diff options
| author | tslil clingman <tslil@posteo.de> | 2021-01-20 01:09:22 -0500 |
|---|---|---|
| committer | tslil <tslil@posteo.de> | 2026-08-28 19:37:41 +0100 |
| commit | 3b9c9d71f8a30d8a38c78f49cb19f616040a9dc5 (patch) | |
| tree | c61d55be0abd9a26f44ca3adce9bd9e8b71e0f63 | |
| parent | 277a2c0984a9bbe7e966d62ae05445c494d09455 (diff) | |
Closing in on lcd!
| -rw-r--r-- | .clang_complete | 1 | ||||
| -rw-r--r-- | 3rd-party/LCDHD44780.c | 381 | ||||
| -rw-r--r-- | 3rd-party/LCDHD44780.h | 195 | ||||
| -rw-r--r-- | 3rd-party/bcm2835-COPYING | 674 | ||||
| -rw-r--r-- | 3rd-party/bcm2835.c | 2029 | ||||
| -rw-r--r-- | 3rd-party/bcm2835.h | 2029 | ||||
| -rw-r--r-- | Makefile | 2 | ||||
| -rw-r--r-- | config-buildroot (renamed from buildroot-config) | 0 | ||||
| -rw-r--r-- | src/ct1986.c | 53 |
9 files changed, 29 insertions, 5335 deletions
diff --git a/.clang_complete b/.clang_complete index e9c2aee..3e2e760 100644 --- a/.clang_complete +++ b/.clang_complete @@ -1,2 +1 @@ -Iinclude/ --I3rd-party/ diff --git a/3rd-party/LCDHD44780.c b/3rd-party/LCDHD44780.c deleted file mode 100644 index 8a01a20..0000000 --- a/3rd-party/LCDHD44780.c +++ /dev/null @@ -1,381 +0,0 @@ -/*##############################################################*/ -/* Author: Marcus Nasarek */ -/* File: LCDH44780.c */ -/* Compile with: */ -/* gcc -Wall -c LCDHD44780.c -o LCDHD44780.o */ -/* License: */ -/* */ -/* This program is free software; you can redistribute it */ -/* and/or modify it under the terms of the GNU General */ -/* Public License as published by the Free Software */ -/* Foundation; either version 3 of the License, or */ -/* (at your option) any later version. */ -/* */ -/* This program is distributed in the hope that it will */ -/* be useful, but WITHOUT ANY WARRANTY; without even the */ -/* implied warranty of MERCHANTABILITY or */ -/* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General */ -/* Public License for more details. */ -/* */ -/* You should have received a copy of the GNU General */ -/* Public License along with this program; if not, */ -/* see <http://www.gnu.org/licenses/>. */ -/* */ -/*##############################################################*/ - -#include "LCDHD44780.h" - -void init_gpio(void) -{ - // Set all pins to output - bcm2835_gpio_fsel(LCD_RS, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(LCD_D4, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(LCD_D5, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(LCD_D6, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(LCD_D7, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(LCD_E, BCM2835_GPIO_FSEL_OUTP); - - bcm2835_delayMicroseconds(C_DELAY); - - // Set all pins to LOW - bcm2835_gpio_clr(LCD_RS); - bcm2835_gpio_clr(LCD_D4); - bcm2835_gpio_clr(LCD_D5); - bcm2835_gpio_clr(LCD_D5); - bcm2835_gpio_clr(LCD_D7); - bcm2835_gpio_clr(LCD_E); - -} - -void pulse_e(void) -{ - // Toogle ENABLE pin in us - // bcm2835_gpio_fsel(LCD_E, BCM2835_GPIO_FSEL_OUTP); - bcm2835_delayMicroseconds(E_DELAY); - bcm2835_gpio_set(LCD_E); - bcm2835_delayMicroseconds(E_DATA_PULSE); - bcm2835_gpio_clr(LCD_E); - (LCD_DATA) ? bcm2835_delayMicroseconds(E_DATA_PULSE) :bcm2835_delayMicroseconds(E_CMD_PULSE); -} - -void init_lcd(void) -{ - init_gpio(); - - /* - The busy flag (BF) is kept in the busy state - until the initialization ends (BF = 1). The - busy state lasts for 10 ms after VCC rises to 4.5 V - */ - - /* - --- symbols: - I/D = 1: Increment - I/D = 0: Decrement - S = 1: Accompanies display shift - S/C = 1: Display shift - S/C = 0: Cursor move - R/L = 1: Shift to the right - R/L = 0: Shift to the left - DL = 1: 8 bits, DL = 0: 4 bits - N = 1: 2 lines, N = 0: 1 line - F = 1: 5 - × - 10 dots, F = 0: 5 - × - 8 dots - BF = 1: Internally operating - BF = 0: Instructions acceptable - */ - - /* - --- Display init after turn on: - 1. Display clear - 2. Function set: - DL = 1; 8-bit interface data - N = 0; 1-line display - F = 0; 5×8 dot character font - 3. Display on/off control: - D = 0; Display off - C = 0; Cursor off - B = 0; Blinking off - 4. Entry mode set: - I/D = 1; Increment by 1 - S = 0; No shift - */ - - // begin of "warming up" - // see fig 24 on page 46 of datasheet - - // Function set - - // Sets interface data length - // (DL), number of display lines - // (N), and character font (F). - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 0 0 1 DL N F - - - // DL = 0 --> 4 bit data length (1 = 8 bit) - // N = 1 --> 2 line display (0 = 1 line) - // F = 0 --> 5x8 dot character font - // 0x33 = - // 0 0 0 0 1 1 0 0 1 1 - // --> ? - write_to_lcd(0x33, LCD_CMD); - bcm2835_delayMicroseconds(100); - - // Function set - - // Sets interface data length - // (DL), number of display lines - // (N), and character font (F). - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 0 0 1 DL N F - - - // DL = 0 --> 4 bit data length (1 = 8 bit) - // N = 1 --> 2 line display (0 = 1 line) - // F = 0 --> 5x8 dot character font - // 0x32 = - // 0 0 0 0 1 1 0 0 1 0 - // --> ? - write_to_lcd(0x32, LCD_CMD); - bcm2835_delayMicroseconds(R_EXEC_TIME); - - // end of "warming up" - - lcd_function_set(TWO_LINES); - - lcd_control(DISPLAY_ON); - - lcd_entry_mode(ADDR_INCREMENT); - - clear_lcd(); - -} - -void lcd_function_set(uint8_t control_flags) -{ - // Function set - - // Sets interface data length - // (DL), number of display lines - // (N), and character font (F). - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 0 0 1 DL N F - - - // DL = 0 --> 4 bit data length (1 = 8 bit) - // N = 1 --> 2 line display (0 = 1 line) - // F = 0 --> 5x8 dot character font - // F = 1 --> 5x10 dot character font - // 0x28 = - // 0 0 0 0 1 0 1 0 0 0 - write_to_lcd(LCD_FUNCTION_SET | control_flags, LCD_CMD); - bcm2835_delayMicroseconds(R_EXEC_TIME); -} - -void lcd_control(uint8_t control_flags) -{ - // Display on/off control - - // Sets entire display (D) on/off, - // cursor on/off (C), and - // blinking of cursor position - // character (B). - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 0 0 0 0 1 D C B - // D = 1 --> display on - // C = 0 --> cursor off - // B = 0 --> blinking off - write_to_lcd(LCD_CONTROL | control_flags, LCD_CMD); - bcm2835_delayMicroseconds(R_EXEC_TIME); -} - -void lcd_shift_control(uint8_t control_flags) -{ - // Cursor or display shift - - // Moves the cursor and shifts - // display without chaning - // DDRAM contents. - // Execution time 37us - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 0 0 0 1 S/C R/L - - - // S/C = cursor/display shift - // S/C = 0 --> cursor shift - // R/L = shift direction - // R/L = 1 --> shift to right - write_to_lcd(CURSOR_DISPLAY_SHIFT | control_flags, LCD_CMD); - bcm2835_delayMicroseconds(R_EXEC_TIME); -} - -void lcd_entry_mode(uint8_t control_flags) -{ - // Entry mode set - - // Sets cursor move direction - // and specifies display shift. - // These operations are - // performed during data write - // and read. - // Execution time 37us - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 0 0 0 0 0 1 I/D S - // I/D = increment/decrement address pointer - // I/D = 1 --> increment - // S = 0 --> no shift - write_to_lcd(LCD_ENTRY_MODE | control_flags, LCD_CMD); - bcm2835_delayMicroseconds(R_EXEC_TIME); -} - -void clear_lcd(void) { - // Clear display - - // Clears entire display and - // sets DDRAM address 0 in - // address counter: - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 0 0 0 0 0 0 0 1 - write_to_lcd(0x01, LCD_CMD); - bcm2835_delayMicroseconds(R_EXEC_TIME); -} - -void return_home(void) -{ - // Return home - - // Sets DDRAM address to 0 - // in address counter. Also - // returns display from being - // shifted to original position - // DDRAM contents remains unchanged - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 0 0 0 0 0 0 1 - - write_to_lcd(0x02, LCD_CMD); - bcm2835_delayMicroseconds(R_EXEC_TIME); -} - - -void display_off(void) -{ - lcd_control(DISPLAY_OFF); -} - -void show_cursor(bool on) -{ - uint8_t cursor_flag; - cursor_flag = ( on ? CURSOR_ON : 0x00); - lcd_control(DISPLAY_ON | cursor_flag); -} - -void cursor_blinking(bool on) -{ - uint8_t blinking_flag; - blinking_flag = ( on ? BLINKING_ON : 0x00); - lcd_control(DISPLAY_ON | blinking_flag); -} - -void set_cursor(uint8_t addr) -{ - // Set DDRAM address - // RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 - // 0 0 1 ADD ADD ADD ADD ADD ADD ADD - write_to_lcd(addr, LCD_CMD); - bcm2835_delayMicroseconds(R_EXEC_TIME); - // fprintf(stdout,"cursor on addr: 0x%0x\n", addr); -} - -void shift_cursor(uint8_t direction) -{ - lcd_shift_control(CURSOR_SHIFT | direction); -} - -void shift_display(uint8_t direction) -{ - lcd_shift_control(DISPLAY_SHIFT | direction); -} - -void write_to_lcd(uint8_t byte, uint8_t mode) -{ - switch (mode) { - case LCD_CMD: - bcm2835_gpio_clr(LCD_RS); - // fprintf(stdout, "Set RS to cmd mode\n"); - break; - case LCD_DATA: - bcm2835_gpio_set(LCD_RS); - // fprintf(stdout, "Set RS to data mode for '%c'\n", byte); - break; - default: - // fprintf(stderr, "mode for setting GPIO pin unknown: %i\n", mode); - exit(EXIT_FAILURE); - } - - // write high bits - bcm2835_gpio_clr(LCD_D4); - bcm2835_gpio_clr(LCD_D5); - bcm2835_gpio_clr(LCD_D6); - bcm2835_gpio_clr(LCD_D7); - - if ((byte & 0x10) == 0x10) { - bcm2835_gpio_set(LCD_D4); - } - if ((byte & 0x20) == 0x20) { - bcm2835_gpio_set(LCD_D5); - } - if ((byte & 0x40) == 0x40) { - bcm2835_gpio_set(LCD_D6); - } - if ((byte & 0x80) == 0x80) { - bcm2835_gpio_set(LCD_D7); - } - - // Toogle ENABLE pin in us - pulse_e(); - - // write low bits - bcm2835_gpio_clr(LCD_D4); - bcm2835_gpio_clr(LCD_D5); - bcm2835_gpio_clr(LCD_D6); - bcm2835_gpio_clr(LCD_D7); - - if ((byte & 0x01) == 0x01) { - bcm2835_gpio_set(LCD_D4); - } - if ((byte & 0x02) == 0x02) { - bcm2835_gpio_set(LCD_D5); - } - if ((byte & 0x04) == 0x04) { - bcm2835_gpio_set(LCD_D6); - } - if ((byte & 0x08) == 0x08) { - bcm2835_gpio_set(LCD_D7); - } - - pulse_e(); - -} - -void write_string(char *str) -{ - uint16_t i; - uint8_t len = 0; - - len = (strlen(str) > LCD_WIDTH ? LCD_WIDTH : strlen(str)); - - for (i=0; i<len;i++) { - write_to_lcd(str[i], LCD_DATA); - } -} - -void gpio_reset(void) -{ - // bcm2835_gpio_fsel(LCD_RS, BCM2835_GPIO_PUD_OFF); - // bcm2835_gpio_fsel(LCD_E, BCM2835_GPIO_PUD_OFF); - // bcm2835_gpio_fsel(LCD_D4, BCM2835_GPIO_PUD_OFF); - // bcm2835_gpio_fsel(LCD_D5, BCM2835_GPIO_PUD_OFF); - // bcm2835_gpio_fsel(LCD_D6, BCM2835_GPIO_PUD_OFF); - // bcm2835_gpio_fsel(LCD_D7, BCM2835_GPIO_PUD_OFF); - - // bcm2835_gpio_fsel(LCD_RS, BCM2835_GPIO_FSEL_INPT); - // bcm2835_gpio_fsel(LCD_E, BCM2835_GPIO_FSEL_INPT); - // bcm2835_gpio_fsel(LCD_D4, BCM2835_GPIO_FSEL_INPT); - // bcm2835_gpio_fsel(LCD_D5, BCM2835_GPIO_FSEL_INPT); - // bcm2835_gpio_fsel(LCD_D6, BCM2835_GPIO_FSEL_INPT); - // bcm2835_gpio_fsel(LCD_D7, BCM2835_GPIO_FSEL_INPT); - - bcm2835_gpio_clr(LCD_RS); - bcm2835_gpio_clr(LCD_E); - bcm2835_gpio_clr(LCD_D4); - bcm2835_gpio_clr(LCD_D5); - bcm2835_gpio_clr(LCD_D6); - bcm2835_gpio_clr(LCD_D7); -} diff --git a/3rd-party/LCDHD44780.h b/3rd-party/LCDHD44780.h deleted file mode 100644 index 8e2e953..0000000 --- a/3rd-party/LCDHD44780.h +++ /dev/null @@ -1,195 +0,0 @@ -/*##############################################################*/ -/* Author: Marcus Nasarek */ -/* File: LCDH44780.h */ -/* License: */ -/* */ -/* This program is free software; you can redistribute it */ -/* and/or modify it under the terms of the GNU General */ -/* Public License as published by the Free Software */ -/* Foundation; either version 3 of the License, or */ -/* (at your option) any later version. */ -/* */ -/* This program is distributed in the hope that it will */ -/* be useful, but WITHOUT ANY WARRANTY; without even the */ -/* implied warranty of MERCHANTABILITY or */ -/* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General */ -/* Public License for more details. */ -/* */ -/* You should have received a copy of the GNU General */ -/* Public License along with this program; if not, */ -/* see <http://www.gnu.org/licenses/>. */ -/* */ -/*##############################################################*/ - -// Thanks to Matt Hawkins (http://www.raspberrypi-spy.co.uk) -// The wiring for the LCD is as follows: -// 1 : GND -// 2 : 5V -// 3 : Contrast (0-5V)* -// 4 : RS (Register Select) -// 5 : R/W (Read Write) - GROUND THIS PIN -// 6 : Enable or Strobe -// 7 : Data Bit 0 - NOT USED -// 8 : Data Bit 1 - NOT USED -// 9 : Data Bit 2 - NOT USED -// 10: Data Bit 3 - NOT USED -// 11: Data Bit 4 -// 12: Data Bit 5 -// 13: Data Bit 6 -// 14: Data Bit 7 -// 15: LCD Backlight +5V** -// 16: LCD Backlight GND - -#ifndef _LCDHD44780_H_ -#define _LCDHD44780_H_ - -#include <stdlib.h> -#include <stdbool.h> -#include <stdio.h> -#include <string.h> -#include <stdbool.h> -#include <bcm2835.h> - -// Define GPIO pin to LCD pin mapping -#define LCD_RS 21 -#define LCD_E 20 -#define LCD_D4 26 -#define LCD_D5 19 -#define LCD_D6 13 -#define LCD_D7 6 - -// Define some device constants -// Maximum characters per line -#define LCD_WIDTH 16 -#define LCD_DATA HIGH -#define LCD_CMD LOW - -// Function set - -// Sets interface data length -// (DL), number of display lines -// (N), and character font (F). -// RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 -// 0 0 0 0 1 DL N F - - -// DL = 0 --> 4 bit data length (1 = 8 bit) -// N = 1 --> 2 line display (0 = 1 line) -// F = 0 --> 5x8 dot character font -// F = 1 --> 5x10 dot character font -// 0x28 = -// 0 0 0 0 1 0 1 0 0 0 -#define LCD_FUNCTION_SET 0x20 -#define DATA_LENGTH 0x10 -#define TWO_LINES 0x08 -#define BIG_FONT_SET 0x04 - - - -// Display control flags -// Sets entire display (D) on/off, -// cursor on/off (C), and -// blinking of cursor position -// character (B). -// RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 -// 0 0 0 0 0 0 1 D C B -// D = 1 --> display on -// C = 0 --> cursor off -// B = 0 --> blinking off -#define LCD_CONTROL 0x08 // display control -#define DISPLAY_ON 0x04 -#define DISPLAY_OFF 0x00 -#define CURSOR_ON 0x02 -#define BLINKING_ON 0x01 - -// Entry mode set - -// Sets cursor move direction -// and specifies display shift. -// These operations are -// performed during data write -// and read. -// Execution time 37us -// RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 -// 0 0 0 0 0 0 0 1 I/D S -// I/D = increment/decrement address pointer -// I/D = 1 --> increment -// S = 0 --> no shift -#define LCD_ENTRY_MODE 0x04 -#define ADDR_INCREMENT 0x02 -#define LINE_SHIFT 0x01 - -// Cursor or display shift - -// Moves the cursor and shifts -// display without chaning -// DDRAM contents. -// Execution time 37us -// RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 -// 0 0 0 0 0 1 S/C R/L - - -// S/C = cursor/display shift -// S/C = 0 --> cursor shift -// R/L = shift direction -// R/L = 1 --> shift to right -#define CURSOR_DISPLAY_SHIFT 0x10 -#define CURSOR_SHIFT 0x00 -#define DISPLAY_SHIFT 0x08 -#define SHIFT_RIGHT 0x04 -#define SHIFT_LEFT 0x00 - - -// LCD DDRAM address for the 1st line -// bits DB0..DB6 --> 0x00..0x4F -// DB7 = 1 --> offset = 0x80 -// RS R/W DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 -// 0 0 1 ADD ADD ADD ADD ADD ADD ADD -// 0x80 = -// 0 0 1 0 0 0 0 0 0 0 -#define LCD_LINE_1 0x80 -// LCD DDRAM address for the 2nd line -// 2 lines with equal # of addresses -// DB7 = 1 --> offset = 0x80 + (0x00..0x4F)/2 = 0xC0 -#define LCD_LINE_2 0xC0 - -// Timing constants in us -#define E_DELAY 1 // us -#define E_CMD_PULSE 5000 // us -#define E_DATA_PULSE 5000 // us -#define C_DELAY 1 // us -#define R_EXEC_TIME 50 // us -#define GPIO_RISING 10 // ms - -#define MAX_WAIT 100 - -void init_gpio(void); - -void init_lcd(void); - -void lcd_function_set(uint8_t control_flags); - -void lcd_control(uint8_t control_flags); - -void lcd_entry_mode(uint8_t control_flags); - -void lcd_shift_control(uint8_t control_flags); - -void clear_lcd(void); - -void set_cursor(uint8_t addr); - -void display_off(void); - -void show_cursor(bool on); - -void cursor_blinking(bool on); - -void shift_cursor(uint8_t direction); - -void shift_display(uint8_t direction); - -void return_home(void); - -void write_to_lcd(uint8_t byte, uint8_t mode); - -void write_string(char *str); - -uint8_t read_from_lcd(uint8_t mode); - -void gpio_reset(void); - -#endif diff --git a/3rd-party/bcm2835-COPYING b/3rd-party/bcm2835-COPYING deleted file mode 100644 index e72bfdd..0000000 --- a/3rd-party/bcm2835-COPYING +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/> - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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\ No newline at end of file diff --git a/3rd-party/bcm2835.c b/3rd-party/bcm2835.c deleted file mode 100644 index 14064ee..0000000 --- a/3rd-party/bcm2835.c +++ /dev/null @@ -1,2029 +0,0 @@ -/* bcm2835.c -// C and C++ support for Broadcom BCM 2835 as used in Raspberry Pi -// http://elinux.org/RPi_Low-level_peripherals -// http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf -// -// Author: Mike McCauley -// Copyright (C) 2011-2013 Mike McCauley -// $Id: bcm2835.c,v 1.28 2020/01/11 05:07:13 mikem Exp mikem $ -*/ -#include <stdlib.h> -#include <stdio.h> -#include <errno.h> -#include <fcntl.h> -#include <sys/mman.h> -#include <string.h> -#include <time.h> -#include <unistd.h> -#include <sys/types.h> - -#define BCK2835_LIBRARY_BUILD -#include "bcm2835.h" - -/* This define enables a little test program (by default a blinking output on pin RPI_GPIO_PIN_11) -// You can do some safe, non-destructive testing on any platform with: -// gcc bcm2835.c -D BCM2835_TEST -// ./a.out -*/ -/*#define BCM2835_TEST*/ - -/* Uncommenting this define compiles alternative I2C code for the version 1 RPi -// The P1 header I2C pins are connected to SDA0 and SCL0 on V1. -// By default I2C code is generated for the V2 RPi which has SDA1 and SCL1 connected. -*/ -/* #define I2C_V1*/ - -/* Physical address and size of the peripherals block -// May be overridden on RPi2 -*/ -off_t bcm2835_peripherals_base = BCM2835_PERI_BASE; -size_t bcm2835_peripherals_size = BCM2835_PERI_SIZE; - -/* Virtual memory address of the mapped peripherals block - */ -uint32_t *bcm2835_peripherals = (uint32_t *)MAP_FAILED; - -/* And the register bases within the peripherals block - */ -volatile uint32_t *bcm2835_gpio = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_pwm = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_clk = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_pads = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_spi0 = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_bsc0 = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_bsc1 = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_st = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_aux = (uint32_t *)MAP_FAILED; -volatile uint32_t *bcm2835_spi1 = (uint32_t *)MAP_FAILED; - - - -/* This variable allows us to test on hardware other than RPi. -// It prevents access to the kernel memory, and does not do any peripheral access -// Instead it prints out what it _would_ do if debug were 0 - */ -static uint8_t debug = 0; - -/* RPI 4 has different pullup registers - we need to know if we have that type */ - -static uint8_t pud_type_rpi4 = 0; - -/* RPI 4 has different pullup operation - make backwards compat */ - -static uint8_t pud_compat_setting = BCM2835_GPIO_PUD_OFF; - -/* I2C The time needed to transmit one byte. In microseconds. - */ -static int i2c_byte_wait_us = 0; - -/* SPI bit order. BCM2835 SPI0 only supports MSBFIRST, so we instead - * have a software based bit reversal, based on a contribution by Damiano Benedetti - */ -static uint8_t bcm2835_spi_bit_order = BCM2835_SPI_BIT_ORDER_MSBFIRST; -static uint8_t bcm2835_byte_reverse_table[] = -{ - 0x00, 0x80, 0x40, 0xc0, 0x20, 0xa0, 0x60, 0xe0, - 0x10, 0x90, 0x50, 0xd0, 0x30, 0xb0, 0x70, 0xf0, - 0x08, 0x88, 0x48, 0xc8, 0x28, 0xa8, 0x68, 0xe8, - 0x18, 0x98, 0x58, 0xd8, 0x38, 0xb8, 0x78, 0xf8, - 0x04, 0x84, 0x44, 0xc4, 0x24, 0xa4, 0x64, 0xe4, - 0x14, 0x94, 0x54, 0xd4, 0x34, 0xb4, 0x74, 0xf4, - 0x0c, 0x8c, 0x4c, 0xcc, 0x2c, 0xac, 0x6c, 0xec, - 0x1c, 0x9c, 0x5c, 0xdc, 0x3c, 0xbc, 0x7c, 0xfc, - 0x02, 0x82, 0x42, 0xc2, 0x22, 0xa2, 0x62, 0xe2, - 0x12, 0x92, 0x52, 0xd2, 0x32, 0xb2, 0x72, 0xf2, - 0x0a, 0x8a, 0x4a, 0xca, 0x2a, 0xaa, 0x6a, 0xea, - 0x1a, 0x9a, 0x5a, 0xda, 0x3a, 0xba, 0x7a, 0xfa, - 0x06, 0x86, 0x46, 0xc6, 0x26, 0xa6, 0x66, 0xe6, - 0x16, 0x96, 0x56, 0xd6, 0x36, 0xb6, 0x76, 0xf6, - 0x0e, 0x8e, 0x4e, 0xce, 0x2e, 0xae, 0x6e, 0xee, - 0x1e, 0x9e, 0x5e, 0xde, 0x3e, 0xbe, 0x7e, 0xfe, - 0x01, 0x81, 0x41, 0xc1, 0x21, 0xa1, 0x61, 0xe1, - 0x11, 0x91, 0x51, 0xd1, 0x31, 0xb1, 0x71, 0xf1, - 0x09, 0x89, 0x49, 0xc9, 0x29, 0xa9, 0x69, 0xe9, - 0x19, 0x99, 0x59, 0xd9, 0x39, 0xb9, 0x79, 0xf9, - 0x05, 0x85, 0x45, 0xc5, 0x25, 0xa5, 0x65, 0xe5, - 0x15, 0x95, 0x55, 0xd5, 0x35, 0xb5, 0x75, 0xf5, - 0x0d, 0x8d, 0x4d, 0xcd, 0x2d, 0xad, 0x6d, 0xed, - 0x1d, 0x9d, 0x5d, 0xdd, 0x3d, 0xbd, 0x7d, 0xfd, - 0x03, 0x83, 0x43, 0xc3, 0x23, 0xa3, 0x63, 0xe3, - 0x13, 0x93, 0x53, 0xd3, 0x33, 0xb3, 0x73, 0xf3, - 0x0b, 0x8b, 0x4b, 0xcb, 0x2b, 0xab, 0x6b, 0xeb, - 0x1b, 0x9b, 0x5b, 0xdb, 0x3b, 0xbb, 0x7b, 0xfb, - 0x07, 0x87, 0x47, 0xc7, 0x27, 0xa7, 0x67, 0xe7, - 0x17, 0x97, 0x57, 0xd7, 0x37, 0xb7, 0x77, 0xf7, - 0x0f, 0x8f, 0x4f, 0xcf, 0x2f, 0xaf, 0x6f, 0xef, - 0x1f, 0x9f, 0x5f, 0xdf, 0x3f, 0xbf, 0x7f, 0xff -}; - -static uint8_t bcm2835_correct_order(uint8_t b) -{ - if (bcm2835_spi_bit_order == BCM2835_SPI_BIT_ORDER_LSBFIRST) - return bcm2835_byte_reverse_table[b]; - else - return b; -} - -#ifdef BCM2835_HAVE_LIBCAP -#include <sys/capability.h> -static int bcm2835_has_capability(cap_value_t capability) -{ - int ok = 0; - cap_t cap = cap_get_proc(); - if (cap) - { - cap_flag_value_t value; - if (cap_get_flag(cap,capability,CAP_EFFECTIVE,&value) == 0 && value == CAP_SET) - ok = 1; - cap_free(cap); - } - return ok; -} -#endif - -/* -// Low level register access functions -*/ - -/* Function to return the pointers to the hardware register bases */ -uint32_t* bcm2835_regbase(uint8_t regbase) -{ - switch (regbase) - { - case BCM2835_REGBASE_ST: - return (uint32_t *)bcm2835_st; - case BCM2835_REGBASE_GPIO: - return (uint32_t *)bcm2835_gpio; - case BCM2835_REGBASE_PWM: - return (uint32_t *)bcm2835_pwm; - case BCM2835_REGBASE_CLK: - return (uint32_t *)bcm2835_clk; - case BCM2835_REGBASE_PADS: - return (uint32_t *)bcm2835_pads; - case BCM2835_REGBASE_SPI0: - return (uint32_t *)bcm2835_spi0; - case BCM2835_REGBASE_BSC0: - return (uint32_t *)bcm2835_bsc0; - case BCM2835_REGBASE_BSC1: - return (uint32_t *)bcm2835_st; - case BCM2835_REGBASE_AUX: - return (uint32_t *)bcm2835_aux; - case BCM2835_REGBASE_SPI1: - return (uint32_t *)bcm2835_spi1; - - } - return (uint32_t *)MAP_FAILED; -} - -void bcm2835_set_debug(uint8_t d) -{ - debug = d; -} - -unsigned int bcm2835_version(void) -{ - return BCM2835_VERSION; -} - -/* Read with memory barriers from peripheral - * - */ -uint32_t bcm2835_peri_read(volatile uint32_t* paddr) -{ - uint32_t ret; - if (debug) - { - printf("bcm2835_peri_read paddr %p\n", (void *) paddr); - return 0; - } - else - { - __sync_synchronize(); - ret = *paddr; - __sync_synchronize(); - return ret; - } -} - -/* read from peripheral without the read barrier - * This can only be used if more reads to THE SAME peripheral - * will follow. The sequence must terminate with memory barrier - * before any read or write to another peripheral can occur. - * The MB can be explicit, or one of the barrier read/write calls. - */ -uint32_t bcm2835_peri_read_nb(volatile uint32_t* paddr) -{ - if (debug) - { - printf("bcm2835_peri_read_nb paddr %p\n", paddr); - return 0; - } - else - { - return *paddr; - } -} - -/* Write with memory barriers to peripheral - */ - -void bcm2835_peri_write(volatile uint32_t* paddr, uint32_t value) -{ - if (debug) - { - printf("bcm2835_peri_write paddr %p, value %08X\n", paddr, value); - } - else - { - __sync_synchronize(); - *paddr = value; - __sync_synchronize(); - } -} - -/* write to peripheral without the write barrier */ -void bcm2835_peri_write_nb(volatile uint32_t* paddr, uint32_t value) -{ - if (debug) - { - printf("bcm2835_peri_write_nb paddr %p, value %08X\n", - paddr, value); - } - else - { - *paddr = value; - } -} - -/* Set/clear only the bits in value covered by the mask - * This is not atomic - can be interrupted. - */ -void bcm2835_peri_set_bits(volatile uint32_t* paddr, uint32_t value, uint32_t mask) -{ - uint32_t v = bcm2835_peri_read(paddr); - v = (v & ~mask) | (value & mask); - bcm2835_peri_write(paddr, v); -} - -/* -// Low level convenience functions -*/ - -/* Function select -// pin is a BCM2835 GPIO pin number NOT RPi pin number -// There are 6 control registers, each control the functions of a block -// of 10 pins. -// Each control register has 10 sets of 3 bits per GPIO pin: -// -// 000 = GPIO Pin X is an input -// 001 = GPIO Pin X is an output -// 100 = GPIO Pin X takes alternate function 0 -// 101 = GPIO Pin X takes alternate function 1 -// 110 = GPIO Pin X takes alternate function 2 -// 111 = GPIO Pin X takes alternate function 3 -// 011 = GPIO Pin X takes alternate function 4 -// 010 = GPIO Pin X takes alternate function 5 -// -// So the 3 bits for port X are: -// X / 10 + ((X % 10) * 3) -*/ -void bcm2835_gpio_fsel(uint8_t pin, uint8_t mode) -{ - /* Function selects are 10 pins per 32 bit word, 3 bits per pin */ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPFSEL0/4 + (pin/10); - uint8_t shift = (pin % 10) * 3; - uint32_t mask = BCM2835_GPIO_FSEL_MASK << shift; - uint32_t value = mode << shift; - bcm2835_peri_set_bits(paddr, value, mask); -} - -/* Set output pin */ -void bcm2835_gpio_set(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPSET0/4 + pin/32; - uint8_t shift = pin % 32; - bcm2835_peri_write(paddr, 1 << shift); -} - -/* Clear output pin */ -void bcm2835_gpio_clr(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPCLR0/4 + pin/32; - uint8_t shift = pin % 32; - bcm2835_peri_write(paddr, 1 << shift); -} - -/* Set all output pins in the mask */ -void bcm2835_gpio_set_multi(uint32_t mask) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPSET0/4; - bcm2835_peri_write(paddr, mask); -} - -/* Clear all output pins in the mask */ -void bcm2835_gpio_clr_multi(uint32_t mask) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPCLR0/4; - bcm2835_peri_write(paddr, mask); -} - -/* Read input pin */ -uint8_t bcm2835_gpio_lev(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPLEV0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = bcm2835_peri_read(paddr); - return (value & (1 << shift)) ? HIGH : LOW; -} - -/* See if an event detection bit is set -// Sigh cant support interrupts yet -*/ -uint8_t bcm2835_gpio_eds(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPEDS0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = bcm2835_peri_read(paddr); - return (value & (1 << shift)) ? HIGH : LOW; -} - -uint32_t bcm2835_gpio_eds_multi(uint32_t mask) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPEDS0/4; - uint32_t value = bcm2835_peri_read(paddr); - return (value & mask); -} - -/* Write a 1 to clear the bit in EDS */ -void bcm2835_gpio_set_eds(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPEDS0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_write(paddr, value); -} - -void bcm2835_gpio_set_eds_multi(uint32_t mask) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPEDS0/4; - bcm2835_peri_write(paddr, mask); -} - -/* Rising edge detect enable */ -void bcm2835_gpio_ren(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPREN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, value, value); -} -void bcm2835_gpio_clr_ren(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPREN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, 0, value); -} - -/* Falling edge detect enable */ -void bcm2835_gpio_fen(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPFEN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, value, value); -} -void bcm2835_gpio_clr_fen(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPFEN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, 0, value); -} - -/* High detect enable */ -void bcm2835_gpio_hen(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPHEN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, value, value); -} -void bcm2835_gpio_clr_hen(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPHEN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, 0, value); -} - -/* Low detect enable */ -void bcm2835_gpio_len(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPLEN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, value, value); -} -void bcm2835_gpio_clr_len(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPLEN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, 0, value); -} - -/* Async rising edge detect enable */ -void bcm2835_gpio_aren(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPAREN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, value, value); -} -void bcm2835_gpio_clr_aren(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPAREN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, 0, value); -} - -/* Async falling edge detect enable */ -void bcm2835_gpio_afen(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPAFEN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, value, value); -} -void bcm2835_gpio_clr_afen(uint8_t pin) -{ - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPAFEN0/4 + pin/32; - uint8_t shift = pin % 32; - uint32_t value = 1 << shift; - bcm2835_peri_set_bits(paddr, 0, value); -} - -/* Set pullup/down */ -void bcm2835_gpio_pud(uint8_t pud) -{ - if( pud_type_rpi4 ) - { - pud_compat_setting = pud; - } - else { - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPPUD/4; - bcm2835_peri_write(paddr, pud); -} -} - -/* Pullup/down clock -// Clocks the value of pud into the GPIO pin -*/ -void bcm2835_gpio_pudclk(uint8_t pin, uint8_t on) -{ - if( pud_type_rpi4 ) - { - if( on ) - bcm2835_gpio_set_pud( pin, pud_compat_setting); - } - else - { - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPPUDCLK0/4 + pin/32; - uint8_t shift = pin % 32; - bcm2835_peri_write(paddr, (on ? 1 : 0) << shift); -} -} - -/* Read GPIO pad behaviour for groups of GPIOs */ -uint32_t bcm2835_gpio_pad(uint8_t group) -{ - if (bcm2835_pads == MAP_FAILED) - return 0; - - volatile uint32_t* paddr = bcm2835_pads + BCM2835_PADS_GPIO_0_27/4 + group; - return bcm2835_peri_read(paddr); -} - -/* Set GPIO pad behaviour for groups of GPIOs -// powerup value for all pads is -// BCM2835_PAD_SLEW_RATE_UNLIMITED | BCM2835_PAD_HYSTERESIS_ENABLED | BCM2835_PAD_DRIVE_8mA -*/ -void bcm2835_gpio_set_pad(uint8_t group, uint32_t control) -{ - if (bcm2835_pads == MAP_FAILED) - return; - - volatile uint32_t* paddr = bcm2835_pads + BCM2835_PADS_GPIO_0_27/4 + group; - bcm2835_peri_write(paddr, control | BCM2835_PAD_PASSWRD); -} - -/* Some convenient arduino-like functions -// milliseconds -*/ -void bcm2835_delay(unsigned int millis) -{ - struct timespec sleeper; - - sleeper.tv_sec = (time_t)(millis / 1000); - sleeper.tv_nsec = (long)(millis % 1000) * 1000000; - nanosleep(&sleeper, NULL); -} - -/* microseconds */ -void bcm2835_delayMicroseconds(uint64_t micros) -{ - struct timespec t1; - uint64_t start; - - if (debug) - { - /* Cant access sytem timers in debug mode */ - printf("bcm2835_delayMicroseconds %lld\n", (long long int) micros); - return; - } - - /* Calling nanosleep() takes at least 100-200 us, so use it for - // long waits and use a busy wait on the System Timer for the rest. - */ - start = bcm2835_st_read(); - - /* Not allowed to access timer registers (result is not as precise)*/ - if (start==0) - { - t1.tv_sec = 0; - t1.tv_nsec = 1000 * (long)(micros); - nanosleep(&t1, NULL); - return; - } - - if (micros > 450) - { - t1.tv_sec = 0; - t1.tv_nsec = 1000 * (long)(micros - 200); - nanosleep(&t1, NULL); - } - - bcm2835_st_delay(start, micros); -} - -/* -// Higher level convenience functions -*/ - -/* Set the state of an output */ -void bcm2835_gpio_write(uint8_t pin, uint8_t on) -{ - if (on) - bcm2835_gpio_set(pin); - else - bcm2835_gpio_clr(pin); -} - -/* Set the state of a all 32 outputs in the mask to on or off */ -void bcm2835_gpio_write_multi(uint32_t mask, uint8_t on) -{ - if (on) - bcm2835_gpio_set_multi(mask); - else - bcm2835_gpio_clr_multi(mask); -} - -/* Set the state of a all 32 outputs in the mask to the values in value */ -void bcm2835_gpio_write_mask(uint32_t value, uint32_t mask) -{ - bcm2835_gpio_set_multi(value & mask); - bcm2835_gpio_clr_multi((~value) & mask); -} - -/* Set the pullup/down resistor for a pin -// -// The GPIO Pull-up/down Clock Registers control the actuation of internal pull-downs on -// the respective GPIO pins. These registers must be used in conjunction with the GPPUD -// register to effect GPIO Pull-up/down changes. The following sequence of events is -// required: -// 1. Write to GPPUD to set the required control signal (i.e. Pull-up or Pull-Down or neither -// to remove the current Pull-up/down) -// 2. Wait 150 cycles ? this provides the required set-up time for the control signal -// 3. Write to GPPUDCLK0/1 to clock the control signal into the GPIO pads you wish to -// modify ? NOTE only