Big update here.
delayMicrosecondsHard re-written - again.
Added a serialRead example program, and added in the okLed
to the examples too.
Updated/checked some of the GPIO/PWM code.
Added in some experimental servo and tone generating code and
and example or 2.
Tweaks to the gpio command to correctly load the I2C modules too.
diff --git a/People b/People
index 2c5fa92..e0c262c 100644
--- a/People
+++ b/People
@@ -8,3 +8,8 @@
Philipp Stefan Neininger:
Minor bug in the Makefile to do with cross compiling
+Chris McSweeny
+ Hints and tips about the use of arithmetic in gettimeofday()
+ inside the dealyMicrosecondsHard() function.
+ And spotting a couple of schoolboy errors in the (experimental)
+ softServo code, prompting me to completely re-write it.
diff --git a/examples/Makefile b/examples/Makefile
index 16bf7e2..738d36c 100644
--- a/examples/Makefile
+++ b/examples/Makefile
@@ -30,16 +30,19 @@
CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe
LDFLAGS = -L/usr/local/lib
-LIBS = -lwiringPi
+LDLIBS = -lwiringPi
# Should not alter anything below this line
###############################################################################
-SRC = test1.c test2.c speed.c lcd.c wfi.c piface.c gertboard.c nes.c delayTest.c softPwm.c
+SRC = test1.c test2.c speed.c lcd.c wfi.c \
+ piface.c gertboard.c nes.c \
+ pwm.c tone.c servo.c \
+ delayTest.c serialRead.c okLed.c
-OBJ = test1.o test2.o speed.o lcd.o wfi.o piface.o gertboard.o nes.o delayTest.o softPwm.o
+OBJ = $(SRC:.c=.o)
-BINS = test1 test2 speed lcd wfi piface gertboard nes delayTest softPwm
+BINS = $(SRC:.c=)
all:
@cat README.TXT
@@ -48,43 +51,59 @@
test1: test1.o
@echo [link]
- $(CC) -o $@ test1.o $(LDFLAGS) $(LIBS)
+ @$(CC) -o $@ test1.o $(LDFLAGS) $(LDLIBS)
test2: test2.o
@echo [link]
- $(CC) -o $@ test2.o $(LDFLAGS) $(LIBS)
+ @$(CC) -o $@ test2.o $(LDFLAGS) $(LDLIBS)
speed: speed.o
@echo [link]
- $(CC) -o $@ speed.o $(LDFLAGS) $(LIBS)
+ @$(CC) -o $@ speed.o $(LDFLAGS) $(LDLIBS)
lcd: lcd.o
@echo [link]
- $(CC) -o $@ lcd.o $(LDFLAGS) $(LIBS)
+ @$(CC) -o $@ lcd.o $(LDFLAGS) $(LDLIBS)
wfi: wfi.o
@echo [link]
- $(CC) -o $@ wfi.o $(LDFLAGS) $(LIBS) -lpthread
+ @$(CC) -o $@ wfi.o $(LDFLAGS) $(LDLIBS)
piface: piface.o
@echo [link]
- $(CC) -o $@ piface.o $(LDFLAGS) $(LIBS) -lpthread
+ @$(CC) -o $@ piface.o $(LDFLAGS) $(LDLIBS) -lpthread
gertboard: gertboard.o
@echo [link]
- $(CC) -o $@ gertboard.o $(LDFLAGS) $(LIBS) -lm
+ @$(CC) -o $@ gertboard.o $(LDFLAGS) $(LDLIBS) -lm
nes: nes.o
@echo [link]
- $(CC) -o $@ nes.o $(LDFLAGS) $(LIBS) -lm
+ @$(CC) -o $@ nes.o $(LDFLAGS) $(LDLIBS) -lm
-softPwm: softPwm.o
+pwm: pwm.o
@echo [link]
- $(CC) -o $@ softPwm.o $(LDFLAGS) $(LIBS) -lm -lpthread
+ @$(CC) -o $@ pwm.o $(LDFLAGS) $(LDLIBS) -lm -lpthread
delayTest: delayTest.o
@echo [link]
- $(CC) -o $@ delayTest.o $(LDFLAGS) $(LIBS)
+ @$(CC) -o $@ delayTest.o $(LDFLAGS) $(LDLIBS)
+
+serialRead: serialRead.o
+ @echo [link]
+ @$(CC) -o $@ serialRead.o $(LDFLAGS) $(LDLIBS)
+
+okLed: okLed.o
+ @echo [link]
+ @$(CC) -o $@ okLed.o $(LDFLAGS) $(LDLIBS)
+
+tone: tone.o
+ @echo [link]
+ @$(CC) -o $@ tone.o $(LDFLAGS) $(LDLIBS)
+
+servo: servo.o
+ @echo [link]
+ @$(CC) -o $@ servo.o $(LDFLAGS) $(LDLIBS)
.c.o:
@@ -92,7 +111,7 @@
@$(CC) -c $(CFLAGS) $< -o $@
clean:
- rm -f $(OBJ) *~ core tags test1 test2 speed lcd wfi piface gertboard nes delayTest softPwm
+ rm -f $(OBJ) *~ core tags $(BINS)
tags: $(SRC)
@echo [ctags]
diff --git a/examples/delayTest.c b/examples/delayTest.c
index 8c95522..d05f3ff 100644
--- a/examples/delayTest.c
+++ b/examples/delayTest.c
@@ -3,30 +3,24 @@
#include <unistd.h>
#include <wiringPi.h>
-#include <time.h>
-#include <sys/types.h>
#include <sys/time.h>
#define CYCLES 1000
-#define DELAY 99
int main()
{
int x ;
struct timeval t1, t2 ;
- long long t ;
- unsigned int max, min ;
-
- unsigned int values [CYCLES] ;
-
- max = 0 ;
- min = 1000000 ;
+ int t ;
+ int max, min ;
+ int del ;
+ int underRuns, overRuns, exactRuns, total ;
+ int descheds ;
if (wiringPiSetup () == -1)
return 1 ;
- piHiPri (10) ;
- sleep (1) ;
+ piHiPri (10) ; sleep (1) ;
// Baseline test
@@ -34,35 +28,56 @@
gettimeofday (&t2, NULL) ;
t = t2.tv_usec - t1.tv_usec ;
- printf ("Baseline test: %lld\n", t);
+ printf ("Baseline test: %d\n", t);
- for (x = 0 ; x < CYCLES ; ++x)
+ for (del = 1 ; del < 200 ; ++del)
{
- gettimeofday (&t1, NULL) ;
- delayMicroseconds (DELAY) ;
- gettimeofday (&t2, NULL) ;
-
