define GPIO_BASE (BCM2708_PERI_BASE + 0x200000)
#define GPIO_PWM (BCM2708_PERI_BASE + 0x20C000)
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)
// PWM
#define PWM_CONTROL 0
#define PWM_STATUS 1
#define PWM0_RANGE 4
#define PWM0_DATA 5
#define PWM1_RANGE 8
#define PWM1_DATA 9
#define PWMCLK_CNTL 40
#define PWMCLK_DIV 41
#define PWM1_MS_MODE 0x8000 // Run in MS mode
#define PWM1_USEFIFO 0x2000 // Data from FIFO
#define PWM1_REVPOLAR 0x1000 // Reverse polarity
#define PWM1_OFFSTATE 0x0800 // Ouput Off state
#define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
#define PWM1_SERIAL 0x0200 // Run in serial mode
#define PWM1_ENABLE 0x0100 // Channel Enable
#define PWM0_MS_MODE 0x0080 // Run in MS mode
#define PWM0_USEFIFO 0x0020 // Data from FIFO
#define PWM0_REVPOLAR 0x0010 // Reverse polarity
#define PWM0_OFFSTATE 0x0008 // Ouput Off state
#define PWM0_REPEATFF 0x0004 // Repeat last value if FIFO empty
#define PWM0_SERIAL 0x0002 // Run in serial mode
#define PWM0_ENABLE 0x0001 // Channel Enable
// Locals to hold pointers to the hardware
static volatile uint32_t *gpio ;
static volatile uint32_t *pwm ;
static volatile uint32_t *clk ;
// The BCM2835 has 54 GPIO pins.
// BCM2835 data sheet, Page 90 onwards.
// There are 6 control registers, each control the functions of a block
// of 10 pins.
// Each control register has 10 sets of 3 bits per GPIO pin:
//
// 000 = GPIO Pin X is an input
// 001 = GPIO Pin X is an output
// 100 = GPIO Pin X takes alternate function 0
// 101 = GPIO Pin X takes alternate function 1
// 110 = GPIO Pin X takes alternate function 2
// 111 = GPIO Pin X takes alternate function 3
// 011 = GPIO Pin X takes alternate function 4
// 010 = GPIO Pin X takes alternate function 5
//
// So the 3 bits for port X are:
// X / 10 + ((X % 10) * 3)
// sysFds:
// Map a file descriptor from the /sys/class/gpio/gpioX/value file
static int sysFds [64] ;
// Mode
static int gpioPinMode ;
// Doing it the Arduino way with lookup tables...
// Yes, it's probably more innefficient than all the bit-twidling, but it
// does tend to make it all a bit clearer. At least to me!
// pinToGpio:
// Take a Wiring pin (0 through X) and re-map it to the BCM_GPIO pin
static int pinToGpio [] =
{
17, 18, 21, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7
0, 1, // I2C - SDA0, SCL0
8, 7, // SPI - CE1, CE0
10, 9, 11, // SPI - MOSI, MISO, SCLK
14, 15, // UART - Tx, Rx
} ;
// gpioToGPFSEL:
// Map a BCM_GPIO pin to it's control port. (GPFSEL 0-5)
static uint8_t gpioToGPFSEL [] =
{
0,0,0,0,0,0,0,0,0,0,
1,1,1,1,1,1,1,1,1,1,
2,2,2,2,2,2,2,2,2,2,
3,3,3,3,3,3,3,3,3,3,
4,4,4,4,4,4,4,4,4,4,
5,5,5,5,5,5,5,5,5,5,
} ;
// gpioToShift
// Define the shift up for the 3 bits per pin in each GPFSEL port
static uint8_t gpioToShift [] =
{
0,3,6,9,12,15,18,21,24,27,
0,3,6,9,12,15,18,21,24,27,
0,3,6,9,12,15,18,21,24,27,
0,3,6,9,12,15,18,21,24,27,
0,3,6,9,12,15,18,21,24,27,
} ;
// gpioToGPSET:
// (Word) offset to the GPIO Set registers for each GPIO pin
static uint8_t gpioToGPSET [] =
{
7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7,
8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8,
} ;
// gpioToGPCLR:
// (Word) offset to the GPIO Clear registers for each GPIO pin
static uint8_t gpioToGPCLR [] =
{
10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,
11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,
} ;
// gpioToGPLEV:
// (Word) offset to the GPIO Input level registers for each GPIO pin
static uint8_t gpioToGPLEV [] =
{
13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,
14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,
} ;
// gpioToPUDCLK
// (Word) offset to the Pull Up Down Clock regsiter
static uint8_t gpioToPUDCLK [] =
{
38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,
39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,
} ;
// gpioToPwmALT
// the ALT value to put a GPIO pin into PWM mode
static uint8_t gpioToPwmALT [] =
{
0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, 0, 0, // 8 -> 15
0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, 0, 0, // 16 -> 23
0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
