@ -65,10 +65,12 @@
# include <string.h>
# include <time.h>
# include <fcntl.h>
# include <pthread.h>
# include <sys/time.h>
# include <sys/mman.h>
# include <sys/types.h>
# include <sys/stat.h>
# include <sys/wait.h>
# include "wiringPi.h"
@ -173,9 +175,17 @@ static volatile uint32_t *pads ;
static volatile uint32_t * timer ;
static volatile uint32_t * timerIrqRaw ;
// Time for easy calculations
static unsigned long long epoch ;
// Misc
static int wiringPiMode = WPI_MODE_UNINITIALISED ;
// Debugging
static int wiringPiDebug = FALSE ;
int wiringPiDebug = FALSE ;
// The BCM2835 has 54 GPIO pins.
// BCM2835 data sheet, Page 90 onwards.
@ -200,6 +210,11 @@ static int wiringPiDebug = FALSE ;
static int sysFds [ 64 ] ;
// ISR Data
static void ( * isrFunctions [ 64 ] ) ( void ) ;
// 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!
@ -370,10 +385,6 @@ static uint8_t gpioToPwmPort [] =
} ;
// Time for easy calculations
static unsigned long long epoch ;
/*
* Functions
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
@ -418,6 +429,15 @@ int wpiPinToGpio (int wpiPin)
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*/
static void piBoardRevOops ( char * why )
{
fprintf ( stderr , " piBoardRev: Unable to determine board revision from /proc/cpuinfo \n " ) ;
fprintf ( stderr , " -> %s \n " , why ) ;
fprintf ( stderr , " -> You may want to check: \n " ) ;
fprintf ( stderr , " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410 \n " ) ;
exit ( EXIT_FAILURE ) ;
}
int piBoardRev ( void )
{
FILE * cpuFd ;
@ -440,24 +460,19 @@ int piBoardRev (void)
fclose ( cpuFd ) ;
if ( line = = NULL )
{
fprintf ( stderr , " piBoardRev: Unable to determine board revision from /proc/cpuinfo \n " ) ;
fprintf ( stderr , " (No \" Revision \" line) \n " ) ;
errno = 0 ;
return - 1 ;
}
piBoardRevOops ( " No \" Revision \" line " ) ;
line [ strlen ( line ) - 1 ] = 0 ; // Chomp LF
if ( wiringPiDebug )
printf ( " piboardRev: Revision string: %s \n " , line ) ;
for ( c = line ; * c ; + + c )
if ( isdigit ( * c ) )
break ;
if ( ! isdigit ( * c ) )
{
fprintf ( stderr , " piBoardRev: Unable to determine board revision from /proc/cpuinfo \n " ) ;
fprintf ( stderr , " (No numeric revision string in: \" %s \" \n " , line ) ;
errno = 0 ;
return - 1 ;
}
piBoardRevOops ( " No numeric revision string " ) ;
// If you have overvolted the Pi, then it appears that the revision
// has 100000 added to it!
@ -466,26 +481,18 @@ int piBoardRev (void)
if ( strlen ( c ) ! = 4 )
printf ( " piboardRev: This Pi has/is overvolted! \n " ) ;
lastChar = c [ strlen ( c ) - 2 ] ;
lastChar = line [ strlen ( line ) - 1 ] ;
if ( wiringPiDebug )
printf ( " piboardRev: lastChar is: '%c' (%d, 0x%02X) \n " , lastChar , lastChar , lastChar ) ;
/**/ if ( ( lastChar = = ' 2 ' ) | | ( lastChar = = ' 3 ' ) )
boardRev = 1 ;
else
boardRev = 2 ;
# ifdef DO_WE_CARE_ABOUT_THIS_NOW
else
{
fprintf ( stderr , " WARNING: wiringPi: Unable to determine board revision from \" %d \" \n " , r ) ;
fprintf ( stderr , " -> You may want to check: \n " ) ;
fprintf ( stderr , " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410 \n " ) ;
fprintf ( stderr , " -> Assuming a Rev 1 board \n " ) ;
boardRev = 1 ;
}
# endif
if ( wiringPiDebug )
printf ( " pi boardRev: Revision string: %s, board revision: %d\n " , c , boardRev ) ;
printf ( " piBoardRev: Returning revision: %d \n " , boardRev ) ;
return boardRev ;
}
@ -741,11 +748,11 @@ void digitalWriteByteGpio (int value)
else
pinSet | = ( 1 < < pinToGpio [ pin ] ) ;
* ( gpio + gpioToGPCLR [ 0 ] ) = pinClr ;
* ( gpio + gpioToGPSET [ 0 ] ) = pinSet ;
mask < < = 1 ;
}
* ( gpio + gpioToGPCLR [ 0 ] ) = pinClr ;
* ( gpio + gpioToGPSET [ 0 ] ) = pinSet ;
}
void digitalWriteByteSys ( int value )
@ -943,6 +950,99 @@ int waitForInterruptGpio (int pin, int mS)
}
/*
* interruptHandler :
* This is a thread and gets started to wait for the interrupt we ' re
* hoping to catch . It will call the user - function when the interrupt
* fires .