the pads which receive a clock will be modified, all others will -// retain their previous state. -// 4. Wait 150 cycles ? this provides the required hold time for the control signal -// 5. Write to GPPUD to remove the control signal -// 6. Write to GPPUDCLK0/1 to remove the clock -// -// RPi has P1-03 and P1-05 with 1k8 pullup resistor -// -// RPI 4 uses a different PUD method - no clock - -*/ -void bcm2835_gpio_set_pud(uint8_t pin, uint8_t pud) -{ - if( pud_type_rpi4 ) - { - int shiftbits = (pin & 0xf) << 1; - uint32_t bits; - uint32_t pull; - - switch (pud) - { - case BCM2835_GPIO_PUD_OFF: pull = 0; break; - case BCM2835_GPIO_PUD_UP: pull = 1; break; - case BCM2835_GPIO_PUD_DOWN: pull = 2; break; - default: return; - } - - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPPUPPDN0/4 + (pin >> 4); - - bits = bcm2835_peri_read_nb( paddr ); - bits &= ~(3 << shiftbits); - bits |= (pull << shiftbits); - - bcm2835_peri_write_nb( paddr, bits ); - - } else - { - bcm2835_gpio_pud(pud); - delayMicroseconds(10); - bcm2835_gpio_pudclk(pin, 1); - delayMicroseconds(10); - bcm2835_gpio_pud(BCM2835_GPIO_PUD_OFF); - bcm2835_gpio_pudclk(pin, 0); -} - -} - - -uint8_t bcm2835_gpio_get_pud(uint8_t pin) -{ - uint8_t ret = BCM2835_GPIO_PUD_ERROR; - - if( pud_type_rpi4 ) - { - uint32_t bits; - volatile uint32_t* paddr = bcm2835_gpio + BCM2835_GPPUPPDN0/4 + (pin >> 4); - bits = (bcm2835_peri_read_nb( paddr ) >> ((pin & 0xf)<<1)) & 0x3; - - switch (bits) - { - case 0: ret = BCM2835_GPIO_PUD_OFF; break; - case 1: ret = BCM2835_GPIO_PUD_UP; break; - case 2: ret = BCM2835_GPIO_PUD_DOWN; break; - default: ret = BCM2835_GPIO_PUD_ERROR; - } - } - - return ret; -} - -static void bcm2835_aux_spi_reset(void) - { - volatile uint32_t* cntl0 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL0/4; - volatile uint32_t* cntl1 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL1/4; - - bcm2835_peri_write(cntl1, 0); - bcm2835_peri_write(cntl0, BCM2835_AUX_SPI_CNTL0_CLEARFIFO); -} - -int bcm2835_spi_begin(void) -{ - volatile uint32_t* paddr; - - if (bcm2835_spi0 == MAP_FAILED) - return 0; /* bcm2835_init() failed, or not root */ - - /* Set the SPI0 pins to the Alt 0 function to enable SPI0 access on them */ - bcm2835_gpio_fsel(RPI_GPIO_P1_26, BCM2835_GPIO_FSEL_ALT0); /* CE1 */ - bcm2835_gpio_fsel(RPI_GPIO_P1_24, BCM2835_GPIO_FSEL_ALT0); /* CE0 */ - bcm2835_gpio_fsel(RPI_GPIO_P1_21, BCM2835_GPIO_FSEL_ALT0); /* MISO */ - bcm2835_gpio_fsel(RPI_GPIO_P1_19, BCM2835_GPIO_FSEL_ALT0); /* MOSI */ - bcm2835_gpio_fsel(RPI_GPIO_P1_23, BCM2835_GPIO_FSEL_ALT0); /* CLK */ - - /* Set the SPI CS register to the some sensible defaults */ - paddr = bcm2835_spi0 + BCM2835_SPI0_CS/4; - bcm2835_peri_write(paddr, 0); /* All 0s */ - - /* Clear TX and RX fifos */ - bcm2835_peri_write_nb(paddr, BCM2835_SPI0_CS_CLEAR); - - return 1; // OK -} - -void bcm2835_spi_end(void) -{ - /* Set all the SPI0 pins back to input */ - bcm2835_gpio_fsel(RPI_GPIO_P1_26, BCM2835_GPIO_FSEL_INPT); /* CE1 */ - bcm2835_gpio_fsel(RPI_GPIO_P1_24, BCM2835_GPIO_FSEL_INPT); /* CE0 */ - bcm2835_gpio_fsel(RPI_GPIO_P1_21, BCM2835_GPIO_FSEL_INPT); /* MISO */ - bcm2835_gpio_fsel(RPI_GPIO_P1_19, BCM2835_GPIO_FSEL_INPT); /* MOSI */ - bcm2835_gpio_fsel(RPI_GPIO_P1_23, BCM2835_GPIO_FSEL_INPT); /* CLK */ -} - -void bcm2835_spi_setBitOrder(uint8_t order) -{ - bcm2835_spi_bit_order = order; -} - -/* defaults to 0, which means a divider of 65536. -// The divisor must be a power of 2. Odd numbers -// rounded down. The maximum SPI clock rate is -// of the APB clock -*/ -void bcm2835_spi_setClockDivider(uint16_t divider) -{ - volatile uint32_t* paddr = bcm2835_spi0 + BCM2835_SPI0_CLK/4; - bcm2835_peri_write(paddr, divider); -} - -void bcm2835_spi_set_speed_hz(uint32_t speed_hz) -{ - uint16_t divider = (uint16_t) ((uint32_t) BCM2835_CORE_CLK_HZ / speed_hz); - divider &= 0xFFFE; - bcm2835_spi_setClockDivider(divider); -} - -void bcm2835_spi_setDataMode(uint8_t mode) -{ - volatile uint32_t* paddr = bcm2835_spi0 + BCM2835_SPI0_CS/4; - /* Mask in the CPO and CPHA bits of CS */ - bcm2835_peri_set_bits(paddr, mode << 2, BCM2835_SPI0_CS_CPOL | BCM2835_SPI0_CS_CPHA); -} - -/* Writes (and reads) a single byte to SPI */ -uint8_t bcm2835_spi_transfer(uint8_t value) -{ - volatile uint32_t* paddr = bcm2835_spi0 + BCM2835_SPI0_CS/4; - volatile uint32_t* fifo = bcm2835_spi0 + BCM2835_SPI0_FIFO/4; - uint32_t ret; - - /* This is Polled transfer as per section 10.6.1 - // BUG ALERT: what happens if we get interupted in this section, and someone else - // accesses a different peripheral? - // Clear TX and RX fifos - */ - bcm2835_peri_set_bits(paddr, BCM2835_SPI0_CS_CLEAR, BCM2835_SPI0_CS_CLEAR); - - /* Set TA = 1 */ - bcm2835_peri_set_bits(paddr, BCM2835_SPI0_CS_TA, BCM2835_SPI0_CS_TA); - - /* Maybe wait for TXD */ - while (!(bcm2835_peri_read(paddr) & BCM2835_SPI0_CS_TXD)) - ; - - /* Write to FIFO, no barrier */ - bcm2835_peri_write_nb(fifo, bcm2835_correct_order(value)); - - /* Wait for DONE to be set */ - while (!(bcm2835_peri_read_nb(paddr) & BCM2835_SPI0_CS_DONE)) - ; - - /* Read any byte that was sent back by the slave while we sere sending to it */ - ret = bcm2835_correct_order(bcm2835_peri_read_nb(fifo)); - - /* Set TA = 0, and also set the barrier */ - bcm2835_peri_set_bits(paddr, 0, BCM2835_SPI0_CS_TA); - - return ret; -} - -/* Writes (and reads) an number of bytes to SPI */ -void bcm2835_spi_transfernb(char* tbuf, char* rbuf, uint32_t len) -{ - volatile uint32_t* paddr = bcm2835_spi0 + BCM2835_SPI0_CS/4; - volatile uint32_t* fifo = bcm2835_spi0 + BCM2835_SPI0_FIFO/4; - uint32_t TXCnt=0; - uint32_t RXCnt=0; - - /* This is Polled transfer as per section 10.6.1 - // BUG ALERT: what happens if we get interupted in this section, and someone else - // accesses a different peripheral? - */ - - /* Clear TX and RX fifos */ - bcm2835_peri_set_bits(paddr, BCM2835_SPI0_CS_CLEAR, BCM2835_SPI0_CS_CLEAR); - - /* Set TA = 1 */ - bcm2835_peri_set_bits(paddr, BCM2835_SPI0_CS_TA, BCM2835_SPI0_CS_TA); - - /* Use the FIFO's to reduce the interbyte times */ - while((TXCnt < len)||(RXCnt < len)) - { - /* TX fifo not full, so add some more bytes */ - while(((bcm2835_peri_read(paddr) & BCM2835_SPI0_CS_TXD))&&(TXCnt < len )) - { - bcm2835_peri_write_nb(fifo, bcm2835_correct_order(tbuf[TXCnt])); - TXCnt++; - } - /* Rx fifo not empty, so get the next received bytes */ - while(((bcm2835_peri_read(paddr) & BCM2835_SPI0_CS_RXD))&&( RXCnt < len )) - { - rbuf[RXCnt] = bcm2835_correct_order(bcm2835_peri_read_nb(fifo)); - RXCnt++; - } - } - /* Wait for DONE to be set */ - while (!(bcm2835_peri_read_nb(paddr) & BCM2835_SPI0_CS_DONE)) - ; - - /* Set TA = 0, and also set the barrier */ - bcm2835_peri_set_bits(paddr, 0, BCM2835_SPI0_CS_TA); -} - -/* Writes an number of bytes to SPI */ -void bcm2835_spi_writenb(const char* tbuf, uint32_t len) -{ - volatile uint32_t* paddr = bcm2835_spi0 + BCM2835_SPI0_CS/4; - volatile uint32_t* fifo = bcm2835_spi0 + BCM2835_SPI0_FIFO/4; - uint32_t i; - - /* This is Polled transfer as per section 10.6.1 - // BUG ALERT: what happens if we get interupted in this section, and someone else - // accesses a different peripheral? - // Answer: an ISR is required to issue the required memory barriers. - */ - - /* Clear TX and RX fifos */ - bcm2835_peri_set_bits(paddr, BCM2835_SPI0_CS_CLEAR, BCM2835_SPI0_CS_CLEAR); - - /* Set TA = 1 */ - bcm2835_peri_set_bits(paddr, BCM2835_SPI0_CS_TA, BCM2835_SPI0_CS_TA); - - for (i = 0; i < len; i++) - { - /* Maybe wait for TXD */ - while (!(bcm2835_peri_read(paddr) & BCM2835_SPI0_CS_TXD)) - ; - - /* Write to FIFO, no barrier */ - bcm2835_peri_write_nb(fifo, bcm2835_correct_order(tbuf[i])); - - /* Read from FIFO to prevent stalling */ - while (bcm2835_peri_read(paddr) & BCM2835_SPI0_CS_RXD) - (void) bcm2835_peri_read_nb(fifo); - } - - /* Wait for DONE to be set */ - while (!(bcm2835_peri_read_nb(paddr) & BCM2835_SPI0_CS_DONE)) { - while (bcm2835_peri_read(paddr) & BCM2835_SPI0_CS_RXD) - (void) bcm2835_peri_read_nb(fifo); - }; - - /* Set TA = 0, and also set the barrier */ - bcm2835_peri_set_bits(paddr, 0, BCM2835_SPI0_CS_TA); -} - -/* Writes (and reads) an number of bytes to SPI -// Read bytes are copied over onto the transmit buffer -*/ -void bcm2835_spi_transfern(char* buf, uint32_t len) -{ - bcm2835_spi_transfernb(buf, buf, len); -} - -void bcm2835_spi_chipSelect(uint8_t cs) -{ - volatile uint32_t* paddr = bcm2835_spi0 + BCM2835_SPI0_CS/4; - /* Mask in the CS bits of CS */ - bcm2835_peri_set_bits(paddr, cs, BCM2835_SPI0_CS_CS); -} - -void bcm2835_spi_setChipSelectPolarity(uint8_t cs, uint8_t active) -{ - volatile uint32_t* paddr = bcm2835_spi0 + BCM2835_SPI0_CS/4; - uint8_t shift = 21 + cs; - /* Mask in the appropriate CSPOLn bit */ - bcm2835_peri_set_bits(paddr, active << shift, 1 << shift); -} - -void bcm2835_spi_write(uint16_t data) -{ -#if 0 - char buf[2]; - - buf[0] = data >> 8; - buf[1] = data & 0xFF; - - bcm2835_spi_transfern(buf, 2); -#else - volatile uint32_t* paddr = bcm2835_spi0 + BCM2835_SPI0_CS/4; - volatile uint32_t* fifo = bcm2835_spi0 + BCM2835_SPI0_FIFO/4; - - /* Clear TX and RX fifos */ - bcm2835_peri_set_bits(paddr, BCM2835_SPI0_CS_CLEAR, BCM2835_SPI0_CS_CLEAR); - - /* Set TA = 1 */ - bcm2835_peri_set_bits(paddr, BCM2835_SPI0_CS_TA, BCM2835_SPI0_CS_TA); - - /* Maybe wait for TXD */ - while (!(bcm2835_peri_read(paddr) & BCM2835_SPI0_CS_TXD)) - ; - - /* Write to FIFO */ - bcm2835_peri_write_nb(fifo, (uint32_t) data >> 8); - bcm2835_peri_write_nb(fifo, data & 0xFF); - - - /* Wait for DONE to be set */ - while (!