0, 0, 0, 0, 0, 0, 0, 0, // 32 -> 39
FSEL_ALT0, FSEL_ALT0, 0, 0, 0, FSEL_ALT0, 0, 0, // 40 -> 47
0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
} ;
static uint8_t gpioToPwmPort [] =
{
0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
0, 0, 0, 0, PWM0_DATA, PWM1_DATA, 0, 0, // 8 -> 15
0, 0, PWM0_DATA, PWM1_DATA, 0, 0, 0, 0, // 16 -> 23
0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
0, 0, 0, 0, 0, 0, 0, 0, // 32 -> 39
PWM0_DATA, PWM1_DATA, 0, 0, 0, PWM1_DATA, 0, 0, // 40 -> 47
0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
} ;
// Time for easy calculations
static unsigned long long epoch ;
//////////////////////////////////////////////////////////////////////////////////
/*
* wiringPiGpioMode:
* Set the mode - use Pin numbers (0-16) or GPIO number (seemingly random)
*********************************************************************************
*/
void wiringPiGpioMode (int mode)
{
gpioPinMode = mode ;
}
/*
* wiringPiSetup:
* Must be called once at the start of your program execution.
*
* Default setup: Initialises the system into wiringPi Pin mode and uses the
* memory mapped hardware directly.
*********************************************************************************
*/
int wiringPiSetup (void)
{
int fd ;
uint8_t *gpioMem, *pwmMem, *clkMem ;
struct timeval tv ;
#ifdef DEBUG_PADS
uint8_t *gpioMem, *padsMem, *pwmMem, *clkMem ;
uint32_t *pads ;
#endif
// Set Pin mode by default
wiringPiGpioMode (WPI_MODE_PINS) ;
// Open the master /dev/memory device
if ((fd = open ("/dev/mem", O_RDWR | O_SYNC) ) < 0)
{
fprintf (stderr, "wiringPiSetup: Unable to open /dev/mem: %s\n", strerror (errno)) ;
return -1 ;
}
// GPIO:
// Allocate 2 pages - 1 ...
if ((gpioMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
fprintf (stderr, "wiringPiSetup: malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
// ... presumably to make sure we can round it up to a whole page size
if (((uint32_t)gpioMem % PAGE_SIZE) != 0)
gpioMem += PAGE_SIZE - ((uint32_t)gpioMem % PAGE_SIZE) ;
gpio = (uint32_t *)mmap((caddr_t)gpioMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_BASE) ;
if ((int32_t)gpio < 0)
{
fprintf (stderr, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ;
return -1 ;
}
// PWM
if ((pwmMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
fprintf (stderr, "wiringPiSetup: pwmMem malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
if (((uint32_t)pwmMem % PAGE_SIZE) != 0)
pwmMem += PAGE_SIZE - ((uint32_t)pwmMem % PAGE_SIZE) ;
pwm = (uint32_t *)mmap(pwmMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_PWM) ;
if ((int32_t)pwm < 0)
{
fprintf (stderr, "wiringPiSetup: mmap failed (pwm): %s\n", strerror (errno)) ;
return -1 ;
}
// Clock control (needed for PWM)
if ((clkMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
fprintf (stderr, "wiringPiSetup: clkMem malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
if (((uint32_t)clkMem % PAGE_SIZE) != 0)
clkMem += PAGE_SIZE - ((uint32_t)clkMem % PAGE_SIZE) ;
clk = (uint32_t *)mmap(clkMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, CLOCK_BASE) ;
if ((int32_t)clk < 0)
{
fprintf (stderr, "wiringPiSetup: mmap failed (clk): %s\n", strerror (errno)) ;
return -1 ;
}
#ifdef DEBUG_PADS
if ((padsMem = malloc (BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
{
fprintf (stderr, "wiringPiSetup: padsMem malloc failed: %s\n", strerror (errno)) ;
return -1 ;
}
if (((uint32_t)padsMem % PAGE_SIZE) != 0)
padsMem += PAGE_SIZE - ((uint32_t)padsMem % PAGE_SIZE) ;
pads = (uint32_t *)mmap(padsMem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, fd, GPIO_PADS) ;
if ((int32_t)pads < 0)
{
fprintf (stderr, "wiringPiSetup: mmap failed (pads): %s\n", strerror (errno)) ;
return -1 ;
}
printf ("Checking pads @ 0x%08X\n", (unsigned int)pads) ;
printf ("%08X %08X %08X\n", *(pads + 11), *(pads + 12), *(pads + 13)) ;
// *(pads + 11) = 0x1F ;
printf ("%08X %08X %08X\n", *(pads + 11), *(pads + 12), *(pads + 13)) ;
#endif
gettimeofday (&tv, NULL) ;
epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
return 0 ;
}
/*
* wiringPiSetupGpio:
* Must be called once at the start of your program execution.
