From 56b5f6288528358556fb8e929b834e14511c39be Mon Sep 17 00:00:00 2001 From: joan Date: Thu, 12 Dec 2013 10:27:22 +0000 Subject: [PATCH] V6 --- Makefile | 63 + README | 67 + README.md | 0 UNLICENCE | 25 + checklib.c | 709 ++++++++ command.c | 292 +++ command.h | 58 + demolib.c | 673 +++++++ pig2vcd.c | 121 ++ pigpio.c | 5085 ++++++++++++++++++++++++++++++++++++++++++++++++++++ pigpio.h | 1785 ++++++++++++++++++ pigpiod.c | 278 +++ pigs.c | 144 ++ 13 files changed, 9300 insertions(+) create mode 100644 Makefile create mode 100644 README create mode 100644 README.md create mode 100644 UNLICENCE create mode 100644 checklib.c create mode 100644 command.c create mode 100644 command.h create mode 100644 demolib.c create mode 100644 pig2vcd.c create mode 100644 pigpio.c create mode 100644 pigpio.h create mode 100644 pigpiod.c create mode 100644 pigs.c diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..2b69494 --- /dev/null +++ b/Makefile @@ -0,0 +1,63 @@ +CC = gcc +AR = ar +RANLIB = ranlib +SIZE = size + +CFLAGS = -O3 -Wall + +all: libpigpio.a checklib demolib pig2vcd pigpiod pigs + +checklib: checklib.o libpigpio.a + $(CC) -o checklib checklib.c -L. -lpigpio -lpthread -lrt + +demolib: demolib.o libpigpio.a + $(CC) -o demolib demolib.c -L. -lpigpio -lpthread -lrt + +pig2vcd: pig2vcd.o + $(CC) -o pig2vcd pig2vcd.c + +pigpiod: pigpiod.o libpigpio.a + $(CC) -o pigpiod pigpiod.c -L. -lpigpio -lpthread -lrt + +pigs: pigs.o command.o + $(CC) -o pigs pigs.c command.c + +.c.o: + $(CC) -c $(CFLAGS) $< + +clean: + rm -f *.o *.i *.s *~ libpigpio.a checklib demolib pigpiod pigs pig2vcd + +install: $(LIB) + sudo install -m 0755 -d /usr/local/bin + sudo install -m 0755 -d /usr/local/include + sudo install -m 0755 -d /usr/local/lib + sudo install -m 0755 pig2vcd /usr/local/bin + sudo install -m 0755 pigpiod /usr/local/bin + sudo install -m 0755 pigs /usr/local/bin + sudo install -m 0644 pigpio.h /usr/local/include + sudo install -m 0644 libpigpio.a /usr/local/lib + +uninstall: + sudo rm -f /usr/local/bin/pig2vcd + sudo rm -f /usr/local/bin/pigpiod + sudo rm -f /usr/local/bin/pigs + sudo rm -f /usr/local/include/pigpio.h + sudo rm -f /usr/local/lib/libpigpio.a + +LIB = libpigpio.a +OBJ = pigpio.o command.o + +$(LIB): $(OBJ) + $(AR) rcs $(LIB) $(OBJ) + $(RANLIB) $(LIB) + $(SIZE) $(LIB) + + +# DO NOT DELETE + +checklib.o: checklib.c pigpio.h +demolib.o: demolib.c pigpio.h +pig2vcd: pigpio.h +pigpiod: pigpiod.c pigpio.h +pigs: pigs.c command.c pigpio.h command.h diff --git a/README b/README new file mode 100644 index 0000000..41c00cb --- /dev/null +++ b/README @@ -0,0 +1,67 @@ +INSTALL + +Extract the archive to a directory. + +IN THAT DIRECTORY + +Enter the following two commands (in this order) + +make +make install + +This will install: + the library (libpigpio.a) in /usr/local/lib + the header file (pigpio.h) in /usr/local/include + the daemon (pigpiod) in /usr/local/bin + the socket interface (pigs) in /usr/local/bin + the utility pig2vcd in /usr/local/bin + +TEST + +To test the library do + +sudo ./checklib + +checklib.c, demolib.c, pig2vcd.c, pigpiod.c, and pigs.c show examples +of interfacing with the library. + +DAEMON + +To launch the daemon do + +sudo pigpiod (pigpiod -? for options) + +Once the daemon is launched the socket and fifo interfaces will be +available. + +When the library starts it locks + +/var/run/pigpio.pid + +The file should be deleted when the library terminates. + +SOCKET INTERFACE + +Use pigs for the socket interface (pigs help for help). + +FIFO INTERFACE + +The fifo interface accepts commands written to /dev/pigpio. + +Results are read from /dev/pigout. + +Errors are output on /dev/pigerr. + +To test the fifo interface perhaps do + +cat /dev/pigout & +cat /dev/pigerr & + +echo "help" >/dev/pigpio + +STOP DAEMON + +To stop the daemon + +sudo killall pigpiod + diff --git a/README.md b/README.md new file mode 100644 index 0000000..e69de29 diff --git a/UNLICENCE b/UNLICENCE new file mode 100644 index 0000000..471f09f --- /dev/null +++ b/UNLICENCE @@ -0,0 +1,25 @@ +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to + diff --git a/checklib.c b/checklib.c new file mode 100644 index 0000000..bc2316d --- /dev/null +++ b/checklib.c @@ -0,0 +1,709 @@ +/* +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to +*/ + +/* +This version is for pigpio version 3+ +*/ + +#include +#include +#include +#include +#include + +#include "pigpio.h" + +#define GREENLED 16 +#define SDDET 47 +#define SDCLK 48 + +int test =1; +int passes=0; +int expect=0; + +struct timeval libInitTime; + +int GPIO=4; + +unsigned inited, count, onMicros, offMicros; + +void tick(void) +{ + /* count ticks + */ + + static struct timeval lastTime; + struct tm tmp; + struct timeval nowTime; + char buf[32]; + + gettimeofday(&nowTime, NULL); + + localtime_r(&nowTime.tv_sec, &tmp); + strftime(buf, sizeof(buf), "%F@%T", &tmp); + + printf("%s.%03d\n", buf, (int)nowTime.tv_usec/1000); + + /*timersub(&nowTime, &lastTime, &diffTime);*/ + + lastTime = nowTime; + + if (inited) + { + count++; + } + else + { + count = 1; + + gettimeofday(&lastTime, NULL); + + inited = 1; + } +} + +void tickEx(void * userdata) +{ +} + +void alert(int gpio, int level, uint32_t tick) +{ + /* accumulate number of level changes and average time gpio + was on and off. Hopefully the ratio should reflect the + selected pulsewidth. + */ + + static uint32_t lastTick; + + uint32_t diffTick; + + if (inited) + { + count++; + + diffTick = tick - lastTick; + + if (level == 0) + { + /* elapsed time was on */ + onMicros = onMicros + diffTick; + } + else + { + /* elapsed time was off */ + offMicros = offMicros + diffTick; + } + lastTick = tick; + } + else + { + count = 1; + lastTick = tick; + onMicros = 0; + offMicros = 0; + inited = 1; + } +} + +void alertEx(int gpio, int level, uint32_t tick, void * userdata) +{ +} + +static void timerTest(unsigned waitfor, unsigned ms) +{ + unsigned ep, ep1, ep2; + + ep= (waitfor*1000)/ms; ep1=ep-1; ep2=ep+1; + + printf("Timer ticktest (%d ms), wait %d seconds\n", ms, waitfor); + printf("Expect %d to %d ticks\n", ep1, ep2); + + inited = 0; + gpioSetTimerFunc(0, ms, tick); + sleep(waitfor); + gpioSetTimerFunc(0, ms, NULL); + + /* and the stats were? */ + + printf("ticks=%d\n", count); + + if ((count>=ep1) && (count<=ep2)) + { + printf("TEST %d: PASS\n\n", test); + ++passes; + } + else + { + printf("TEST %d: FAILED\n\n", test); + } + + ++test; +} + +static void servoTest(unsigned waitfor, unsigned pulsewidth) +{ + int ticks, on, off; + unsigned expectedPulses, ep1, ep2; + float expectedRatio, er1, er2; + float ratio; + + expectedPulses=(500*waitfor)/10; ep1=(490*waitfor)/10; ep2=(510*waitfor)/10; + expectedRatio = (float)(20000-pulsewidth)/(float)pulsewidth; + er1=expectedRatio*0.9; er2=expectedRatio*1.1; + + printf("Servo pulse test (%d micros), wait %d seconds\n", + pulsewidth, waitfor); + printf("Expect %d pulses and an off/on ratio of %.1f\n", + expectedPulses, expectedRatio); + + gpioServo(GPIO, pulsewidth); + + inited = 0; + gpioSetAlertFunc(GPIO, alert); + sleep(waitfor); + gpioSetAlertFunc(GPIO, NULL); + + gpioServo(GPIO, 0); + + /* and the stats were? */ + + ticks = count/2; on = onMicros/1000; off = offMicros/1000; + ratio = (float)off/(float)on; + + printf("servo pulses=%d on ms=%d off ms=%d ratio=%.1f\n", ticks, on, off, ratio); + + if ( ((ticks>ep1) && (tickser1) && (ratioer1) && (ratio0; i--) + { + expMicros = i * 100000; + + if (timetype == PI_TIME_ABSOLUTE) + { + gpioTime(PI_TIME_ABSOLUTE, &secs, µs); + + secs += (i / 10); + micros += (i % 10) * 100000; + + if (micros > 999999) { secs++; micros -= 1000000; } + } + else + { + secs = (i / 10); + micros = (i % 10) * 100000; + } + + gettimeofday(&t1, NULL); + + gpioSleep(timetype, secs, micros); + + gettimeofday(&t2, NULL); + + timersub(&t2, &t1, &tD); + + diffMicros = (tD.tv_sec*1000000)+tD.tv_usec; + + errMicros = diffMicros - expMicros; + + if (errMicros < 500) ok++; + + printf("secs=%d micros=%d err=%d\n", secs, micros, errMicros); + } + + if (ok == 15) + { + printf("TEST %d: PASS\n\n", test); + ++passes; + } + else printf("TEST %d: FAILED\n\n", test); + + ++test; +} + +int countBank2PinChanges(int pin, int loops) +{ + static uint32_t old=0; + + uint32_t new, changes; + int i, count; + + count = 0; + + for (i=0;i200000 for pin 48.\n"); + printf("Expect the green LED to flash.\n\n"); + + ok = 0; + + for (i=0; i<20; i++) + { + gpioWrite_Bits_0_31_Set(1< 200000)) ok++; + } + + if (ok == 20) + { + printf("TEST %d: PASS\n\n", test); + ++passes; + } + else printf("TEST %d: FAILED\n\n", test); + + ++test; +} + +void checkGpioTick(void) +{ + uint32_t startTick, endTick; + int diffTick; + + printf("Library gpioTick Test\n"); + printf("Expect approximately 2 million ticks to have elapsed.\n\n"); + + startTick = gpioTick(); + sleep(2); /* 2 seconds being 2 million ticks */ + endTick = gpioTick(); + + diffTick = endTick - startTick; + + printf("%d ticks have elapsed\n", diffTick); + + if ((diffTick >= 1990000) && (diffTick <= 2010000)) + { + printf("TEST %d: PASS\n\n", test); + ++passes; + } + else printf("TEST %d: FAILED\n\n", test); + + ++test; +} + +int main(int argc, char *argv[]) +{ + + int waitfor; + + int version, micros=5, millis=100; + + if (argc > 1) GPIO = atoi(argv[1]); + + fprintf(stderr, +"*****************************************************************\n"\ +"* WARNING: This program sends pulses to gpio #%02d *\n"\ +"* Make sure that nothing which could be damaged is *\n"\ +"* connected to this gpio. A LED or similar should be OK *\n"\ +"* although nothing needs to be connected. *\n"\ +"* *\n"\ +"* NOTE: many of the tests are statistical in nature, assuming *\n"\ +"* that events of a short nature will on average be detected *\n"\ +"* by sampling. Don't fret if a particular test fails, try *\n"\ +"* running the tests again. *\n"\ +"* *\n"\ +"* You may choose another gpio by specifying its number on *\n"\ +"* the command line, e.g. sudo ./checklib 17 will use gpio 17. *\n"\ +"* *\n"\ +"* Press y (RETURN) to continue, any other character to cancel. *\n"\ +"*****************************************************************\n", GPIO); + + if (getchar() != 'y') return 0; + + printf("Initialisation test\n"); + + if (argc > 2) micros = atoi(argv[2]); + + if (argc > 3) millis = atoi(argv[3]); + + gpioCfgBufferSize(millis); + + gpioCfgClock(micros, PI_CLOCK_PCM, PI_CLOCK_PLLD); + + gettimeofday(&libInitTime, NULL); + + version = gpioInitialise(); + + if (version<0) + { + printf("TEST %d: FAILED\nFATAL ERROR\n", test); + return 1; + } + else + { + printf("TEST %d: PASS, pigpio version is %d\n\n", test, version); + ++passes; + } + + ++test; + + waitfor = 2; + + printf("Alert function test, wait %d seconds\n", waitfor); + printf("No detected events on gpio 4 expected\n"); + + inited = 0; + gpioSetAlertFunc(GPIO, alert); + sleep(waitfor); + gpioSetAlertFunc(GPIO, NULL); + + printf("Events=%d\n", count); + + if (count) printf("TEST %d: FAILED\n\n", test); + else + { + printf("TEST %d: PASS\n\n", test); + ++passes; + } + + ++test; + + servoTest(10, 500); + servoTest(10, 1500); + servoTest(10, 2500); + + pwmTest(5, 50); + pwmTest(5, 100); + pwmTest(5, 150); + pwmTest(5, 200); + + timerTest(5, 100); + timerTest(5, 250); + timerTest(5, 333); + timerTest(5, 1000); + + checkValidation(); + + checkGpioTime(); + + checkGpioSleep(PI_TIME_RELATIVE); + + checkGpioSleep(PI_TIME_ABSOLUTE); + + checkReadWriteBits(); + + checkGpioTick(); + + printf("Hardware revision is %d\n\n", gpioHardwareRevision()); + + printf("Summary: %d tests, %d passes\n", test-1, passes); + + gpioTerminate(); /* stop DMA and free memory */ + + return (passes - (test-1)); +} + diff --git a/command.c b/command.c new file mode 100644 index 0000000..ab46aa8 --- /dev/null +++ b/command.c @@ -0,0 +1,292 @@ +/* +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to +*/ + +/* +This version is for pigpio version 4+ +*/ + +#include +#include +#include +#include +#include + +#include "pigpio.h" +#include "command.h" + +cmdInfo_t cmdInfo[]= +{ + {PI_CMD_BR1, "BR1", 1, 3}, + {PI_CMD_BR2, "BR2", 1, 3}, + {PI_CMD_BC1, "BC1", 7, 1}, + {PI_CMD_BC2, "BC2", 7, 1}, + {PI_CMD_BS1, "BS1", 7, 1}, + {PI_CMD_BS2, "BS2", 7, 1}, + {PI_CMD_HWVER, "HWVER", 1, 4}, + {PI_CMD_MODES, "MODES", 8, 0}, + {PI_CMD_MODES, "M", 8, 0}, + {PI_CMD_MODEG, "MODEG", 2, 2}, + {PI_CMD_MODEG, "MG" , 2, 2}, + {PI_CMD_NO, "NO", 1, 2}, + {PI_CMD_NB, "NB", 4, 0}, + {PI_CMD_NP, "NP", 2, 0}, + {PI_CMD_NC, "NC", 2, 0}, + {PI_CMD_PWM, "PWM", 3, 0}, + {PI_CMD_PWM, "P", 3, 0}, + {PI_CMD_PFS, "PFS", 3, 2}, + {PI_CMD_PFG, "PFG", 2, 2}, + {PI_CMD_PRS, "PRS", 3, 2}, + {PI_CMD_PRG, "PRG", 2, 2}, + {PI_CMD_PRRG, "PRRG", 2, 2}, + {PI_CMD_PUD, "PUD", 9, 0}, + {PI_CMD_READ, "READ", 2, 2}, + {PI_CMD_READ, "R", 2, 2}, + {PI_CMD_SERVO, "SERVO", 3, 0}, + {PI_CMD_SERVO, "S", 3, 0}, + {PI_CMD_WRITE, "WRITE", 3, 0}, + {PI_CMD_WRITE, "W", 3, 0}, + {PI_CMD_WDOG, "WDOG", 3, 0}, + {PI_CMD_TICK, "TICK", 1, 4}, + {PI_CMD_TICK, "T", 1, 4}, + {PI_CMD_HELP, "HELP", 6, 5}, + {PI_CMD_HELP, "H", 6, 5}, +}; + +char * cmdUsage = "\ +BR1 read gpios bank 1\n\ +BR2 read gpios bank 2\n\ +BC1 x clear gpios in bank 1\n\ +BC2 x clear gpios in bank 2\n\ +BS1 x set gpios in bank 1\n\ +BS2 x set gpios in bank 2\n\ +HWVER return hardware version\n\ +MODES/M g m set gpio mode\n\ +MODEG/MG g get gpio mode\n\ +NO request notification handle\n\ +NB h x start notification\n\ +NP h pause notification\n\ +NC h close notification\n\ +PWM/P u d set PWM value for gpio\n\ +PFS u d set PWM frequency for gpio\n\ +PFG u get PWM frequency for gpio\n\ +PRS u d set PWM range for gpio\n\ +PRG u get PWM range for gpio\n\ +PRRG u get PWM real range for gpio\n\ +PUD g p set gpio pull up/down\n\ +READ/R g read gpio\n\ +SERVO/S u d set servo value for gpio\n\ +WRITE/W g d write value to gpio\n\ +WDOG u d set watchdog on gpio\n\ +TICK/T return current tick\n\ +HELP/H displays command help\n\ +\n\ +d = decimal value\n\ +g = gpio (0-53)\n\ +h = handle (0-31)\n\ +m = mode (RW540123)\n\ +p = pud (ODU)\n\ +u = user gpio (0-31)\n\ +x = hex value\n\ +"; + +typedef struct +{ + int error; + char * str; +} errInfo_t; + +static errInfo_t errInfo[]= +{ + {PI_INIT_FAILED , "pigpio initialisation failed"}, + {PI_BAD_USER_GPIO , "gpio not 0-31"}, + {PI_BAD_GPIO , "gpio not 0-53"}, + {PI_BAD_MODE , "mode not 0-7"}, + {PI_BAD_LEVEL , "level not 0-1"}, + {PI_BAD_PUD , "pud not 0-2"}, + {PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"}, + {PI_BAD_DUTYCYCLE , "dutycycle not 0-255"}, + {PI_BAD_TIMER , "timer not 0-9"}, + {PI_BAD_MS , "ms not 10-60000"}, + {PI_BAD_TIMETYPE , "timetype not 0-1"}, + {PI_BAD_SECONDS , "seconds < 0"}, + {PI_BAD_MICROS , "micros not 0-999999"}, + {PI_TIMER_FAILED , "gpioSetTimerFunc failed"}, + {PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"}, + {PI_NO_ALERT_FUNC , "DEPRECATED"}, + {PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"}, + {PI_BAD_CLK_SOURCE , "clock source not 0-1"}, + {PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"}, + {PI_BAD_BUF_MILLIS , "buf millis not 100-10000"}, + {PI_BAD_DUTY_RANGE , "dutycycle range not 25-40000"}, + {PI_BAD_SIGNUM , "signum not 0-63"}, + {PI_BAD_PATHNAME , "can't open pathname"}, + {PI_NO_HANDLE , "no handle available"}, + {PI_BAD_HANDLE , "unknown notify handle"}, + {PI_BAD_IF_FLAGS , "ifFlags > 3"}, + {PI_BAD_CHANNEL , "DMA channel not 0-14"}, + {PI_BAD_SOCKET_PORT , "socket port not 1024-30000"}, + {PI_BAD_FIFO_COMMAND , "unknown fifo command"}, + {PI_BAD_SECO_CHANNEL , "DMA secondary channel not 0-6"}, + {PI_NOT_INITIALISED , "function called before gpioInitialise"}, + {PI_INITIALISED , "function called after gpioInitialise"}, + {PI_BAD_WAVE_MODE , "waveform mode not 0-1"}, + {PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"}, + {PI_BAD_WAVE_BAUD , "baud rate not 100-250000"}, + {PI_TOO_MANY_PULSES , "waveform has too many pulses"}, + {PI_TOO_MANY_CHARS , "waveform has too many chars"}, + {PI_NOT_SERIAL_GPIO , "no serial read in progress on gpio"}, + +}; + +static char * fmtMdeStr="RW540123"; +static char * fmtPudStr="ODU"; + +static int cmdMatch(char * str) +{ + int i; + + for (i=0; i<(sizeof(cmdInfo)/sizeof(cmdInfo_t)); i++) + { + if (strcasecmp(str, cmdInfo[i].name) == 0) return i; + } + return -1; +} + +int cmdParse(char * buf, cmdCmd_t * cmd) +{ + char str[8]; + int f, valid, idx, val; + char * ptr; + char c, t; + + sscanf(buf, " %7s", str); + + cmd->cmd = -1; + + idx = cmdMatch(str); + + if (idx < 0) return idx; + + valid = 0; + + cmd->cmd = cmdInfo[idx].cmd; + cmd->p1 = 0; + cmd->p2 = 0; + + switch (cmdInfo[idx].vt) + { + case 1: /* BR1 BR2 HWVER NO TICK */ + f = sscanf(buf, " %7s %c", str, &t); + if (f == 1) valid = 1; + break; + + case 2: /* MODEG READ NC NP PFG PRG PRRG */ + f = sscanf(buf, " %7s %d %c", str, &cmd->p1, &t); + if (f == 2) valid = 1; + break; + + case 3: /* WRITE PWM PRS PFS SERVO WDOG */ + f = sscanf(buf, " %7s %d %d %c", str, &cmd->p1, &cmd->p2, &t); + if (f == 3) valid = 1; + break; + + case 4: /* NB */ + f = sscanf(buf, " %7s %d %x %c", str, &cmd->p1, &cmd->p2, &t); + if (f == 3) valid = 1; + break; + + case 6: /* HELP */ + valid = 1; + break; + + case 7: /* BC1 BC2 BS1 BS2 */ + f = sscanf(buf, " %7s %x %c", str, &cmd->p1, &t); + if (f == 2) valid = 1; + break; + + case 8: /* MODES */ + f = sscanf(buf, " %7s %d %c %c", str, &cmd->p1, &c, &t); + if (f == 3) + { + val = toupper(c); + ptr = strchr(fmtMdeStr, val); + if (ptr != NULL) + { + val = ptr - fmtMdeStr; + cmd->p2 = val; + valid = 1; + } + } + break; + + case 9: /* PUD */ + f = sscanf(buf, " %7s %d %c %c", str, &cmd->p1, &c, &t); + if (f == 3) + { + val = toupper(c); + ptr = strchr(fmtPudStr, val); + if (ptr != NULL) + { + val = ptr - fmtPudStr; + cmd->p2 = val; + valid = 1; + } + } + break; + } + + if (valid) return idx; + else return -1; +} + +void cmdFatal(char *fmt, ...) +{ + char buf[128]; + va_list ap; + + va_start(ap, fmt); + vsnprintf(buf, sizeof(buf), fmt, ap); + va_end(ap); + + fprintf(stderr, "%s\n", buf); + + fflush(stderr); + + exit(EXIT_FAILURE); +} + +char * cmdErrStr(int error) +{ + int i; + + for (i=0; i<(sizeof(errInfo)/sizeof(errInfo_t)); i++) + { + if (errInfo[i].error == error) return errInfo[i].str; + } + return "unknown error"; +} + diff --git a/command.h b/command.h new file mode 100644 index 0000000..9d2da7d --- /dev/null +++ b/command.h @@ -0,0 +1,58 @@ +/* +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to +*/ + +/* +This version is for pigpio version 3+ +*/ + +#ifndef COMMAND_H +#define COMMAND_H + +#include +#include + +#include "pigpio.h" + +typedef struct +{ + int cmd; + char * name; + int vt; + int rv; +} cmdInfo_t; + +extern cmdInfo_t cmdInfo[]; + +extern char * cmdUsage; + +int cmdParse(char * buf, cmdCmd_t * cmd); + +char * cmdErrStr(int error); + +void cmdFatal(char *fmt, ...); + +#endif diff --git a/demolib.c b/demolib.c new file mode 100644 index 0000000..d2e9bd4 --- /dev/null +++ b/demolib.c @@ -0,0 +1,673 @@ +/* +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to +*/ + +/* +This version is for pigpio version 3+ +*/ + +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" + +/* =========================================================================== +THIS PROGRAM NEEDS THE I2C DEVICE AND DEVELOPMENT LIBRARY + +TO GET THE NEEDED FILES DO + +sudo apt-get install libi2c-dev + +BEFORE RUNNING THE PROGRAM ENSURE THAT THE I2C DEVICE IS PRESENT + +sudo modprobe i2c-bcm2708 +sudo modprobe i2c-dev +sudo chmod o+rw /dev/i2c* +=========================================================================== */ + +/* + +P1 Name gpio used for + + 3 SDA 0/2 i2c + 5 SCL 1/3 i2c + 7 --- 4 LASER + 8 TXD 14 LED1 +10 RXD 15 LED2 +11 --- 17 SERVO 1 +12 --- 18 SERVO 2 +13 --- 21/27 SERVO 3 +15 --- 22 LED3 +16 --- 23 TI Launchpad +18 --- 24 Sonar trigger +19 