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*/
static void * interruptHandler ( void * arg )
{
int myPin = * ( int * ) arg ;
( void ) piHiPri ( 55 ) ; // Only effective if we run as root
for ( ; ; )
if ( waitForInterruptSys ( myPin , - 1 ) > 0 )
isrFunctions [ myPin ] ( ) ;
return NULL ;
}
/*
* wiringPiISR :
* Take the details and create an interrupt handler that will do a call -
* back to the user supplied function .
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*/
int wiringPiISR ( int pin , int mode , void ( * function ) ( void ) )
{
pthread_t threadId ;
char fName [ 64 ] ;
char * modeS ;
char pinS [ 8 ] ;
pid_t pid ;
pin & = 63 ;
if ( wiringPiMode = = WPI_MODE_UNINITIALISED )
{
fprintf ( stderr , " wiringPiISR: wiringPi has not been initialised. Unable to continue. \n " ) ;
exit ( EXIT_FAILURE ) ;
}
else if ( wiringPiMode = = WPI_MODE_PINS )
pin = pinToGpio [ pin ] ;
// Now export the pin and set the right edge
// We're going to use the gpio program to do this, so it assumes
// a full installation of wiringPi. It's a bit 'clunky', but it
// is a way that will work when we're running in "Sys" mode, as
// a non-root user. (without sudo)
if ( mode ! = INT_EDGE_SETUP )
{
/**/ if ( mode = = INT_EDGE_FALLING )
modeS = " falling " ;
else if ( mode = = INT_EDGE_RISING )
modeS = " rising " ;
else
modeS = " both " ;
sprintf ( pinS , " %d " , pin ) ;
if ( ( pid = fork ( ) ) < 0 ) // Fail
return pid ;
if ( pid = = 0 ) // Child, exec
{
execl ( " /usr/local/bin/gpio " , " gpio " , " edge " , pinS , modeS , ( char * ) NULL ) ;
return - 1 ; // Failure ...
}
else // Parent, wait
wait ( NULL ) ;
}
// Now pre-open the /sys/class node - it may already be open if
// we had set it up earlier, but this will do no harm.
sprintf ( fName , " /sys/class/gpio/gpio%d/value " , pin ) ;
if ( ( sysFds [ pin ] = open ( fName , O_RDWR ) ) < 0 )
return - 1 ;
isrFunctions [ pin ] = function ;
pthread_create ( & threadId , NULL , interruptHandler , & pin ) ;
delay ( 1 ) ;
return 0 ;
}
/*
* delay :
* Wait for some number of milli seconds
@ -1064,8 +1164,17 @@ int wiringPiSetup (void)
uint8_t * gpioMem , * pwmMem , * clkMem , * padsMem , * timerMem ;
struct timeval tv ;
if ( geteuid ( ) ! = 0 )
{
fprintf ( stderr , " Must be root to call wiringPiSetup(). (Did you forget sudo?) \n " ) ;
exit ( EXIT_FAILURE ) ;
}
if ( getenv ( " WIRINGPI_DEBUG " ) ! = NULL )
{
printf ( " wiringPi: Debug mode enabled \n " ) ;
wiringPiDebug = TRUE ;
}
if ( wiringPiDebug )
printf ( " wiringPi: wiringPiSetup called \n " ) ;
@ -1083,8 +1192,7 @@ int wiringPiSetup (void)
pwmSetRange = pwmSetRangeWPi ;
pwmSetClock = pwmSetClockWPi ;
if ( ( boardRev = piBoardRev ( ) ) < 0 )
return - 1 ;
boardRev = piBoardRev ( ) ;
if ( boardRev = = 1 )
pinToGpio = pinToGpioR1 ;
@ -1105,6 +1213,7 @@ int wiringPiSetup (void)
if ( ( gpioMem = malloc ( BLOCK_SIZE + ( PAGE_SIZE - 1 ) ) ) = = NULL )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: malloc failed: %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1118,6 +1227,7 @@ int wiringPiSetup (void)
if ( ( int32_t ) gpio < 0 )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: mmap failed: %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1126,6 +1236,7 @@ int wiringPiSetup (void)