- t = t2.tv_usec - t1.tv_usec ;
- if (t > max) max = t ;
- if (t < min) min = t ;
- values [x] = t ;
- }
+ underRuns = overRuns = exactRuns = total = 0 ;
+ descheds = 0 ;
+ max = del ;
+ min = del ;
- printf ("Done: Max: %d, min: %d\n", max, min) ;
+ for (x = 0 ; x < CYCLES ; ++x)
+ {
+ for (;;) // Repeat this if we get a delay over 999uS
+ { // -> High probability Linux has deschedulled us
+ gettimeofday (&t1, NULL) ;
+ delayMicroseconds (del) ;
+ gettimeofday (&t2, NULL) ;
- for (x = 0 ; x < CYCLES ; ++x)
- {
- printf ("%4d", values [x]) ;
- if (values [x] > DELAY)
- printf (".") ;
- else if (values [x] < DELAY)
- printf ("-") ;
- else
- printf (" ") ;
- if (((x + 1) % 20) == 0)
- printf ("\n") ;
+ if (t2.tv_usec < t1.tv_usec) // Counter wrapped
+ t = (1000000 + t2.tv_usec) - t1.tv_usec;
+ else
+ t = t2.tv_usec - t1.tv_usec ;
+ if (t > 999)
+ {
+ ++descheds ;
+ continue ;
+ }
+ else
+ break ;
+ }
+
+ if (t > max)
+ {
+ max = t ;
+ ++overRuns ;
+ }
+ else if (t < min)
+ {
+ min = t ;
+ ++underRuns ;
+ }
+ else
+ ++exactRuns ;
+
+ total += t ;
+ }
+ printf ("Delay: %3d. Min: %3d, Max: %3d, Unders: %3d, Overs: %3d, Exacts: %3d, Average: %3d, Descheds: %2d\n",
+ del, min, max, underRuns, overRuns, exactRuns, total / CYCLES, descheds) ;
+ fflush (stdout) ;
+ delay (1) ;
}
- printf ("\n") ;
return 0 ;
}
diff --git a/examples/okLed.c b/examples/okLed.c
new file mode 100644
index 0000000..3bf21e2
--- /dev/null
+++ b/examples/okLed.c
@@ -0,0 +1,65 @@
+/*
+ * okLed:
+ * Make the OK LED on the Pi Pulsate...
+ * Copyright (c) 2012 gordon Henderson, but please Share and Enjoy!
+ *
+ * Originally posted to the Raspberry Pi forums:
+ * http://www.raspberrypi.org/phpBB3/viewtopic.php?p=162581#p162581
+ *
+ * Compile this and store it somewhere, then kick it off at boot time
+ * e.g. by putting it in /etc/rc.local and running it in the
+ * background &
+ *
+ */
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <wiringPi.h>
+#include <softPwm.h>
+
+#define OK_LED 16
+
+int main ()
+{
+ int fd, i ;
+
+ if ((fd = open ("/sys/class/leds/led0/trigger", O_RDWR)) < 0)
+ {
+ fprintf (stderr, "Unable to change LED trigger: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ write (fd, "none\n", 5) ;
+ close (fd) ;
+
+ if (wiringPiSetupGpio () < 0)
+ {
+ fprintf (stderr, "Unable to setup GPIO: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ softPwmCreate (OK_LED, 0, 100) ;
+
+ for (;;)
+ {
+ for (i = 0 ; i <= 100 ; ++i)
+ {
+ softPwmWrite (OK_LED, i) ;
+ delay (10) ;
+ }
+ delay (50) ;
+
+ for (i = 100 ; i >= 0 ; --i)
+ {
+ softPwmWrite (OK_LED, i) ;
+ delay (10) ;
+ }
+ delay (10) ;
+ }
+
+ return 0 ;
+}
diff --git a/examples/softPwm.c b/examples/pwm.c
similarity index 100%
rename from examples/softPwm.c
rename to examples/pwm.c
diff --git a/examples/serialRead.c b/examples/serialRead.c
new file mode 100644
index 0000000..34b9bad
--- /dev/null
+++ b/examples/serialRead.c
@@ -0,0 +1,31 @@
+
+/*
+ * serialRead.c:
+ * Example program to read bytes from the Serial line
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+
+#include <wiringSerial.h>
+
+int main ()
+{
+ int fd ;
+
+ if ((fd = serialOpen ("/dev/ttyAMA0", 115200)) < 0)
+ {
+ fprintf (stderr, "Unable to open serial device: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+// Loop, getting and printing characters
+
+ for (;;)
+ {
+ putchar (serialGetchar (fd)) ;
+ fflush (stdout) ;
+ }
+}
diff --git a/examples/servo.c b/examples/servo.c
new file mode 100644
index 0000000..0237832
--- /dev/null
+++ b/examples/servo.c
@@ -0,0 +1,33 @@
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <softServo.h>
+
+int main ()
+{
+ if (wiringPiSetup () == -1)
+ {
+ fprintf (stdout, "oops: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ softServoSetup (0, 1, 2, 3, 4, 5, 6, 7) ;
+
+ softServoWrite (0, 0) ;
+/*
+ softServoWrite (1, 1000) ;
+ softServoWrite (2, 1100) ;
+ softServoWrite (3, 1200) ;
+ softServoWrite (4, 1300) ;
+ softServoWrite (5, 1400) ;
+ softServoWrite (6, 1500) ;
+ softServoWrite (7, 2200) ;
+*/
+
+ for (;;)
+ delay (10) ;
+
+}
diff --git a/examples/tone.c b/examples/tone.c
new file mode 100644
index 0000000..8b1fcd7
--- /dev/null
+++ b/examples/tone.c
@@ -0,0 +1,37 @@
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <softTone.h>
+
+#define RANGE 100
+#define NUM_LEDS 12
+
+int scale [8] = { 262, 294, 330, 349, 392, 440, 494, 525 } ;
+
+int main ()
+{