MOSI 10 Sonar echo +21 MISO 9 Motor B In 1 +22 --- 25 LDR +23 SCLK 11 Motor B In 2 +24 CE0 8 Motor A In1 +26 CE1 7 Motor A In2 + +*/ + +#define LASER 4 +#define MOTOR_A_IN2 7 +#define MOTOR_A_IN1 8 +#define MOTOR_B_IN1 9 +#define SONAR_ECHO 10 +#define MOTOR_B_IN2 11 +#define LED1 14 +#define LED2 15 +#define SERVO1 17 +#define SERVO2 18 +#define SERVO3 21 +#define LED3 22 +#define LAUNCHPAD 23 +#define SONAR_TRIGGER 24 +#define LDR 25 + +#define LEDS 4 + +short rawAcc[3]; +short rawGyr[3]; +short rawMag[3]; + +#define ROLL 0 +#define PITCH 1 +#define YAW 2 + +#define ACC_ORIENTATION(X, Y, Z) \ + {rawAcc[ROLL] = -X; rawAcc[PITCH] = -Y; rawAcc[YAW] = Z;} + +#define GYRO_ORIENTATION(X, Y, Z) \ + {rawGyr[ROLL] = Y; rawGyr[PITCH] = -X; rawGyr[YAW] = -Z;} + +#define MAG_ORIENTATION(X, Y, Z) \ + {rawMag[ROLL] = X; rawMag[PITCH] = Y; rawMag[YAW] = -Z;} + + +#define CALIBRATIONS 200 + +#define ADXL345_I2C_ADDR 0x53 +#define ITG3200_I2C_ADDR 0x68 + +static int version, micros=5, millis=100; + +static volatile unsigned long launchpadPulses; +static volatile unsigned long launchpad5; +static volatile unsigned long launchpad10; +static volatile unsigned long launchpad15; +static volatile unsigned long launchpadOutRange; +static volatile int launchpadErr; +static volatile uint32_t LDRrechargeTick; + + +/* forward prototypes */ + +void LEDlaserTick (void); +void motorTick(void); +void i2cTick (void); +void servoTick (void); +void sonarLDRtick(void); + +void launchpadAlert(int gpio, int level, uint32_t tick); +void sonarAlert(int gpio, int level, uint32_t tick); +void LDRalert(int gpio, int level, uint32_t tick); + +void putTTY(char * buf); +void putTTYstr(int row, int col, char * buf); + + +int main(int argc, char *argv[]) +{ + char str[256]; + + if (argc > 1) micros = atoi(argv[1]); + + if (argc > 2) millis = atoi(argv[2]); + + putTTY("\033c"); /* clear console */ + + gpioCfgBufferSize(millis); + + gpioCfgClock(micros, PI_CLOCK_PCM, PI_CLOCK_PLLD); + + + /* before using the library you must call gpioInitialise */ + + version = gpioInitialise(); + + if (version >= 0) + { + /* initialise pins, only gpio numbers are supported */ + + gpioSetMode(SERVO1, PI_OUTPUT); + gpioSetMode(SERVO2, PI_OUTPUT); + gpioSetMode(SERVO3, PI_OUTPUT); + gpioSetMode(LASER, PI_OUTPUT); + gpioSetMode(LED1, PI_OUTPUT); + gpioSetMode(LED2, PI_OUTPUT); + gpioSetMode(LED3, PI_OUTPUT); + gpioSetMode(MOTOR_A_IN1, PI_OUTPUT); + gpioSetMode(MOTOR_A_IN2, PI_OUTPUT); + gpioSetMode(MOTOR_B_IN1, PI_OUTPUT); + gpioSetMode(MOTOR_B_IN2, PI_OUTPUT); + + gpioSetMode(SONAR_TRIGGER, PI_OUTPUT); + gpioWrite (SONAR_TRIGGER, PI_OFF); + + gpioSetMode(SONAR_ECHO, PI_INPUT); + gpioSetMode(LAUNCHPAD, PI_INPUT); + gpioSetMode(LDR, PI_INPUT); + + /* update i2c fifty times a second, timer #0 */ + + gpioSetTimerFunc(0, 20, i2cTick); + + //gpioSetTimerFunc(0, 1000, servoTick); + + /* update LEDs and laser once a second, timer #1 */ + + gpioSetTimerFunc(1, 1000, LEDlaserTick); + + /* update motors every three seconds, timer #2 */ + + gpioSetTimerFunc(2, 3000, motorTick); + + /* update sonar/LDR 10 times a second, timer #3 */ + + gpioSetTimerFunc(3, 100, sonarLDRtick); + + /* an attachecd TI launchpad is transmitting high pulses of + 15, 35, 55, 75, ..., 975, 995 microseconds repeating with 50 + microseconds off between each pulse */ + + gpioSetAlertFunc(LAUNCHPAD, launchpadAlert); + + /* monitor sonar echos */ + + gpioSetAlertFunc(SONAR_ECHO, sonarAlert); + + /* monitor LDR level changes */ + + gpioSetAlertFunc(LDR, LDRalert); + + while (1) + { + sleep(1); + + sprintf(str, "TI pulses %8ld", launchpadPulses); + putTTYstr(9, 1, str); + + sprintf(str, "+/-5 %8ld", launchpad5); + putTTYstr(10, 6, str); + + sprintf(str, "+/-10 %8ld", launchpad10); + putTTYstr(11, 5, str); + + sprintf(str, "+/-15 %8ld", launchpad15); + putTTYstr(12, 5, str); + + sprintf(str, "Others %8ld (last %d) ", + launchpadOutRange, launchpadErr); + putTTYstr(13, 4, str); + } + } + + gpioTerminate(); + + return 0; +} + +void LEDlaserTick(void) +{ + static int gpio[LEDS]={LED1, LED2, LED3, LASER}; + static int pos [LEDS]={ 0, 3, 6, 9}; + static int inc [LEDS]={ 1, 1, 1, 1}; + + static int vals[] = {0, 1, 2, 4, 8, 16, 32, 64, 128, 249}; + + int i; + + for (i=0; i=(sizeof(vals)/4)) || (pos[i]<0) ) + { + inc[i] = -inc[i]; + pos[i] += inc[i]; + } + } +} + +void sonarLDRtick(void) +{ + /* trigger a sonar reading */ + + gpioWrite(SONAR_TRIGGER, PI_ON); + usleep(20); + gpioWrite(SONAR_TRIGGER, PI_OFF); + + /* trigger a LDR reading */ + + gpioSetMode(LDR, PI_OUTPUT); /* drain capacitor */ + + gpioWrite(LDR, PI_OFF); + + usleep(200); + + LDRrechargeTick = gpioTick(); + + gpioSetMode(LDR, PI_INPUT); /* start capacitor recharge */ + } + +void motorTick(void) +{ + static int gpio_in1[2]={MOTOR_A_IN1, MOTOR_B_IN1}; + static int gpio_in2[2]={MOTOR_A_IN2, MOTOR_B_IN2}; + static int speed [2]={ 80, 80}; + static int inc [2]={ -50, 50}; + + int i; + char str[256]; + + for (i=0; i<2; i++) + { + speed[i]+=inc[i]; + + if (speed[i]<0) + { + gpioPWM(gpio_in1[i], -speed[i]); + gpioPWM(gpio_in2[i], 0); + if (speed[i] < -205) inc[i] = -inc[i]; + sprintf(str, "MOT%d IN1=%3d IN2=%3d", i+1, -speed[i], 0); + } + else + { + gpioPWM(gpio_in2[i], speed[i]); + gpioPWM(gpio_in1[i], 0); + if (speed[i] > 205) inc[i] = -inc[i]; + sprintf(str, "MOT%d IN1=%3d IN2=%3d", i+1, 0, speed[i]); + } + if (i) putTTYstr(7, 1, str); else putTTYstr(5, 1, str); + } +} + +/* loads of code to read/write i2c */ + +void selectDevice(int i2c, int addr, char * name) +{ + if (ioctl(i2c, I2C_SLAVE, addr) < 0) + { + fprintf(stderr, "%s not present\n", name); + } +} + +void writeToDevice(int i2c, char * buf, int len) +{ + static int reported = 0; + if (write(i2c, buf, len) != len) + { + if (!reported) + { + fprintf(stderr, "Can't write to device\n"); + reported = 1; + } + } + else reported = 0; +} + +void readADXL345(int i2c) +{ + char buf[8]; + static int reported = 0; + + selectDevice(i2c, ADXL345_I2C_ADDR, "ADXL345"); + + writeToDevice(i2c, "\x32", 1); + + if (read(i2c, buf, 6) != 6) + { + if (!reported) + { + fprintf(stderr, "Unable to read from ADXL345\n"); + reported = 1; + } + } + else + { + reported = 0; + + ACC_ORIENTATION ( + ((buf[1]<<8) | buf[0]), + ((buf[3]<<8) | buf[2]), + ((buf[5]<<8) | buf[4]) ); + } +} + +void readITG3200(int i2c) +{ + char buf[8]; + static int reported = 0; + + selectDevice(i2c, ITG3200_I2C_ADDR, "ITG3200"); + + writeToDevice(i2c, "\x1D", 1); + + if (read(i2c, buf, 6) != 6) + { + if (!reported) + { + fprintf(stderr, "Unable to read from ITG3200\n"); + reported = 1; + } + } + else + { + reported = 0; + + GYRO_ORIENTATION ( + ((buf[0]<<8) | buf[1]), + ((buf[2]<<8) | buf[3]), + ((buf[4]<<8) | buf[5]) ); + } +} + +int initI2Cdevices(void) +{ + int i2c; + + if ((i2c = open("/dev/i2c-0", O_RDWR)) < 0) + { + perror("Failed to open i2c bus"); + exit(1); + } + + /* initialise ADXL345 */ + + selectDevice(i2c, ADXL345_I2C_ADDR, "ADXL345"); + + writeToDevice(i2c, "\x2d\x00", 2); + writeToDevice(i2c, "\x2d\x10", 2); + writeToDevice(i2c, "\x2d\x08", 2); + writeToDevice(i2c, "\x31\x00", 2); + writeToDevice(i2c, "\x31\x0b", 2); + + /* initialise ITG3200 */ + + selectDevice(i2c, ITG3200_I2C_ADDR, "ITG3200"); + + writeToDevice(i2c, "\x16\b00011000", 2); + + return i2c; +} + +/* an attached IMU (GY-85) supplies orientation information which + is used to position the servos */ + +float estimateAngle(int acc, int gyro, float oldAng, int elapsed) +{ + float angleAcc, angleInc, estAngle; + float secs; + + secs = (float) elapsed / 1e6f; + + angleAcc = (float) acc * 90.0f / 256.0f; + + angleInc = (float) gyro * secs * 2000.0f / 32768.0f; + + estAngle = 0.75 * (oldAng + angleInc) + 0.25 * angleAcc; + + return estAngle; +} + +void servoTick(void) +{ + static int wid1=1500, wid2=1500, wid3=1500; + static int inc1=50, inc2=75, inc3=100; + + gpioServo(SERVO1, wid1); + gpioServo(SERVO2, wid2); + gpioServo(SERVO3, wid3); + + wid1+=inc1; if ((wid1<1000) || (wid1>2000)) {inc1 = -inc1; wid1+=inc1;} + wid2+=inc2; if ((wid2<1000) || (wid2>2000)) {inc2 = -inc2; wid2+=inc2;} + wid3+=inc3; if ((wid3<1000) || (wid3>2000)) {inc3 = -inc3; wid3+=inc3;} +} + +void i2cTick(void) +{ + static int inited = 0; + static int calibrated = 0; + static int calibrations = 0; + static int accCalibX = 0, accCalibY = 0, accCalibZ = 0; + static int gyroCalibX = 0, gyroCalibY = 0, gyroCalibZ = 0; + static int i2c; + static float X=0.0, Y=0.0, Z=0.0; + + static uint32_t lastTick; + + uint32_t tick; + int elapsed; + int pulse; + char str[256]; + + if (inited) + { + tick = gpioTick(); + elapsed = tick - lastTick; + lastTick = tick; + + readADXL345(i2c); + readITG3200(i2c); + + if (calibrated) + { + X = estimateAngle( + rawAcc[ROLL], rawGyr[ROLL] -gyroCalibX, X, elapsed); + + Y = estimateAngle( + rawAcc[PITCH], rawGyr[PITCH] - gyroCalibY, Y, elapsed); + + Z = estimateAngle( + rawAcc[YAW], rawGyr[YAW] - gyroCalibZ, Z, elapsed); + + pulse = 1500 + (Y * 1000 / 90); + if (pulse < 500) pulse = 500; + if (pulse > 2500) pulse = 2500; + gpioServo(SERVO1, pulse); + + pulse = 1500 - (X * 500 / 90); + if (pulse < 1000) pulse = 1000; + if (pulse > 2000) pulse = 2000; + gpioServo(SERVO2, pulse); + + /* prefer Z but that doesn't change much */ + pulse = 1500 - (Y * 500 / 90); + if (pulse < 800) pulse = 800; + if (pulse > 2200) pulse = 2200; + gpioServo(SERVO3, pulse); + + sprintf(str, "X=%4.0f Y=%4.0f Z=%4.0f ", X, Y, Z); + putTTYstr(1, 1, str); + } + else + { + accCalibX+=rawAcc[ROLL]; + accCalibY+=rawAcc[PITCH]; + accCalibZ+=rawAcc[YAW]; + + gyroCalibX+=rawGyr[ROLL]; + gyroCalibY+=rawGyr[PITCH]; + gyroCalibZ+=rawGyr[YAW]; + + if (++calibrations >= CALIBRATIONS) + { + accCalibX /= CALIBRATIONS; + accCalibY /= CALIBRATIONS; + accCalibZ /= CALIBRATIONS; + + gyroCalibX /= CALIBRATIONS; + gyroCalibY /= CALIBRATIONS; + gyroCalibZ /= CALIBRATIONS; + + calibrated = 1; + } + } + } + else + { + i2c = initI2Cdevices(); + + gpioServo(SERVO1, 1500); + gpioServo(SERVO2, 1500); + gpioServo(SERVO3, 1500); + + inited = 1; + } +} + +void sonarAlert(int gpio, int level, uint32_t tick) +{ + static uint32_t startTick; + + int diffTick; + char str[256]; + + if (level == PI_ON) + { + startTick = tick; + } + else if (level == PI_OFF) + { + diffTick = tick - startTick; + + if (diffTick < 26100) + { + sprintf(str, "Sonar %3d cms", (diffTick+29)/58); + putTTYstr(15, 1, str); + } + } +} + +void LDRalert(int pin, int level, uint32_t tick) +{ + int diffTick; + char str[256]; + + if (level == PI_ON) + { + diffTick = tick - LDRrechargeTick; + + sprintf(str, "LDR %4d micros", diffTick); + putTTYstr(17, 1, str); + } +} + +void launchpadAlert(int pin, int level, uint32_t tick) +{ + static int inited = 0, lastTick, lastPulseLen; + + int pulseLen, pulseDif; + + if (inited) + { + pulseLen = tick - lastTick; + lastTick = tick; + + if (level==0) + { + if (lastPulseLen) + { + pulseDif = pulseLen - lastPulseLen; + + /* allow for wrap around */ + if (pulseDif < 0) pulseDif += 1096; + + /* now centre around expected value */ + pulseDif -= 33; + + if (pulseDif < 0) pulseDif = -pulseDif; + + launchpadPulses++; + + if (pulseDif <= 5) + { + launchpad5++; + } + else if (pulseDif <= 10) + { + launchpad10++; + } + else if (pulseDif <= 15) + { + launchpad15++; + } + else + { + launchpadOutRange++; + launchpadErr = pulseDif; + } + } + lastPulseLen = pulseLen; + } + } + else + { + lastTick = tick; + lastPulseLen = 0; + + launchpadPulses = 0; + launchpad5 = 0; + launchpad10 = 0; + launchpad15 = 0; + launchpadOutRange = 0; + + inited = 1; + } +} + +void putTTY(char * buf) +{ + write(1, buf, strlen(buf)); +} + +void putTTYstr(int row, int col, char * buf) +{ + char str[256]; + + sprintf(str, "\033[%d;%dH%s", row, col, buf); + + putTTY(str); +} + diff --git a/pig2vcd.c b/pig2vcd.c new file mode 100644 index 0000000..c0afb0c --- /dev/null +++ b/pig2vcd.c @@ -0,0 +1,121 @@ +/* +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to +*/ + +/* +This version is for pigpio version 3+ +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" + +/* +This software converts pigpio notification reports +into a VCD format understood by GTKWave. +*/ + +#define RS (sizeof(gpioReport_t)) + +static char * timeStamp() +{ + static char buf[32]; + + struct timeval now; + struct tm tmp; + + gettimeofday(&now, NULL); + + localtime_r(&now.tv_sec, &tmp); + strftime(buf, sizeof(buf), "%F %T", &tmp); + + return buf; +} + +int symbol(int bit) +{ + if (bit < 26) return ('A' + bit); + else return ('a' + bit - 26); +} + +int main(int argc, char * argv[]) +{ + int b, r, v; + uint32_t t0; + uint32_t lastLevel, changed; + + gpioReport_t report; + + r=read(STDIN_FILENO, &report, RS); + + if (r != RS) exit(-1); + + printf("$date %s $end\n", timeStamp()); + printf("$version pig2vcd V1 $end\n"); + printf("$timescale 1 us $end\n"); + printf("$scope module top $end\n"); + + for (b=0; b<32; b++) + printf("$var wire 1 %c %d $end\n", symbol(b), b); + + printf("$upscope $end\n"); + printf("$enddefinitions $end\n"); + + t0 = report.tick; + lastLevel =0; + + while ((r=read(STDIN_FILENO, &report, RS)) == RS) + { + if (report.level != lastLevel) + { + printf("#%u\n", report.tick - t0); + + changed = report.level ^ lastLevel; + + lastLevel = report.level; + + for (b=0; b<32; b++) + { + if (changed & (1< +*/ + +/* pigpio version 6 */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" +#include "command.h" + +/* --------------------------------------------------------------- */ + +/* + 0 GPFSEL0 GPIO Function Select 0 + 1 GPFSEL1 GPIO Function Select 1 + 2 GPFSEL2 GPIO Function Select 2 + 3 GPFSEL3 GPIO Function Select 3 + 4 GPFSEL4 GPIO Function Select 4 + 5 GPFSEL5 GPIO Function Select 5 + 6 - Reserved + 7 GPSET0 GPIO Pin Output Set 0 + 8 GPSET1 GPIO Pin Output Set 1 + 9 - Reserved +10 GPCLR0 GPIO Pin Output Clear 0 +11 GPCLR1 GPIO Pin Output Clear 1 +12 - Reserved +13 GPLEV0 GPIO Pin Level 0 +14 GPLEV1 GPIO Pin Level 1 +15 - Reserved +16 GPEDS0 GPIO Pin Event Detect Status 0 +17 GPEDS1 GPIO Pin Event Detect Status 1 +18 - Reserved +19 GPREN0 GPIO Pin Rising Edge Detect Enable 0 +20 GPREN1 GPIO Pin Rising Edge Detect Enable 1 +21 - Reserved +22 GPFEN0 GPIO Pin Falling Edge Detect Enable 0 +23 GPFEN1 GPIO Pin Falling Edge Detect Enable 1 +24 - Reserved +25 GPHEN0 GPIO Pin High Detect Enable 0 +26 GPHEN1 GPIO Pin High Detect Enable 1 +27 - Reserved +28 GPLEN0 GPIO Pin Low Detect Enable 0 +29 GPLEN1 GPIO Pin Low Detect Enable 1 +30 - Reserved +31 GPAREN0 GPIO Pin Async. Rising Edge Detect 0 +32 GPAREN1 GPIO Pin Async. Rising Edge Detect 1 +33 - Reserved +34 GPAFEN0 GPIO Pin Async. Falling Edge Detect 0 +35 GPAFEN1 GPIO Pin Async. Falling Edge Detect 1 +36 - Reserved +37 GPPUD GPIO Pin Pull-up/down Enable +38 GPPUDCLK0 GPIO Pin Pull-up/down Enable Clock 0 +39 GPPUDCLK1 GPIO Pin Pull-up/down Enable Clock 1 +40 - Reserved +41 - Test +*/ + +/* +0 CS DMA Channel 0 Control and Status +1 CPI_ONBLK_AD DMA Channel 0 Control Block Address +2 TI DMA Channel 0 CB Word 0 (Transfer Information) +3 SOURCE_AD DMA Channel 0 CB Word 1 (Source Address) +4 DEST_AD DMA Channel 0 CB Word 2 (Destination Address) +5 TXFR_LEN DMA Channel 0 CB Word 3 (Transfer Length) +6 STRIDE DMA Channel 0 CB Word 4 (2D Stride) +7 NEXTCPI_ONBK DMA Channel 0 CB Word 5 (Next CB Address) +8 DEBUG DMA Channel 0 Debug +*/ + +/* +DEBUG register bits + +bit 2 READ_ERROR + + Slave Read Response Error RW 0x0 + + Set if the read operation returned an error value on + the read response bus. It can be cleared by writing + a 1. + +bit 1 FIFO_ERROR + + Fifo Error RW 0x0 + + Set if the optional read Fifo records an error + condition. It can be cleared by writing a 1. + +bit 0 READ_LAST_NOT_SET_ERROR + + Read Last Not Set Error RW 0x0 + + If the AXI read last signal was not set when + expected, then this error bit will be set. It can be + cleared by writing a 1. +*/ + +/* +0 CTL PWM Control +1 STA PWM Status +2 DMAC PWM DMA Configuration +4 RNG1 PWM Channel 1 Range +5 DAT1 PWM Channel 1 Data +6 FIF1 PWM FIFO Input +8 RNG2 PWM Channel 2 Range +9 DAT2 PWM Channel 2 Data +*/ + +/* +0 PCM_CS PCM Control and Status +1 PCM_FIFO PCM FIFO Data +2 PCM_MODE PCM Mode +3 PCM_RXC PCM Receive Configuration +4 PCM_TXC PCM Transmit Configuration +5 PCM_DREQ PCM DMA Request Level +6 PCM_INTEN PCM Interrupt Enables +7 PCM_INTSTC PCM Interrupt Status & Clear +8 PCM_GRAY PCM Gray Mode Control +*/ + +/* +0 CS System Timer Control/Status +1 CLO System Timer Counter Lower 32 bits +2 CHI System Timer Counter Higher 32 bits +3 C0 System Timer Compare 0 +4 C1 System Timer Compare 1 +5 C2 System Timer Compare 2 +6 C3 System Timer Compare 3 +*/ + +/* --------------------------------------------------------------- */ + +#define THOUSAND 1000 +#define MILLION 1000000 +#define BILLION 1000000000 + +#define BANK (gpio>>5) + +#define BIT (1<<(gpio&0x1F)) + + +#define CHECK_INITED \ + do \ + { \ + if (!libInitialised) \ + { \ + fprintf(stderr, \ + "%s %s: pigpio uninitialised, call gpioInitialise()\n",\ + myTimeStamp(), __FUNCTION__); \ + return PI_NOT_INITIALISED; \ + } \ + } \ + while (0) + +#define CHECK_NOT_INITED \ + do \ + { \ + if (libInitialised) \ + { \ + fprintf(stderr, \ + "%s %s: pigpio initialised, call gpioTerminate()\n", \ + myTimeStamp(), __FUNCTION__); \ + return PI_INITIALISED; \ + } \ + } \ + while (0) + +#define DBG(level, format, arg...) \ + do \ + { \ + if (gpioCfg.dbgLevel >= level) \ + fprintf(stderr, "%s %s: " format "\n" , \ + myTimeStamp(), __FUNCTION__ , ## arg); \ + } \ + while (0) + +#define SOFT_ERROR(x, format, arg...) \ + do \ + { \ + fprintf(stderr, "%s %s: " format "\n", \ + myTimeStamp(), __FUNCTION__ , ## arg); \ + return x; \ + } \ + while (0) + +#define TIMER_ADD(a, b, result) \ + do \ + { \ + (result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \ + (result)->tv_nsec = (a)->tv_nsec + (b)->tv_nsec; \ + if ((result)->tv_nsec >= BILLION) \ + { \ + ++(result)->tv_sec; \ + (result)->tv_nsec -= BILLION; \ + } \ + } \ + while (0) + +#define TIMER_SUB(a, b, result) \ + do \ + { \ + (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \ + (result)->tv_nsec = (a)->tv_nsec - (b)->tv_nsec; \ + if ((result)->tv_nsec < 0) \ + { \ + --(result)->tv_sec; \ + (result)->tv_nsec += BILLION; \ + } \ + } \ + while (0) + +#define DMA_BUS_ADR 0x40000000 + +#define CLK_BASE 0x20101000 +#define DMA_BASE 0x20007000 +#define DMA15_BASE 0x20E05000 +#define GPIO_BASE 0x20200000 +#define PCM_BASE 0x20203000 +#define PWM_BASE 0x2020C000 +#define SPI0_BASE 0x20204000 +#define SYST_BASE 0x20003000 +#define UART0_BASE 0x20201000 +#define UART1_BASE 0x20215000 + +#define DMA_LEN 0x1000 /* allow access to all channels */ +#define CLK_LEN 0xA8 +#define GPIO_LEN 0xB4 +#define SYST_LEN 0x1C +#define PCM_LEN 0x24 +#define PWM_LEN 0x28 + +#define DMA_ENABLE (0xFF0/4) + +#define GPFSEL0 0 + +#define GPSET0 7 +#define GPSET1 8 + +#define GPCLR0 10 +#define GPCLR1 11 + +#define GPLEV0 13 +#define GPLEV1 14 + +#define GPEDS0 16 +#define GPEDS1 17 + +#define GPREN0 19 +#define GPREN1 20 +#define GPFEN0 22 +#define GPFEN1 23 +#define GPHEN0 25 +#define GPHEN1 26 +#define GPLEN0 28 +#define GPLEN1 29 +#define GPAREN0 31 +#define GPAREN1 32 +#define GPAFEN0 34 +#define GPAFEN1 35 + +#define GPPUD 37 +#define GPPUDCLK0 38 +#define GPPUDCLK1 39 + +#define DMA_CS 0 +#define DMA_CONBLK_AD 1 +#define DMA_DEBUG 8 + +/* DMA CS Control and Status bits */ +#define DMA_CHANNEL_RESET (1<<31) +#define DMA_WAIT_ON_WRITES (1<<28) +#define DMA_PANIC_PRIORITY(x) ((x)<<20) +#define DMA_PRIORITY(x) ((x)<<16) +#define DMA_INTERRUPT_STATUS (1<< 2) +#define DMA_END_FLAG (1<< 1) +#define DMA_ACTIVATE (1<< 0) + +/* DMA control block "info" field bits */ +#define DMA_NO_WIDE_BURSTS (1<<26) +#define DMA_PERIPHERAL_MAPPING(x) ((x)<<16) +#define DMA_BURST_LENGTH(x) ((x)<<12) +#define DMA_SRC_IGNORE (1<<11) +#define DMA_SRC_DREQ (1<<10) +#define DMA_SRC_INC (1<< 8) +#define DMA_DEST_IGNORE (1<< 7) +#define DMA_DEST_DREQ (1<< 6) +#define DMA_DEST_INC (1<< 4) +#define DMA_WAIT_RESP (1<< 3) + +#define DMA_DEBUG_READ_ERR (1<<2) +#define DMA_DEBUG_FIFO_ERR (1<<1) +#define DMA_DEBUG_RD_LST_NOT_SET_ERR (1<<0) + +#define PWM_CTL 0 +#define PWM_STA 1 +#define PWM_DMAC 2 +#define PWM_RNG1 4 +#define PWM_DAT1 5 +#define PWM_FIFO 6 +#define PWM_RNG2 8 +#define PWM_DAT2 9 + +#define PWM_CTL_CLRF1 (1<<6) +#define PWM_CTL_USEF1 (1<<5) +#define PWM_CTL_MODE1 (1<<1) +#define PWM_CTL_PWEN1 (1<<0) + +#define PWM_DMAC_ENAB (1 <<31) +#define PWM_DMAC_PANIC(x) ((x)<< 8) +#define PWM_DMAC_DREQ(x) (x) + +#define PCM_CS 0 +#define PCM_FIFO 1 +#define PCM_MODE 2 +#define PCM_RXC 3 +#define PCM_TXC 4 +#define PCM_DREQ 5 +#define PCM_INTEN 6 +#define PCM_INTSTC 7 +#define PCM_GRAY 8 + +#define PCM_CS_STBY (1 <<25) +#define PCM_CS_SYNC (1 <<24) +#define PCM_CS_RXSEX (1 <<23) +#define PCM_CS_RXERR (1 <<16) +#define PCM_CS_TXERR (1 <<15) +#define PCM_CS_DMAEN (1 <<9) +#define PCM_CS_RXTHR(x) ((x)<<7) +#define PCM_CS_TXTHR(x) ((x)<<5) +#define PCM_CS_RXCLR (1 <<4) +#define PCM_CS_TXCLR (1 <<3) +#define PCM_CS_TXON (1 <<2) +#define PCM_CS_RXON (1 <<1) +#define PCM_CS_EN (1 <<0) + +#define PCM_MODE_CLK_DIS (1 <<28) +#define PCM_MODE_PDMN (1 <<27) +#define PCM_MODE_PDME (1 <<26) +#define PCM_MODE_FRXP (1 <<25) +#define PCM_MODE_FTXP (1 <<24) +#define PCM_MODE_CLKM (1 <<23) +#define PCM_MODE_CLKI (1 <<22) +#define PCM_MODE_FSM (1 <<21) +#define PCM_MODE_FSI (1 <<20) +#define PCM_MODE_FLEN(x) ((x)<<10) +#define PCM_MODE_FSLEN(x) ((x)<< 0) + +#define PCM_RXC_CH1WEX (1 <<31) +#define PCM_RXC_CH1EN (1 <<30) +#define PCM_RXC_CH1POS(x) ((x)<<20) +#define PCM_RXC_CH1WID(x) ((x)<<16) +#define PCM_RXC_CH2WEX (1 <<15) +#define PCM_RXC_CH2EN (1 <<14) +#define PCM_RXC_CH2POS(x) ((x)<< 4) +#define PCM_RXC_CH2WID(x) ((x)<< 0) + +#define PCM_TXC_CH1WEX (1 <<31) +#define PCM_TXC_CH1EN (1 <<30) +#define PCM_TXC_CH1POS(x) ((x)<<20) +#define PCM_TXC_CH1WID(x) ((x)<<16) +#define PCM_TXC_CH2WEX (1 <<15) +#define PCM_TXC_CH2EN (1 <<14) +#define PCM_TXC_CH2POS(x) ((x)<< 4) +#define PCM_TXC_CH2WID(x) ((x)<< 0) + +#define PCM_DREQ_TX_PANIC(x) ((x)<<24) +#define PCM_DREQ_RX_PANIC(x) ((x)<<16) +#define PCM_DREQ_TX_REQ_L(x) ((x)<< 8) +#define PCM_DREQ_RX_REQ_L(x) ((x)<< 0) + +#define PCM_INTEN_RXERR (1<<3) +#define PCM_INTEN_TXERR (1<<2) +#define PCM_INTEN_RXR (1<<1) +#define PCM_INTEN_TXW (1<<0) + +#define PCM_INTSTC_RXERR (1<<3) +#define PCM_INTSTC_TXERR (1<<2) +#define PCM_INTSTC_RXR (1<<1) +#define PCM_INTSTC_TXW (1<<0) + +#define PCM_GRAY_FLUSH (1<<2) +#define PCM_GRAY_CLR (1<<1) +#define PCM_GRAY_EN (1<<0) + +#define CLK_PASSWD (0x5A<<24) + +#define CLK_CTL_MASH(x)((x)<<9) +#define CLK_CTL_BUSY (1 <<7) +#define CLK_CTL_KILL (1 <<5) +#define CLK_CTL_ENAB (1 <<4) +#define CLK_CTL_SRC(x) ((x)<<0) + +#define CLK_CTL_SRC_OSC 1 /* 19.2 MHz */ +#define CLK_CTL_SRC_PLLD 6 /* 500.0 MHz */ + +#define CLK_DIV_DIVI(x) ((x)<<12) +#define CLK_DIV_DIVF(x) ((x)<< 0) + +#define CLK_PCMCTL 38 +#define CLK_PCMDIV 39 + +#define CLK_PWMCTL 40 +#define CLK_PWMDIV 41 + +#define SYST_CS 0 +#define SYST_CLO 1 +#define SYST_CHI 2 + +/* --------------------------------------------------------------- */ + +#define NORMAL_DMA (DMA_NO_WIDE_BURSTS | DMA_WAIT_RESP) + +#define TIMED_DMA(x) (DMA_DEST_DREQ | DMA_PERIPHERAL_MAPPING(x)) + +#define DBG_MIN_LEVEL 0 +#define DBG_STARTUP 1 +#define DBG_DMACBS 2 +#define DBG_USER 3 +#define DBG_INTERNAL 4 +#define DBG_SLOW_TICK 5 +#define DBG_FAST_TICK 6 +#define DBG_MAX_LEVEL 6 + +#define GPIO_UNDEFINED 0 +#define GPIO_INPUT 1 +#define GPIO_OUTPUT 2 +#define GPIO_PWM 3 +#define GPIO_SERVO 4 +#define GPIO_ALTERNATE 5 + +#define STACK_SIZE (256*1024) + +#define PAGE_SIZE 4096 + +#define PWM_FREQS 18 + +#define CYCLES_PER_BLOCK 80 +#define PULSE_PER_CYCLE 25 + +#define PAGES_PER_BLOCK 53 + +#define CBS_PER_IPAGE 117 +#define LVS_PER_IPAGE 38 +#define OFF_PER_IPAGE 38 +#define TCK_PER_IPAGE 2 +#define ON_PER_IPAGE 2 + +#define CBS_PER_OPAGE 118 +#define ONOFF_PER_OPAGE 79 + +#define CBS_PER_CYCLE ((PULSE_PER_CYCLE*3)+2) + +#define NUM_CBS (CBS_PER_CYCLE * bufferCycles) + +#define SUPERCYCLE 800 +#define SUPERLEVEL 20000 + +#define BLOCK_SIZE (PAGES_PER_BLOCK*PAGE_SIZE) + +#define DMA_PAGES (PAGES_PER_BLOCK * bufferBlocks) + +#define TICKSLOTS 50 + +#define PI_NOTIFY_SLOTS 32 + +#define PI_NOTIFY_CLOSED 0 +#define PI_NOTIFY_CLOSING 1 +#define PI_NOTIFY_OPENED 2 +#define PI_NOTIFY_RUNNING 3 +#define PI_NOTIFY_PAUSED 4 + +#define PI_WFRX_NONE 0 +#define PI_WFRX_SERIAL 1 +#define PI_WF_MICROS 2 + +#define PI_WAVE_MAX_PULSES 3000 + +#define DATUMS 2000 + +#define DEFAULT_PWM_IDX 5 + +#define MAX_EMITS (PIPE_BUF / sizeof(gpioReport_t)) + +/* --------------------------------------------------------------- */ + +typedef void (*callbk_t) (); + +typedef struct { /* linux/arch/arm/mach-bcm2708/include/mach/dma.h */ + unsigned long info; + unsigned long src; + unsigned long dst; + unsigned long length; + unsigned long stride; + unsigned long next; + unsigned long pad[2]; +} dmaCbs_t; + +typedef struct +{ + dmaCbs_t cb [128]; +} dmaPage_t; + +typedef struct +{ + dmaCbs_t cb [CBS_PER_IPAGE]; + uint32_t level [LVS_PER_IPAGE]; + uint32_t gpioOff [OFF_PER_IPAGE]; + uint32_t tick [TCK_PER_IPAGE]; + uint32_t gpioOn [ON_PER_IPAGE]; + uint32_t periphData; + uint32_t pad[7]; +} dmaIPage_t; + +typedef struct +{ + dmaCbs_t cb [CBS_PER_OPAGE]; + uint32_t gpioOnOff [ONOFF_PER_OPAGE]; + uint32_t periphData; +} dmaOPage_t; + +typedef struct +{ + uint8_t is; + uint8_t pad; + uint16_t width; + uint16_t range; /* duty cycles specified by 0 .. range */ + uint16_t freqIdx; +} gpioInfo_t; + +typedef struct +{ + callbk_t func; + unsigned ex; + void * userdata; + unsigned timeout; + uint32_t tick; +} gpioAlert_t; + +typedef struct +{ + callbk_t func; + unsigned ex; + void * userdata; +} gpioSignal_t; + +typedef struct +{ + callbk_t func; + unsigned ex; + void * userdata; + uint32_t bits; +} gpioGetSamples_t; + +typedef struct +{ + callbk_t func; + unsigned ex; + void * userdata; + unsigned id; + unsigned running; + unsigned millis; + struct timespec nextTick; + pthread_t pthId; +} gpioTimer_t; + +typedef struct +{ + uint16_t valid; + uint16_t bits; + uint16_t divi; + uint16_t divf; + uint16_t mash; + uint16_t servoIdx; + uint16_t pwmIdx; +} clkCfg_t; + +typedef struct +{ + uint16_t seqno; + uint16_t state; + uint32_t bits; + int fd; + int pipe; +} gpioNotify_t; + +typedef struct +{ + uint32_t startTick; + uint32_t alertTicks; + uint32_t diffTick[TICKSLOTS]; + uint32_t cbTicks; + uint32_t cbCalls; + uint32_t maxEmit; + uint32_t emitFrags; + uint32_t maxSamples; + uint32_t numSamples; +} gpioStats_t; + +typedef struct +{ + unsigned bufferMilliseconds; + unsigned clockMicros; + unsigned clockPeriph; + unsigned clockSource; + unsigned DMAprimaryChannel; + unsigned DMAsecondaryChannel; + unsigned socketPort; + unsigned ifFlags; + int dbgLevel; + unsigned showStats; +} gpioCfg_t; + +typedef struct +{ + uint32_t micros; + uint32_t highMicros; + uint32_t maxMicros; + uint32_t pulses; + uint32_t highPulses; + uint32_t maxPulses; + uint32_t cbs; + uint32_t highCbs; + uint32_t maxCbs; +} wfStats_t; + +typedef struct +{ + gpioRx_t * rxp; + uint32_t baud; + uint32_t fullBit; + uint32_t halfBit; + uint32_t startBitTick; + uint32_t nextBitDiff; + int bit; + int byte; + int level; + int mode; +} wfRx_t; + + +/* --------------------------------------------------------------- */ + +/* initialise once then preserve */ + +static volatile gpioCfg_t gpioCfg = +{ + PI_DEFAULT_BUFFER_MILLIS, + PI_DEFAULT_CLK_MICROS, + PI_DEFAULT_CLK_PERIPHERAL, + PI_DEFAULT_CLK_SOURCE, + PI_DEFAULT_DMA_PRIMARY_CHANNEL, + PI_DEFAULT_DMA_SECONDARY_CHANNEL, + PI_DEFAULT_SOCKET_PORT, + PI_DEFAULT_IF_FLAGS, + 0, + 0, +}; + +static volatile gpioStats_t gpioStats; + +/* initialise every gpioInitialise */ + +static struct timespec libStarted; + +/* initialse if not libInitialised */ + +static gpioPulse_t wf[3][PI_WAVE_MAX_PULSES]; + +static int wfc[3]={0, 0, 0}; + +static int wfcur=0; + +static wfStats_t wfStats= +{ + 0, 0, -1, + 0, 0, PI_WAVE_MAX_PULSES, + 0, 0, (PAGES_PER_BLOCK * CBS_PER_OPAGE) +}; + +static wfRx_t wfRx[PI_MAX_USER_GPIO+1]; + +static volatile uint32_t alertBits = 0; +static volatile uint32_t monitorBits = 0; +static volatile uint32_t notifyBits = 0; + +static volatile int DMAstarted = 0; + +static int libInitialised = 0; +static unsigned hardwareRevision = 0; + +static int pthAlertRunning = 0; +static int pthFifoRunning = 0; +static int pthSocketRunning = 0; + +static gpioAlert_t gpioAlert [PI_MAX_USER_GPIO+1]; + +static gpioGetSamples_t gpioGetSamples; + +static gpioInfo_t gpioInfo [PI_MAX_USER_GPIO+1]; + +static gpioNotify_t gpioNotify [PI_NOTIFY_SLOTS]; + +static gpioSignal_t gpioSignal [PI_MAX_SIGNUM+1]; + +static gpioTimer_t gpioTimer [PI_MAX_TIMER+1]; + +static int pwmFreq[PWM_FREQS]; + +/* no initialisation required */ + +static unsigned bufferBlocks; /* number of blocks in buffer */ +static unsigned bufferCycles; /* number of cycles */ + +static pthread_attr_t pthAttr; + +static pthread_t pthAlert; +static pthread_t pthFifo; +static pthread_t pthSocket; + +static gpioSample_t gpioSample[DATUMS]; +static gpioReport_t gpioReport[DATUMS]; + +/* resources which must be released on gpioTerminate */ + +static FILE * inpFifo = NULL; +static FILE * outFifo = NULL; + +static int fdLock = -1; +static int fdMem = -1; +static int fdSock = -1; + +static dmaPage_t * * dmaBloc = MAP_FAILED; +static dmaPage_t * * dmaVirt = MAP_FAILED; +static dmaPage_t * * dmaPhys = MAP_FAILED; + +static dmaIPage_t * * dmaIVirt = MAP_FAILED; +static dmaIPage_t * * dmaIPhys = MAP_FAILED; + +static dmaOPage_t * * dmaOVirt = MAP_FAILED; +static dmaOPage_t * * dmaOPhys = MAP_FAILED; + +static volatile uint32_t * clkReg = MAP_FAILED; +static volatile uint32_t * dmaReg = MAP_FAILED; +static volatile uint32_t * gpioReg = MAP_FAILED; +static volatile uint32_t * pcmReg = MAP_FAILED; +static volatile uint32_t * pwmReg = MAP_FAILED; +static volatile uint32_t * systReg = MAP_FAILED; + +static volatile uint32_t * dmaIn = MAP_FAILED; +static volatile uint32_t * dmaOut = MAP_FAILED; + +/* constant data */ + +static const clkCfg_t clkCfg[]= +{ + /* valid bits divi divf mash servo pwm */ + { 0, 0, 0, 0, 0, 0, 0}, /* 0 */ + { 1, 9, 2, 546, 1, 17, DEFAULT_PWM_IDX}, /* 1 */ + { 1, 19, 2, 86, 1, 16, DEFAULT_PWM_IDX}, /* 2 */ + { 0, 19, 3, 129, 1, 0, 0}, /* 3 */ + { 1, 11, 6, 4021, 1, 15, DEFAULT_PWM_IDX}, /* 4 */ + { 1, 8, 12, 0, 0, 14, DEFAULT_PWM_IDX}, /* 5 */ + { 0, 23, 5, 35, 1, 0, 0}, /* 6 */ + { 0, 27, 4004, 0, 1, 0, 0}, /* 7 */ + { 1, 51, 3, 48, 1, 13, DEFAULT_PWM_IDX}, /* 8 */ + { 0, 43, 4, 76, 1, 0, 0}, /* 9 */ + { 1, 8, 24, 0, 0, 12, DEFAULT_PWM_IDX}, /* 10 */ +}; + +static const uint16_t pwmCycles[PWM_FREQS]= + { 1, 2, 4, 5, 8, 10, 16, 20, 25, + 32, 40, 50, 80, 100, 160, 200, 400, 800}; + +static const uint16_t pwmRealRange[PWM_FREQS]= + { 25, 50, 100, 125, 200, 250, 400, 500, 625, + 800, 1000, 1250, 2000, 2500, 4000, 5000, 10000, 20000}; + +/* ======================================================================= */ + +static void intNotifyBits(void); + +static int gpioNotifyOpenInBand(int fd); + +static void myGpioSleep(int seconds, int micros) +{ + struct timespec ts, rem; + + ts.tv_sec = seconds; + ts.tv_nsec = micros * 1000; + + while (clock_nanosleep(CLOCK_REALTIME, 0, &ts, &rem)) + { + /* copy remaining time to ts */ + ts.tv_sec = rem.tv_sec; + ts.tv_nsec = rem.tv_nsec; + } +} + +static uint32_t myGpioDelay(uint32_t micros) +{ + uint32_t start; + + start = systReg[SYST_CLO]; + + if (micros < 100) while ((systReg[SYST_CLO] - start) <= micros) ; + + else myGpioSleep(micros/MILLION, micros%MILLION); + + return (systReg[SYST_CLO] - start); +} + +static char * myTimeStamp() +{ + static struct timeval last; + static char buf[32]; + struct timeval now; + + struct tm tmp; + + gettimeofday(&now, NULL); + + if (now.tv_sec != last.tv_sec) + { + localtime_r(&now.tv_sec, &tmp); + strftime(buf, sizeof(buf), "%F %T", &tmp); + last.tv_sec = now.tv_sec; + } + + return buf; +} + +/* ----------------------------------------------------------------------- */ + +static void myCreatePipe(char * name, int perm) +{ + unlink(name); + + mkfifo(name, perm); + + if (chmod(name, perm) < 0) + { + DBG(DBG_MIN_LEVEL, "Can't set permissions (%d) for %s, %m", perm, name); + return; + } +} + +/* ----------------------------------------------------------------------- */ + +static void myOffPageSlot(int pos, int * page, int * slot) +{ + *page = pos/OFF_PER_IPAGE; + *slot = pos%OFF_PER_IPAGE; +} + +/* ----------------------------------------------------------------------- */ + +static void myLvsPageSlot(int pos, int * page, int * slot) +{ + *page = pos/LVS_PER_IPAGE; + *slot = pos%LVS_PER_IPAGE; +} + +/* ----------------------------------------------------------------------- */ + +static void myTckPageSlot(int pos, int * page, int * slot) +{ + *page = pos/TCK_PER_IPAGE; + *slot = pos%TCK_PER_IPAGE; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t myGetLevel(int pos) +{ + uint32_t level; + int page, slot; + + myLvsPageSlot(pos, &page, &slot); + + level = dmaIVirt[page]->level[slot]; + + return level; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t myGetTick(int pos) +{ + uint32_t tick; + int page, slot; + + myTckPageSlot(pos, &page, &slot); + + tick = dmaIVirt[page]->tick[slot]; + + return tick; +} + +/* ----------------------------------------------------------------------- */ + +static void myDoCommand(cmdCmd_t * cmd) +{ + int p1, p2, res; + + p1 = cmd->p1; + p2 = cmd->p2; + + res = 0; + + switch (cmd->cmd) + { + case PI_CMD_MODES: + res = gpioSetMode(p1, p2); + break; + + case PI_CMD_MODEG: + res = gpioGetMode(p1); + break; + + case PI_CMD_PUD: + res = gpioSetPullUpDown(p1, p2); + break; + + case PI_CMD_READ: + res = gpioRead(p1); + break; + + case PI_CMD_WRITE: + res = gpioWrite(p1, p2); + break; + + case PI_CMD_PWM: + res = gpioPWM(p1, p2); + break; + + case PI_CMD_PRS: + res = gpioSetPWMrange(p1, p2); + break; + + case PI_CMD_PFS: + res = gpioSetPWMfrequency(p1, p2); + break; + + case PI_CMD_SERVO: + res = gpioServo(p1, p2); + break; + + case PI_CMD_WDOG: + res = gpioSetWatchdog(p1, p2); + break; + + case PI_CMD_BR1: + res = gpioRead_Bits_0_31(); + break; + + case PI_CMD_BR2: + res = gpioRead_Bits_32_53(); + break; + + case PI_CMD_BC1: + gpioWrite_Bits_0_31_Clear(p1); + break; + + case PI_CMD_BC2: + gpioWrite_Bits_32_53_Clear(p1); + break; + + case PI_CMD_BS1: + gpioWrite_Bits_0_31_Set(p1); + break; + + case PI_CMD_BS2: + gpioWrite_Bits_32_53_Set(p1); + break; + + case PI_CMD_TICK: + res = gpioTick(); + break; + + case PI_CMD_HWVER: + res = gpioHardwareRevision(); + break; + + case PI_CMD_PRG: + res = gpioGetPWMrange(p1); + break; + + case PI_CMD_PFG: + res = gpioGetPWMfrequency(p1); + break; + + case PI_CMD_PRRG: + res = gpioGetPWMrealRange(p1); + break; + + case PI_CMD_NO: + res = gpioNotifyOpen(); + break; + + case PI_CMD_NB: + res = gpioNotifyBegin(p1, p2); + break; + + case PI_CMD_NP: + res = gpioNotifyPause(p1); + break; + + case PI_CMD_NC: + res = gpioNotifyClose(p1); + break; + + case PI_CMD_HELP: + break; + + } + + cmd->res = res; +} + +/* ----------------------------------------------------------------------- */ + +static void mySetGpioOff(unsigned gpio, int pos) +{ + int page, slot; + + myOffPageSlot(pos, &page, &slot); + + dmaIVirt[page]->gpioOff[slot] |= (1<gpioOff[slot] &= ~(1<gpioOn[slot] |= (1<gpioOn[slot] &= ~(1<cb[slot]; +} + + +/* ----------------------------------------------------------------------- */ + +static uint32_t waveCbPOadr(int pos) +{ + int page, slot; + + page = pos/CBS_PER_OPAGE; + slot = pos%CBS_PER_OPAGE; + + return (uint32_t) &dmaOPhys[page]->cb[slot]; +} + + +/* ----------------------------------------------------------------------- */ + +static uint32_t waveOnOffPOadr(int pos) +{ + int page, slot; + + page = pos/ONOFF_PER_OPAGE; + slot = pos%ONOFF_PER_OPAGE; + + return (uint32_t) &dmaOPhys[page]->gpioOnOff[slot]; +} + + +/* ----------------------------------------------------------------------- */ + +static void waveCbOPrint(int pos) +{ + dmaCbs_t * p; + + p = waveCbVOadr(pos); + + fprintf(stderr, "i=%lx s=%lx d=%lx len=%lx s=%lx nxt=%lx", + p->info, p->src, p->dst, p->length, p->stride, p->next); +} + + +/* ----------------------------------------------------------------------- */ + +void waveBitDelay(unsigned baud, unsigned * bitDelay) +{ + unsigned fullBit, halfBit, s, e, d, m, i, err; + + fullBit = 100000000 / baud; + halfBit = 50000000 / baud; + + d = (fullBit/200)*200; + + s = 0; + + e = d; + + bitDelay[0] = d/100; + + err = d / 3; + + for (i=0; i<8; i++) + { + s = e; + + m = halfBit + (i+1)*fullBit; + + e = s + d; + + if ((e-m) < err) e+=200; + + bitDelay[i+1] = (e-s)/100; + } + + s = e; + + e = ((1000000000 / baud)+100)/200*200; + + bitDelay[9] = (e-s)/100; +} + +/* ----------------------------------------------------------------------- */ + +void gpioWaveDump(void) +{ + int i; + + unsigned numPulses, t; + + gpioPulse_t * pulses; + + numPulses = wfc[wfcur]; + pulses = wf [wfcur]; + + t = 0; + + for (i=0; iinfo = NORMAL_DMA | + DMA_DEST_DREQ | + DMA_PERIPHERAL_MAPPING(2); + + p->dst = ((PCM_BASE + PCM_FIFO*4) & 0x00ffffff) | 0x7e000000; + } + else + { + p->info = NORMAL_DMA | + DMA_DEST_DREQ | + DMA_PERIPHERAL_MAPPING(5); + + p->dst = ((PWM_BASE + PWM_FIFO*4) & 0x00ffffff) | 0x7e000000; + } + + p->src = (uint32_t) (&dmaOPhys[0]->periphData) | DMA_BUS_ADR; + p->length = 4 * 50 / PI_WF_MICROS; /* 50 micros delay */ + p->next = waveCbPOadr(cb) | DMA_BUS_ADR; + + repeatCb = cb; + + for (i=0; igpioOnOff[onoff%ONOFF_PER_OPAGE] = + pulses[i].gpioOn; + + p = waveCbVOadr(cb++); + + p->info = NORMAL_DMA; + p->src = waveOnOffPOadr(onoff++) | DMA_BUS_ADR; + p->dst = ((GPIO_BASE + (GPSET0*4)) & 0x00ffffff) | 0x7e000000; + p->length = 4; + p->next = waveCbPOadr(cb) | DMA_BUS_ADR; + } + + if (pulses[i].gpioOff) + { + dmaOVirt[onoff/ONOFF_PER_OPAGE]->gpioOnOff[onoff%ONOFF_PER_OPAGE] = + pulses[i].gpioOff; + + p = waveCbVOadr(cb++); + + p->info = NORMAL_DMA; + p->src = waveOnOffPOadr(onoff++) | DMA_BUS_ADR; + p->dst = ((GPIO_BASE + (GPCLR0*4)) & 0x00ffffff) | 0x7e000000; + p->length = 4; + p->next = waveCbPOadr(cb) | DMA_BUS_ADR; + } + + if (pulses[i].usDelay) + { + p = waveCbVOadr(cb++); + + /* use the secondary clock */ + + if (gpioCfg.clockPeriph != PI_CLOCK_PCM) + { + p->info = NORMAL_DMA | + DMA_DEST_DREQ | + DMA_PERIPHERAL_MAPPING(2); + + p->dst = ((PCM_BASE + PCM_FIFO*4) & 0x00ffffff) | 0x7e000000; + } + else + { + p->info = NORMAL_DMA | + DMA_DEST_DREQ | + DMA_PERIPHERAL_MAPPING(5); + + p->dst = ((PWM_BASE + PWM_FIFO*4) & 0x00ffffff) | 0x7e000000; + } + + p->src = (uint32_t) (&dmaOPhys[0]->periphData) | DMA_BUS_ADR; + p->length = 4 * ((pulses[i].usDelay+half)/PI_WF_MICROS); + p->next = waveCbPOadr(cb) | DMA_BUS_ADR; + } + } + + if (p != NULL) + { + if (mode == PI_WAVE_MODE_ONE_SHOT) + p->next = 0; + else p->next = waveCbPOadr(repeatCb) | DMA_BUS_ADR; + } + + return cb; +} + + +/* ----------------------------------------------------------------------- */ + +static void waveRxSerial(wfRx_t * s, int level, uint32_t tick) +{ + int diffTicks; + + if (s->bit >= 0) + { + diffTicks = tick - s->startBitTick; + + if (level != PI_TIMEOUT) s->level = level; + + while ((s->bit < 9) && (diffTicks > s->nextBitDiff)) + { + if (s->bit) + { + if (!