*
* GPIO setup: Initialises the system into GPIO Pin mode and uses the
* memory mapped hardware directly.
*********************************************************************************
*/
int wiringPiSetupGpio (void)
{
int x = wiringPiSetup () ;
if (x != 0)
return x ;
wiringPiGpioMode (WPI_MODE_GPIO) ;
return 0 ;
}
/*
* wiringPiSetupSys:
* Must be called once at the start of your program execution.
*
* Initialisation (again), however this time we are using the /sys/class/gpio
* interface to the GPIO systems - slightly slower, but always usable as
* a non-root user, assuming the devices are already exported and setup correctly.
*/
int wiringPiSetupSys (void)
{
int fd, pin ;
struct timeval tv ;
char fName [128] ;
// Set GPIO_SYS mode by default
wiringPiGpioMode (WPI_MODE_GPIO_SYS) ;
// Open and scan the directory, looking for exported GPIOs, and pre-open
// the 'value' part to speed things up for later
for (pin = 0 ; pin < 64 ; ++pin)
{
sysFds [pin] = -1 ;
sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
if ((fd = open (fName, O_RDWR)) == -1)
continue ;
sysFds [pin] = fd ;
}
gettimeofday (&tv, NULL) ;
epoch = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
return 0 ;
}
/*
* pinMode:
* Sets the mode of a pin to be input, output or PWM output
*********************************************************************************
*/
void pinMode (int pin, int mode)
{
static int pwmRunning = FALSE ;
int gpioPin, fSel, shift ;
int alt ;
// We can't change the mode in GPIO_SYS mode
if (gpioPinMode == WPI_MODE_GPIO_SYS)
return ;
if (gpioPinMode == WPI_MODE_PINS)
{
if ((pin < 0) || (pin >= NUM_PINS))
return ;
gpioPin = pinToGpio [pin] ;
}
else
gpioPin = pin ;
fSel = gpioToGPFSEL [gpioPin] ;
shift = gpioToShift [gpioPin] ;
/**/ if (mode == INPUT)
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
else if (mode == OUTPUT)
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
else if (mode == PWM_OUTPUT)
{
if ((alt = gpioToPwmALT [gpioPin]) == 0) // Not a PWM pin
return ;
// Set pin to PWM mode
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
// We didn't initialise the PWM hardware at setup time - because it's possible that
// something else is using the PWM - e.g. the Audio systems! So if we use PWM
// here, then we're assuming that nothing else is, otherwise things are going
// to sound a bit funny...