+ int i, j ;
+ char buf [80] ;
+
+ if (wiringPiSetup () == -1)
+ {
+ fprintf (stdout, "oops: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ softToneCreate (3) ;
+
+ for (;;)
+ {
+ for (i = 0 ; i < 8 ; ++i)
+ {
+ printf ("%3d\n", i) ;
+ softToneWrite (3, scale [i]) ;
+ delay (500) ;
+ }
+ }
+
+}
diff --git a/gpio/gpio.1 b/gpio/gpio.1
index be38791..c39e5dc 100644
--- a/gpio/gpio.1
+++ b/gpio/gpio.1
@@ -9,11 +9,11 @@
.PP
.B gpio
.B [ \-g ]
-.B read/write/pwm/mode ...
+.B read/write/wb/pwm/mode ...
.PP
.B gpio
.B [ \-p ]
-.B read/write/mode
+.B read/write/wb
.B ...
.PP
.B gpio
@@ -82,7 +82,14 @@
.TP
.B write <pin> <value>
-Write the given value (0 or 1) to the pin.
+Write the given value (0 or 1) to the pin. You need to set the pin
+to output mode first.
+
+.TP
+.B wb <value>
+Write the given byte to the 8 main GPIO pins. You can prefix it with 0x
+to specify a hexadecimal number. You need to set pins to output mode
+first.
.TP
.B readall
diff --git a/gpio/gpio.c b/gpio/gpio.c
index f019c1f..52fcb6f 100644
--- a/gpio/gpio.c
+++ b/gpio/gpio.c
@@ -40,14 +40,14 @@
# define FALSE (1==2)
#endif
-#define VERSION "1.4"
+#define VERSION "1.5"
static int wpMode ;
char *usage = "Usage: gpio -v\n"
" gpio -h\n"
- " gpio [-g] <read/write/pwm/mode> ...\n"
- " gpio [-p] <read/write/mode> ...\n"
+ " gpio [-g] <read/write/wb/pwm/mode> ...\n"
+ " gpio [-p] <read/write/wb> ...\n"
" gpio readall\n"
" gpio unexportall/exports ...\n"
" gpio export/edge/unexport ...\n"
@@ -133,7 +133,7 @@
static void doLoad (int argc, char *argv [])
{
- char *module ;
+ char *module1, *module2 ;
char cmd [80] ;
char *file1, *file2 ;
@@ -142,28 +142,36 @@
/**/ if (strcasecmp (argv [2], "spi") == 0)
{
- module = "spi_bcm2708" ;
+ module1 = "spidev" ;
+ module2 = "spi_bcm2708" ;
file1 = "/dev/spidev0.0" ;
file2 = "/dev/spidev0.1" ;
}
else if (strcasecmp (argv [2], "i2c") == 0)
{
- module = "i2c_bcm2708" ;
+ module1 = "i2c_dev" ;
+ module2 = "i2c_bcm2708" ;
file1 = "/dev/i2c-0" ;
file2 = "/dev/i2c-1" ;
}
else
_doLoadUsage (argv) ;
- if (!moduleLoaded (module))
+ if (!moduleLoaded (module1))
{
- sprintf (cmd, "modprobe %s", module) ;
+ sprintf (cmd, "modprobe %s", module1) ;
system (cmd) ;
}
- if (!moduleLoaded (module))
+ if (!moduleLoaded (module2))
{
- fprintf (stderr, "%s: Unable to load %s\n", argv [0], module) ;
+ sprintf (cmd, "modprobe %s", module2) ;
+ system (cmd) ;
+ }
+
+ if (!moduleLoaded (module2))
+ {
+ fprintf (stderr, "%s: Unable to load %s\n", argv [0], module2) ;
exit (1) ;
}
@@ -588,6 +596,7 @@
/*
* doGbw:
* gpio gbw channel value
+ * Gertboard Write - To the Analog output
*********************************************************************************
*/
@@ -629,6 +638,7 @@
/*
* doGbr:
* gpio gbr channel
+ * From the analog input
*********************************************************************************
*/
@@ -682,7 +692,12 @@
if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS)))
return ;
- val = atoi (argv [3]) ;
+ /**/ if ((strcasecmp (argv [3], "up") == 0) || (strcasecmp (argv [3], "on") == 0))
+ val = 1 ;
+ else if ((strcasecmp (argv [3], "down") == 0) || (strcasecmp (argv [3], "off") == 0))
+ val = 0 ;
+ else
+ val = atoi (argv [3]) ;
/**/ if (val == 0)
digitalWrite (pin, LOW) ;
@@ -690,6 +705,27 @@
digitalWrite (pin, HIGH) ;
}
+/*
+ * doWriteByte:
+ * gpio write value
+ *********************************************************************************
+ */
+
+static void doWriteByte (int argc, char *argv [])
+{
+ int val ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s wb value\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ val = (int)strtol (argv [2], NULL, 0) ;
+
+ digitalWriteByte (val) ;
+}
+
/*
* doRead:
@@ -936,11 +972,12 @@
// Check for wiring commands
- /**/ if (strcasecmp (argv [1], "readall" ) == 0) doReadall () ;
- else if (strcasecmp (argv [1], "read" ) == 0) doRead (argc, argv) ;
- else if (strcasecmp (argv [1], "write") == 0) doWrite (argc, argv) ;
- else if (strcasecmp (argv [1], "pwm" ) == 0) doPwm (argc, argv) ;
- else if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ;
+ /**/ if (strcasecmp (argv [1], "readall" ) == 0) doReadall () ;
+ else if (strcasecmp (argv [1], "read" ) == 0) doRead (argc, argv) ;
+ else if (strcasecmp (argv [1], "write") == 0) doWrite (argc, argv) ;
+ else if (strcasecmp (argv [1], "wb") == 0) doWriteByte (argc, argv) ;
+ else if (strcasecmp (argv [1], "pwm" ) == 0) doPwm (argc, argv) ;