(s->level)) s->byte |= (1<<(s->bit-1)); + } + else s->byte = 0; + + ++(s->bit); + + s->nextBitDiff += s->fullBit; + } + + if (s->bit == 9) + { + s->rxp->buf[s->rxp->writePos] = s->byte; + + if (++s->rxp->writePos >= s->rxp->bufSize) s->rxp->writePos = 0; + + if (level == 0) /* true transition high->low, not a timeout */ + { + s->bit = 0; + s->startBitTick = tick; + s->nextBitDiff = s->halfBit; + } + else s->bit = -1; + } + } + else + { + /* start bit if high->low */ + + if (level == 0) + { + s->level = 0; + s->bit = 0; + s->startBitTick = tick; + s->nextBitDiff = s->halfBit; + } + } +} + + +/* ----------------------------------------------------------------------- */ + +static void waveRxBit(int gpio, int level, uint32_t tick) +{ + switch (wfRx[gpio].mode) + { + case PI_WFRX_NONE: + break; + + case PI_WFRX_SERIAL: + waveRxSerial(&wfRx[gpio], level, tick); + } +} + + +/* ----------------------------------------------------------------------- */ + +static int waveMerge(unsigned numIn1, gpioPulse_t * in1) +{ + unsigned inPos1=0, inPos2=0, outPos=0; + + unsigned cbs=0; + + unsigned numIn2, numOut; + + uint32_t tNow, tNext1, tNext2, tDelay; + + gpioPulse_t * in2, * out; + + numIn2 = wfc[wfcur]; + in2 = wf[wfcur]; + + numOut = PI_WAVE_MAX_PULSES; + out = wf[1-wfcur]; + + tNow = 0; + + if (!numIn1) tNext1 = -1; else tNext1 = 0; + if (!numIn2) tNext2 = -1; else tNext2 = 0; + + while (((inPos1= numIn1) tNext1 = -1; + if (inPos2 >= numIn2) tNext2 = -1; + + } + + if (outPos < numOut) + { + wfStats.micros = tNow; + + if (tNow > wfStats.highMicros) wfStats.highMicros = tNow; + + wfStats.pulses = outPos; + + if (outPos > wfStats.highPulses) wfStats.highPulses = outPos; + + wfStats.cbs = cbs; + + if (cbs > wfStats.highCbs) wfStats.highCbs = cbs; + + wfc[1-wfcur] = outPos; + wfcur = 1 - wfcur; + + return outPos; + } + else return PI_TOO_MANY_PULSES; +} + + +/* ======================================================================= */ + +static dmaCbs_t * dmaCB2adr(int pos) +{ + int page, slot; + + page = pos/CBS_PER_IPAGE; + slot = pos%CBS_PER_IPAGE; + + return &dmaIVirt[page]->cb[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaCbPrint(int pos) +{ + dmaCbs_t * p; + + p = dmaCB2adr(pos); + + fprintf(stderr, "i=%lx s=%lx d=%lx len=%lx s=%lx nxt=%lx", + p->info, p->src, p->dst, p->length, p->stride, p->next); +} + +/* ----------------------------------------------------------------------- */ + +static unsigned dmaCurrentCb(void) +{ + unsigned cb; + static unsigned lastPage=0; + unsigned page; + uint32_t cbAddr; + uint32_t startTick, endTick; + + startTick = systReg[SYST_CLO]; + + cbAddr = dmaIn[DMA_CONBLK_AD]; + + page = lastPage; + + /* which page are we dma'ing? */ + + while (1) + { + cb = (cbAddr - ((int)dmaIPhys[page] | DMA_BUS_ADR)) / 32; + + if (cb < CBS_PER_IPAGE) + { + endTick = systReg[SYST_CLO]; + + if (endTick != startTick) + gpioStats.cbTicks += (endTick - startTick); + else gpioStats.cbTicks ++; + + gpioStats.cbCalls++; + + lastPage = page; + + return (page*CBS_PER_IPAGE) + cb; + } + + if (page++ >= DMA_PAGES) page=0; + + if (page == lastPage) break; + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static unsigned dmaCurrentSlot(unsigned pos) +{ + unsigned cycle=0, slot=0, tmp; + + cycle = (pos/CBS_PER_CYCLE); + tmp = (pos%CBS_PER_CYCLE); + + if (tmp > 2) slot = ((tmp-2)/3); + + return (cycle*PULSE_PER_CYCLE)+slot; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaPwmDataAdr(int pos) +{ + return (uint32_t) &dmaIPhys[pos]->periphData; +} + +static uint32_t dmaGpioOnAdr(int pos) +{ + int page, slot; + + page = pos/ON_PER_IPAGE; + slot = pos%ON_PER_IPAGE; + + return (uint32_t) &dmaIPhys[page]->gpioOn[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaGpioOffAdr(int pos) +{ + int page, slot; + + myOffPageSlot(pos, &page, &slot); + + return (uint32_t) &dmaIPhys[page]->gpioOff[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaTickAdr(int pos) +{ + int page, slot; + + myTckPageSlot(pos, &page, &slot); + + return (uint32_t) &dmaIPhys[page]->tick[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaReadLevelsAdr(int pos) +{ + int page, slot; + + myLvsPageSlot(pos, &page, &slot); + + return (uint32_t) &dmaIPhys[page]->level[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaCbAdr(int pos) +{ + int page, slot; + + page = (pos/CBS_PER_IPAGE); + slot = (pos%CBS_PER_IPAGE); + + return (uint32_t) &dmaIPhys[page]->cb[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaGpioOnCb(int b, int pos) +{ + dmaCbs_t * p; + + p = dmaCB2adr(b); + + p->info = NORMAL_DMA; + p->src = dmaGpioOnAdr(pos) | DMA_BUS_ADR; + p->dst = ((GPIO_BASE + (GPSET0*4)) & 0x00ffffff) | 0x7e000000; + p->length = 4; + p->next = dmaCbAdr(b+1) | DMA_BUS_ADR; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaTickCb(int b, int pos) +{ + dmaCbs_t * p; + + p = dmaCB2adr(b); + + p->info = NORMAL_DMA; + p->src = ((SYST_BASE + (SYST_CLO*4)) & 0x00ffffff) | 0x7e000000; + p->dst = dmaTickAdr(pos) | DMA_BUS_ADR; + p->length = 4; + p->next = dmaCbAdr(b+1) | DMA_BUS_ADR; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaGpioOffCb(int b, int pos) +{ + dmaCbs_t * p; + + p = dmaCB2adr(b); + + p->info = NORMAL_DMA; + p->src = dmaGpioOffAdr(pos) | DMA_BUS_ADR; + p->dst = ((GPIO_BASE + (GPCLR0*4)) & 0x00ffffff) | 0x7e000000; + p->length = 4; + p->next = dmaCbAdr(b+1) | DMA_BUS_ADR; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaReadLevelsCb(int b, int pos) +{ + dmaCbs_t * p; + + p = dmaCB2adr(b); + + p->info = NORMAL_DMA; + p->src = ((GPIO_BASE + (GPLEV0*4)) & 0x00ffffff) | 0x7e000000; + p->dst = dmaReadLevelsAdr(pos) | DMA_BUS_ADR; + p->length = 4; + p->next = dmaCbAdr(b+1) | DMA_BUS_ADR; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaDelayCb(int b) +{ + dmaCbs_t * p; + + p = dmaCB2adr(b); + + if (gpioCfg.clockPeriph == PI_CLOCK_PCM) + { + p->info = NORMAL_DMA | TIMED_DMA(2); + p->dst = ((PCM_BASE + PCM_FIFO*4) & 0x00ffffff) | 0x7e000000; + } + else + { + p->info = NORMAL_DMA | TIMED_DMA(5); + p->dst = ((PWM_BASE + PWM_FIFO*4) & 0x00ffffff) | 0x7e000000; + } + + p->src = dmaPwmDataAdr(b%DMA_PAGES) | DMA_BUS_ADR; + p->length = 4; + p->next = dmaCbAdr(b+1) | DMA_BUS_ADR; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaInitCbs(void) +{ + int b, pulse, level, cycle; + + dmaCbs_t * p; + + /* set up the DMA control blocks */ + + DBG(DBG_STARTUP, ""); + + b = -1; + level = 0; + + for (cycle=0; cyclenext = dmaCbAdr(0) | DMA_BUS_ADR; + + DBG(DBG_STARTUP, "DMA page type size = %d", sizeof(dmaIPage_t)); + + DBG(DBG_STARTUP, "%d control blocks (exp=%d)", b+1, NUM_CBS); +} + +/* ======================================================================= */ + + +static void sigHandler(int signum) +{ + if ((signum >= PI_MIN_SIGNUM) && (signum <= PI_MAX_SIGNUM)) + { + if (gpioSignal[signum].func) + { + if (gpioSignal[signum].ex) + { + (gpioSignal[signum].func)(signum, gpioSignal[signum].userdata); + } + else + { + (gpioSignal[signum].func)(signum); + } + } + else + { + if (signum == SIGUSR1) + { + if (gpioCfg.dbgLevel > DBG_MIN_LEVEL) + { + --gpioCfg.dbgLevel; + } + else gpioCfg.dbgLevel = DBG_MIN_LEVEL; + + DBG(DBG_USER, "Debug level %d\n", gpioCfg.dbgLevel); + } + else if (signum == SIGUSR2) + { + if (gpioCfg.dbgLevel < DBG_MAX_LEVEL) + { + ++gpioCfg.dbgLevel; + } + else gpioCfg.dbgLevel = DBG_MAX_LEVEL; + + DBG(DBG_USER, "Debug level %d\n", gpioCfg.dbgLevel); + } + else + { + /* close library safely and exit */ + + DBG(DBG_USER, "Unhandled signal %d, terminating\n", signum); + + gpioTerminate(); + + exit(-1); + } + } + } + else + { + /* close library safely and exit */ + + DBG(DBG_USER, "Unhandled signal %d, terminating\n", signum); + + gpioTerminate(); + + exit(-1); + } +} + +/* ----------------------------------------------------------------------- */ + +static void sigSetHandler(void) +{ + int i; + struct sigaction new; + + for (i=PI_MIN_SIGNUM; i<=PI_MAX_SIGNUM; i++) + { + + memset(&new, 0, sizeof(new)); + new.sa_handler = sigHandler; + + sigaction(i, &new, NULL); + } +} + +/* ======================================================================= */ + +static void * pthAlertThread(void *x) +{ + struct timespec req, rem; + uint32_t oldLevel, newLevel, level, reportedLevel; + uint32_t oldSlot, newSlot; + uint32_t tick, expected; + int32_t diff; + int cycle, pulse; + int emit, seqno, emitted; + uint32_t changes, bits, changedBits, timeoutBits; + int numSamples, d; + int b, n, v; + int err; + char fifo[32]; + + req.tv_sec = 0; + + /* don't start until DMA started */ + + while (!DMAstarted) myGpioDelay(1000); + + myGpioDelay(20000); /* let DMA run for a while */ + + reportedLevel = gpioReg[GPLEV0]; + + tick = systReg[SYST_CLO]; + + gpioStats.startTick = tick; + + oldSlot = dmaCurrentSlot(dmaCurrentCb()); + + cycle = (oldSlot/PULSE_PER_CYCLE); + pulse = (oldSlot%PULSE_PER_CYCLE); + + while (1) + { + gpioStats.alertTicks++; + + req.tv_nsec = 850000; + + while (nanosleep(&req, &rem)) + { + req.tv_sec = rem.tv_sec; + req.tv_nsec = rem.tv_nsec; + } + + newSlot = dmaCurrentSlot(dmaCurrentCb()); + + numSamples = 0; + + changedBits = 0; + + oldLevel = reportedLevel & monitorBits; + + while ((oldSlot != newSlot) && (numSamples < DATUMS)) + { + level = myGetLevel(oldSlot++); + + newLevel = (level & monitorBits); + + if (newLevel != oldLevel) + { + gpioSample[numSamples].tick = tick; + gpioSample[numSamples].level = level; + + changedBits |= (newLevel ^ oldLevel); + + oldLevel = newLevel; + + numSamples++; + } + + tick += gpioCfg.clockMicros; + + if (++pulse >= PULSE_PER_CYCLE) + { + pulse = 0; + + if (++cycle >= bufferCycles) + { + cycle = 0; + oldSlot = 0; + } + + expected = tick; + + tick = myGetTick(cycle); + + diff = tick - expected; + + diff += (TICKSLOTS/2); + + if (diff < 0) gpioStats.diffTick[0]++; + + else if (diff >= TICKSLOTS) + gpioStats.diffTick[TICKSLOTS-1]++; + + else gpioStats.diffTick[diff]++; + } + } + + /* should gpioGetSamples be called */ + + if (changedBits) + { + if (gpioGetSamples.func) + { + if (gpioGetSamples.ex) + { + (gpioGetSamples.func) + (gpioSample, numSamples, gpioGetSamples.userdata); + } + else + { + (gpioGetSamples.func) + (gpioSample, numSamples); + } + } + } + + /* reset timeouts for any changed bits */ + + if (changedBits) + { + for (b=0; b<=PI_MAX_USER_GPIO; b++) + { + if (changedBits & (1< (gpioAlert[b].timeout*1000)) + { + timeoutBits |= (1< gpioStats.maxEmit) gpioStats.maxEmit = emit; + + emitted = 0; + + while (emit > 0) + { + if (emit > MAX_EMITS) + { + gpioStats.emitFrags++; + + err = write(gpioNotify[n].fd, + gpioReport+emitted, + MAX_EMITS*sizeof(gpioReport_t)); + + if (err != (MAX_EMITS*sizeof(gpioReport_t))) + { + DBG(0, "fd=%d err=%d errno=%d", + gpioNotify[n].fd, err, errno); + if (err < 0) DBG(0, "%s", strerror(errno)); + if ((err != EAGAIN) && (err != EWOULDBLOCK)) + { + /* serious error, no point continuing */ + gpioNotify[n].bits = 0; + gpioNotify[n].state = PI_NOTIFY_CLOSING; + intNotifyBits(); + break; + } + } + + emitted += MAX_EMITS; + emit -= MAX_EMITS; + } + else + { + err = write(gpioNotify[n].fd, + gpioReport+emitted, + emit*sizeof(gpioReport_t)); + + if (err != (emit*sizeof(gpioReport_t))) + { + DBG(0, "fd=%d err=%d errno=%d", + gpioNotify[n].fd, err, errno); + if (err < 0) DBG(0, "%s", strerror(errno)); + if ((err != EAGAIN) && (err != EWOULDBLOCK)) + { + /* serious error, no point continuing */ + gpioNotify[n].bits = 0; + gpioNotify[n].state = PI_NOTIFY_CLOSING; + intNotifyBits(); + break; + } + } + + emitted += emit; + emit = 0; + } + } + + gpioNotify[n].seqno = seqno; + } + } + } + + /* once all outputs have been emitted set reported level */ + + if (numSamples) reportedLevel = gpioSample[numSamples-1].level; + + if (numSamples > gpioStats.maxSamples) + gpioStats.maxSamples = numSamples; + + gpioStats.numSamples += numSamples; + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static void * pthTimerTick(void *x) +{ + gpioTimer_t * tp; + struct timespec req, rem, period; + char buf[256]; + + tp = x; + + clock_gettime(CLOCK_REALTIME, &tp->nextTick); + + while (1) + { + clock_gettime(CLOCK_REALTIME, &rem); + + period.tv_sec = tp->millis / THOUSAND; + period.tv_nsec = (tp->millis % THOUSAND) * THOUSAND * THOUSAND; + + do + { + TIMER_ADD(&tp->nextTick, &period, &tp->nextTick); + + TIMER_SUB(&tp->nextTick, &rem, &req); + } + while (req.tv_sec < 0); + + while (nanosleep(&req, &rem)) + { + req.tv_sec = rem.tv_sec; + req.tv_nsec = rem.tv_nsec; + } + + if (gpioCfg.dbgLevel >= DBG_SLOW_TICK) + { + if ((tp->millis > 50) || (gpioCfg.dbgLevel >= DBG_FAST_TICK)) + { + sprintf(buf, "pigpio: TIMER=%d @ %u %u\n", + tp->id, + (unsigned)tp->nextTick.tv_sec, + (unsigned)tp->nextTick.tv_nsec); + fprintf(stderr, buf); + } + } + + if (tp->ex) (tp->func)(tp->userdata); + else (tp->func)(); + } + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + + +static void * pthFifoThread(void *x) +{ + char inBuf[128]; + int idx, flags; + cmdCmd_t cmd; + + myCreatePipe(PI_INPFIFO, 0662); + + if ((inpFifo = fopen(PI_INPFIFO, "r+")) == NULL) + SOFT_ERROR((void*)PI_INIT_FAILED, "fopen %s failed(%m)", PI_INPFIFO); + + myCreatePipe(PI_OUTFIFO, 0664); + + if ((outFifo = fopen(PI_OUTFIFO, "w+")) == NULL) + SOFT_ERROR((void*)PI_INIT_FAILED, "fopen %s failed (%m)", PI_OUTFIFO); + + /* set outFifo non-blocking */ + + flags = fcntl(fileno(outFifo), F_GETFL, 0); + fcntl(fileno(outFifo), F_SETFL, flags | O_NONBLOCK); + + while (1) + { + if (fgets(inBuf, sizeof(inBuf), inpFifo) == NULL) + SOFT_ERROR((void*)PI_INIT_FAILED, "fifo fgets failed (%m)"); + + if ((idx=cmdParse(inBuf, &cmd)) >= 0) + { + myDoCommand(&cmd); + + switch (cmdInfo[idx].rv) + { + case 0: + fprintf(outFifo, "%d\n", cmd.res); + break; + + case 1: + break; + + case 2: + fprintf(outFifo, "%d\n", cmd.res); + break; + + case 3: + fprintf(outFifo, "%08X\n", cmd.res); + break; + + case 4: + fprintf(outFifo, "%u\n", cmd.res); + break; + + case 5: + fprintf(outFifo, cmdUsage); + break; + } + + } + else fprintf(outFifo, "%d\n", PI_BAD_FIFO_COMMAND); + + fflush(outFifo); + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static void * pthSocketThreadHandler(void *fdC) +{ + int sock = *(int*)fdC; + cmdCmd_t cmd; + + free(fdC); + + while(1) + { + if (recv(sock, &cmd, sizeof(cmdCmd_t), 0) == sizeof(cmdCmd_t)) + { + if (cmd.cmd != PI_CMD_NOIB) + { + myDoCommand(&cmd); + } + else + { + cmd.res = gpioNotifyOpenInBand(sock); + } + + write(sock, &cmd, sizeof(cmdCmd_t)); + + } + else break; + } + + close(sock); + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static void * pthSocketThread(void *x) +{ + int fdC, c, *sock; + struct sockaddr_in server, client; + pthread_attr_t attr; + char * portStr; + unsigned port; + + if (pthread_attr_init(&attr)) + SOFT_ERROR((void*)PI_INIT_FAILED, + "pthread_attr_init failed (%m)"); + + if (pthread_attr_setstacksize(&attr, STACK_SIZE)) + SOFT_ERROR((void*)PI_INIT_FAILED, + "pthread_attr_setstacksize failed (%m)"); + + if (pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED)) + SOFT_ERROR((void*)PI_INIT_FAILED, + "pthread_attr_setdetachstate failed (%m)"); + + fdSock = socket(AF_INET , SOCK_STREAM , 0); + + if (fdSock == -1) + SOFT_ERROR((void*)PI_INIT_FAILED, "socket failed (%m)"); + + portStr = getenv(PI_ENVPORT); + + if (portStr) port = atoi(portStr); else port = gpioCfg.socketPort; + + server.sin_family = AF_INET; + server.sin_addr.s_addr = INADDR_ANY; + server.sin_port = htons(port); + + if (bind(fdSock,(struct sockaddr *)&server , sizeof(server)) < 0) + SOFT_ERROR((void*)PI_INIT_FAILED, "bind failed (%m)"); + + listen(fdSock, 100); + + c = sizeof(struct sockaddr_in); + + while ((fdC = + accept(fdSock, (struct sockaddr *)&client, (socklen_t*)&c))) + { + pthread_t thr; + + sock = malloc(sizeof(int)); + + *sock = fdC; + + if (pthread_create + (&thr, &attr, pthSocketThreadHandler, (void*) sock) < 0) + SOFT_ERROR((void*)PI_INIT_FAILED, + "socket pthread_create failed (%m)"); + } + + if (fdC < 0) + SOFT_ERROR((void*)PI_INIT_FAILED, "accept failed (%m)"); + + return 0; +} + +/* ======================================================================= */ + +static int initGrabLockFile(void) +{ + int fd; + int lockResult; + char pidStr[20]; + + /* try to grab the lock file */ + + fd = open(PI_LOCKFILE, O_WRONLY|O_CREAT|O_EXCL|O_TRUNC, 0644); + + if (fd != -1) + { + lockResult = flock(fd, LOCK_EX|LOCK_NB); + + if(lockResult == 0) + { + sprintf(pidStr, "%d\n", (int)getpid()); + + write(fd, pidStr, strlen(pidStr)); + } + else + { + close(fd); + return -1; + } + } + + return fd; +} + +/* ----------------------------------------------------------------------- */ + +static int initZaps +( + int pmapFd, + dmaPage_t *dmaV1, + dmaPage_t *dmaV2[], + dmaPage_t *dmaP[], + int pages) +{ + int n; + long index; + off_t offset; + ssize_t t; + int status; + uint32_t pageAdr2; + unsigned long long pa; + + DBG(DBG_STARTUP, ""); + + status = 0; + + pageAdr2 = (uint32_t) dmaV2[0]; + + index = ((uint32_t)dmaV1 / PAGE_SIZE) * 8; + + offset = lseek(pmapFd, index, SEEK_SET); + + if (offset != index) + SOFT_ERROR(PI_INIT_FAILED, "lseek pagemap failed (%m)"); + + for (n=0; n= DBG_DMACBS) + for (i=0; iperiphData = 1; + + /* enable PWM DMA, raise panic and dreq thresholds to 15 */ + + pwmReg[PWM_DMAC] = PWM_DMAC_ENAB | + PWM_DMAC_PANIC(15) | + PWM_DMAC_DREQ(15); + + myGpioDelay(10); + + /* clear PWM fifo */ + + pwmReg[PWM_CTL] = PWM_CTL_CLRF1; + + myGpioDelay(10); + + /* enable PWM channel 1 and use fifo */ + + pwmReg[PWM_CTL] = PWM_CTL_USEF1 | PWM_CTL_MODE1 | PWM_CTL_PWEN1; +} + +/* ----------------------------------------------------------------------- */ + +static void initPCM(unsigned bits) +{ + DBG(DBG_STARTUP, ""); + + /* disable PCM so we can modify the regs */ + + pcmReg[PCM_CS] = 0; + + myGpioDelay(1000); + + pcmReg[PCM_FIFO] = 0; + pcmReg[PCM_MODE] = 0; + pcmReg[PCM_RXC] = 0; + pcmReg[PCM_TXC] = 0; + pcmReg[PCM_DREQ] = 0; + pcmReg[PCM_INTEN] = 0; + pcmReg[PCM_INTSTC] = 0; + pcmReg[PCM_GRAY] = 0; + + myGpioDelay(1000); + + pcmReg[PCM_MODE] = PCM_MODE_FLEN(bits-1); /* # bits in frame */ + + /* enable channel 1 with # bits width */ + + pcmReg[PCM_TXC] = PCM_TXC_CH1EN | PCM_TXC_CH1WID(bits-8); + + pcmReg[PCM_CS] |= PCM_CS_STBY; /* clear standby */ + + myGpioDelay(1000); + + pcmReg[PCM_CS] |= PCM_CS_TXCLR; /* clear TX FIFO */ + + pcmReg[PCM_CS] |= PCM_CS_DMAEN; /* enable DREQ */ + + pcmReg[PCM_DREQ] = PCM_DREQ_TX_PANIC(16) | PCM_DREQ_TX_REQ_L(30); + + pcmReg[PCM_INTSTC] = 0b1111; /* clear status bits */ + + /* enable PCM */ + + pcmReg[PCM_CS] |= PCM_CS_EN ; + + /* enable tx */ + + pcmReg[PCM_CS] |= PCM_CS_TXON; + + dmaIVirt[0]->periphData = 0x0F; +} + +/* ----------------------------------------------------------------------- */ + +static void initClock(int mainClock) +{ + unsigned clkCtl, clkDiv, clkSrc, clkDivI, clkDivF, clkMash, clkBits; + char * per, * src; + unsigned micros; + + DBG(DBG_STARTUP, ""); + + if (mainClock) micros = gpioCfg.clockMicros; + else micros = PI_WF_MICROS; + + if ((gpioCfg.clockPeriph == PI_CLOCK_PCM) && mainClock) + { + clkCtl = CLK_PCMCTL; + clkDiv = CLK_PCMDIV; + per = "PCM"; + } + else + { + clkCtl = CLK_PWMCTL; + clkDiv = CLK_PWMDIV; + per = "PWM"; + } + + if (gpioCfg.clockSource == PI_CLOCK_PLLD) + { + clkSrc = CLK_CTL_SRC_PLLD; + clkDivI = 50 * micros; + clkDivF = 0; + clkMash = 0; + clkBits = 10; + src = "PLLD"; + } + else + { + clkSrc = CLK_CTL_SRC_OSC; + clkDivI = clkCfg[micros].divi; + clkDivF = clkCfg[micros].divf; + clkMash = clkCfg[micros].mash; + clkBits = clkCfg[micros].bits; + src = "OSC"; + } + + DBG(DBG_STARTUP, "%s %s divi=%d divf=%d mash=%d bits=%d", + per, src, clkDivI, clkDivF, clkMash, clkBits); + + clkReg[clkCtl] = CLK_PASSWD | CLK_CTL_KILL; + + myGpioDelay(10); + + clkReg[clkDiv] = + (CLK_PASSWD | CLK_DIV_DIVI(clkDivI) | CLK_DIV_DIVF(clkDivF)); + + myGpioDelay(10); + + clkReg[clkCtl] = + (CLK_PASSWD | CLK_CTL_MASH(clkMash) | CLK_CTL_SRC(clkSrc)); + + myGpioDelay(10); + + clkReg[clkCtl] |= (CLK_PASSWD | CLK_CTL_ENAB); + + myGpioDelay(10); + + if ((gpioCfg.clockPeriph == PI_CLOCK_PCM) && mainClock) + initPCM(clkBits); + else initPWM(clkBits); + + myGpioDelay(2000); +} + +/* ----------------------------------------------------------------------- */ + +static void initDMAgo(uint32_t * dmaAddr, uint32_t cbAddr) +{ + DBG(DBG_STARTUP, ""); + + dmaAddr[DMA_CS] = DMA_CHANNEL_RESET; + + dmaAddr[DMA_CS] = DMA_INTERRUPT_STATUS | DMA_END_FLAG; + + dmaAddr[DMA_CONBLK_AD] = cbAddr | DMA_BUS_ADR; + + /* clear READ/FIFO/READ_LAST_NOT_SET error bits */ + + dmaAddr[DMA_DEBUG] = DMA_DEBUG_READ_ERR | + DMA_DEBUG_FIFO_ERR | + DMA_DEBUG_RD_LST_NOT_SET_ERR; + + + dmaAddr[DMA_CS] = DMA_WAIT_ON_WRITES | + DMA_PANIC_PRIORITY(8) | + DMA_PRIORITY(8) | + DMA_ACTIVATE; + + DMAstarted = 1; +} + +/* ----------------------------------------------------------------------- */ + +static void initClearGlobals(void) +{ + int i; + + DBG(DBG_STARTUP, ""); + + alertBits = 0; + monitorBits = 0; + notifyBits = 0; + + libInitialised = 0; + DMAstarted = 0; + hardwareRevision = 0; + + pthAlertRunning = 0; + pthFifoRunning = 0; + pthSocketRunning = 0; + + wfc[0] = 0; + wfc[1] = 0; + wfc[2] = 0; + + wfcur=0; + + wfStats.micros = 0; + wfStats.highMicros = 0; + wfStats.maxMicros = -1; + + wfStats.pulses = 0; + wfStats.highPulses = 0; + wfStats.maxPulses = PI_WAVE_MAX_PULSES; + + wfStats.cbs = 0; + wfStats.highCbs = 0; + wfStats.maxCbs = (PAGES_PER_BLOCK * CBS_PER_OPAGE); + + gpioGetSamples.func = NULL; + gpioGetSamples.ex = 0; + gpioGetSamples.userdata = NULL; + gpioGetSamples.bits = 0; + + for (i=0; i<=PI_MAX_USER_GPIO; i++) + { + wfRx[i].mode = PI_WFRX_NONE; + + gpioAlert[i].func = NULL; + + gpioInfo [i].is = GPIO_UNDEFINED; + gpioInfo [i].width = 0; + gpioInfo [i].range = PI_DEFAULT_DUTYCYCLE_RANGE; + gpioInfo [i].freqIdx = DEFAULT_PWM_IDX; + } + + for (i=0; i PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if (mode > PI_ALT3) + SOFT_ERROR(PI_BAD_MODE, "gpio %d, bad mode (%d)", gpio, mode); + + reg = gpio/10; + shift = (gpio%10) * 3; + + if (gpio <= PI_MAX_USER_GPIO) + { + if (mode != PI_OUTPUT) + { + switch (gpioInfo[gpio].is) + { + case GPIO_SERVO: + /* switch servo off */ + myGpioSetServo(gpio, + gpioInfo[gpio].width/gpioCfg.clockMicros, 0); + break; + + case GPIO_PWM: + /* switch pwm off */ + myGpioSetPwm(gpio, gpioInfo[gpio].width, 0); + break; + + } + + gpioInfo[gpio].is = GPIO_UNDEFINED; + } + } + + gpioReg[reg] = (gpioReg[reg] & ~(7< PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + reg = gpio/10; + shift = (gpio%10) * 3; + + return (*(gpioReg + reg) >> shift) & 7; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetPullUpDown(unsigned gpio, unsigned pud) +{ + DBG(DBG_USER, "gpio=%d pud=%d", gpio, pud); + + CHECK_INITED; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if (pud > PI_PUD_UP) + SOFT_ERROR(PI_BAD_PUD, "gpio %d, bad pud (%d)", gpio, pud); + + *(gpioReg + GPPUD) = pud; + + myGpioDelay(20); + + *(gpioReg + GPPUDCLK0 + BANK) = BIT; + + myGpioDelay(20); + + *(gpioReg + GPPUD) = 0; + + *(gpioReg + GPPUDCLK0 + BANK) = 0; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioRead(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if ((*(gpioReg + GPLEV0 + BANK) & BIT) != 0) return PI_ON; + else return PI_OFF; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite(unsigned gpio, unsigned level) +{ + DBG(DBG_USER, "gpio=%d level=%d", gpio, level); + + CHECK_INITED; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if (level > PI_ON) + SOFT_ERROR(PI_BAD_LEVEL, "gpio %d, bad level (%d)", gpio, level); + + if (gpio <= PI_MAX_USER_GPIO) + { + if (gpioInfo[gpio].is != GPIO_OUTPUT) + { + if (gpioInfo[gpio].is == GPIO_UNDEFINED) + { + gpioSetMode(gpio, PI_OUTPUT); + } + else if (gpioInfo[gpio].is == GPIO_PWM) + { + /* switch pwm off */ + myGpioSetPwm(gpio, gpioInfo[gpio].width, 0); + } + else if (gpioInfo[gpio].is == GPIO_SERVO) + { + /* switch servo off */ + myGpioSetServo( + gpio, gpioInfo[gpio].width/gpioCfg.clockMicros, 0); + } + + gpioInfo[gpio].is=GPIO_OUTPUT; + gpioInfo[gpio].width=0; + } + } + + if (level == PI_OFF) *(gpioReg + GPCLR0 + BANK) = BIT; + else *(gpioReg + GPSET0 + BANK) = BIT; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioPWM(unsigned gpio, unsigned val) +{ + DBG(DBG_USER, "gpio=%d dutycycle=%d", gpio, val); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (val > gpioInfo[gpio].range) + SOFT_ERROR(PI_BAD_DUTYCYCLE, "gpio %d, bad dutycycle (%d)", gpio, val); + + if (gpioInfo[gpio].is != GPIO_PWM) + { + if (gpioInfo[gpio].is == GPIO_UNDEFINED) + { + gpioSetMode(gpio, PI_OUTPUT); + } + else if (gpioInfo[gpio].is == GPIO_SERVO) + { + /* switch servo off */ + myGpioSetServo(gpio, gpioInfo[gpio].width, 0); + gpioInfo[gpio].width = 0; + gpioInfo[gpio].freqIdx = DEFAULT_PWM_IDX; /* default frequency */ + } + gpioInfo[gpio].is = GPIO_PWM; + } + + myGpioSetPwm(gpio, gpioInfo[gpio].width, val); + + gpioInfo[gpio].width=val; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetPWMrange(unsigned gpio, unsigned range) +{ + int oldWidth, newWidth; + + DBG(DBG_USER, "gpio=%d range=%d", gpio, range); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if ((range < PI_MIN_DUTYCYCLE_RANGE) || (range > PI_MAX_DUTYCYCLE_RANGE)) + SOFT_ERROR(PI_BAD_DUTY_RANGE, "gpio %d, bad range (%d)", gpio, range); + + oldWidth = gpioInfo[gpio].width; + + if (oldWidth) + { + if (gpioInfo[gpio].is == GPIO_PWM) + { + newWidth = (range * oldWidth) / gpioInfo[gpio].range; + + myGpioSetPwm(gpio, oldWidth, 0); + gpioInfo[gpio].range = range; + gpioInfo[gpio].width = newWidth; + myGpioSetPwm(gpio, 0, newWidth); + } + } + + gpioInfo[gpio].range = range; + + /* return the actual range for the current gpio frequency */ + + return pwmRealRange[gpioInfo[gpio].freqIdx]; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioGetPWMrange(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + return (gpioInfo[gpio].range); +} + + +/* ----------------------------------------------------------------------- */ + +int gpioGetPWMrealRange(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + return pwmRealRange[gpioInfo[gpio].freqIdx]; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetPWMfrequency(unsigned gpio, unsigned frequency) +{ + int i, width; + unsigned diff, best, idx; + + DBG(DBG_USER, "gpio=%d frequency=%d", gpio, frequency); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (frequency > pwmFreq[0]) idx = 0; + else if (frequency < pwmFreq[PWM_FREQS-1]) idx = PWM_FREQS-1; + else + { + best = 100000; /* impossibly high frequency difference */ + idx = 0; + + for (i=0; i pwmFreq[i]) diff = frequency - pwmFreq[i]; + else diff = pwmFreq[i] - frequency; + + if (diff < best) + { + best = diff; + idx = i; + } + } + } + + width = gpioInfo[gpio].width; + + if (width) + { + if (gpioInfo[gpio].is == GPIO_PWM) + { + myGpioSetPwm(gpio, width, 0); + gpioInfo[gpio].freqIdx = idx; + myGpioSetPwm(gpio, 0, width); + } + } + + gpioInfo[gpio].freqIdx = idx; + + return pwmFreq[idx]; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioGetPWMfrequency(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + return (pwmFreq[gpioInfo[gpio].freqIdx]); +} + + +/* ----------------------------------------------------------------------- */ + +int gpioServo(unsigned gpio, unsigned val) +{ + DBG(DBG_USER, "gpio=%d pulsewidth=%d", gpio, val); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if ((val!=PI_SERVO_OFF) && (valPI_MAX_SERVO_PULSEWIDTH) + SOFT_ERROR(PI_BAD_PULSEWIDTH, + "gpio %d, bad pulsewidth (%d)", gpio, val); + + if (gpioInfo[gpio].is != GPIO_SERVO) + { + if (gpioInfo[gpio].is == GPIO_UNDEFINED) + { + gpioSetMode(gpio, PI_OUTPUT); + } + else if (gpioInfo[gpio].is == GPIO_PWM) + { + /* switch pwm off */ + myGpioSetPwm(gpio, gpioInfo[gpio].width, 0); + gpioInfo[gpio].width=0; + } + gpioInfo[gpio].is = GPIO_SERVO; + gpioInfo[gpio].freqIdx = clkCfg[gpioCfg.clockMicros].servoIdx; + } + + myGpioSetServo(gpio, gpioInfo[gpio].width, val); + + gpioInfo[gpio].width=val; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetMicros(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.micros; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetHighMicros(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.highMicros; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetMaxMicros(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.maxMicros; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetPulses(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.pulses; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetHighPulses(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.highPulses; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetMaxPulses(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.maxPulses; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetCbs(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.cbs; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetHighCbs(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.highCbs; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetMaxCbs(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.maxCbs; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveClear(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + wfc[0] = 0; + wfc[1] = 0; + wfc[2] = 0; + + wfcur = 0; + + wfStats.micros = 0; + wfStats.pulses = 0; + wfStats.cbs = 0; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t * pulses) +{ + DBG(DBG_USER, "numPulses=%u pulses=%08X", numPulses, (uint32_t)pulses); + + CHECK_INITED; + + if (numPulses > PI_WAVE_MAX_PULSES) + SOFT_ERROR(PI_TOO_MANY_PULSES, "bad number of pulses (%d)", numPulses); + + return waveMerge(numPulses, pulses); +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveAddSerial(unsigned gpio, + unsigned baud, + unsigned numChar, + char * str) +{ + int i, b, p, lev, c, v; + + unsigned bitDelay[10]; + + DBG(DBG_USER, "gpio=%d baud=%d numChar=%d str*=%08X", + gpio, baud, numChar, (uint32_t)str); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if ((baud < PI_WAVE_MIN_BAUD) || (baud > PI_WAVE_MAX_BAUD)) + SOFT_ERROR(PI_BAD_WAVE_BAUD, + "gpio %d, bad baud rate (%d)", gpio, baud); + + if (numChar > PI_WAVE_MAX_CHARS) + SOFT_ERROR(PI_TOO_MANY_CHARS, "too many chars (%d)", numChar); + + if (!numChar) return 0; + + waveBitDelay(baud, bitDelay); + + p = 0; + + wf[2][p].gpioOn = (1< PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if ((baud < PI_WAVE_MIN_BAUD) || (baud > PI_WAVE_MAX_BAUD)) + SOFT_ERROR(PI_BAD_WAVE_BAUD, + "gpio %d, bad baud rate (%d)", gpio, baud); + + if (rxp == NULL) + SOFT_ERROR(PI_BAD_SERIAL_STRUC, "Null structure pointer"); + + if (rxp->buf == NULL) + SOFT_ERROR(PI_BAD_SERIAL_BUF, "Null buffer pointer"); + + bitTime = MILLION / baud; + + timeoutMs = ((12 * bitTime)+1000)/1000; + + wfRx[gpio].mode = PI_WFRX_SERIAL; + wfRx[gpio].baud = baud; + wfRx[gpio].rxp = rxp; + wfRx[gpio].baud = baud; + wfRx[gpio].fullBit = bitTime; + wfRx[gpio].halfBit = bitTime/2; + wfRx[gpio].rxp->readPos = 0; + wfRx[gpio].rxp->writePos = 0; + wfRx[gpio].bit = -1; + + gpioSetWatchdog(gpio, timeoutMs); /* get a nudge if no change */ + + gpioSetAlertFunc(gpio, waveRxBit); + + return 0; +} + + +/*-------------------------------------------------------------------------*/ + +int gpioWaveSerialReadStop(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + switch(wfRx[gpio].mode) + { + case PI_WFRX_NONE: + + SOFT_ERROR(PI_NOT_SERIAL_GPIO, "no serial read on gpio (%d)", gpio); + + break; + + case PI_WFRX_SERIAL: + + gpioSetWatchdog(gpio, 0); /* switch off timeouts */ + + gpioSetAlertFunc(gpio, NULL); /* cancel alert */ + + wfRx[gpio].mode = PI_WFRX_NONE; + + break; + } + + return 0; +} + + +/*-------------------------------------------------------------------------*/ + +int gpioWaveTxBusy(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + if (dmaOut[DMA_CONBLK_AD]) + return 1; + else + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveTxStart(unsigned mode) +{ + static int secondaryClockInited = 0; + + int cb, i; + + DBG(DBG_USER, "mode=%d", mode); + + CHECK_INITED; + + if (mode > PI_WAVE_MODE_REPEAT) + SOFT_ERROR(PI_BAD_WAVE_MODE, "bad wave mode (%d)", mode); + + if (wfc[wfcur] == 0) return 0; + + if (!secondaryClockInited) + { + initClock(0); /* initialise secondary clock */ + secondaryClockInited = 1; + } + + cb = wave2Cbs(mode); + + if (gpioCfg.dbgLevel >= DBG_SLOW_TICK) + for (i=0; i PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + intGpioSetAlertFunc(gpio, f, 0, NULL); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetAlertFuncEx(unsigned gpio, gpioAlertFuncEx_t f, void * userdata) +{ + DBG(DBG_USER, "gpio=%d function=%08X userdata=%08X", + gpio, (uint32_t)f, (uint32_t)userdata); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + intGpioSetAlertFunc(gpio, f, 1, userdata); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioNotifyOpen(void) +{ + int i, slot, fd; + char name[32]; + + DBG(DBG_USER, ""); + + CHECK_INITED; + + slot = -1; + + for (i=0; i PI_NOTIFY_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (gpioNotify[handle].state <= PI_NOTIFY_CLOSING) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + gpioNotify[handle].bits = bits; + + gpioNotify[handle].state = PI_NOTIFY_RUNNING; + + intNotifyBits(); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioNotifyPause (unsigned handle) +{ + DBG(DBG_USER, "handle=%d", handle); + + CHECK_INITED; + + if (handle > PI_NOTIFY_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (gpioNotify[handle].state <= PI_NOTIFY_CLOSING) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + gpioNotify[handle].bits = 0; + + gpioNotify[handle].state = PI_NOTIFY_PAUSED; + + intNotifyBits(); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioNotifyClose(unsigned handle) +{ + DBG(DBG_USER, "handle=%d", handle); + + CHECK_INITED; + + if (handle > PI_NOTIFY_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (gpioNotify[handle].state <= PI_NOTIFY_CLOSING) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + gpioNotify[handle].bits = 0; + + gpioNotify[handle].state = PI_NOTIFY_CLOSING; + + intNotifyBits(); + + /* actual close done in alert thread */ + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetWatchdog(unsigned gpio, unsigned timeout) +{ + DBG(DBG_USER, "gpio=%d timeout=%d", gpio, timeout); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (timeout > PI_MAX_WDOG_TIMEOUT) + SOFT_ERROR(PI_BAD_WDOG_TIMEOUT, + "gpio %d, bad timeout (%d)", gpio, timeout); + + gpioAlert[gpio].timeout = timeout; + gpioAlert[gpio].tick = systReg[SYST_CLO]; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioSetGetSamplesFunc(gpioGetSamplesFunc_t f, uint32_t bits) +{ + DBG(DBG_USER, "function=%08X bits=%08X", (uint32_t)f, bits); + + CHECK_INITED; + + gpioGetSamples.ex = 0; + gpioGetSamples.userdata = NULL; + gpioGetSamples.func = f; + + if (f) gpioGetSamples.bits = bits; + else gpioGetSamples.bits = 0; + + monitorBits = alertBits | notifyBits | gpioGetSamples.bits; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetGetSamplesFuncEx(gpioGetSamplesFuncEx_t f, + uint32_t bits, + void * userdata) +{ + DBG(DBG_USER, "function=%08X bits=%08X", (uint32_t)f, bits); + + CHECK_INITED; + + gpioGetSamples.ex = 1; + gpioGetSamples.userdata = userdata; + gpioGetSamples.func = f; + + if (f) gpioGetSamples.bits = bits; + else gpioGetSamples.bits = 0; + + monitorBits = alertBits | notifyBits | gpioGetSamples.bits; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +static int intGpioSetTimerFunc(unsigned id, + unsigned ms, + void * f, + int user, + void * userdata) +{ + DBG(DBG_INTERNAL, "id=%d ms=%d function=%08X user=%d userdata=%08X", + id, ms, (uint32_t)f, user, (uint32_t)userdata); + + gpioTimer[id].id = id; + + if (f) + { + gpioTimer[id].func = f; + gpioTimer[id].ex = user; + gpioTimer[id].userdata = userdata; + gpioTimer[id].millis = ms; + + if (!gpioTimer[id].running) + { + if (pthread_create( + &gpioTimer[id].pthId, &pthAttr, pthTimerTick, &gpioTimer[id])) + SOFT_ERROR(PI_TIMER_FAILED, + "timer %d, create failed (%m)", id); + + gpioTimer[id].running = 1; + } + } + else + { + if (gpioTimer[id].running) + { + /* destroy thread */ + + if (pthread_cancel(gpioTimer[id].pthId)) + SOFT_ERROR(PI_TIMER_FAILED, "timer %d, cancel failed (%m)", id); + + if (pthread_join(gpioTimer[id].pthId, NULL)) + SOFT_ERROR(PI_TIMER_FAILED, "timer %d, join failed (%m)", id); + + gpioTimer[id].running = 0; + gpioTimer[id].func = f; + } + } + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetTimerFunc(unsigned id, unsigned ms, gpioTimerFunc_t f) +{ + DBG(DBG_USER, "id=%d ms=%d function=%08X", id, ms, (uint32_t)f); + + CHECK_INITED; + + if (id > PI_MAX_TIMER) + SOFT_ERROR(PI_BAD_TIMER, "bad timer id (%d)", id); + + if ((ms < PI_MIN_MS) || (ms > PI_MAX_MS)) + SOFT_ERROR(PI_BAD_MS, "timer %d, bad ms (%d)", id, ms); + + intGpioSetTimerFunc(id, ms, f, 0, NULL); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetTimerFuncEx(unsigned id, unsigned ms, gpioTimerFuncEx_t f, + void * userdata) +{ + DBG(DBG_USER, "id=%d ms=%d function=%08X, userdata=%08X", + id, ms, (uint32_t)f, (uint32_t)userdata); + + CHECK_INITED; + + if (id > PI_MAX_TIMER) + SOFT_ERROR(PI_BAD_TIMER, "bad timer id (%d)", id); + + if ((ms < PI_MIN_MS) || (ms > PI_MAX_MS)) + SOFT_ERROR(PI_BAD_MS, "timer %d, bad ms (%d)", id, ms); + + intGpioSetTimerFunc(id, ms, f, 1, userdata); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetSignalFunc(unsigned signum, gpioSignalFunc_t f) +{ + DBG(DBG_USER, "signum=%d function=%08X", signum, (uint32_t)f); + + CHECK_INITED; + + if (signum > PI_MAX_SIGNUM) + SOFT_ERROR(PI_BAD_SIGNUM, "bad signum (%d)", signum); + + gpioSignal[signum].ex = 0; + gpioSignal[signum].userdata = NULL; + + gpioSignal[signum].func = f; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetSignalFuncEx(unsigned signum, gpioSignalFuncEx_t f, + void * userdata) +{ + DBG(DBG_USER, "signum=%d function=%08X userdata=%08X", + signum, (uint32_t)f, (uint32_t)userdata); + + CHECK_INITED; + + if (signum > PI_MAX_SIGNUM) + SOFT_ERROR(PI_BAD_SIGNUM, "bad signum (%d)", signum); + + gpioSignal[signum].ex = 1; + gpioSignal[signum].userdata = userdata; + + gpioSignal[signum].func = f; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t gpioRead_Bits_0_31(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return (*(gpioReg + GPLEV0)); +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t gpioRead_Bits_32_53(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return (*(gpioReg + GPLEV1)); +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite_Bits_0_31_Clear(uint32_t levels) +{ + DBG(DBG_USER, "levels=%08X", levels); + + CHECK_INITED; + + *(gpioReg + GPCLR0) = levels; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite_Bits_32_53_Clear(uint32_t levels) +{ + DBG(DBG_USER, "levels=%08X", levels); + + CHECK_INITED; + + *(gpioReg + GPCLR1) = levels; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite_Bits_0_31_Set(uint32_t levels) +{ + DBG(DBG_USER, "levels=%08X", levels); + + CHECK_INITED; + + *(gpioReg + GPSET0) = levels; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite_Bits_32_53_Set(uint32_t levels) +{ + DBG(DBG_USER, "levels=%08X", levels); + + CHECK_INITED; + + *(gpioReg + GPSET1) = levels; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioTime(unsigned timetype, int * seconds, int * micros) +{ + struct timespec ts; + + DBG(DBG_USER, "timetype=%d &seconds=%08X µs=%08X", + timetype, (uint32_t)seconds, (uint32_t)micros); + + CHECK_INITED; + + if (timetype > PI_TIME_ABSOLUTE) + SOFT_ERROR(PI_BAD_TIMETYPE, "bad timetype (%d)", timetype); + + if (timetype == PI_TIME_ABSOLUTE) + { + clock_gettime(CLOCK_REALTIME, &ts); + *seconds = ts.tv_sec; + *micros = ts.tv_nsec/1000; + } + else + { + clock_gettime(CLOCK_REALTIME, &ts); + + TIMER_SUB(&ts, &libStarted, &ts); + + *seconds = ts.tv_sec; + *micros = ts.tv_nsec/1000; + } + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSleep(unsigned timetype, int seconds, int micros) +{ + struct timespec ts, rem; + + DBG(DBG_USER, "timetype=%d seconds=%d