if (!pwmRunning)
{
// Gert/Doms Values
*(clk + PWMCLK_DIV) = 0x5A000000 | (32<<12) ; // set pwm div to 32 (19.2/3 = 600KHz)
*(clk + PWMCLK_CNTL) = 0x5A000011 ; // Source=osc and enable
digitalWrite (pin, LOW) ;
*(pwm + PWM_CONTROL) = 0 ; // Disable PWM
delayMicroseconds (10) ;
*(pwm + PWM0_RANGE) = 0x400 ;
delayMicroseconds (10) ;
*(pwm + PWM1_RANGE) = 0x400 ;
delayMicroseconds (10) ;
// Enable PWMs
*(pwm + PWM0_DATA) = 512 ;
*(pwm + PWM1_DATA) = 512 ;
*(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ;
}
}
// When we change mode of any pin, we remove the pull up/downs
pullUpDnControl (pin, PUD_OFF) ;
}
/*
* digitalWrite:
* Set an output bit
*********************************************************************************
*/
void digitalWrite (int pin, int value)
{
int gpioPin ;
if (gpioPinMode == WPI_MODE_PINS)
{
if ((pin < 0) || (pin >= NUM_PINS))
return ;
gpioPin = pinToGpio [pin] ;
}
else
gpioPin = pin ;
if (gpioPinMode == WPI_MODE_GPIO_SYS)
{
if (sysFds [gpioPin] != -1)
{
if (value == LOW)
write (sysFds [gpioPin], "0\n", 2) ;
else
write (sysFds [gpioPin], "1\n", 2) ;
}
}
else
{
if (value == LOW)
*(gpio + gpioToGPCLR [gpioPin]) = 1 << gpioPin ;
else
*(gpio + gpioToGPSET [gpioPin]) = 1 << gpioPin ;
}
}
/*
* pwnWrite:
* Set an output PWM value
*********************************************************************************
*/
void pwmWrite (int pin, int value)
{
int port, gpioPin ;
// We can't do this in GPIO_SYS mode
if (gpioPinMode == WPI_MODE_GPIO_SYS)
return ;
if (gpioPinMode == WPI_MODE_PINS)
{
if ((pin < 0) || (pin >= NUM_PINS))
return ;
gpioPin = pinToGpio [pin] ;
}
else
gpioPin = pin ;
port = gpioToPwmPort [gpioPin] ;
*(pwm + port) = value & ~0x400 ;
}
/*
* digitalRead:
* Read the value of a given Pin, returning HIGH or LOW
*********************************************************************************
*/
int digitalRead (int pin)
{
int gpioPin ;
char c ;
if (gpioPinMode == WPI_MODE_PINS)
{
if ((pin < 0) || (pin >= NUM_PINS))
return 0 ;
gpioPin = pinToGpio [pin] ;
}
else
gpioPin = pin ;
if (gpioPinMode == WPI_MODE_GPIO_SYS)
{
if (sysFds [gpioPin] == -1)
return 0 ;
else
{
lseek (sysFds [gpioPin], 0L, SEEK_SET) ;
read (sysFds [gpioPin], &c, 1) ;
return (c == '0') ? 0 : 1 ;
}
}
else
{
if ((*(gpio + gpioToGPLEV [gpioPin]) & (1 << gpioPin)) != 0)
return HIGH ;
else
return LOW ;
}
}
/*
* pullUpDownCtrl:
* Control the internal pull-up/down resistors on a GPIO pin
* The Arduino only has pull-ups and these are enabled by writing 1
* to a port when in input mode - this paradigm doesn't quite apply
* here though.
*********************************************************************************
*/
void pullUpDnControl (int pin, int pud)
{
int gpioPin ;
// We can't do this in GPIO_SYS mode
if (gpioPinMode == WPI_MODE_GPIO_SYS)
return ;
if (gpioPinMode == WPI_MODE_PINS)
{
if ((pin < 0) || (pin >= NUM_PINS))
return ;
gpioPin = pinToGpio [pin] ;
}
else
gpioPin = pin ;
*(gpio + 37) = pud ;
delayMicroseconds (10) ;
*(gpio + gpioToPUDCLK [gpioPin]) = 1 << gpioPin ;
delayMicroseconds (10) ;
*(gpio + 37) = 0 ;
*(gpio + gpioToPUDCLK [gpioPin]) = 0 ;
}
/*
* delay: delayMicroseconds
* Wait for some number of milli/micro seconds
*********************************************************************************
*/
void delay (unsigned int howLong)
{
struct timespec sleeper, dummy ;
sleeper.tv_sec = (time_t)(howLong / 1000) ;
sleeper.tv_nsec = (long)(howLong % 1000) * 1000000 ;
nanosleep (&sleeper, &dummy) ;
}
void delayMicroseconds (unsigned int howLong)
{
struct timespec sleeper, dummy ;
sleeper.tv_sec = 0 ;
sleeper.tv_nsec = (long)(howLong * 1000) ;
nanosleep (&sleeper, &dummy) ;
}
/*
* millis:
* Return a number of milliseconds as an unsigned int.
*********************************************************************************
*/
unsigned int millis (void)
{
struct timeval tv ;
unsigned long long t1 ;
gettimeofday (&tv, NULL) ;
t1 = (tv.tv_sec * 1000000 + tv.tv_usec) / 1000 ;
return (uint32_t)(t1 - epoch) ;
}