+ else if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ;
else
{
fprintf (stderr, "%s: Unknown command: %s.\n", argv [0], argv [1]) ;
diff --git a/wiringPi/Makefile b/wiringPi/Makefile
index c0a39f9..e18a654 100644
--- a/wiringPi/Makefile
+++ b/wiringPi/Makefile
@@ -24,8 +24,12 @@
DYN_VERS_MAJ=1
DYN_VERS_MIN=0
+VERSION=$(DYN_VERS_MAJ).$(DYN_VERS_MIN)
+DESTDIR=/usr
+PREFIX=/local
+
STATIC=libwiringPi.a
-DYNAMIC=libwiringPi.so.$(DYN_VERS_MAJ).$(DYN_VERS_MIN)
+DYNAMIC=libwiringPi.so.$(VERSION)
#DEBUG = -g -O0
DEBUG = -O2
@@ -41,21 +45,22 @@
SRC = wiringPi.c wiringPiFace.c wiringSerial.c wiringShift.c \
gertboard.c \
piNes.c \
- lcd.c piHiPri.c piThread.c softPwm.c wiringPiSPI.c
+ lcd.c piHiPri.c piThread.c wiringPiSPI.c \
+ softPwm.c softServo.c softTone.c
OBJ = $(SRC:.c=.o)
-#all: $(STATIC) $(DYNAMIC)
-all: $(DYNAMIC)
+all: $(STATIC) $(DYNAMIC)
+#all: $(DYNAMIC)
$(STATIC): $(OBJ)
- @echo [Link (Static)]
+ @echo "[Link (Static)]"
@ar rcs $(STATIC) $(OBJ)
@ranlib $(STATIC)
- @size $(STATIC)
+# @size $(STATIC)
$(DYNAMIC): $(OBJ)
- @echo [Link]
+ @echo "[Link (Dynamic)]"
@$(CC) -shared -Wl,-soname,libwiringPi.so.1 -o libwiringPi.so.1.0 -lpthread $(OBJ)
.c.o:
@@ -74,34 +79,38 @@
.PHONEY: install
install: $(TARGET)
@echo "[Install]"
- @install -m 0755 -d /usr/local/lib
- @install -m 0755 -d /usr/local/include
- @install -m 0644 wiringPi.h /usr/local/include
- @install -m 0644 wiringSerial.h /usr/local/include
- @install -m 0644 wiringShift.h /usr/local/include
- @install -m 0644 gertboard.h /usr/local/include
- @install -m 0644 piNes.h /usr/local/include
- @install -m 0644 softPwm.h /usr/local/include
- @install -m 0644 lcd.h /usr/local/include
- @install -m 0644 wiringPiSPI.h /usr/local/include
-# @install -m 0644 libwiringPi.a /usr/local/lib
- @install -m 0755 libwiringPi.so.1.0 /usr/local/lib
- @ln -sf /usr/local/lib/libwiringPi.so.1.0 /usr/local/lib/libwiringPi.so
- @ln -sf /usr/local/lib/libwiringPi.so.1.0 /usr/local/lib/libwiringPi.so.1
+ @install -m 0755 -d $(DESTDIR)$(PREFIX)/lib
+ @install -m 0755 -d $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringPi.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringSerial.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringShift.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 gertboard.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 piNes.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 softPwm.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 softServo.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 softTone.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 lcd.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringPiSPI.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0755 libwiringPi.a $(DESTDIR)$(PREFIX)/lib
+ @install -m 0755 libwiringPi.so.$(VERSION) $(DESTDIR)$(PREFIX)/lib
+ @ln -sf $(DESTDIR)$(PREFIX)/lib/libwiringPi.so.$(VERSION) $(DESTDIR)/lib/libwiringPi.so
+ @ln -sf $(DESTDIR)$(PREFIX)/lib/libwiringPi.so.$(VERSION) $(DESTDIR)/lib/libwiringPi.so.1
@ldconfig
.PHONEY: uninstall
uninstall:
@echo "[UnInstall]"
- @rm -f /usr/local/include/wiringPi.h
- @rm -f /usr/local/include/wiringSerial.h
- @rm -f /usr/local/include/wiringShift.h
- @rm -f /usr/local/include/gertboard.h
- @rm -f /usr/local/include/piNes.h
- @rm -f /usr/local/include/softPwm.h
- @rm -f /usr/local/include/lcd.h
- @rm -f /usr/local/include/wiringPiSPI.h
- @rm -f /usr/local/lib/libwiringPi.*
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringPi.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringSerial.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringShift.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/gertboard.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/piNes.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/softPwm.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/softServo.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/softTone.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/lcd.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringPiSPI.h
+ @rm -f $(DESTDIR)$(PREFIX)/lib/libwiringPi.*
@ldconfig
diff --git a/wiringPi/softServo.c b/wiringPi/softServo.c
new file mode 100644
index 0000000..a6ff1fb
--- /dev/null
+++ b/wiringPi/softServo.c
@@ -0,0 +1,202 @@
+/*
+ * softServo.c:
+ * Provide N channels of software driven PWM suitable for RC
+ * servo motors.