(bcm2835_peri_read_nb(paddr) & BCM2835_SPI0_CS_DONE)) - ; - - /* Set TA = 0, and also set the barrier */ - bcm2835_peri_set_bits(paddr, 0, BCM2835_SPI0_CS_TA); -#endif -} - -int bcm2835_aux_spi_begin(void) -{ - volatile uint32_t* enable = bcm2835_aux + BCM2835_AUX_ENABLE/4; - volatile uint32_t* cntl0 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL0/4; - volatile uint32_t* cntl1 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL1/4; - - if (bcm2835_spi1 == MAP_FAILED) - return 0; /* bcm2835_init() failed, or not root */ - - /* Set the SPI pins to the Alt 4 function to enable SPI1 access on them */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_36, BCM2835_GPIO_FSEL_ALT4); /* SPI1_CE2_N */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_35, BCM2835_GPIO_FSEL_ALT4); /* SPI1_MISO */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_38, BCM2835_GPIO_FSEL_ALT4); /* SPI1_MOSI */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_40, BCM2835_GPIO_FSEL_ALT4); /* SPI1_SCLK */ - - bcm2835_aux_spi_setClockDivider(bcm2835_aux_spi_CalcClockDivider(1000000)); // Default 1MHz SPI - - bcm2835_peri_write(enable, BCM2835_AUX_ENABLE_SPI0); - bcm2835_peri_write(cntl1, 0); - bcm2835_peri_write(cntl0, BCM2835_AUX_SPI_CNTL0_CLEARFIFO); - - return 1; /* OK */ -} - -void bcm2835_aux_spi_end(void) -{ - /* Set all the SPI1 pins back to input */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_36, BCM2835_GPIO_FSEL_INPT); /* SPI1_CE2_N */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_35, BCM2835_GPIO_FSEL_INPT); /* SPI1_MISO */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_38, BCM2835_GPIO_FSEL_INPT); /* SPI1_MOSI */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_40, BCM2835_GPIO_FSEL_INPT); /* SPI1_SCLK */ -} - -#define DIV_ROUND_UP(n,d) (((n) + (d) - 1) / (d)) - -uint16_t bcm2835_aux_spi_CalcClockDivider(uint32_t speed_hz) -{ - uint16_t divider; - - if (speed_hz < (uint32_t) BCM2835_AUX_SPI_CLOCK_MIN) { - speed_hz = (uint32_t) BCM2835_AUX_SPI_CLOCK_MIN; - } else if (speed_hz > (uint32_t) BCM2835_AUX_SPI_CLOCK_MAX) { - speed_hz = (uint32_t) BCM2835_AUX_SPI_CLOCK_MAX; - } - - divider = (uint16_t) DIV_ROUND_UP(BCM2835_CORE_CLK_HZ, 2 * speed_hz) - 1; - - if (divider > (uint16_t) BCM2835_AUX_SPI_CNTL0_SPEED_MAX) { - return (uint16_t) BCM2835_AUX_SPI_CNTL0_SPEED_MAX; - } - - return divider; -} - -static uint32_t spi1_speed; - -void bcm2835_aux_spi_setClockDivider(uint16_t divider) -{ - spi1_speed = (uint32_t) divider; -} - -void bcm2835_aux_spi_write(uint16_t data) -{ - volatile uint32_t* cntl0 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL0/4; - volatile uint32_t* cntl1 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL1/4; - volatile uint32_t* stat = bcm2835_spi1 + BCM2835_AUX_SPI_STAT/4; - volatile uint32_t* io = bcm2835_spi1 + BCM2835_AUX_SPI_IO/4; - - uint32_t _cntl0 = (spi1_speed << BCM2835_AUX_SPI_CNTL0_SPEED_SHIFT); - _cntl0 |= BCM2835_AUX_SPI_CNTL0_CS2_N; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_ENABLE; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_MSBF_OUT; - _cntl0 |= 16; // Shift length - - bcm2835_peri_write(cntl0, _cntl0); - bcm2835_peri_write(cntl1, BCM2835_AUX_SPI_CNTL1_MSBF_IN); - - while (bcm2835_peri_read(stat) & BCM2835_AUX_SPI_STAT_TX_FULL) - ; - - bcm2835_peri_write(io, (uint32_t) data << 16); -} - -void bcm2835_aux_spi_writenb(const char *tbuf, uint32_t len) { - volatile uint32_t* cntl0 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL0/4; - volatile uint32_t* cntl1 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL1/4; - volatile uint32_t* stat = bcm2835_spi1 + BCM2835_AUX_SPI_STAT/4; - volatile uint32_t* txhold = bcm2835_spi1 + BCM2835_AUX_SPI_TXHOLD/4; - volatile uint32_t* io = bcm2835_spi1 + BCM2835_AUX_SPI_IO/4; - - char *tx = (char *) tbuf; - uint32_t tx_len = len; - uint32_t count; - uint32_t data; - uint32_t i; - uint8_t byte; - - uint32_t _cntl0 = (spi1_speed << BCM2835_AUX_SPI_CNTL0_SPEED_SHIFT); - _cntl0 |= BCM2835_AUX_SPI_CNTL0_CS2_N; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_ENABLE; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_MSBF_OUT; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_VAR_WIDTH; - - bcm2835_peri_write(cntl0, _cntl0); - bcm2835_peri_write(cntl1, BCM2835_AUX_SPI_CNTL1_MSBF_IN); - - while (tx_len > 0) { - - while (bcm2835_peri_read(stat) & BCM2835_AUX_SPI_STAT_TX_FULL) - ; - - count = MIN(tx_len, 3); - data = 0; - - for (i = 0; i < count; i++) { - byte = (tx != NULL) ? (uint8_t) *tx++ : (uint8_t) 0; - data |= byte << (8 * (2 - i)); - } - - data |= (count * 8) << 24; - tx_len -= count; - - if (tx_len != 0) { - bcm2835_peri_write(txhold, data); - } else { - bcm2835_peri_write(io, data); - } - - while (bcm2835_peri_read(stat) & BCM2835_AUX_SPI_STAT_BUSY) - ; - - (void) bcm2835_peri_read(io); - } -} - -void bcm2835_aux_spi_transfernb(const char *tbuf, char *rbuf, uint32_t len) { - volatile uint32_t* cntl0 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL0/4; - volatile uint32_t* cntl1 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL1/4; - volatile uint32_t* stat = bcm2835_spi1 + BCM2835_AUX_SPI_STAT/4; - volatile uint32_t* txhold = bcm2835_spi1 + BCM2835_AUX_SPI_TXHOLD/4; - volatile uint32_t* io = bcm2835_spi1 + BCM2835_AUX_SPI_IO/4; - - char *tx = (char *)tbuf; - char *rx = (char *)rbuf; - uint32_t tx_len = len; - uint32_t rx_len = len; - uint32_t count; - uint32_t data; - uint32_t i; - uint8_t byte; - - uint32_t _cntl0 = (spi1_speed << BCM2835_AUX_SPI_CNTL0_SPEED_SHIFT); - _cntl0 |= BCM2835_AUX_SPI_CNTL0_CS2_N; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_ENABLE; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_MSBF_OUT; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_VAR_WIDTH; - - bcm2835_peri_write(cntl0, _cntl0); - bcm2835_peri_write(cntl1, BCM2835_AUX_SPI_CNTL1_MSBF_IN); - - while ((tx_len > 0) || (rx_len > 0)) { - - while (!(bcm2835_peri_read(stat) & BCM2835_AUX_SPI_STAT_TX_FULL) && (tx_len > 0)) { - count = MIN(tx_len, 3); - data = 0; - - for (i = 0; i < count; i++) { - byte = (tx != NULL) ? (uint8_t) *tx++ : (uint8_t) 0; - data |= byte << (8 * (2 - i)); - } - - data |= (count * 8) << 24; - tx_len -= count; - - if (tx_len != 0) { - bcm2835_peri_write(txhold, data); - } else { - bcm2835_peri_write(io, data); - } - - } - - while (!(bcm2835_peri_read(stat) & BCM2835_AUX_SPI_STAT_RX_EMPTY) && (rx_len > 0)) { - count = MIN(rx_len, 3); - data = bcm2835_peri_read(io); - - if (rbuf != NULL) { - switch (count) { - case 3: - *rx++ = (char)((data >> 16) & 0xFF); - /*@fallthrough@*/ - /* no break */ - case 2: - *rx++ = (char)((data >> 8) & 0xFF); - /*@fallthrough@*/ - /* no break */ - case 1: - *rx++ = (char)((data >> 0) & 0xFF); - } - } - - rx_len -= count; - } - - while (!(bcm2835_peri_read(stat) & BCM2835_AUX_SPI_STAT_BUSY) && (rx_len > 0)) { - count = MIN(rx_len, 3); - data = bcm2835_peri_read(io); - - if (rbuf != NULL) { - switch (count) { - case 3: - *rx++ = (char)((data >> 16) & 0xFF); - /*@fallthrough@*/ - /* no break */ - case 2: - *rx++ = (char)((data >> 8) & 0xFF); - /*@fallthrough@*/ - /* no break */ - case 1: - *rx++ = (char)((data >> 0) & 0xFF); - } - } - - rx_len -= count; - } - } -} - -void bcm2835_aux_spi_transfern(char *buf, uint32_t len) { - bcm2835_aux_spi_transfernb(buf, buf, len); -} - -/* Writes (and reads) a single byte to AUX SPI */ -uint8_t bcm2835_aux_spi_transfer(uint8_t value) -{ - volatile uint32_t* cntl0 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL0/4; - volatile uint32_t* cntl1 = bcm2835_spi1 + BCM2835_AUX_SPI_CNTL1/4; - volatile uint32_t* stat = bcm2835_spi1 + BCM2835_AUX_SPI_STAT/4; - volatile uint32_t* io = bcm2835_spi1 + BCM2835_AUX_SPI_IO/4; - - uint32_t data; - - uint32_t _cntl0 = (spi1_speed << BCM2835_AUX_SPI_CNTL0_SPEED_SHIFT); - _cntl0 |= BCM2835_AUX_SPI_CNTL0_CS2_N; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_ENABLE; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_MSBF_OUT; - _cntl0 |= BCM2835_AUX_SPI_CNTL0_CPHA_IN; - _cntl0 |= 8; // Shift length. - - uint32_t _cntl1 = BCM2835_AUX_SPI_CNTL1_MSBF_IN; - - bcm2835_peri_write(cntl1, _cntl1); - bcm2835_peri_write(cntl0, _cntl0); - - bcm2835_peri_write(io, (uint32_t) bcm2835_correct_order(value) << 24); - - while (bcm2835_peri_read(stat) & BCM2835_AUX_SPI_STAT_BUSY) - ; - - data = bcm2835_correct_order(bcm2835_peri_read(io) & 0xff); - - bcm2835_aux_spi_reset(); - - return data; -} - - -int bcm2835_i2c_begin(void) -{ - uint16_t cdiv; - - if ( bcm2835_bsc0 == MAP_FAILED - || bcm2835_bsc1 == MAP_FAILED) - return 0; /* bcm2835_init() failed, or not root */ - -#ifdef I2C_V1 - volatile uint32_t* paddr = bcm2835_bsc0 + BCM2835_BSC_DIV/4; - /* Set the I2C/BSC0 pins to the Alt 0 function to enable I2C access on them */ - bcm2835_gpio_fsel(RPI_GPIO_P1_03, BCM2835_GPIO_FSEL_ALT0); /* SDA */ - bcm2835_gpio_fsel(RPI_GPIO_P1_05, BCM2835_GPIO_FSEL_ALT0); /* SCL */ -#else - volatile uint32_t* paddr = bcm2835_bsc1 + BCM2835_BSC_DIV/4; - /* Set the I2C/BSC1 pins to the Alt 0 function to enable I2C access on them */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_03, BCM2835_GPIO_FSEL_ALT0); /* SDA */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_05, BCM2835_GPIO_FSEL_ALT0); /* SCL */ -#endif - - /* Read the clock divider register */ - cdiv = bcm2835_peri_read(paddr); - /* Calculate time for transmitting one byte - // 1000000 = micros seconds in a second - // 9 = Clocks per byte : 8 bits + ACK - */ - i2c_byte_wait_us = ((float)cdiv / BCM2835_CORE_CLK_HZ) * 1000000 * 9; - - return 1; -} - -void bcm2835_i2c_end(void) -{ -#ifdef I2C_V1 - /* Set all the I2C/BSC0 pins back to input */ - bcm2835_gpio_fsel(RPI_GPIO_P1_03, BCM2835_GPIO_FSEL_INPT); /* SDA */ - bcm2835_gpio_fsel(RPI_GPIO_P1_05, BCM2835_GPIO_FSEL_INPT); /* SCL */ -#else - /* Set all the I2C/BSC1 pins back to input */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_03, BCM2835_GPIO_FSEL_INPT); /* SDA */ - bcm2835_gpio_fsel(RPI_V2_GPIO_P1_05, BCM2835_GPIO_FSEL_INPT); /* SCL */ -#endif -} - -void bcm2835_i2c_setSlaveAddress(uint8_t addr) -{ - /* Set I2C Device Address */ -#ifdef I2C_V1 - volatile uint32_t* paddr = bcm2835_bsc0 + BCM2835_BSC_A/4; -#else - volatile uint32_t* paddr = bcm2835_bsc1 + BCM2835_BSC_A/4; -#endif - bcm2835_peri_write(paddr, addr); -} - -/* defaults to 0x5dc, should result in a 166.666 kHz I2C clock frequency. -// The divisor must be a power of 2. Odd numbers -// rounded down. -*/ -void bcm2835_i2c_setClockDivider(uint16_t divider) -{ -#ifdef I2C_V1 - volatile uint32_t* paddr = bcm2835_bsc0 + BCM2835_BSC_DIV/4; -#else - volatile uint32_t* paddr = bcm2835_bsc1 + BCM2835_BSC_DIV/4; -#endif - bcm2835_peri_write(paddr, divider); - /* Calculate time for transmitting one byte - // 1000000 = micros seconds in a second - // 9 = Clocks per byte : 8 bits + ACK - */ - i2c_byte_wait_us = ((float)divider / BCM2835_CORE_CLK_HZ) * 1000000 * 9; -} - -/* set I2C clock divider by means of a baudrate number */ -void bcm2835_i2c_set_baudrate(uint32_t baudrate) -{ - uint32_t divider; - /* use 0xFFFE mask to limit a max value and round down any odd number */ - divider = (BCM2835_CORE_CLK_HZ / baudrate) & 0xFFFE; - bcm2835_i2c_setClockDivider( (uint16_t)divider ); -} - -/* Writes an number of bytes to I2C */ -uint8_t bcm2835_i2c_write(const char * buf, uint32_t len) -{ -#ifdef I2C_V1 - volatile uint32_t* dlen = bcm2835_bsc0 + BCM2835_BSC_DLEN/4; - volatile uint32_t* fifo = bcm2835_bsc0 + BCM2835_BSC_FIFO/4; - volatile uint32_t* status = bcm2835_bsc0 + BCM2835_BSC_S/4; - volatile uint32_t* control = bcm2835_bsc0 + BCM2835_BSC_C/4; -#else - volatile uint32_t* dlen = bcm2835_bsc1 + BCM2835_BSC_DLEN/4; - volatile uint32_t* fifo = bcm2835_bsc1 + BCM2835_BSC_FIFO/4; - volatile uint32_t* status = bcm2835_bsc1 + BCM2835_BSC_S/4; - volatile uint32_t* control = bcm2835_bsc1 + BCM2835_BSC_C/4; -#endif - - uint32_t remaining = len; - uint32_t i = 0; - uint8_t reason = BCM2835_I2C_REASON_OK; - - /* Clear FIFO */ - bcm2835_peri_set_bits(control, BCM2835_BSC_C_CLEAR_1 , BCM2835_BSC_C_CLEAR_1 ); - /* Clear Status */ - bcm2835_peri_write(status, BCM2835_BSC_S_CLKT | BCM2835_BSC_S_ERR | BCM2835_BSC_S_DONE); - /* Set Data Length */ - bcm2835_peri_write(dlen, len); - /* pre populate FIFO with max buffer */ - while( remaining && ( i < BCM2835_BSC_FIFO_SIZE ) ) - { - bcm2835_peri_write_nb(fifo, buf[i]); - i++; - remaining--; - } - - /* Enable device and start transfer */ - bcm2835_peri_write(control, BCM2835_BSC_C_I2CEN | BCM2835_BSC_C_ST); - - /* Transfer is over when BCM2835_BSC_S_DONE */ - while(!