if ( ( pwmMem = malloc ( BLOCK_SIZE + ( PAGE_SIZE - 1 ) ) ) = = NULL )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: pwmMem malloc failed: %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1137,6 +1248,7 @@ int wiringPiSetup (void)
if ( ( int32_t ) pwm < 0 )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: mmap failed (pwm): %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1145,6 +1257,7 @@ int wiringPiSetup (void)
if ( ( clkMem = malloc ( BLOCK_SIZE + ( PAGE_SIZE - 1 ) ) ) = = NULL )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: clkMem malloc failed: %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1156,6 +1269,7 @@ int wiringPiSetup (void)
if ( ( int32_t ) clk < 0 )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: mmap failed (clk): %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1164,6 +1278,7 @@ int wiringPiSetup (void)
if ( ( padsMem = malloc ( BLOCK_SIZE + ( PAGE_SIZE - 1 ) ) ) = = NULL )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: padsMem malloc failed: %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1175,6 +1290,7 @@ int wiringPiSetup (void)
if ( ( int32_t ) pads < 0 )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: mmap failed (pads): %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1188,6 +1304,7 @@ int wiringPiSetup (void)
if ( ( timerMem = malloc ( BLOCK_SIZE + ( PAGE_SIZE - 1 ) ) ) = = NULL )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: timerMem malloc failed: %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1199,6 +1316,7 @@ int wiringPiSetup (void)
if ( ( int32_t ) timer < 0 )
{
if ( wiringPiDebug )
fprintf ( stderr , " wiringPiSetup: mmap failed (timer): %s \n " , strerror ( errno ) ) ;
return - 1 ;
}
@ -1216,6 +1334,8 @@ int wiringPiSetup (void)
gettimeofday ( & tv , NULL ) ;
epoch = ( tv . tv_sec * 1000000 + tv . tv_usec ) / 1000 ;
wiringPiMode = WPI_MODE_PINS ;
return 0 ;
}
@ -1233,12 +1353,18 @@ int wiringPiSetupGpio (void)
{
int x ;
if ( wiringPiDebug )
printf ( " wiringPi: wiringPiSetupGpio called \n " ) ;
if ( geteuid ( ) ! = 0 )
{
fprintf ( stderr , " Must be root to call wiringPiSetupGpio(). (Did you forget sudo?) \n " ) ;
exit ( EXIT_FAILURE ) ;
}
if ( ( x = wiringPiSetup ( ) ) < 0 )
return x ;
if ( wiringPiDebug )
printf ( " wiringPi: wiringPiSetupGpio called \n " ) ;
pinMode = pinModeGpio ;
pullUpDnControl = pullUpDnControlGpio ;
digitalWrite = digitalWriteGpio ;
@ -1252,6 +1378,8 @@ int wiringPiSetupGpio (void)
pwmSetRange = pwmSetRangeWPi ;
pwmSetClock = pwmSetClockWPi ;
wiringPiMode = WPI_MODE_GPIO ;
return 0 ;
}
@ -1272,6 +1400,9 @@ int wiringPiSetupSys (void)
struct timeval tv ;
char fName [ 128 ] ;
if ( getenv ( " WIRINGPI_DEBUG " ) ! = NULL )
wiringPiDebug = TRUE ;
if ( wiringPiDebug )
printf ( " wiringPi: wiringPiSetupSys called \n " ) ;
@ -1288,15 +1419,13 @@ int wiringPiSetupSys (void)
pwmSetRange = pwmSetRangeSys ;
pwmSetClock = pwmSetClockSys ;
if ( ( boardRev = piBoardRev ( ) ) < 0 )
return - 1 ;
boardRev = piBoardRev ( ) ;
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
@ -1311,5 +1440,7 @@ int wiringPiSetupSys (void)
gettimeofday ( & tv , NULL ) ;
epoch = ( tv . tv_sec * 1000000 + tv . tv_usec ) / 1000 ;
wiringPiMode = WPI_MODE_GPIO_SYS ;
return 0 ;
}
Gordon Henderson
13 years ago