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+//#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <sys/time.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "softServo.h"
+
+// RC Servo motors are a bit of an oddity - designed in the days when
+// radio control was experimental and people were tryin to make
+// things as simple as possible as it was all very expensive...
+//
+// So... To drive an RC Servo motor, you need to send it a modified PWM
+// signal - it needs anything from 1ms to 2ms - with 1ms meaning
+// to move the server fully left, and 2ms meaning to move it fully
+// right. Then you need a long gap before sending the next pulse.
+// The reason for this is that you send a multiplexed stream of these
+// pulses up the radio signal into the reciever which de-multiplexes
+// them into the signals for each individual servo. Typically there
+// might be 8 channels, so you need at least 8 "slots" of 2mS pulses
+// meaning the entire frame must fit into a 16mS slot - which would
+// then be repeated...
+//
+// In practice we have a total slot width of about 20mS - so we're sending 50
+// updates per second to each servo.
+//
+// In this code, we don't need to be too fussy about the gap as we're not doing
+// the multipexing, but it does need to be at least 10mS, and preferably 16
+// from what I've been able to determine.
+
+
+#define MAX_SERVOS 8
+
+static int pinMap [MAX_SERVOS] ; // Keep track of our pins
+static int pulseWidth [MAX_SERVOS] ; // microseconds
+
+
+/*
+ * softServoThread:
+ * Thread to do the actual Servo PWM output
+ *********************************************************************************
+ */
+
+static PI_THREAD (softServoThread)
+{
+ register int i, j, k, m, tmp ;
+ int lastDelay, pin, servo ;
+
+ int myDelays [MAX_SERVOS] ;
+ int myPins [MAX_SERVOS] ;
+
+ struct timeval tNow, tStart, tPeriod, tGap, tTotal ;
+ struct timespec tNs ;
+
+ tTotal.tv_sec = 0 ;
+ tTotal.tv_usec = 8000 ;
+
+ piHiPri (50) ;
+
+ for (;;)
+ {
+ gettimeofday (&tStart, NULL) ;
+
+ memcpy (myDelays, pulseWidth, sizeof (myDelays)) ;
+ memcpy (myPins, pinMap, sizeof (myPins)) ;
+
+// Sort the delays (& pins), shortest first
+
+ for (m = MAX_SERVOS / 2 ; m > 0 ; m /= 2 )
+ for (j = m ; j < MAX_SERVOS ; ++j)
+ for (i = j - m ; i >= 0 ; i -= m)
+ {
+ k = i + m ;
+ if (myDelays [k] >= myDelays [i])
+ break ;
+ else // Swap
+ {
+ tmp = myDelays [i] ; myDelays [i] = myDelays [k] ; myDelays [k] = tmp ;
+ tmp = myPins [i] ; myPins [i] = myPins [k] ; myPins [k] = tmp ;
+ }
+ }
+
+// All on
+
+ lastDelay = 0 ;
+ for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+ {
+ if ((pin = myPins [servo]) == -1)
+ continue ;
+
+ digitalWrite (pin, HIGH) ;
+ myDelays [servo] = myDelays [servo] - lastDelay ;
+ lastDelay += myDelays [servo] ;
+ }
+
+// Now loop, turning them all off as required
+
+ for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+ {
+ if ((pin = myPins [servo]) == -1)
+ continue ;
+
+ delayMicroseconds (myDelays [servo]) ;
+ digitalWrite (pin, LOW) ;
+ }
+
+// Wait until the end of an 8mS time-slot
+
+ gettimeofday (&tNow, NULL) ;
+ timersub (&tNow, &tStart, &tPeriod) ;
+ timersub (&tTotal, &tPeriod, &tGap) ;
+ tNs.tv_sec = tGap.tv_sec ;
+ tNs.tv_nsec = tGap.tv_usec * 1000 ;
+ nanosleep (&tNs, NULL) ;
+ }
+
+ return NULL ;
+}
+
+
+/*
+ * softServoWrite:
+ * Write a Servo value to the given pin
+ *********************************************************************************
+ */
+
+void softServoWrite (int servoPin, int value)
+{
+ int servo ;
+
+ servoPin &= 63 ;
+
+ /**/ if (value < -250)
+ value = -250 ;
+ else if (value > 1250)
+ value = 1250 ;
+
+ for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+ if (pinMap [servo] == servoPin)
+ pulseWidth [servo] = value + 1000 ; // uS
+}
+
+
+/*
+ * softServoSetup:
+ * Setup the software servo system
+ *********************************************************************************
+ */
+
+int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7)
+{
+ int servo ;
+
+ if (p0 != -1) { pinMode (p0, OUTPUT) ; digitalWrite (p0, LOW) ; }
+ if (p1 != -1) { pinMode (p1, OUTPUT) ; digitalWrite (p1, LOW) ; }