(bcm2835_peri_read(status) & BCM2835_BSC_S_DONE )) - { - while ( remaining && (bcm2835_peri_read(status) & BCM2835_BSC_S_TXD )) - { - /* Write to FIFO */ - bcm2835_peri_write(fifo, buf[i]); - i++; - remaining--; - } - } - - /* Received a NACK */ - if (bcm2835_peri_read(status) & BCM2835_BSC_S_ERR) - { - reason = BCM2835_I2C_REASON_ERROR_NACK; - } - - /* Received Clock Stretch Timeout */ - else if (bcm2835_peri_read(status) & BCM2835_BSC_S_CLKT) - { - reason = BCM2835_I2C_REASON_ERROR_CLKT; - } - - /* Not all data is sent */ - else if (remaining) - { - reason = BCM2835_I2C_REASON_ERROR_DATA; - } - - bcm2835_peri_set_bits(control, BCM2835_BSC_S_DONE , BCM2835_BSC_S_DONE); - - return reason; -} - -/* Read an number of bytes from I2C */ -uint8_t bcm2835_i2c_read(char* buf, uint32_t len) -{ -#ifdef I2C_V1 - volatile uint32_t* dlen = bcm2835_bsc0 + BCM2835_BSC_DLEN/4; - volatile uint32_t* fifo = bcm2835_bsc0 + BCM2835_BSC_FIFO/4; - volatile uint32_t* status = bcm2835_bsc0 + BCM2835_BSC_S/4; - volatile uint32_t* control = bcm2835_bsc0 + BCM2835_BSC_C/4; -#else - volatile uint32_t* dlen = bcm2835_bsc1 + BCM2835_BSC_DLEN/4; - volatile uint32_t* fifo = bcm2835_bsc1 + BCM2835_BSC_FIFO/4; - volatile uint32_t* status = bcm2835_bsc1 + BCM2835_BSC_S/4; - volatile uint32_t* control = bcm2835_bsc1 + BCM2835_BSC_C/4; -#endif - - uint32_t remaining = len; - uint32_t i = 0; - uint8_t reason = BCM2835_I2C_REASON_OK; - - /* Clear FIFO */ - bcm2835_peri_set_bits(control, BCM2835_BSC_C_CLEAR_1 , BCM2835_BSC_C_CLEAR_1 ); - /* Clear Status */ - bcm2835_peri_write_nb(status, BCM2835_BSC_S_CLKT | BCM2835_BSC_S_ERR | BCM2835_BSC_S_DONE); - /* Set Data Length */ - bcm2835_peri_write_nb(dlen, len); - /* Start read */ - bcm2835_peri_write_nb(control, BCM2835_BSC_C_I2CEN | BCM2835_BSC_C_ST | BCM2835_BSC_C_READ); - - /* wait for transfer to complete */ - while (!(bcm2835_peri_read_nb(status) & BCM2835_BSC_S_DONE)) - { - /* we must empty the FIFO as it is populated and not use any delay */ - while (remaining && bcm2835_peri_read_nb(status) & BCM2835_BSC_S_RXD) - { - /* Read from FIFO, no barrier */ - buf[i] = bcm2835_peri_read_nb(fifo); - i++; - remaining--; - } - } - - /* transfer has finished - grab any remaining stuff in FIFO */ - while (remaining && (bcm2835_peri_read_nb(status) & BCM2835_BSC_S_RXD)) - { - /* Read from FIFO, no barrier */ - buf[i] = bcm2835_peri_read_nb(fifo); - i++; - remaining--; - } - - /* Received a NACK */ - if (bcm2835_peri_read(status) & BCM2835_BSC_S_ERR) - { - reason = BCM2835_I2C_REASON_ERROR_NACK; - } - - /* Received Clock Stretch Timeout */ - else if (bcm2835_peri_read(status) & BCM2835_BSC_S_CLKT) - { - reason = BCM2835_I2C_REASON_ERROR_CLKT; - } - - /* Not all data is received */ - else if (remaining) - { - reason = BCM2835_I2C_REASON_ERROR_DATA; - } - - bcm2835_peri_set_bits(status, BCM2835_BSC_S_DONE , BCM2835_BSC_S_DONE); - - return reason; -} - -/* Read an number of bytes from I2C sending a repeated start after writing -// the required register. Only works if your device supports this mode -*/ -uint8_t bcm2835_i2c_read_register_rs(char* regaddr, char* buf, uint32_t len) -{ -#ifdef I2C_V1 - volatile uint32_t* dlen = bcm2835_bsc0 + BCM2835_BSC_DLEN/4; - volatile uint32_t* fifo = bcm2835_bsc0 + BCM2835_BSC_FIFO/4; - volatile uint32_t* status = bcm2835_bsc0 + BCM2835_BSC_S/4; - volatile uint32_t* control = bcm2835_bsc0 + BCM2835_BSC_C/4; -#else - volatile uint32_t* dlen = bcm2835_bsc1 + BCM2835_BSC_DLEN/4; - volatile uint32_t* fifo = bcm2835_bsc1 + BCM2835_BSC_FIFO/4; - volatile uint32_t* status = bcm2835_bsc1 + BCM2835_BSC_S/4; - volatile uint32_t* control = bcm2835_bsc1 + BCM2835_BSC_C/4; -#endif - uint32_t remaining = len; - uint32_t i = 0; - uint8_t reason = BCM2835_I2C_REASON_OK; - - /* Clear FIFO */ - bcm2835_peri_set_bits(control, BCM2835_BSC_C_CLEAR_1 , BCM2835_BSC_C_CLEAR_1 ); - /* Clear Status */ - bcm2835_peri_write(status, BCM2835_BSC_S_CLKT | BCM2835_BSC_S_ERR | BCM2835_BSC_S_DONE); - /* Set Data Length */ - bcm2835_peri_write(dlen, 1); - /* Enable device and start transfer */ - bcm2835_peri_write(control, BCM2835_BSC_C_I2CEN); - bcm2835_peri_write(fifo, regaddr[0]); - bcm2835_peri_write(control, BCM2835_BSC_C_I2CEN | BCM2835_BSC_C_ST); - - /* poll for transfer has started */ - while ( !( bcm2835_peri_read(status) & BCM2835_BSC_S_TA ) ) - { - /* Linux may cause us to miss entire transfer stage */ - if(bcm2835_peri_read(status) & BCM2835_BSC_S_DONE) - break; - } - - /* Send a repeated start with read bit set in address */ - bcm2835_peri_write(dlen, len); - bcm2835_peri_write(control, BCM2835_BSC_C_I2CEN | BCM2835_BSC_C_ST | BCM2835_BSC_C_READ ); - - /* Wait for write to complete and first byte back. */ - bcm2835_delayMicroseconds(i2c_byte_wait_us * 3); - - /* wait for transfer to complete */ - while (!(bcm2835_peri_read(status) & BCM2835_BSC_S_DONE)) - { - /* we must empty the FIFO as it is populated and not use any delay */ - while (remaining && bcm2835_peri_read(status) & BCM2835_BSC_S_RXD) - { - /* Read from FIFO */ - buf[i] = bcm2835_peri_read(fifo); - i++; - remaining--; - } - } - - /* transfer has finished - grab any remaining stuff in FIFO */ - while (remaining && (bcm2835_peri_read(status) & BCM2835_BSC_S_RXD)) - { - /* Read from FIFO */ - buf[i] = bcm2835_peri_read(fifo); - i++; - remaining--; - } - - /* Received a NACK */ - if (bcm2835_peri_read(status) & BCM2835_BSC_S_ERR) - { - reason = BCM2835_I2C_REASON_ERROR_NACK; - } - - /* Received Clock Stretch Timeout */ - else if (bcm2835_peri_read(status) & BCM2835_BSC_S_CLKT) - { - reason = BCM2835_I2C_REASON_ERROR_CLKT; - } - - /* Not all data is sent */ - else if (remaining) - { - reason = BCM2835_I2C_REASON_ERROR_DATA; - } - - bcm2835_peri_set_bits(control, BCM2835_BSC_S_DONE , BCM2835_BSC_S_DONE); - - return reason; -} - -/* Sending an arbitrary number of bytes before issuing a repeated start -// (with no prior stop) and reading a response. Some devices require this behavior. -*/ -uint8_t bcm2835_i2c_write_read_rs(char* cmds, uint32_t cmds_len, char* buf, uint32_t buf_len) -{ -#ifdef I2C_V1 - volatile uint32_t* dlen = bcm2835_bsc0 + BCM2835_BSC_DLEN/4; - volatile uint32_t* fifo = bcm2835_bsc0 + BCM2835_BSC_FIFO/4; - volatile uint32_t* status = bcm2835_bsc0 + BCM2835_BSC_S/4; - volatile uint32_t* control = bcm2835_bsc0 + BCM2835_BSC_C/4; -#else - volatile uint32_t* dlen = bcm2835_bsc1 + BCM2835_BSC_DLEN/4; - volatile uint32_t* fifo = bcm2835_bsc1 + BCM2835_BSC_FIFO/4; - volatile uint32_t* status = bcm2835_bsc1 + BCM2835_BSC_S/4; - volatile uint32_t* control = bcm2835_bsc1 + BCM2835_BSC_C/4; -#endif - - uint32_t remaining = cmds_len; - uint32_t i = 0; - uint8_t reason = BCM2835_I2C_REASON_OK; - - /* Clear FIFO */ - bcm2835_peri_set_bits(control, BCM2835_BSC_C_CLEAR_1 , BCM2835_BSC_C_CLEAR_1 ); - - /* Clear Status */ - bcm2835_peri_write(status, BCM2835_BSC_S_CLKT | BCM2835_BSC_S_ERR | BCM2835_BSC_S_DONE); - - /* Set Data Length */ - bcm2835_peri_write(dlen, cmds_len); - - /* pre populate FIFO with max buffer */ - while( remaining && ( i < BCM2835_BSC_FIFO_SIZE ) ) - { - bcm2835_peri_write_nb(fifo, cmds[i]); - i++; - remaining--; - } - - /* Enable device and start transfer */ - bcm2835_peri_write(control, BCM2835_BSC_C_I2CEN | BCM2835_BSC_C_ST); - - /* poll for transfer has started (way to do repeated start, from BCM2835 datasheet) */ - while ( !( bcm2835_peri_read(status) & BCM2835_BSC_S_TA ) ) - { - /* Linux may cause us to miss entire transfer stage */ - if(bcm2835_peri_read_nb(status) & BCM2835_BSC_S_DONE) - break; - } - - remaining = buf_len; - i = 0; - - /* Send a repeated start with read bit set in address */ - bcm2835_peri_write(dlen, buf_len); - bcm2835_peri_write(control, BCM2835_BSC_C_I2CEN | BCM2835_BSC_C_ST | BCM2835_BSC_C_READ ); - - /* Wait for write to complete and first byte back. */ - bcm2835_delayMicroseconds(i2c_byte_wait_us * (cmds_len + 1)); - - /* wait for transfer to complete */ - while (!(bcm2835_peri_read_nb(status) & BCM2835_BSC_S_DONE)) - { - /* we must empty the FIFO as it is populated and not use any delay */ - while (remaining && bcm2835_peri_read(status) & BCM2835_BSC_S_RXD) - { - /* Read from FIFO, no barrier */ - buf[i] = bcm2835_peri_read_nb(fifo); - i++; - remaining--; - } - } - - /* transfer has finished - grab any remaining stuff in FIFO */ - while (remaining && (bcm2835_peri_read(status) & BCM2835_BSC_S_RXD)) - { - /* Read from FIFO */ - buf[i] = bcm2835_peri_read(fifo); - i++; - remaining--; - } - - /* Received a NACK */ - if (bcm2835_peri_read(status) & BCM2835_BSC_S_ERR) - { - reason = BCM2835_I2C_REASON_ERROR_NACK; - } - - /* Received Clock Stretch Timeout */ - else if (bcm2835_peri_read(status) & BCM2835_BSC_S_CLKT) - { - reason = BCM2835_I2C_REASON_ERROR_CLKT; - } - - /* Not all data is sent */ - else if (remaining) - { - reason = BCM2835_I2C_REASON_ERROR_DATA; - } - - bcm2835_peri_set_bits(control, BCM2835_BSC_S_DONE , BCM2835_BSC_S_DONE); - - return reason; -} - -/* Read the System Timer Counter (64-bits) */ -uint64_t bcm2835_st_read(void) -{ - volatile uint32_t* paddr; - uint32_t hi, lo; - uint64_t st; - - if (bcm2835_st==MAP_FAILED) - return 0; - - paddr = bcm2835_st + BCM2835_ST_CHI/4; - hi = bcm2835_peri_read(paddr); - - paddr = bcm2835_st + BCM2835_ST_CLO/4; - lo = bcm2835_peri_read(paddr); - - paddr = bcm2835_st + BCM2835_ST_CHI/4; - st = bcm2835_peri_read(paddr); - - /* Test for overflow */ - if (st == hi) - { - st <<= 32; - st += lo; - } - else - { - st <<= 32; - paddr = bcm2835_st + BCM2835_ST_CLO/4; - st += bcm2835_peri_read(paddr); - } - return st; -} - -/* Delays for the specified number of microseconds with offset */ -void bcm2835_st_delay(uint64_t offset_micros, uint64_t micros) -{ - uint64_t compare = offset_micros + micros; - - while(bcm2835_st_read() < compare) - ; -} - -/* PWM */ - -void bcm2835_pwm_set_clock(uint32_t divisor) -{ - if ( bcm2835_clk == MAP_FAILED - || bcm2835_pwm == MAP_FAILED) - return; /* bcm2835_init() failed or not root */ - - /* From Gerts code */ - divisor &= 0xfff; - /* Stop PWM clock */ - bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_CNTL, BCM2835_PWM_PASSWRD | 0x01); - bcm2835_delay(110); /* Prevents clock going slow */ - /* Wait for the clock to be not busy */ - while ((bcm2835_peri_read(bcm2835_clk + BCM2835_PWMCLK_CNTL) & 0x80) != 0) - bcm2835_delay(1); - /* set the clock divider and enable PWM clock */ - bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_DIV, BCM2835_PWM_PASSWRD | (divisor << 12)); - bcm2835_peri_write(bcm2835_clk + BCM2835_PWMCLK_CNTL, BCM2835_PWM_PASSWRD | 0x11); /* Source=osc and enable */ -} - -void bcm2835_pwm_set_mode(uint8_t channel, uint8_t markspace, uint8_t enabled) -{ - if ( bcm2835_clk == MAP_FAILED - || bcm2835_pwm == MAP_FAILED) - return; /* bcm2835_init() failed or not root */ - - uint32_t control = bcm2835_peri_read(bcm2835_pwm + BCM2835_PWM_CONTROL); - - if (channel == 0) - { - if (markspace) - control |= BCM2835_PWM0_MS_MODE; - else - control &= ~BCM2835_PWM0_MS_MODE; - if (enabled) - control |= BCM2835_PWM0_ENABLE; - else - control &= ~BCM2835_PWM0_ENABLE; - } - else if (channel == 1) - { - if (markspace) - control |= BCM2835_PWM1_MS_MODE; - else - control &= ~BCM2835_PWM1_MS_MODE; - if (enabled) - control |= BCM2835_PWM1_ENABLE; - else - control &= ~BCM2835_PWM1_ENABLE; - } - - /* If you use the barrier here, wierd things happen, and the commands dont work */ - bcm2835_peri_write_nb(bcm2835_pwm + BCM2835_PWM_CONTROL, control); - /* bcm2835_peri_write_nb(bcm2835_pwm + BCM2835_PWM_CONTROL, BCM2835_PWM0_ENABLE | BCM2835_PWM1_ENABLE | BCM2835_PWM0_MS_MODE | BCM2835_PWM1_MS_MODE); */ - -} - -void bcm2835_pwm_set_range(uint8_t channel, uint32_t range) -{ - if ( bcm2835_clk == MAP_FAILED - || bcm2835_pwm == MAP_FAILED) - return; /* bcm2835_init() failed or not root */ - - if (channel == 0) - bcm2835_peri_write_nb(bcm2835_pwm + BCM2835_PWM0_RANGE, range); - else if (channel == 1) - bcm2835_peri_write_nb(bcm2835_pwm + BCM2835_PWM1_RANGE, range); -} - -void bcm2835_pwm_set_data(uint8_t channel, uint32_t data) -{ - if ( bcm2835_clk == MAP_FAILED - || bcm2835_pwm == MAP_FAILED) - return; /* bcm2835_init() failed or not root */ - - if (channel == 0) - bcm2835_peri_write_nb(bcm2835_pwm + BCM2835_PWM0_DATA, data); - else if (channel == 1) - bcm2835_peri_write_nb(bcm2835_pwm + BCM2835_PWM1_DATA, data); -} - -/* Allocate page-aligned memory. */ -void *malloc_aligned(size_t size) -{ - void *mem; - errno = posix_memalign(&mem, BCM2835_PAGE_SIZE, size); - return (errno ? NULL : mem); -} - -/* Map 'size' bytes starting at 'off' in file 'fd' to memory. -// Return mapped address on success, MAP_FAILED otherwise. -// On error print message. -*/ -static void *mapmem(const char *msg, size_t size, int fd, off_t off) -{ - void *map = mmap(NULL, size, (PROT_READ | PROT_WRITE), MAP_SHARED, fd, off); - if (map == MAP_FAILED) - fprintf(stderr, "bcm2835_init: %s mmap failed: %s\n", msg, strerror(errno)); - return map; -} - -static void unmapmem(void **pmem, size_t size) -{ - if (*pmem == MAP_FAILED) return; - munmap(*pmem, size); - *pmem = MAP_FAILED; -} - -/* Initialise this library. */ -int bcm2835_init(void) -{ - int memfd; - int ok; - FILE *fp; - - if (debug) - { - bcm2835_peripherals = (uint32_t*)BCM2835_PERI_BASE; - - bcm2835_pads = bcm2835_peripherals + BCM2835_GPIO_PADS/4; - bcm2835_clk = bcm2835_peripherals + BCM2835_CLOCK_BASE/4; - bcm2835_gpio = bcm2835_peripherals + BCM2835_GPIO_BASE/4; - bcm2835_pwm = bcm2835_peripherals + BCM2835_GPIO_PWM/4; - bcm2835_spi0 = bcm2835_peripherals + BCM2835_SPI0_BASE/4; - bcm2835_bsc0 = bcm2835_peripherals + BCM2835_BSC0_BASE/4; - bcm2835_bsc1 = bcm2835_peripherals + BCM2835_BSC1_BASE/4; - bcm2835_st = bcm2835_peripherals + BCM2835_ST_BASE/4; - bcm2835_aux = bcm2835_peripherals + BCM2835_AUX_BASE/4; - bcm2835_spi1 = bcm2835_peripherals + BCM2835_SPI1_BASE/4; - - return 1; /* Success */ - } - - /* Figure out the base and size of the peripheral address block - // using the device-tree. Required for RPi2/3/4, optional for RPi 1 - */ - if ((fp = fopen(BMC2835_RPI2_DT_FILENAME , "rb"))) - { - unsigned char buf[16]; - uint32_t base_address; - uint32_t peri_size; - if (fread(buf, 1, sizeof(buf), fp) >= 8) - { - base_address = (buf[4] << 24) | - (buf[5] << 16) | - (buf[6] << 8) | - (buf[7] << 0); - - peri_size = (buf[8] << 24) | - (buf[9] << 16) | - (buf[10] << 8) | - (buf[11] << 0); - - if (!base_address) - { - /* looks like RPI 4 */ - base_address = (buf[8] << 24) | - (buf[9] << 16) | - (buf[10] << 8) | - (buf[11] << 0); - - peri_size = (buf[12] << 24) | - (buf[13] << 16) | - (buf[14] << 8) | - (buf[15] << 0); - } - /* check for valid known range formats */ - if ((buf[0] == 0x7e) && - (buf[1] == 0x00) && - (buf[2] == 0x00) && - (buf[3] == 0x00) && - ((base_address == BCM2835_PERI_BASE) || (base_address == BCM2835_RPI2_PERI_BASE) || (base_address == BCM2835_RPI4_PERI_BASE))) - { - bcm2835_peripherals_base = (off_t)base_address; - bcm2835_peripherals_size = (size_t)peri_size; - if( base_address == BCM2835_RPI4_PERI_BASE ) - { - pud_type_rpi4 = 1; - } - } - - } - - fclose(fp); - } - /* else we are prob on RPi 1 with BCM2835, and use the hardwired defaults */ - - /* Now get ready to map the peripherals block - * If we are not root, try for the new /dev/gpiomem interface and accept - * the fact that we can only access GPIO - * else try for the /dev/mem interface and get access to everything - */ - memfd = -1; - ok = 0; - if (geteuid() == 0 -#ifdef BCM2835_HAVE_LIBCAP - || bcm2835_has_capability(CAP_SYS_RAWIO) -#endif - ) - { - /* Open the master /dev/mem device */ - if ((memfd = open("/dev/mem", O_RDWR | O_SYNC) ) < 0) - { - fprintf(stderr, "bcm2835_init: Unable to open /dev/mem: %s\n", - strerror(errno)) ; - goto exit; - } - - /* Base of the peripherals block is mapped to VM */ - bcm2835_peripherals = mapmem("gpio", bcm2835_peripherals_size, memfd, bcm2835_peripherals_base); - if (bcm2835_peripherals == MAP_FAILED) goto exit; - - /* Now compute the base addresses of various peripherals, - // which are at fixed offsets within the mapped peripherals block - // Caution: bcm2835_peripherals is uint32_t*, so divide offsets by 4 - */ - bcm2835_gpio = bcm2835_peripherals + BCM2835_GPIO_BASE/4; - bcm2835_pwm = bcm2835_peripherals + BCM2835_GPIO_PWM/4; - bcm2835_clk = bcm2835_peripherals + BCM2835_CLOCK_BASE/4; - bcm2835_pads = bcm2835_peripherals + BCM2835_GPIO_PADS/4; - bcm2835_spi0 = bcm2835_peripherals + BCM2835_SPI0_BASE/4; - bcm2835_bsc0 = bcm2835_peripherals + BCM2835_BSC0_BASE/4; /* I2C */ - bcm2835_bsc1 = bcm2835_peripherals + BCM2835_BSC1_BASE/4; /* I2C */ - bcm2835_st = bcm2835_peripherals + BCM2835_ST_BASE/4; - bcm2835_aux = bcm2835_peripherals + BCM2835_AUX_BASE/4; - bcm2835_spi1 = bcm2835_peripherals + BCM2835_SPI1_BASE/4; - - ok = 1; - } - else - { - /* Not root, try /dev/gpiomem */ - /* Open the master /dev/mem device */ - if ((memfd = open("/dev/gpiomem", O_RDWR | O_SYNC) ) < 0) - { - fprintf(stderr, "bcm2835_init: Unable to open /dev/gpiomem: %s\n", - strerror(errno)) ; - goto exit; - } - - /* Base of the peripherals block is mapped to VM */ - bcm2835_peripherals_base = 0; - bcm2835_peripherals = mapmem("gpio", bcm2835_peripherals_size, memfd, bcm2835_peripherals_base); - if (bcm2835_peripherals == MAP_FAILED) goto exit; - bcm2835_gpio = bcm2835_peripherals; - ok = 1; - } - -exit: - if (memfd >= 0) - close(memfd); - - if (!ok) - bcm2835_close(); - - return ok; -} - -/* Close this library and deallocate everything */ -int bcm2835_close(void) -{ - if (debug) return 1; /* Success */ - - unmapmem((void**) &bcm2835_peripherals, bcm2835_peripherals_size); - bcm2835_peripherals = MAP_FAILED; - bcm2835_gpio = MAP_FAILED; - bcm2835_pwm = MAP_FAILED; - bcm2835_clk = MAP_FAILED; - bcm2835_pads = MAP_FAILED; - bcm2835_spi0 = MAP_FAILED; - bcm2835_bsc0 = MAP_FAILED; - bcm2835_bsc1 = MAP_FAILED; - bcm2835_st = MAP_FAILED; - bcm2835_aux = MAP_FAILED; - bcm2835_spi1 = MAP_FAILED; - return 1; /* Success */ -} - -#ifdef BCM2835_TEST -/* this is a simple test program that prints out what it will do rather than -// actually doing it -*/ -int main(int argc, char **argv) -{ - /* Be non-destructive */ - bcm2835_set_debug(1); - - if (!bcm2835_init()) - return 1; - - /* Configure some GPIO pins fo some testing - // Set RPI pin P1-11 to be an output - */ - bcm2835_gpio_fsel(RPI_GPIO_P1_11, BCM2835_GPIO_FSEL_OUTP); - /* Set RPI pin P1-15 to be an input */ - bcm2835_gpio_fsel(RPI_GPIO_P1_15, BCM2835_GPIO_FSEL_INPT); - /* with a pullup */ - bcm2835_gpio_set_pud(RPI_GPIO_P1_15, BCM2835_GPIO_PUD_UP); - /* And a low detect enable */ - bcm2835_gpio_len(RPI_GPIO_P1_15); - /* and input hysteresis disabled on GPIOs 0 to 27 */ - bcm2835_gpio_set_pad(BCM2835_PAD_GROUP_GPIO_0_27, BCM2835_PAD_SLEW_RATE_UNLIMITED|BCM2835_PAD_DRIVE_8mA); - -#if 1 - /* Blink */ - while (1) - { - /* Turn it on */ - bcm2835_gpio_write(RPI_GPIO_P1_11, HIGH); - - /* wait a bit */ - bcm2835_delay(500); - - /* turn it off */ - bcm2835_gpio_write(RPI_GPIO_P1_11, LOW); - - /* wait a bit */ - bcm2835_delay(500); - } -#endif - -#if 0 - /* Read input */ - while (1) - { - /* Read some data */ - uint8_t value = bcm2835_gpio_lev(RPI_GPIO_P1_15); - printf("read from pin 15: %d\n", value); - - /* wait a bit */ - bcm2835_delay(500); - } -#endif - -#if 0 - /* Look for a low event detection - // eds will be set whenever pin 15 goes low - */ - while (1) - { - if (bcm2835_gpio_eds(RPI_GPIO_P1_15)) - { - /* Now clear the eds flag by setting it to 1 */ - bcm2835_gpio_set_eds(RPI_GPIO_P1_15); - printf("low event detect for pin 15\n"); - } - - /* wait a bit */ - bcm2835_delay(500); - } -#endif - - if (!bcm2835_close()) - return 1; - - return 0; -} -#endif - - - diff --git a/3rd-party/bcm2835.h b/3rd-party/bcm2835.h deleted file mode 100644 index 7d3e3b9..0000000 --- a/3rd-party/bcm2835.h +++ /dev/null @@ -1,2029 +0,0 @@ -/* bcm2835.h - - C and C++ support for Broadcom BCM 2835 as used in Raspberry Pi - - Author: Mike McCauley - Copyright (C) 2011-2013 Mike McCauley - $Id: bcm2835.h,v 1.26 2020/01/11 05:07:13 mikem Exp mikem $ -*/ - -/*! \mainpage C library for Broadcom BCM 2835 as used in Raspberry Pi - - This is a C library for Raspberry Pi (RPi). It provides access to - GPIO and other IO functions on the Broadcom BCM 2835 chip, as used in the RaspberryPi, - allowing access to the GPIO pins on the - 26 pin IDE plug on the RPi board so you can control and interface with various external devices. - - It provides functions for reading digital inputs and setting digital outputs, using SPI and I2C, - and for accessing the system timers. - Pin event detection is supported by polling (interrupts are not supported). - - Works on all versions upt to and including RPI 4. - Works with all versions of Debian up to and including Debian Buster 10. - - It is C++ compatible, and installs as a header file and non-shared library on - any Linux-based distro (but clearly is no use except on Raspberry Pi or another board with - BCM 2835). - - The version of the package that this documentation refers to can be downloaded - from http://www.airspayce.com/mikem/bcm2835/bcm2835-1.68.tar.gz - You can find the latest version at http://www.airspayce.com/mikem/bcm2835 - - Several example programs are provided. - - Based on data in http://elinux.org/RPi_Low-level_peripherals and - http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf - and http://www.scribd.com/doc/101830961/GPIO-Pads-Control2 - - You can also find online help and discussion at http://groups.google.com/group/bcm2835 - Please use that group for all questions and discussions on this topic. - Do not contact the author directly, unless it is to discuss commercial licensing. - Before asking a question or reporting a bug, please read - - http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question - - http://www.catb.org/esr/faqs/smart-questions.html - - http://www.chiark.greenend.org.uk/~shgtatham/bugs.html - - Tested on debian6-19-04-2012, 2012-07-15-wheezy-raspbian, 2013-07-26-wheezy-raspbian - and Occidentalisv01, 2016-02-09 Raspbian Jessie. - CAUTION: it has been observed that when detect enables such as bcm2835_gpio_len() - are used and the pin is pulled LOW - it can cause temporary hangs on 