micros=%d", + timetype, seconds, micros); + + CHECK_INITED; + + if (timetype > PI_TIME_ABSOLUTE) + SOFT_ERROR(PI_BAD_TIMETYPE, "bad timetype (%d)", timetype); + + if (seconds < 0) + SOFT_ERROR(PI_BAD_SECONDS, "bad seconds (%d)", seconds); + + if ((micros < 0) || (micros > 999999)) + SOFT_ERROR(PI_BAD_MICROS, "bad micros (%d)", micros); + + ts.tv_sec = seconds; + ts.tv_nsec = micros * 1000; + + if (timetype == PI_TIME_ABSOLUTE) + { + while (clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &ts, &rem)); + } + else + { + while (clock_nanosleep(CLOCK_REALTIME, 0, &ts, &rem)) + { + /* copy remaining time to ts */ + ts.tv_sec = rem.tv_sec; + ts.tv_nsec = rem.tv_nsec; + } + } + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t gpioDelay(uint32_t micros) +{ + uint32_t start; + + DBG(DBG_USER, "microseconds=%u", micros); + + CHECK_INITED; + + start = systReg[SYST_CLO]; + + if (micros < 100) while ((systReg[SYST_CLO] - start) <= micros) ; + + else gpioSleep(PI_TIME_RELATIVE, (micros/MILLION), (micros%MILLION)); + + return (systReg[SYST_CLO] - start); +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t gpioTick(void) +{ + CHECK_INITED; + + return systReg[SYST_CLO]; +} + + +/* ----------------------------------------------------------------------- */ + +unsigned gpioHardwareRevision(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return hardwareRevision; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgBufferSize(unsigned millis) +{ + DBG(DBG_USER, "millis=%d", millis); + + CHECK_NOT_INITED; + + if ((millis < PI_BUF_MILLIS_MIN) || (millis > PI_BUF_MILLIS_MAX)) + SOFT_ERROR(PI_BAD_BUF_MILLIS, "bad millis (%d)", millis); + + gpioCfg.bufferMilliseconds = millis; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgClock(unsigned micros, unsigned peripheral, unsigned source) +{ + DBG(DBG_USER, "micros=%d peripheral=%d source=%d", + micros, peripheral, source); + + CHECK_NOT_INITED; + + if ((micros < 1) || (micros > 10)) + SOFT_ERROR(PI_BAD_CLK_MICROS, "bad micros (%d)", micros); + + if (!clkCfg[micros].valid) + SOFT_ERROR(PI_BAD_CLK_MICROS, "bad micros (%d)", micros); + + if (peripheral > PI_CLOCK_PCM) + SOFT_ERROR(PI_BAD_CLK_PERIPH, "bad peripheral (%d)", peripheral); + + if (source > PI_CLOCK_PLLD) + SOFT_ERROR(PI_BAD_CLK_SOURCE, "bad clock (%d)", source); + + gpioCfg.clockMicros = micros; + gpioCfg.clockPeriph = peripheral; + gpioCfg.clockSource = source; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgDMAchannel(unsigned channel) +{ + DBG(DBG_USER, "channel=%d", channel); + + CHECK_NOT_INITED; + + if ((channel < PI_MIN_DMA_CHANNEL) || (channel > PI_MAX_DMA_CHANNEL)) + SOFT_ERROR(PI_BAD_CHANNEL, "bad channel (%d)", channel); + + gpioCfg.DMAprimaryChannel = channel; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgDMAchannels(unsigned primaryChannel, unsigned secondaryChannel) +{ + DBG(DBG_USER, "primary channel=%d, secondary channel=%d", + primaryChannel, secondaryChannel); + + CHECK_NOT_INITED; + + if (primaryChannel > PI_MAX_PRIMARY_CHANNEL) + SOFT_ERROR(PI_BAD_PRIM_CHANNEL, "bad primary channel (%d)", + primaryChannel); + + if (secondaryChannel > PI_MAX_SECONDARY_CHANNEL) + SOFT_ERROR(PI_BAD_SECO_CHANNEL, "bad secondary channel (%d)", + secondaryChannel); + + gpioCfg.DMAprimaryChannel = primaryChannel; + gpioCfg.DMAsecondaryChannel = secondaryChannel; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgInterfaces(unsigned ifFlags) +{ + DBG(DBG_USER, "ifFlags=%X", ifFlags); + + CHECK_NOT_INITED; + + if (ifFlags > 3) + SOFT_ERROR(PI_BAD_IF_FLAGS, "bad ifFlags (%X)", ifFlags); + + gpioCfg.ifFlags = ifFlags; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgSocketPort(unsigned port) +{ + DBG(DBG_USER, "port=%d", port); + + CHECK_NOT_INITED; + + if ((port < PI_MIN_SOCKET_PORT) || (port > PI_MAX_SOCKET_PORT)) + SOFT_ERROR(PI_BAD_SOCKET_PORT, "bad port (%d)", port); + + gpioCfg.socketPort = port; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgInternals(unsigned what, int value) +{ + int retVal = PI_BAD_CFG_INTERNAL; + + DBG(DBG_USER, "what=%u, value=%d", what, value); + + CHECK_NOT_INITED; + + /* + 133084774 + 207081315 + 293640712 + 394342930 + 472769257 + 430873902 + 635370313 + 684442696 + 786301093 + 816051706 + 858202631 + 997413601 + */ + + switch(what) + { + case 562484977: + + gpioCfg.showStats = value; + + DBG(DBG_MIN_LEVEL, "showStats is %u", value); + + retVal = 0; + + break; + + case 984762879: + + if (value < DBG_MIN_LEVEL) value = DBG_MIN_LEVEL; + + if (value > DBG_MAX_LEVEL) value = DBG_MAX_LEVEL; + + gpioCfg.dbgLevel = value; + + DBG(DBG_MIN_LEVEL, "Debug level is %u", value); + + retVal = 0; + + break; + } + + return retVal; +} + diff --git a/pigpio.h b/pigpio.h new file mode 100644 index 0000000..aa95892 --- /dev/null +++ b/pigpio.h @@ -0,0 +1,1785 @@ +/* +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to +*/ + +/* +This version is for pigpio version 6 +*/ + +#ifndef PIGPIO_H +#define PIGPIO_H + +/************************************************************************** / +/ / +/ pigpio is a C library for the Raspberry Pi which allows / +/ control of the gpios. / +/ / +/ Its main features are: / +/ / +/ 1) provision of PWM on any number of gpios 0-31 simultaneously. / +/ 2) provision of servo pulses on any number of gpios 0-31 simultaneously. / +/ 3) callbacks when any of gpios 0-31 change state. / +/ 4) callbacks at timed intervals. / +/ 5) reading/writing all of the gpios in a bank (0-31, 32-53) as a / +/ single operation. / +/ 6) individually setting gpio modes, reading and writing. / +/ 7) notifications when any of gpios 0-31 change state. / +/ 8) the construction of arbitrary waveforms to give precise timing of / +/ output gpio level changes. / +/ / +/ NOTE: / +/ / +/ ALL gpios are identified by their Broadcom number. / +/ / +*************************************************************************** / +/ / +/ The PWM and servo pulses are timed using the DMA and PWM peripherals. / +/ / +/ This use was inspired by Richard Hirst's servoblaster kernel module. / +/ See https://github.com/richardghirst/PiBits / +/ Tag rgh on the Raspberry Pi forums http://www.raspberrypi.org/phpBB3/ / +/ / +*************************************************************************** / +/ / +/ Usage: / +/ / +/ copy libpigpio.a to /usr/local/lib / +/ copy pigpio.h to /usr/local/include / +/ / +/ #include in your source files / +/ / +/ Assuming your source is in example.c use the following command to build / +/ / +/ gcc -o example example.c -lpigpio -lpthread -lrt / +/ / +/ For examples see checklib.c, demolib.c, pigpio.c, pigpiod.c, pig2vcd.c, / +/ and pigs.c / +/ / +****************************************************************************/ + +#include + +#define PIGPIO_VERSION 6 + +/*-------------------------------------------------------------------------*/ + +/* + +Function Usage +-------- ----- + +gpioInitialise Initialise library. +gpioTerminate Terminate library. + +gpioSetMode Set a gpio mode. +gpioGetMode Get a gpio mode. + +gpioSetPullUpDown Set/clear gpio pull up/down resistor. + +gpioRead Read a gpio. +gpioWrite Write a gpio. + +gpioPWM Start/stop PWM pulses on a gpio. + +gpioSetPWMrange Configure PWM range for a gpio. +gpioGetPWMrange Get configured PWM range for a gpio. +gpioGetPWMrealRange Get underlying PWM range for a gpio. + +gpioSetPWMfrequency Configure PWM frequency for a gpio. +gpioGetPWMfrequency Get configured PWM frequency for a gpio. + +gpioServo Start/stop servo pulses on a gpio. + +gpioSetAlertFunc Request a gpio change callback. +gpioSetAlertFuncEx Request a gpio change callback, extended. + +gpioNotifyOpen Open a gpio(s) changed notification. +gpioNotifyBegin Begin a gpio(s) changed notification. +gpioNotifyPause Pause a gpio(s) changed notification. +gpioNotifyClose Close a gpio(s) changed notification. + +gpioWaveClear Initialises a new waveform. +gpioWaveAddGeneric Adds a series of pulses to the waveform. +gpioWaveAddSerial Adds serial data to the waveform. + +gpioWaveTxStart Transmits the waveform. +gpioWaveTxBusy Checks to see if the waveform has ended. +gpioWaveTxStop Aborts the current waveform. + +gpioWaveSerialReadStart Reads serial data from a user gpio. +gpioWaveSerialReadStop Stops reading serial data from a user gpio. + +gpioWaveGetMicros Length in microseconds of the current waveform. +gpioWaveGetHighMicros Length of longest waveform so far. +gpioWaveGetMaxMicros Absolute maximum allowed micros. + +gpioWaveGetPulses Length in pulses of the current waveform. +gpioWaveGetHighPulses Length of longest waveform so far. +gpioWaveGetMaxPulses Absolute maximum allowed pulses. + +gpioWaveGetCbs Length in cbs of the current waveform. +gpioWaveGetHighCbs Length of longest waveform so far. +gpioWaveGetMaxCbs Absolute maximum allowed cbs. + +gpioSetWatchdog Set a watchdog on a gpio. + +gpioSetGetSamplesFunc Requests a gpio samples callback. +gpioSetGetSamplesFuncEx Requests a gpio samples callback, extended. + +gpioSetTimerFunc Request a regular timed callback. +gpioSetTimerFuncEx Request a regular timed callback, extended. + +gpioSetSignalFunc Request a signal callback. +gpioSetSignalFuncEx Request a signal callback, extended. + +gpioRead_Bits_0_31 Read gpios in bank 1. +gpioRead_Bits_32_53 Read gpios in bank 2. + +gpioWrite_Bits_0_31_Clear Clear gpios in bank 1. +gpioWrite_Bits_32_53_Clear Clear gpios in bank 2. + +gpioWrite_Bits_0_31_Set Set gpios in bank 1. +gpioWrite_Bits_32_53_Set Set gpios in bank 2. + +gpioTime Get current time. + +gpioSleep Sleep for specified time. +gpioDelay Delay for microseconds. + +gpioTick Get current tick (microseconds). + +gpioHardwareRevision Get hardware version. + +gpioCfgBufferSize Configure the gpio sample buffer size. +gpioCfgClock Configure the gpio sample rate. +gpioCfgDMAchannel Configure the DMA channel. +gpioCfgInterfaces Configure user interfaces. +gpioCfgSocketPort Configure socket port. + +*/ + +/*-------------------------------------------------------------------------*/ + + +#define PI_INPFIFO "/dev/pigpio" +#define PI_OUTFIFO "/dev/pigout" +#define PI_ERRFIFO "/dev/pigerr" + +#define PI_ENVPORT "PIGPIO_PORT" +#define PI_ENVADDR "PIGPIO_ADDR" + +#define PI_LOCKFILE "/var/run/pigpio.pid" + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct +{ + uint32_t cmd; + uint32_t p1; + uint32_t p2; + uint32_t res; +} cmdCmd_t; + +typedef struct +{ + uint32_t tick; + uint32_t level; +} gpioSample_t; + +typedef struct +{ + uint16_t seqno; + uint16_t flags; + uint32_t tick; + uint32_t level; +} gpioReport_t; + +typedef struct +{ + uint32_t gpioOn; + uint32_t gpioOff; + uint32_t usDelay; +} gpioPulse_t; + +typedef struct +{ + char * buf; + uint32_t bufSize; + int readPos; + int writePos; +} gpioRx_t; + +typedef void (*gpioAlertFunc_t) (int gpio, + int level, + uint32_t tick); + +typedef void (*gpioAlertFuncEx_t) (int gpio, + int level, + uint32_t tick, + void * userdata); + +typedef void (*gpioTimerFunc_t) (void); + +typedef void (*gpioTimerFuncEx_t) (void * userdata); + +typedef void (*gpioSignalFunc_t) (int signum); + +typedef void (*gpioSignalFuncEx_t) (int signum, + void * userdata); + +typedef void (*gpioGetSamplesFunc_t) (const gpioSample_t * samples, + int numSamples); + +typedef void (*gpioGetSamplesFuncEx_t) (const gpioSample_t * samples, + int numSamples, + void * userdata); + +/* + All the functions which return an int return < 0 on error. + + If the library isn't initialised all but the gpioCfg* functions + will return error PI_NOT_INITIALISED. + + If the library is initialised the gpioCfg* functions will + return error PI_INITIALISED. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioInitialise(void); +/*-------------------------------------------------------------------------*/ +/* Initialises the library. + + Call before using the other library functions. + + Returns the pigpio version number if OK, otherwise PI_INIT_FAILED. + + NOTES: + + The only exception is the optional gpioCfg* functions, see later. +*/ + + + +/*-------------------------------------------------------------------------*/ +void gpioTerminate(void); +/*-------------------------------------------------------------------------*/ +/* Terminates the library. + + Returns nothing. + + Call before program exit. + + NOTES: + + This function resets the DMA and PWM peripherals, releases memory, and + terminates any running threads. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioSetMode(unsigned gpio, + unsigned mode); +/*-------------------------------------------------------------------------*/ +/* Sets the gpio mode, typically input or output. + + Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_MODE. + + Arduino style: pinMode. + + EXAMPLE: + ... + gpioSetMode(17, PI_INPUT); // set gpio17 as input + gpioSetMode(18, PI_OUTPUT); // set gpio18 as output + gpioSetMode(22,PI_ALT0); // set gpio22 to alternative mode 0 + ... +*/ + +/* gpio: 0-53 */ + +#define PI_MIN_GPIO 0 +#define PI_MAX_GPIO 53 + +/* mode: 0-7 */ + +#define PI_INPUT 0 +#define PI_OUTPUT 1 +#define PI_ALT0 4 +#define PI_ALT1 5 +#define PI_ALT2 6 +#define PI_ALT3 7 +#define PI_ALT4 3 +#define PI_ALT5 2 + + + +/*-------------------------------------------------------------------------*/ +int gpioGetMode(unsigned gpio); +/*-------------------------------------------------------------------------*/ +/* Gets the gpio mode. + + Returns the gpio mode if OK, otherwise PI_BAD_GPIO. + + EXAMPLE: + ... + if (gpioGetMode(17) != PI_ALT0) + { + gpioSetMode(17, PI_ALT0); // set gpio17 to ALT0 + } + ... +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioSetPullUpDown(unsigned gpio, + unsigned pud); +/*-------------------------------------------------------------------------*/ +/* Sets or clears resistor pull ups or downs on the gpio. + + Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_PUD. + + EXAMPLE: + ... + gpioSetPullUpDown(17, PI_PUD_UP); // sets a pull-up on gpio17 + gpioSetPullUpDown(18, PI_PUD_DOWN); // sets a pull-down on gpio18 + gpioSetPullUpDown(23, PI_PUD_OFF); // clear pull-ups/downs on gpio23 + ... +*/ + +/* pud: 0-2 */ + +#define PI_PUD_OFF 0 +#define PI_PUD_DOWN 1 +#define PI_PUD_UP 2 + + + +/*-------------------------------------------------------------------------*/ +int gpioRead (unsigned gpio); +/*-------------------------------------------------------------------------*/ +/* Reads the gpio level, on or off. + + Returns the gpio level if OK, otherwise PI_BAD_GPIO. + + EXAMPLE: + ... + printf("gpio24 is level %d\n", gpioRead(24)); + ... + + NOTES: + + Arduino style: digitalRead. +*/ + +/* level: 0-1 */ + +#define PI_OFF 0 +#define PI_ON 1 + +#define PI_CLEAR 0 +#define PI_SET 1 + +#define PI_LOW 0 +#define PI_HIGH 1 + +/* level: only reported for gpio timeout, see gpioSetWatchdogTimeout */ + +#define PI_TIMEOUT 2 + + + +/*-------------------------------------------------------------------------*/ +int gpioWrite(unsigned gpio, + unsigned level); +/*-------------------------------------------------------------------------*/ +/* Sets the gpio level, on or off. + + Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_LEVEL. + + EXAMPLE: + ... + gpioWrite(24, 1); // sets gpio24 high + ... + + NOTES: + + If PWM or servo pulses are active on the gpio they are switched off. + + Arduino style: digitalWrite +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioPWM(unsigned user_gpio, + unsigned dutycycle); +/*-------------------------------------------------------------------------*/ +/* Starts PWM on the gpio, dutycycle between 0 (off) and range (fully on). + Range defaults to 255. + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYCYCLE. + + EXAMPLE: + ... + gpioPWM(17, 255); // sets gpio17 full on + gpioPWM(18, 128); // sets gpio18 half on + gpioPWM(23, 0); // sets gpio23 full off + ... + + NOTES: + + Arduino style: analogWrite + + This and the servo functionality use the DMA and PWM or PCM peripherals + to control and schedule the pulse lengths and duty cycles. + + The gpioSetPWMrange funtion can change the default range of 255. +*/ + +/* user_gpio: 0-31 */ + +#define PI_MAX_USER_GPIO 31 + +/* dutycycle: 0-range */ + +#define PI_DEFAULT_DUTYCYCLE_RANGE 255 + + + +/*-------------------------------------------------------------------------*/ +int gpioSetPWMrange(unsigned user_gpio, + unsigned range); +/*-------------------------------------------------------------------------*/ +/* Selects the dutycycle range to be used for the gpio. Subsequent calls + to gpioPWM will use a dutycycle between 0 (off) and range (fully on). + + Returns the real range for the given gpio's frequency if OK, + otherwise PI_BAD_USER_GPIO or PI_BAD_DUTY_RANGE. + + EXAMPLE: + ... + gpioSetPWMrange(24, 2000); // now 2000 is fully on, 1000 is half on etc. + ... + + NOTES: + + If PWM is currently active on the gpio its dutycycle will be scaled + to reflect the new range. + + The real range, the number of steps between fully off and fully + on for each frequency, is given in the following table. + + 25, 50, 100, 125, 200, 250, 400, 500, 625, + 800, 1000, 1250, 2000, 2500, 4000, 5000, 10000, 20000 + + The real value set by gpioPWM is + + (dutycycle * real range) / range. +*/ + +/* range: 25-40000 */ + +#define PI_MIN_DUTYCYCLE_RANGE 25 +#define PI_MAX_DUTYCYCLE_RANGE 40000 + + + +/*-------------------------------------------------------------------------*/ +int gpioGetPWMrange(unsigned user_gpio); +/*-------------------------------------------------------------------------*/ +/* Returns the dutycycle range used for the gpio if OK, otherwise + PI_BAD_USER_GPIO. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioGetPWMrealRange(unsigned user_gpio); +/*-------------------------------------------------------------------------*/ +/* Returns the real range used for the gpio if OK, otherwise + PI_BAD_USER_GPIO. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioSetPWMfrequency(unsigned user_gpio, + unsigned frequency); +/*-------------------------------------------------------------------------*/ +/* Sets the frequency in hertz to be used for the gpio. + + Returns the numerically closest frequency if OK, otherwise + PI_BAD_USER_GPIO. + + The selectable frequencies depend upon the sample rate which + may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). + + Each gpio can be independently set to one of 18 different PWM + frequencies. + + If PWM is currently active on the gpio it will be + switched off and then back on at the new frequency. + + NOTES: + + The frequencies for each sample rate are: + + Hertz + + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 + 1250 1000 800 500 400 250 200 100 50 + + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 + 625 500 400 250 200 125 100 50 25 + + 4: 10000 5000 2500 2000 1250 1000 625 500 400 + 313 250 200 125 100 63 50 25 13 +sample + rate + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 + 250 200 160 100 80 50 40 20 10 + + 8: 5000 2500 1250 1000 625 500 313 250 200 + 156 125 100 63 50 31 25 13 6 + + 10: 4000 2000 1000 800 500 400 250 200 160 + 125 100 80 50 40 25 20 10 5 +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioGetPWMfrequency(unsigned user_gpio); +/*-------------------------------------------------------------------------*/ +/* Returns the frequency (in hertz) used for the gpio if OK, otherwise + PI_BAD_USER_GPIO. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioServo(unsigned user_gpio, + unsigned pulsewidth); +/*-------------------------------------------------------------------------*/ +/* Starts servo pulses on the gpio, 0 (off), 500 (most anti-clockwise) to + 2500 (most clockwise). + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_PULSEWIDTH. + + NOTES: + + The range supported by servos varies and should probably be determined + by experiment. A value of 1500 should always be safe and represents + the mid-point of rotation. You can DAMAGE a servo if you command it + to move beyond its limits. + + EXAMPLE: + + ... + gpioServo(17, 1500); + ... + + This example causes an on pulse of 1500 microseconds duration to be + transmitted on gpio 17 at a rate of 50 times per second. + + This will command a servo connected to gpio 17 to rotate to + its mid-point. + + OTHER UPDATE RATES: + + This function updates servos at 50Hz. If you wish to use a different + update frequency you will have to use the PWM functions. + + PWM Hz 50 100 200 400 500 + 1E6/Hz 20000 10000 5000 2500 2000 + + Firstly set the desired PWM frequency using gpioSetPWMfrequency. + + Then set the PWM range using gpioSetPWMrange to 1E6/frequency. + Doing this allows you to use units of microseconds when setting + the servo pulse width. + + E.g. If you want to update a servo connected to gpio 25 at 400Hz + + gpioSetPWMfrequency(25, 400); + gpioSetPWMrange(25, 2500); + + Thereafter use the PWM command to move the servo, + e.g. gpioPWM(25, 1500) will set a 1500 us pulse. + +*/ + +/* pulsewidth: 0, 500-2500 */ + +#define PI_SERVO_OFF 0 +#define PI_MIN_SERVO_PULSEWIDTH 500 +#define PI_MAX_SERVO_PULSEWIDTH 2500 + + +/*-------------------------------------------------------------------------*/ +int gpioSetAlertFunc(unsigned user_gpio, + gpioAlertFunc_t f); +/*-------------------------------------------------------------------------*/ +/* Registers a function to be called (a callback) when the specified + gpio changes state. + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO. + + One function may be registered per gpio. + + The function is passed the gpio, the new level, and the tick. + + The alert may be cancelled by passing NULL as the function. + + EXAMPLE: + ... + void aFunction(int gpio, int level, uint32_t tick) + { + printf("gpio %d became %d at %d\n", gpio, level, tick); + } + ... + gpioSetAlertFunc(4, aFunction); + ... + + This example causes aFunction to be called whenever + gpio 4 changes state. + + NOTES: + + The gpios are sampled at a rate set when the library is started. + + If a value isn't specifically set the default of 5 us is used. + + The number of samples per second is given in the following table. + + samples + per sec + + 1 1,000,000 + 2 500,000 + sample 4 250,000 + rate 5 200,000 + (us) 8 125,000 + 10 100,000 + + Level changes of length less than the sample rate may be missed. + + The thread which calls the alert functions is triggered nominally + 1000 times per second. The active alert functions will be called + once per level change since the last time the thread was activated. + i.e. The active alert functions will get all level changes but there + will be a latency. + + The tick value is the time stamp of the sample in microseconds, see + gpioTick for more details. +*/ + + +/*-------------------------------------------------------------------------*/ +int gpioSetAlertFuncEx(unsigned user_gpio, + gpioAlertFuncEx_t f, + void * userdata); +/*-------------------------------------------------------------------------*/ +/* Registers a function to be called (a callback) when the specified + gpio changes state. + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO. + + One function may be registered per gpio. + + The function is passed the gpio, the new level, the tick, and + the userdata pointer. + + Only one of gpioSetAlertFunc or gpioSetAlertFuncEx can be + registered per gpio. + + See gpioSetAlertFunc for further details. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioNotifyOpen(void); +/*-------------------------------------------------------------------------*/ +/* This function requests a free notification handle. + + Returns a handle greater than or equal to zero if OK, + otherwise PI_NO_HANDLE. + + A notification is a method for being notified of gpio state changes + via a pipe or socket. + + Pipe notifications for handle x will be available at the pipe + named /dev/pigpiox (where x is the handle number). E.g. if the + function returns 15 then the notifications must be read + from /dev/pigpio15. + + Socket notifications are returned to the socket which requested the + handle. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioNotifyBegin(unsigned handle, + uint32_t bits); +/*-------------------------------------------------------------------------*/ +/* This function starts notifications on a previously opened handle. + + Returns 0 if OK, otherwise PI_BAD_HANDLE. + + The notification sends state changes for each gpio whose corresponding + bit in bits is set. + + EXAMPLE: + + gpioNotifyBegin(0, 1234) will start notifications for gpios 1, 4, 6, + 7, 10 (1234 = 0x04D2 = 0b0000010011010010). + + NOTES: + + Each notification occupies 12 bytes in the fifo and has the + following structure. + + typedef struct + { + uint16_t seqno; + uint16_t flags; + uint32_t tick; + uint32_t level; + } gpioReport_t; + + seqno starts at 0 each time the handle is opened and then increments + by one for each report. + + flags, if bit 5 is set then bits 0-4 of the flags indicate a gpio + which has had a watchdog timeout. + + tick is the number of microseconds since system boot. + + level indicates the level of each gpio. +*/ + +#define PI_NTFY_FLAGS_WDOG (1 <<5) +#define PI_NTFY_FLAGS_BIT(x) (((x)<<0)&31) + + + +/*-------------------------------------------------------------------------*/ +int gpioNotifyPause(unsigned handle); +/*-------------------------------------------------------------------------*/ +/* This function pauses notifications on a previously opened handle. + + Returns 0 if OK, otherwise PI_BAD_HANDLE. + + Notifications for the handle are suspended until gpioNotifyBegin + is called again. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioNotifyClose(unsigned handle); +/*-------------------------------------------------------------------------*/ +/* This function stops notifications on a previously opened handle + and releases the handle for reuse. + + Returns 0 if OK, otherwise PI_BAD_HANDLE. +*/ + + +/*-------------------------------------------------------------------------*/ +int gpioWaveClear(void); +/*-------------------------------------------------------------------------*/ +/* This function initialises a new waveform. + + Returns 0 if OK. + + A waveform comprises one of more pulses. Each pulse consists of a + gpioPulse_t structure. + + typedef struct + { + uint32_t gpioOn; + uint32_t gpioOff; + uint32_t usDelay; + } gpioPulse_t; + + The fields specify + + 1) the gpios to be switched on at the start of the pulse. + 2) the gpios to be switched off at the end of the pulse. + 3) the delay in microseconds before the next pulse. + + Any or all the fields can be zero. It doesn't make any sense to + set all the fields to zero (the pulse will be ignored). + + When a waveform is started each pulse is executed in order with the + specified delay between the pulse and the next. +*/ + + +/*-------------------------------------------------------------------------*/ +int gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t * pulses); +/*-------------------------------------------------------------------------*/ +/* This function adds a number of pulses to the current waveform. + + Returns the new total number of pulses in the current waveform if OK, + otherwise PI_TOO_MANY_PULSES. + + NOTES: + + The pulses are interleaved in time order within the existing waveform + (if any). + + Merging allows the waveform to be built in parts, that is the settings + for gpio#1 can be added, and then gpio#2 etc. + + If the added waveform is intended to start after or within the existing + waveform then the first pulse should consist of a delay. + +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveAddSerial(unsigned user_gpio, + unsigned baud, + unsigned numChar, + char * str); +/*-------------------------------------------------------------------------*/ +/* This function adds a waveform representing serial data to the + existing waveform (if any). + + Returns the new total number of pulses in the current waveform if OK, + otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_TOO_MANY_CHARS, or + PI_TOO_MANY_PULSES. + + NOTES: + + The serial data is formatted as one start bit, eight data bits, and one + stop bit. + + It is legal to add serial data streams with different baud rates to + the same waveform. +*/ + +#define PI_WAVE_MIN_BAUD 100 +#define PI_WAVE_MAX_BAUD 250000 +#define PI_WAVE_MAX_CHARS 256 + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveTxStart(unsigned mode); +/*-------------------------------------------------------------------------*/ +/* This function transmits the current waveform. The mode determines + whether the waveform is sent once or cycles endlessly. + + Returns 0 if OK, otherwise PI_BAD_WAVE_MODE. +*/ + +#define PI_WAVE_MODE_ONE_SHOT 0 +#define PI_WAVE_MODE_REPEAT 1 + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveTxBusy(void); +/*-------------------------------------------------------------------------*/ +/* This function checks to see if a waveform is currently being + transmitted. + + Returns 1 if a waveform is currently being transmitted, otherwise 0. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveTxStop(void); +/*-------------------------------------------------------------------------*/ +/* This function aborts the transmission of the current waveform. + + Returns 0 if OK. + + NOTES: + + This function is intended to stop a waveform started with the repeat mode. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveSerialReadStart(unsigned user_gpio, + unsigned baud, + gpioRx_t * rxp); +/*-------------------------------------------------------------------------*/ +/* This function starts the reception of serial data with the + specified baud rate on a gpio. + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, + PI_BAD_SERIAL_STRUC, or PI_BAD_SERIAL_BUF. + + NOTES: + + typedef struct + { + char * buf; + uint32_t bufSize; + int readPos; + int writePos; + } gpioRx_t; + + The serial data is returned in a cyclic buffer which MUST be allocated + by the caller. The caller specifies the location and size of the + buffer in buf and bufSize. + + It is the caller's responsibility to read data from the cyclic buffer + in a timely fashion. Data is available when readPos is not equal to + writePos. + + EXAMPLE: + + #define BUFSIZE 1000 + + char buf[BUFSIZE]; + int bytes, wpos; + FILE * outFile; + + gpioRx_t rx; + + ... + + rx.buf = buf; + rx.bufSize = sizeof(buf); + + if (gpioWaveSerialReadStart(4, 38400, &rx) == 0) + { + ... + + while (rx.readPos != rx.writePos) + { + wpos = rx.writePos; + + if (wpos > rx.readPos) bytes = wpos - rx.readPos; + else bytes = rx.bufSize - rx.readPos; + + fwrite(rx.buf+rx.readPos, 1, bytes, outFile); + + rx.readPos += bytes; + + if (rx.readPos >= rx.bufSize) rx.readPos = 0; + } + ... + } +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveSerialReadStop(unsigned user_gpio); +/*-------------------------------------------------------------------------*/ +/* This function stops reading serial data from a gpio. + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetMicros(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the length in microseconds of the current + waveform. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetHighMicros(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the length in microseconds of the longest waveform + created since gpioInitialise was called. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetMaxMicros(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the maximum possible size of a waveform in + microseconds. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetPulses(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the length in pulses of the current waveform. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetHighPulses(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the length in pulses of the longest waveform + created since gpioInitialise was called. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetMaxPulses(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the maximum possible size of a waveform in pulses. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetCbs(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the length in DMA control blocks of the current + waveform. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetHighCbs(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the length in DMA control blocks of the longest + waveform created since gpioInitialise was called. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWaveGetMaxCbs(void); +/*-------------------------------------------------------------------------*/ +/* This function returns the maximum possible size of a waveform in DMA + control blocks. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioSetWatchdog(unsigned user_gpio, + unsigned timeout); +/*-------------------------------------------------------------------------*/ +/* Sets a watchdog for a gpio. + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_WDOG_TIMEOUT. + + The watchdog is nominally in milliseconds. + + One watchdog may be registered per gpio. + + The watchdog may be cancelled by setting timeout to 0. + + If no level change has been detected for the gpio for timeout + milliseconds:- + + 1) any registered alert function for the gpio is called with + the level set to PI_TIMEOUT. + 2) any notification for the gpio has a report written to the + fifo with the flags set to indicate a watchdog timeout. + + EXAMPLE: + + void aFunction(int gpio, int level, uint32_t tick) + { + printf("gpio %d became %d at %d\n", gpio, level, tick); + } + ... + gpioSetAlertFunc(4, aFunction); + gpioSetWatchdogTimeout(4, 5); + ... + + This example causes aFunction to be called whenever + gpio 4 changes state or approximately every 5 ms. +*/ + +/* timeout: 0-60000 */ + +#define PI_MIN_WDOG_TIMEOUT 0 +#define PI_MAX_WDOG_TIMEOUT 60000 + + + +/*-------------------------------------------------------------------------*/ +int gpioSetGetSamplesFunc(gpioGetSamplesFunc_t f, + uint32_t bits); +/*-------------------------------------------------------------------------*/ +/* Registers a function to be called (a callback) every millisecond + with the latest gpio samples. + + Returns 0 if OK. + + The function is passed a pointer to the samples and the number + of samples. + + Only one function can be registered. + + The callback may be cancelled by passing NULL as the function. + + NOTES: + + The samples returned will be the union of bits, plus any active alerts, + plus any active notifications. + + e.g. if there are alerts for gpios 7, 8, and 9, notifications for gpios + 8, 10, 23, 24, and bits is (1<<23)|(1<<17) then samples for gpios + 7, 8, 9, 10, 17, 23, and 24 will be reported. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioSetGetSamplesFuncEx(gpioGetSamplesFuncEx_t f, + uint32_t bits, + void * userdata); +/*-------------------------------------------------------------------------*/ +/* Registers a function to be called (a callback) every millisecond + with the latest gpio samples. + + Returns 0 if OK. + + The function is passed a pointer to the samples, the number + of samples, and the userdata pointer. + + Only one of gpioGetSamplesFunc or gpioGetSamplesFuncEx can be + registered. + + See gpioSetGetSamplesFunc for further details. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioSetTimerFunc(unsigned timer, + unsigned ms, + gpioTimerFunc_t f); +/*-------------------------------------------------------------------------*/ +/* Registers a function to be called (a callback) every ms milliseconds. + + Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. + + 10 timers are supported numbered 0 to 9. + + One function may be registered per timer. + + The timer may be cancelled by passing NULL as the function. + + EXAMPLE: + + ... + void bFunction(void) + { + printf("two seconds have elapsed\n"); + } + ... + gpioSetTimerFunc(0, 2000, bFunction); + ... + + This example causes bFunction to be called every 2000 milliseconds. +*/ + +/* timer: 0-9 */ + +#define PI_MIN_TIMER 0 +#define PI_MAX_TIMER 9 + +/* ms: 10-60000 */ + +#define PI_MIN_MS 10 +#define PI_MAX_MS 60000 + + + +/*-------------------------------------------------------------------------*/ +int gpioSetTimerFuncEx(unsigned timer, + unsigned ms, + gpioTimerFuncEx_t f, + void * userdata); +/*-------------------------------------------------------------------------*/ +/* Registers a function to be called (a callback) every ms milliseconds. + + Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. + + The function is passed the userdata pointer. + + Only one of gpioSetTimerFunc or gpioSetTimerFuncEx can be + registered per timer. + + See gpioSetTimerFunc for further details. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioSetSignalFunc(unsigned signum, + gpioSignalFunc_t f); +/*-------------------------------------------------------------------------*/ +/* Registers a function to be called (a callback) when a signal occurs. + + Returns 0 if OK, otherwise PI_BAD_SIGNUM. + + The function is passed the signal number. + + One function may be registered per signal. + + The callback may be cancelled by passing NULL. + + NOTES: + + By default all signals are treated as fatal and cause the library + to call gpioTerminate and then exit. +*/ + +/* signum: 0-63 */ + +#define PI_MIN_SIGNUM 0 +#define PI_MAX_SIGNUM 63 + + + +/*-------------------------------------------------------------------------*/ +int gpioSetSignalFuncEx(unsigned signum, + gpioSignalFuncEx_t f, + void * userdata); +/*-------------------------------------------------------------------------*/ +/* Registers a function to be called (a callback) when a signal occurs. + + Returns 0 if OK, otherwise PI_BAD_SIGNUM. + + The function is passed the signal number and the userdata pointer. + + Only one of gpioSetSignalFunc or gpioSetSignalFuncEx can be + registered per signal. + + See gpioSetSignalFunc for further details. +*/ + + + +/*-------------------------------------------------------------------------*/ +uint32_t gpioRead_Bits_0_31(void); +/*-------------------------------------------------------------------------*/ +/* Returns the current level of gpios 0-31. +*/ + + + +/*-------------------------------------------------------------------------*/ +uint32_t gpioRead_Bits_32_53(void); +/*-------------------------------------------------------------------------*/ +/* Returns the current level of gpios 32-53. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWrite_Bits_0_31_Clear(uint32_t levels); +/*-------------------------------------------------------------------------*/ +/* Clears gpios 0-31 if the corresponding bit in levels is set. + + Returns 0 if OK. + + EXAMPLE: + + To clear (set to 0) gpios 4, 7, and 15. + + ... + gpioWrite_Bits_0_31_Clear( (1<<4) | (1<<7) | (1<<15) ); + ... +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWrite_Bits_32_53_Clear(uint32_t levels); +/*-------------------------------------------------------------------------*/ +/* Clears gpios 32-53 if the corresponding bit (0-21) in levels is set. + + Returns 0 if OK. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWrite_Bits_0_31_Set(uint32_t levels); +/*-------------------------------------------------------------------------*/ +/* Sets gpios 0-31 if the corresponding bit in levels is set. + + Returns 0 if OK. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioWrite_Bits_32_53_Set(uint32_t levels); +/*-------------------------------------------------------------------------*/ +/* Sets gpios 32-53 if the corresponding bit (0-21) in levels is set. + + Returns 0 if OK. + + EXAMPLE: + + To set (set to 1) gpios 32, 40, and 53. + + ... + gpioWrite_Bits_32_53_Set( (1<<(32-32)) | (1<<(40-32)) | (1<<(53-32)) ); + ... +*/ + +/*-------------------------------------------------------------------------*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioTime(unsigned timetype, + int * seconds, + int * micros); +/*-------------------------------------------------------------------------*/ +/* Updates the seconds and micros variables with the current time. + + Returns 0 if OK, otherwise PI_BAD_TIMETYPE. + + If timetype is PI_TIME_ABSOLUTE updates seconds and micros with the + number of seconds and microseconds since the epoch (1st January 1970). + + If timetype is PI_TIME_RELATIVE updates seconds and micros with the + number of seconds and microseconds since the library was initialised. + + EXAMPLE: + + ... + int secs, mics; + ... + gpioTime(PI_TIME_RELATIVE, &secs, &mics); + printf("library started %d.%03d seconds ago\n", secs, mics/1000); + ... + prints the number of seconds since the library was started. +*/ + +/* timetype: 0-1 */ + +#define PI_TIME_RELATIVE 0 +#define PI_TIME_ABSOLUTE 1 + + + +/*-------------------------------------------------------------------------*/ +int gpioSleep(unsigned timetype, + int seconds, + int micros); +/*-------------------------------------------------------------------------*/ +/* Sleeps for the number of seconds and microseconds specified by seconds + and micros. + + Returns 0 if OK, otherwise PI_BAD_TIMETYPE, PI_BAD_SECONDS, + or PI_BAD_MICROS. + + If timetype is PI_TIME_ABSOLUTE the sleep ends when the number of seconds + and microseconds since the epoch (1st January 1970) has elapsed. System + clock changes are taken into account. + + If timetype is PI_TIME_RELATIVE the sleep is for the specified number + of seconds and microseconds. System clock changes do not effect the + sleep length. + + NOTES: + + For short delays (say, 250 microseonds or less) use gpioDelayMicroseconds. + + EXAMPLE: + + ... + gpioSleep(PI_TIME_RELATIVE, 2, 500000); // sleep for 2.5 seconds + ... + gpioSleep(PI_TIME_RELATIVE, 0, 100000); // sleep for 1/10th of a second + ... + gpioSleep(PI_TIME_RELATIVE, 60, 0); // sleep for one minute + ... +*/ + + + +/*-------------------------------------------------------------------------*/ +uint32_t gpioDelay(uint32_t micros); +/*-------------------------------------------------------------------------*/ +/* Delays for at least the number of microseconds specified by micros. + + Returns the actual length of the delay in microseconds. +*/ + + + +/*-------------------------------------------------------------------------*/ +uint32_t gpioTick(void); +/*-------------------------------------------------------------------------*/ +/* Returns the current system tick. + + Tick is the number of microseconds since system boot. + + NOTES: + + As tick is an unsigned 32 bit quantity it wraps around after + 2^32 microseconds, which is approximately 1 hour 12 minutes. + + You don't need to worry about the wrap around as long as you + take a tick (uint32_t) from another tick, i.e. the following + code will always provide the correct difference. + + EXAMPLE: + + uint32_t startTick, endTick; + int diffTick; + ... + startTick = gpioTick(); + ... + // do some processing + ... + endTick = gpioTick(); + + diffTick = endTick - startTick; + + printf("some processing took %d microseconds\n", diffTick); + ... +*/ + + + +/*-------------------------------------------------------------------------*/ +unsigned gpioHardwareRevision(void); +/*-------------------------------------------------------------------------*/ +/* Returns the hardware revision. + + If the hardware revision can not be found or is not a valid hexadecimal + number the function returns 0. + + NOTES: + + The hardware revision is the last 4 characters on the Revision line of + /proc/cpuinfo. + + The revision number can be used to determine the assignment of gpios + to pins. + + There are at least two types of board. + + Type 1 has gpio 0 on P1-3, gpio 1 on P1-5, and gpio 21 on P1-13. + + Type 2 has gpio 2 on P1-3, gpio 3 on P1-5, gpio 27 on P1-13, and + gpios 28-31 on P5. + + Type 1 boards have hardware revision numbers of 2 and 3. + + Type 2 boards have hardware revision numbers of 4, 5, 6, and 15. + + EXAMPLES: + + for "Revision : 0002" the function returns 2. + for "Revision : 000f" the function returns 15. + for "Revision : 000g" the function returns 0. +*/ + + + +/*-------------------------------------------------------------------------*/ +int gpioCfgBufferSize(unsigned millis); +/*-------------------------------------------------------------------------*/ +/* Configures pigpio to buffer millis milliseconds of gpio samples. + + The default setting is 120 milliseconds. + + NOTES: + + The intention is to allow for bursts of data and protection against + other processes hogging cpu time. + + I haven't seen a process locked out for more than 100 milliseconds. + + Making the buffer bigger uses a LOT of memory at the more frequent + sampling rates as shown in the following table in MBs. + + buffer milliseconds + 120 250 500 1sec 2sec 4sec 8sec + + 1 16 31 55 107 --- --- --- + 2 10 18 31 55 107 --- --- +sample 4 8 12 18 31 55 107 --- + rate 5 8 10 14 24 45 87 --- + (us) 8 6 8 12 18 31 55 107 + 10 6 8 10 14 24 45 87 +*/ + +/* millis */ + +#define PI_BUF_MILLIS_MIN 100 +#define PI_BUF_MILLIS_MAX 10000 + + + +/*-------------------------------------------------------------------------*/ +int gpioCfgClock(unsigned micros, + unsigned peripheral, + unsigned source); +/*-------------------------------------------------------------------------*/ +/* Configures pigpio to use a sample rate of micros microseconds, + permitted values are 1, 2, 4, 5, 8 and 10. + + The timings are provided by the specified peripheral (PWM or PCM) + using the frequency source (OSC or PLLD). + + The default setting is 5 microseconds using the PCM peripheral + with the PLLD source. + + NOTES: + + The approximate CPU percentage used for each sample rate is: + + sample cpu + rate % + + 1 25 + 2 16 + 4 11 + 5 10 + 8 15 + 10 14 + + A sample rate of 5 microseconds seeems to be the sweet spot. + + These readings were done by checking the resources used by + the demolib program (which is reasonably busy). +*/ + +/* micros: 1, 2, 4, 5, 8, or 10 */ + +/* peripheral: 0-1 */ + +#define PI_CLOCK_PWM 0 +#define PI_CLOCK_PCM 1 + +/* source: 0-1 */ + +#define PI_CLOCK_OSC 0 +#define PI_CLOCK_PLLD 1 + + + +/*-------------------------------------------------------------------------*/ +int gpioCfgDMAchannel(unsigned channel); +/*-------------------------------------------------------------------------*/ +/* Configures pigpio to use the specified DMA channel. + + The default setting is to use channel 14. +*/ + +/* channel: 0-14 */ + +#define PI_MIN_DMA_CHANNEL 0 +#define PI_MAX_DMA_CHANNEL 14 + + + +/*-------------------------------------------------------------------------*/ +int gpioCfgDMAchannels(unsigned primaryChannel, + unsigned secondaryChannel); +/*-------------------------------------------------------------------------*/ +/* Configures pigpio to use the specified DMA channels. + + The default setting is to use channel 14 for the primary channel and + channel 6 for the secondary channel. +*/ + +#define PI_MAX_PRIMARY_CHANNEL 14 +#define PI_MAX_SECONDARY_CHANNEL 6 + + + +/*-------------------------------------------------------------------------*/ +int gpioCfgSocketPort(unsigned port); +/*-------------------------------------------------------------------------*/ +/* Configures pigpio to use the specified socket port. + + The default setting is to use port 8888. +*/ + +/* port: 1024-9999 */ + +#define PI_MIN_SOCKET_PORT 1024 +#define PI_MAX_SOCKET_PORT 32000 + + + +/*-------------------------------------------------------------------------*/ +int gpioCfgInterfaces(unsigned ifFlags); +/*-------------------------------------------------------------------------*/ +/* Configures pigpio support of the fifo and socket interfaces. + + The default setting is that both interfaces are enabled. +*/ + +/* ifFlags: */ + +#define PI_DISABLE_FIFO_IF 1 +#define PI_DISABLE_SOCK_IF 2 + +/*-------------------------------------------------------------------------*/ +int gpioCfgInternals(unsigned what, + int value); +/*-------------------------------------------------------------------------*/ +/* Used to tune internal settings. + Not intended for general use. +*/ + + + +/*-------------------------------------------------------------------------*/ +void gpioWaveDump(void); +/*-------------------------------------------------------------------------*/ +/* Used to print a readable version of the current waveform to stdout. + Not intended for general use. +*/ + + +#ifdef __cplusplus +} +#endif + +/*-------------------------------------------------------------------------*/ + +#define PI_CMD_MODES 0 +#define PI_CMD_MODEG 1 +#define PI_CMD_PUD 2 +#define PI_CMD_READ 3 +#define PI_CMD_WRITE 4 +#define PI_CMD_PWM 5 +#define PI_CMD_PRS 6 +#define PI_CMD_PFS 7 +#define PI_CMD_SERVO 8 +#define PI_CMD_WDOG 9 +#define PI_CMD_BR1 10 +#define PI_CMD_BR2 11 +#define PI_CMD_BC1 12 +#define PI_CMD_BC2 13 +#define PI_CMD_BS1 14 +#define PI_CMD_BS2 15 +#define PI_CMD_TICK 16 +#define PI_CMD_HWVER 17 +#define PI_CMD_NO 18 +#define PI_CMD_NB 19 +#define PI_CMD_NP 20 +#define PI_CMD_NC 21 +#define PI_CMD_PRG 22 +#define PI_CMD_PFG 23 +#define PI_CMD_PRRG 24 +#define PI_CMD_HELP 25 + +/* +The following command only works on the socket interface. +It returns a spare notification handle. Notifications for +that handle will be sent to the socket (rather than a +/dev/pigpiox pipe). + +The socket should be dedicated to receiving notifications +after this command is issued. +*/ + +#define PI_CMD_NOIB 99 + + +/*-------------------------------------------------------------------------*/ + +/* error numbers reported by functions */ + +#define PI_INIT_FAILED -1 /* gpioInitialise failed */ +#define PI_BAD_USER_GPIO -2 /* gpio not 0-31 */ +#define PI_BAD_GPIO -3 /* gpio not 0-53 */ +#define PI_BAD_MODE -4 /* mode not 0-7 */ +#define PI_BAD_LEVEL -5 /* level not 0-1 */ +#define PI_BAD_PUD -6 /* pud not 0-2 */ +#define PI_BAD_PULSEWIDTH -7 /* pulsewidth not 0 or 500-2500 */ +#define PI_BAD_DUTYCYCLE -8 /* dutycycle not 0-255 */ +#define PI_BAD_TIMER -9 /* timer not 0-9 */ +#define PI_BAD_MS -10 /* ms not 10-60000 */ +#define PI_BAD_TIMETYPE -11 /* timetype not 0-1 */ +#define PI_BAD_SECONDS -12 /* seconds < 0 */ +#define PI_BAD_MICROS -13 /* micros not 0-999999 */ +#define PI_TIMER_FAILED -14 /* gpioSetTimerFunc failed */ +#define PI_BAD_WDOG_TIMEOUT -15 /* timeout not 0-60000 */ +#define PI_NO_ALERT_FUNC -16 /* DEPRECATED */ +#define PI_BAD_CLK_PERIPH -17 /* clock peripheral not 0-1 */ +#define PI_BAD_CLK_SOURCE -18 /* clock source not 0-1 */ +#define PI_BAD_CLK_MICROS -19 /* clock micros not 1, 2, 4, 5, 8, or 10 */ +#define PI_BAD_BUF_MILLIS -20 /* buf millis not 100-10000 */ +#define PI_BAD_DUTY_RANGE -21 /* dutycycle range not 25-40000 */ +#define PI_BAD_SIGNUM -22 /* signum not 0-63 */ +#define PI_BAD_PATHNAME -23 /* can't open pathname */ +#define PI_NO_HANDLE -24 /* no handle available */ +#define PI_BAD_HANDLE -25 /* unknown notify handle */ +#define PI_BAD_IF_FLAGS -26 /* ifFlags > 3 */ +#define PI_BAD_CHANNEL -27 /* DMA channel not 0-14 */ +#define PI_BAD_PRIM_CHANNEL -27 /* DMA primary channel not 0-14 */ +#define PI_BAD_SOCKET_PORT -28 /* socket port not 1024-32000 */ +#define PI_BAD_FIFO_COMMAND -29 /* unrecognized fifo command */ +#define PI_BAD_SECO_CHANNEL -30 /* DMA secondary channel not 0-6 */ +#define PI_NOT_INITIALISED -31 /* function called before gpioInitialise */ +#define PI_INITIALISED -32 /* function called after gpioInitialise */ +#define PI_BAD_WAVE_MODE -33 /* waveform mode not 0-1 */ +#define PI_BAD_CFG_INTERNAL -34 /* bad parameter in gpioCfgInternals call */ +#define PI_BAD_WAVE_BAUD -35 /* baud rate not 100-250000 */ +#define PI_TOO_MANY_PULSES -36 /* waveform has too many pulses */ +#define PI_TOO_MANY_CHARS -37 /* waveform has too many chars */ +#define PI_NOT_SERIAL_GPIO -38 /* no serial read in progress on gpio */ +#define PI_BAD_SERIAL_STRUC -39 /* bad null serial structure parameter */ +#define PI_BAD_SERIAL_BUF -40 /* bad null serial buf parameter */ + + +/*-------------------------------------------------------------------------*/ + +#define PI_DEFAULT_BUFFER_MILLIS 120 +#define PI_DEFAULT_CLK_MICROS 5 +#define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM +#define PI_DEFAULT_CLK_SOURCE PI_CLOCK_PLLD +#define PI_DEFAULT_IF_FLAGS 0 +#define PI_DEFAULT_DMA_CHANNEL 14 +#define PI_DEFAULT_DMA_PRIMARY_CHANNEL 14 +#define PI_DEFAULT_DMA_SECONDARY_CHANNEL 6 +#define PI_DEFAULT_SOCKET_PORT 8888 + +#endif + diff --git a/pigpiod.c b/pigpiod.c new file mode 100644 index 0000000..106354b --- /dev/null +++ b/pigpiod.c @@ -0,0 +1,278 @@ +/* +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to +*/ + +/* +This version is for pigpio version 4+ +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" +#include "command.h" + +/* +This program starts the pigpio library as a daemon. +*/ + +static unsigned bufferSizeMilliseconds = PI_DEFAULT_BUFFER_MILLIS; +static unsigned clockMicros = PI_DEFAULT_CLK_MICROS; +static unsigned clockPeripheral = PI_DEFAULT_CLK_PERIPHERAL; +static unsigned clockSource = PI_DEFAULT_CLK_SOURCE; +static unsigned ifFlags = PI_DEFAULT_IF_FLAGS; +static unsigned DMAchannelChannel = PI_DEFAULT_DMA_CHANNEL; +static unsigned socketPort = PI_DEFAULT_SOCKET_PORT; + +static FILE * errFifo; + +void usage() +{ + fprintf(stderr, "\n" \ + "Usage: sudo pigpiod [OPTION] ...\n" \ + " -b value, gpio sample buffer in milliseconds, default 120\n" \ + " -d value, DMA channel, 0-14, default 14\n" \ + " -f, disable fifo interface, default enabled\n" \ + " -k, disable socket interface, default enabled\n" \ + " -p value, socket port, 1024-32000, default 8888\n" \ + " -s value, sample rate, 1, 2, 4, 5, 8, or 10, default 5\n" \ + " -t value, clock peripheral, 0=PWM 1=PCM, default PCM\n" \ + " -u value, clock source, 0=OSC 1=PLLD, default PLLD\n" \ + "EXAMPLE\n" \ + "sudo pigpiod -s 2 -b 200 -f\n" \ + " Set a sample rate of 2 microseconds with a 200 millisecond\n" \ + " buffer. Disable the fifo interface.\n" \ + "\n"); +} + +static void initOpts(int argc, char *argv[]) +{ + int i, opt; + + while ((opt = getopt(argc, argv, "b:d:fkp:s:t:u:")) != -1) + { + i = -1; + + switch (opt) + { + case 'b': + i = atoi(optarg); + if ((i >= PI_BUF_MILLIS_MIN) && (i <= PI_BUF_MILLIS_MAX)) + bufferSizeMilliseconds = i; + else cmdFatal("invalid -b option (%d)", i); + break; + + case 'd': + i = atoi(optarg); + if ((i >= PI_MIN_DMA_CHANNEL) && (i <= PI_MAX_DMA_CHANNEL)) + DMAchannelChannel = i; + else cmdFatal("invalid -d option (%d)", i); + break; + + case 'f': + ifFlags |= PI_DISABLE_FIFO_IF; + break; + + case 'k': + ifFlags |= PI_DISABLE_SOCK_IF; + break; + + case 'p': + i = atoi(optarg); + if ((i >= PI_MIN_SOCKET_PORT) && (i <= PI_MAX_SOCKET_PORT)) + socketPort = i; + else cmdFatal("invalid -p option (%d)", i); + break; + + case 's': + i = atoi(optarg); + + switch(i) + { + case 1: + case 2: + case 4: + case 5: + case 8: + case 10: + clockMicros = i; + break; + + default: + cmdFatal("invalid -s option (%d)", i); + break; + } + break; + + case 't': + i = atoi(optarg); + if ((i >= PI_CLOCK_PWM) && (i <= PI_CLOCK_PCM)) + clockPeripheral = i; + else cmdFatal("invalid -t option (%d)", i); + break; + + case 'u': + i = atoi(optarg); + if ((i >= PI_CLOCK_OSC) && (i <= PI_CLOCK_PLLD)) + clockSource = i; + else cmdFatal("invalid -u option (%d)", i); + break; + + default: /* '?' */ + usage(); + exit(-1); + } + } +} + +void terminate(int signum) +{ + /* only registered for SIGHUP/SIGTERM */ + + gpioTerminate(); + + fprintf(errFifo, "SIGHUP/SIGTERM received\n"); + + fflush(NULL); + + fclose(errFifo); + + unlink(PI_ERRFIFO); + + exit(0); +} + + +int main(int argc, char **argv) +{ + pid_t pid; + int flags; + + /* Fork off the parent process */ + + pid = fork(); + + if (pid < 0) { exit(EXIT_FAILURE); } + + /* If we got a good PID, then we can exit the parent process. */ + + if (pid > 0) { exit(EXIT_SUCCESS); } + + /* Change the file mode mask */ + + umask(0); + + /* Open any logs here */ + + /* NONE */ + + /* Create a new SID for the child process */ + + if (setsid() < 0) cmdFatal("setsid failed (%m)"); + + /* Change the current working directory */ + + if ((chdir("/")) < 0) cmdFatal("chdir failed (%m)"); + + /* check command line parameters */ + + initOpts(argc, argv); + + /* Close out the standard file descriptors */ + + fclose(stdin); + fclose(stdout); + + /* configure library */ + + gpioCfgBufferSize(bufferSizeMilliseconds); + + gpioCfgClock(clockMicros, clockPeripheral, clockSource); + + gpioCfgInterfaces(ifFlags); + + gpioCfgDMAchannel(DMAchannelChannel); + + gpioCfgSocketPort(socketPort); + + /* start library */ + + if (gpioInitialise()< 0) cmdFatal("Can't initialise pigpio library"); + + /* create pipe for error reporting */ + + unlink(PI_ERRFIFO); + + mkfifo(PI_ERRFIFO, 0664); + + if (chmod(PI_ERRFIFO, 0664) < 0) + cmdFatal("chmod %s failed (%m)", PI_ERRFIFO); + + errFifo = freopen(PI_ERRFIFO, "w+", stderr); + + if (errFifo) + { + /* set stderr non-blocking */ + + flags = fcntl(fileno(errFifo), F_GETFL, 0); + fcntl(fileno(errFifo), F_SETFL, flags | O_NONBLOCK); + + /* request SIGHUP/SIGTERM from libarary for termination */ + + gpioSetSignalFunc(SIGHUP, terminate); + gpioSetSignalFunc(SIGTERM, terminate); + + /* sleep forever */ + + while (1) + { + /* cat /dev/pigerr to view daemon errors */ + + sleep(5); + + fflush(errFifo); + } + } + else + { + fprintf(stderr, "freopen failed (%m)"); + + gpioTerminate(); + } + + return 0; +} + diff --git a/pigs.c b/pigs.c new file mode 100644 index 0000000..e794632 --- /dev/null +++ b/pigs.c @@ -0,0 +1,144 @@ +/* +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to +*/ + +/* +This version is for pigpio version 3+ +*/ + +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" +#include "command.h" + +/* +This program provides a socket interface +to the commands available from pigpio. +*/ + +int main(int argc , char *argv[]) +{ + int sock, r, idx, port; + struct sockaddr_in server; + cmdCmd_t cmd; + char * portStr, * addrStr; + char buf[128]; + + sock = socket(AF_INET, SOCK_STREAM, 0); + + if (sock != -1) + { + portStr = getenv(PI_ENVPORT); + + if (portStr) port = atoi(portStr); + else port = PI_DEFAULT_SOCKET_PORT; + + addrStr = getenv(PI_ENVADDR); + + if (!addrStr) addrStr="127.0.0.1"; + + server.sin_addr.s_addr = inet_addr(addrStr); + server.sin_family = AF_INET; + server.sin_port = htons(port); + + if (connect(sock, (struct sockaddr *)&server, sizeof(server)) == 0) + { + switch(argc) + { + case 1: + exit(0); + + case 2: + sprintf(buf, "%10s", argv[1]); + break; + + case 3: + sprintf(buf, "%10s %10s", argv[1], argv[2]); + break; + + case 4: + sprintf(buf, "%10s %10s %10s", argv[1], argv[2], argv[3]); + break; + + default: + cmdFatal("what?"); + } + + if ((idx=cmdParse(buf, &cmd)) >= 0) + { + if (send(sock, &cmd, sizeof(cmdCmd_t), 0) == sizeof(cmdCmd_t)) + { + if (recv(sock, &cmd, sizeof(cmdCmd_t), 0) == sizeof(cmdCmd_t)) + { + switch (cmdInfo[idx].rv) + { + case 0: + r = cmd.res; + if (r < 0) cmdFatal("ERROR: %s", cmdErrStr(r)); + break; + + case 1: + break; + + case 2: + r = cmd.res; + if (r < 0) cmdFatal("ERROR: %s", cmdErrStr(r)); + else printf("%d\n", r); + break; + + case 3: + printf("%08X\n", cmd.res); + break; + + case 4: + printf("%u\n", cmd.res); + break; + + case 5: + printf(cmdUsage); + break; + } + } + else cmdFatal("recv failed, %m"); + } + else cmdFatal("send failed, %m"); + } + else cmdFatal("what?"); + } + else cmdFatal("connect failed, %m"); + + close(sock); + } + else cmdFatal("socket failed, %m"); + + return 0; +} + -- 2.30.2