+ if (p2 != -1) { pinMode (p2, OUTPUT) ; digitalWrite (p2, LOW) ; }
+ if (p3 != -1) { pinMode (p3, OUTPUT) ; digitalWrite (p3, LOW) ; }
+ if (p4 != -1) { pinMode (p4, OUTPUT) ; digitalWrite (p4, LOW) ; }
+ if (p5 != -1) { pinMode (p5, OUTPUT) ; digitalWrite (p5, LOW) ; }
+ if (p6 != -1) { pinMode (p6, OUTPUT) ; digitalWrite (p6, LOW) ; }
+ if (p7 != -1) { pinMode (p7, OUTPUT) ; digitalWrite (p7, LOW) ; }
+
+ pinMap [0] = p0 ;
+ pinMap [1] = p1 ;
+ pinMap [2] = p2 ;
+ pinMap [3] = p3 ;
+ pinMap [4] = p4 ;
+ pinMap [5] = p5 ;
+ pinMap [6] = p6 ;
+ pinMap [7] = p7 ;
+
+ for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+ pulseWidth [servo] = 1500 ; // Mid point
+
+ return piThreadCreate (softServoThread) ;
+}
diff --git a/wiringPi/softServo.h b/wiringPi/softServo.h
new file mode 100644
index 0000000..794cf55
--- /dev/null
+++ b/wiringPi/softServo.h
@@ -0,0 +1,35 @@
+/*
+ * softServo.h:
+ * Provide N channels of software driven PWM suitable for RC
+ * servo motors.
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern void softServoWrite (int pin, int value) ;
+extern int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/wiringPi/softTone.c b/wiringPi/softTone.c
new file mode 100644
index 0000000..d14c2a2
--- /dev/null
+++ b/wiringPi/softTone.c
@@ -0,0 +1,119 @@
+/*
+ * softTone.c:
+ * For that authentic retro sound...
+ * Er... A little experiment to produce tones out of a Pi using
+ * one (or 2) GPIO pins and a piezeo "speaker" element.
+ * (Or a high impedance speaker, but don'y blame me if you blow-up
+ * the GPIO pins!)
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "softTone.h"
+
+#define MAX_PINS 64
+
+#define PULSE_TIME 100
+
+static int frewqs [MAX_PINS] ;
+
+static int newPin = -1 ;
+
+
+/*
+ * softToneThread:
+ * Thread to do the actual PWM output
+ *********************************************************************************
+ */
+
+static PI_THREAD (softToneThread)
+{
+ int pin, frewq, halfPeriod ;
+
+ pin = newPin ;
+ newPin = -1 ;
+
+ piHiPri (50) ;
+
+ for (;;)
+ {
+ frewq = frewqs [pin] ;
+ if (frewq != 0)
+ {
+ halfPeriod = 500000 / frewq ;
+
+ digitalWrite (pin, HIGH) ;
+ delayMicroseconds (halfPeriod) ;
+
+ digitalWrite (pin, LOW) ;
+ delayMicroseconds (halfPeriod) ;
+ }
+ }
+
+ return NULL ;
+}
+
+
+/*
+ * softToneWrite:
+ * Write a frequency value to the given pin
+ *********************************************************************************
+ */
+
+void softToneWrite (int pin, int frewq)
+{
+ pin &= 63 ;
+
+ /**/ if (frewq < 0)
+ frewq = 0 ;
+ else if (frewq > 5000) // Max 5KHz
+ frewq = 5000 ;
+
+ frewqs [pin] = frewq ;
+}
+
+
+/*
+ * softToneCreate:
+ * Create a new tone thread.
+ *********************************************************************************
+ */
+
+int softToneCreate (int pin)
+{
+ int res ;
+
+ pinMode (pin, OUTPUT) ;
+ digitalWrite (pin, LOW) ;
+
+ frewqs [pin] = 0 ;
+
+ newPin = pin ;
+ res = piThreadCreate (softToneThread) ;
+
+ while (newPin != -1)
+ delay (1) ;
+
+ return res ;
+}
diff --git a/wiringPi/softTone.h b/wiringPi/softTone.h
new file mode 100644
index 0000000..80c64fe
--- /dev/null
+++ b/wiringPi/softTone.h
@@ -0,0 +1,38 @@
+/*
+ * softTone.c:
+ * For that authentic retro sound...
+ * Er... A little experiment to produce tones out of a Pi using
+ * one (or 2) GPIO pins and a piezeo "speaker" element.
+ * (Or a high impedance speaker, but don'y blame me if you blow-up
+ * the GPIO pins!)
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int softToneCreate (int pin) ;
+extern void softToneWrite (int pin, int frewq) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/wiringPi/wiringPi.c b/wiringPi/wiringPi.c
index 9fe3ab1..df4d969 100644
--- a/wiringPi/wiringPi.c
+++ b/wiringPi/wiringPi.c
@@ -77,6 +77,7 @@
void (*pinMode) (int pin, int mode) ;
void (*pullUpDnControl) (int pin, int pud) ;
void (*digitalWrite) (int pin, int value) ;
+void (*digitalWriteByte) (int value) ;
void (*pwmWrite) (int pin, int value) ;
void (*setPadDrive) (int group, int value) ;
int (*digitalRead) (int pin) ;
@@ -399,15 +400,15 @@
* Revision is currently 1 or 2. -1 is returned on error.
*
* Much confusion here )-:
- * Seems there ar esome boards with 0000 in them (mistake in manufacture)
- * and some board with 0005 in them (another mistake in manufacture).
+ * Seems there are some boards with 0000 in them (mistake in manufacture)
+ * and some board with 0005 in them (another mistake in manufacture?)
* So the distinction between boards that I can see is:
* 0000 - Error
* 0001 - Not used
* 0002 - Rev 1
* 0003 - Rev 1
* 0004 - Rev 2
- * 0005 - Rev 2
+ * 0005 - Rev 2 (but error)
* 0006 - Rev 2
* 000f - Rev 2 + 512MB
*
@@ -499,6 +500,8 @@
void pinModeGpio (int pin, int mode)
{
+// register int barrier ;
+
int fSel, shift, alt ;
pin &= 63 ;
@@ -519,30 +522,40 @@
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
+
// Page 107 of the BCM Peripherals manual talks about the GPIO clocks,
// but I'm assuming (hoping!) that this applies to other clocks too.
*(pwm + PWM_CONTROL) = 0 ; // Stop PWM
- *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
- delayMicroseconds (110) ; // See comments in pwmSetClockWPi
- (void)*(pwm + PWM_CONTROL) ;
- while ((*(pwm + PWM_CONTROL) & 0x80) != 0) // Wait for clock to be !BUSY
+ *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
+
+ while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY
delayMicroseconds (1) ;
*(clk + PWMCLK_DIV) = BCM_PASSWORD | (32 << 12) ; // set pwm div to 32 (19.2/32 = 600KHz)
*(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x11 ; // enable clk
-// Default range regsiter of 1024
+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
- *(pwm + PWM0_DATA) = 0 ; *(pwm + PWM0_RANGE) = 1024 ;
- *(pwm + PWM1_DATA) = 0 ; *(pwm + PWM1_RANGE) = 1024 ;
+// Default range register of 1024
+
+ *(pwm + PWM0_RANGE) = 1024 ; delayMicroseconds (10) ;
+ *(pwm + PWM1_RANGE) = 1024 ; delayMicroseconds (10) ;
+ *(pwm + PWM0_DATA) = 0 ; delayMicroseconds (10) ;
+ *(pwm + PWM1_DATA) = 0 ; delayMicroseconds (10) ;
// Enable PWMs in balanced mode (default)
*(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ;
+
+ delay (100) ;
}
+
// When we change mode of any pin, we remove the pull up/downs
// Or we used to... Hm. Commented out now because for some wieird reason,
// it seems to block subsequent attempts to set the pull up/downs and I've
@@ -629,7 +642,7 @@
*(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
delayMicroseconds (110) ; // prevents clock going sloooow
- while ((*(pwm + PWM_CONTROL) & 0x80) != 0) // Wait for clock to be !BUSY
+ while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY
delayMicroseconds (1) ;
*(clk + PWMCLK_DIV) = BCM_PASSWORD | (divisor << 12) ;
@@ -705,6 +718,50 @@
/*
+ * digitalWriteByte:
+ * Write an 8-bit byte to the first 8 GPIO pins - try to do it as
+ * fast as possible.
+ * However it still needs 2 operations to set the bits, so any external
+ * hardware must not rely on seeing a change as there will be a change
+ * to set the outputs bits to zero, then another change to set the 1's
+ *********************************************************************************
+ */
+
+void digitalWriteByteGpio (int value)
+{
+ uint32_t pinSet = 0 ;
+ uint32_t pinClr = 0 ;
+ int mask = 1 ;
+ int pin ;
+
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ if ((value & mask) == 0)
+ pinClr |= (1 << pinToGpio [pin]) ;
+ else
+ pinSet |= (1 << pinToGpio [pin]) ;
+
+ *(gpio + gpioToGPCLR [0]) = pinClr ;
+ *(gpio + gpioToGPSET [0]) = pinSet ;
+
+ mask <<= 1 ;
+ }
+}
+
+void digitalWriteByteSys (int value)
+{
+ int mask = 1 ;
+ int pin ;
+
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ digitalWriteSys (pinToGpio [pin], value & mask) ;
+ mask <<= 1 ;
+ }
+}
+
+
+/*
* pwmWrite:
* Set an output PWM value
*********************************************************************************
@@ -915,6 +972,9 @@
* somewhat sub-optimal in that it uses 100% CPU, something not an issue
* in a microcontroller, but under a multi-tasking, multi-user OS, it's
* wastefull, however we've no real choice )-:
+ *
+ * Plan B: It seems all might not be well with that plan, so changing it
+ * to use gettimeofday () and poll on that instead...
*********************************************************************************
*/
@@ -930,16 +990,31 @@
void delayMicrosecondsHard (unsigned int howLong)
{
+#ifdef HARD_TIMER
+ volatile unsigned int dummy ;
+
*(timer + TIMER_LOAD) = howLong ;
*(timer + TIMER_IRQ_CLR) = 0 ;
- while (*timerIrqRaw == 0)
- ;
+ dummy = *timerIrqRaw ;
+ while (dummy == 0)
+ dummy = *timerIrqRaw ;
+#else
+ struct timeval tNow, tLong, tEnd ;
+
+ gettimeofday (&tNow, NULL) ;
+ tLong.tv_sec = howLong / 1000000 ;
+ tLong.tv_usec = howLong % 1000000 ;
+ timeradd (&tNow, &tLong, &tEnd) ;
+
+ while (timercmp (&tNow, &tEnd, <))
+ gettimeofday (&tNow, NULL) ;
+#endif
}
void delayMicrosecondsWPi (unsigned int howLong)
{
- struct timespec sleeper, dummy ;
+ struct timespec sleeper ;
/**/ if (howLong == 0)
return ;
@@ -949,7 +1024,7 @@
{
sleeper.tv_sec = 0 ;
sleeper.tv_nsec = (long)(howLong * 1000) ;
- nanosleep (&sleeper, &dummy) ;
+ nanosleep (&sleeper, NULL) ;
}
}
@@ -998,6 +1073,7 @@
pinMode = pinModeWPi ;
pullUpDnControl = pullUpDnControlWPi ;
digitalWrite = digitalWriteWPi ;
+ digitalWriteByte = digitalWriteByteGpio ; // Same code
pwmWrite = pwmWriteWPi ;
setPadDrive = setPadDriveWPi ;
digitalRead = digitalReadWPi ;
@@ -1166,6 +1242,7 @@
pinMode = pinModeGpio ;
pullUpDnControl = pullUpDnControlGpio ;
digitalWrite = digitalWriteGpio ;
+ digitalWriteByte = digitalWriteByteGpio ;
pwmWrite = pwmWriteGpio ;
setPadDrive = setPadDriveGpio ;
digitalRead = digitalReadGpio ;
@@ -1190,6 +1267,7 @@
int wiringPiSetupSys (void)
{
+ int boardRev ;
int pin ;
struct timeval tv ;
char fName [128] ;
@@ -1200,6 +1278,7 @@
pinMode = pinModeSys ;
pullUpDnControl = pullUpDnControlSys ;
digitalWrite = digitalWriteSys ;
+ digitalWriteByte = digitalWriteByteSys ;
pwmWrite = pwmWriteSys ;
setPadDrive = setPadDriveSys ;
digitalRead = digitalReadSys ;
@@ -1209,6 +1288,14 @@
pwmSetRange = pwmSetRangeSys ;
pwmSetClock = pwmSetClockSys ;
+ if ((boardRev = piBoardRev ()) < 0)
+ return -1 ;
+
+ if (boardRev == 1)
+ pinToGpio = pinToGpioR1 ;
+ else
+ pinToGpio = pinToGpioR2 ;
+
// Open and scan the directory, looking for exported GPIOs, and pre-open
// the 'value' interface to speed things up for later
diff --git a/wiringPi/wiringPi.h b/wiringPi/wiringPi.h
index cab3080..6a7278e 100644
--- a/wiringPi/wiringPi.h
+++ b/wiringPi/wiringPi.h
@@ -70,6 +70,7 @@
extern void (*pinMode) (int pin, int mode) ;
extern void (*pullUpDnControl) (int pin, int pud) ;
extern void (*digitalWrite) (int pin, int value) ;
+extern void (*digitalWriteByte) (int value) ;
extern void (*pwmWrite) (int pin, int value) ;
extern void (*setPadDrive) (int group, int value) ;
extern int (*digitalRead) (int pin) ;
diff --git a/wiringPi/wiringPiFace.c b/wiringPi/wiringPiFace.c
index 2425413..ac3c6fa 100644
--- a/wiringPi/wiringPiFace.c
+++ b/wiringPi/wiringPiFace.c
@@ -182,6 +182,11 @@
writeByte (GPIOA, dataOutRegister) ;
}
+void digitalWriteBytePiFace (int value)
+{
+ writeByte (GPIOA, value) ;
+}
+
void digitalWritePiFaceSpecial (int pin, int value)
{
@@ -318,12 +323,13 @@
writeByte (GPIOA, 0x00) ; // Set all outptus off
writeByte (GPPUB, 0x00) ; // Disable any pull-ups on port B
- pinMode = pinModePiFace ;
- pullUpDnControl = pullUpDnControlPiFace ;
- digitalWrite = digitalWritePiFace ;
- pwmWrite = pwmWritePiFace ;
- digitalRead = digitalReadPiFace ;
- waitForInterrupt = waitForInterruptPiFace ;
+ pinMode = pinModePiFace ;
+ pullUpDnControl = pullUpDnControlPiFace ;
+ digitalWrite = digitalWritePiFace ;
+ digitalWriteByte = digitalWriteBytePiFace ;
+ pwmWrite = pwmWritePiFace ;
+ digitalRead = digitalReadPiFace ;
+ waitForInterrupt = waitForInterruptPiFace ;
return 0 ;
}
@@ -344,12 +350,13 @@
if (x != 0)
return x ;
- pinMode = pinModePiFace ;
+ pinMode = pinModePiFace ;
pullUpDnControl = pullUpDnControlPiFaceSpecial ;
digitalWrite = digitalWritePiFaceSpecial ;
- pwmWrite = pwmWritePiFace ;
- digitalRead = digitalReadPiFace ;
- waitForInterrupt = waitForInterruptPiFace ;
+ digitalWriteByte = digitalWriteBytePiFace ;
+ pwmWrite = pwmWritePiFace ;
+ digitalRead = digitalReadPiFace ;
+ waitForInterrupt = waitForInterruptPiFace ;
return 0 ;
}
diff --git a/wiringPi/wiringPiSPI.c b/wiringPi/wiringPiSPI.c
index f2e3000..4441498 100644
--- a/wiringPi/wiringPiSPI.c
+++ b/wiringPi/wiringPiSPI.c
@@ -52,7 +52,7 @@
int wiringPiSPIGetFd (int channel)
{
- return spiFds [channel &1] ;
+ return spiFds [channel & 1] ;
}