2012-07-15-wheezy-raspbian, 2013-07-26-wheezy-raspbian - and Occidentalisv01. - Reason for this is not yet determined, but we suspect that an interrupt handler is - hitting a hard loop on those OSs. - If you must use bcm2835_gpio_len() and friends, make sure you disable the pins with - bcm2835_gpio_clr_len() and friends after use. - - \par Running as root - - Prior to the release of Raspbian Jessie in Feb 2016, access to any - peripheral device via /dev/mem on the RPi required the process to - run as root. Raspbian Jessie permits non-root users to access the - GPIO peripheral (only) via /dev/gpiomem, and this library supports - that limited mode of operation. - - If the library runs with effective UID of 0 (ie root), then - bcm2835_init() will attempt to open /dev/mem, and, if successful, it - will permit use of all peripherals and library functions. - - If the library runs with any other effective UID (ie not root), then - bcm2835_init() will attempt to open /dev/gpiomem, and, if - successful, will only permit GPIO operations. In particular, - bcm2835_spi_begin() and bcm2835_i2c_begin() will return false and all - other non-gpio operations may fail silently or crash. - - If your program needs acccess to /dev/mem but not as root, - and if you have the libcap-dev package installed on the target, - you can compile this library to use - libcap2 so that it tests whether the exceutable has the cap_sys_rawio capability, and therefore - permission to access /dev/mem. - To enable this ability, uncomment the #define BCM2835_HAVE_LIBCAP in bcm2835.h or - -DBCM2835_HAVE_LIBCAP on your compiler command line. - After your program has been compiled: - \code - sudo setcap cap_sys_rawio+ep *myprogname* - \endcode - You also need to do these steps on the host once, to support libcap and not-root read/write access - to /dev/mem: - 1. Install libcap support - \code - sudo apt-get install libcap2 libcap-dev - 2. Add current user to kmem group - \code - sudo adduser $USER kmem - \endcode - 3. Allow write access to /dev/mem by members of kmem group - \code - echo 'SUBSYSTEM=="mem", KERNEL=="mem", GROUP="kmem", MODE="0660"' | sudo tee /etc/udev/rules.d/98-mem.rules - \endcode - \code - sudo reboot - \endcode - - \par Installation - - This library consists of a single non-shared library and header file, which will be - installed in the usual places by make install - - \code - # download the latest version of the library, say bcm2835-1.xx.tar.gz, then: - tar zxvf bcm2835-1.xx.tar.gz - cd bcm2835-1.xx - ./configure - make - sudo make check - sudo make install - \endcode - - \par Physical Addresses - - The functions bcm2835_peri_read(), bcm2835_peri_write() and bcm2835_peri_set_bits() - are low level peripheral register access functions. They are designed to use - physical addresses as described in section 1.2.3 ARM physical addresses - of the BCM2835 ARM Peripherals manual. - Physical addresses range from 0x20000000 to 0x20FFFFFF for peripherals. The bus - addresses for peripherals are set up to map onto the peripheral bus address range starting at - 0x7E000000. Thus a peripheral advertised in the manual at bus address 0x7Ennnnnn is available at - physical address 0x20nnnnnn. - - On RPI 2, the peripheral addresses are different and the bcm2835 library gets them - from reading /proc/device-tree/soc/ranges. This is only availble with recent versions of the kernel on RPI 2. - - After initialisation, the base address of the various peripheral - registers are available with the following - externals: - bcm2835_gpio - bcm2835_pwm - bcm2835_clk - bcm2835_pads - bcm2835_spio0 - bcm2835_st - bcm2835_bsc0 - bcm2835_bsc1 - bcm2835_aux - bcm2835_spi1 - - \par Raspberry Pi 2 (RPI2) - - For this library to work correctly on RPI2, you MUST have the device tree support enabled in the kernel. - You should also ensure you are using the latest version of Linux. The library has been tested on RPI2 - with 2015-02-16-raspbian-wheezy and ArchLinuxARM-rpi-2 as of 2015-03-29. - - When device tree suport is enabled, the file /proc/device-tree/soc/ranges will appear in the file system, - and the bcm2835 module relies on its presence to correctly run on RPI2 (it is optional for RPI1). - Without device tree support enabled and the presence of this file, it will not work on RPI2. - - To enable device tree support: - - \code - sudo raspi-config - under Advanced Options - enable Device Tree - Reboot. - \endcode - - \par Pin Numbering - - The GPIO pin numbering as used by RPi is different to and inconsistent with the underlying - BCM 2835 chip pin numbering. http://elinux.org/RPi_BCM2835_GPIOs - - RPi has a 26 pin IDE header that provides access to some of the GPIO pins on the BCM 2835, - as well as power and ground pins. Not all GPIO pins on the BCM 2835 are available on the - IDE header. - - RPi Version 2 also has a P5 connector with 4 GPIO pins, 5V, 3.3V and Gnd. - - The functions in this library are designed to be passed the BCM 2835 GPIO pin number and _not_ - the RPi pin number. There are symbolic definitions for each of the available pins - that you should use for convenience. See \ref RPiGPIOPin. - - \par SPI Pins - - The bcm2835_spi_* functions allow you to control the BCM 2835 SPI0 interface, - allowing you to send and received data by SPI (Serial Peripheral Interface). - For more information about SPI, see http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus - - When bcm2835_spi_begin() is called it changes the bahaviour of the SPI interface pins from their - default GPIO behaviour in order to support SPI. While SPI is in use, you will not be able - to control the state of the SPI pins through the usual bcm2835_spi_gpio_write(). - When bcm2835_spi_end() is called, the SPI pins will all revert to inputs, and can then be - configured and controled with the usual bcm2835_gpio_* calls. - - The Raspberry Pi GPIO pins used for SPI are: - - - P1-19 (MOSI) - - P1-21 (MISO) - - P1-23 (CLK) - - P1-24 (CE0) - - P1-26 (CE1) - - Although it is possible to select high speeds for the SPI interface, up to 125MHz (see bcm2835_spi_setClockDivider()) - you should not expect to actually achieve those sorts of speeds with the RPi wiring. Our tests on RPi 2 show that the - SPI CLK line when unloaded has a resonant frequency of about 40MHz, and when loaded, the MOSI and MISO lines - ring at an even lower frequency. Measurements show that SPI waveforms are very poor and unusable at 62 and 125MHz. - Dont expect any speed faster than 31MHz to work reliably. - - The bcm2835_aux_spi_* functions allow you to control the BCM 2835 SPI1 interface, - allowing you to send and received data by SPI (Serial Peripheral Interface). - - The Raspberry Pi GPIO pins used for AUX SPI (SPI1) are: - - - P1-38 (MOSI) - - P1-35 (MISO) - - P1-40 (CLK) - - P1-36 (CE2) - - \par I2C Pins - - The bcm2835_i2c_* functions allow you to control the BCM 2835 BSC interface, - allowing you to send and received data by I2C ("eye-squared cee"; generically referred to as "two-wire interface") . - For more information about I?C, see http://en.wikipedia.org/wiki/I%C2%B2C - - The Raspberry Pi V2 GPIO pins used for I2C are: - - - P1-03 (SDA) - - P1-05 (SLC) - - \par PWM - - The BCM2835 supports hardware PWM on a limited subset of GPIO pins. This bcm2835 library provides - functions for configuring and controlling PWM output on these pins. - - The BCM2835 contains 2 independent PWM channels (0 and 1), each of which be connnected to a limited subset of - GPIO pins. The following GPIO pins may be connected to the following PWM channels (from section 9.5): - \code - GPIO PIN RPi pin PWM Channel ALT FUN - 12 0 0 - 13 1 0 - 18 1-12 0 5 - 19 1 5 - 40 0 0 - 41 1 0 - 45 1 0 - 52 0 1 - 53 1 1 - \endcode - In order for a GPIO pin to emit output from its PWM channel, it must be set to the Alt Function given above. - Note carefully that current versions of the Raspberry Pi only expose one of these pins (GPIO 18 = RPi Pin 1-12) - on the IO headers, and therefore this is the only IO pin on the RPi that can be used for PWM. - Further it must be set to ALT FUN 5 to get PWM output. - - Both PWM channels are driven by the same PWM clock, whose clock dvider can be varied using - bcm2835_pwm_set_clock(). Each channel can be separately enabled with bcm2835_pwm_set_mode(). - The average output of the PWM channel is determined by the ratio of DATA/RANGE for that channel. - Use bcm2835_pwm_set_range() to set the range and bcm2835_pwm_set_data() to set the data in that ratio - - Each PWM channel can run in either Balanced or Mark-Space mode. In Balanced mode, the hardware - sends a combination of clock pulses that results in an overall DATA pulses per RANGE pulses. - In Mark-Space mode, the hardware sets the output HIGH for DATA clock pulses wide, followed by - LOW for RANGE-DATA clock pulses. - - The PWM clock can be set to control the PWM pulse widths. The PWM clock is derived from - a 19.2MHz clock. You can set any divider, but some common ones are provided by the BCM2835_PWM_CLOCK_DIVIDER_* - values of \ref bcm2835PWMClockDivider. - - For example, say you wanted to drive a DC motor with PWM at about 1kHz, - and control the speed in 1/1024 increments from - 0/1024 (stopped) through to 1024/1024 (full on). In that case you might set the - clock divider to be 16, and the RANGE to 1024. The pulse repetition frequency will be - 1.2MHz/1024 = 1171.875Hz. - - \par Interactions with other systems - - In order for bcm2835 library SPI to work, you may need to disable the SPI kernel module using: - - \code - sudo raspi-config - under Advanced Options - enable Device Tree - under Advanced Options - disable SPI - Reboot. - \endcode - - Since bcm2835 accesses the lowest level hardware interfaces (in eh intererests of speed and flexibility) - there can be intercations with other low level software trying to do similar things. - - It seems that with "latest" 8.0 Jessie 4.9.24-v7+ kernel PWM just won't - work unless you disable audio. There's a line - \code - dtparam=audio=on - \endcode - in the /boot/config.txt. - Comment it out like this: - \code - #dtparam=audio=on - \endcode - - \par Real Time performance constraints - - The bcm2835 is a library for user programs (i.e. they run in 'userland'). - Such programs are not part of the kernel and are usually - subject to paging and swapping by the kernel while it does other things besides running your program. - This means that you should not expect to get real-time performance or - real-time timing constraints from such programs. In particular, there is no guarantee that the - bcm2835_delay() and bcm2835_delayMicroseconds() will return after exactly the time requested. - In fact, depending on other activity on the host, IO etc, you might get significantly longer delay times - than the one you asked for. So please dont expect to get exactly the time delay you request. - - Arjan reports that you can prevent swapping on Linux with the following code fragment: - - \code - #define <sched.h> - #define <sys/mman.h> - - struct sched_param sp; - memset(&sp, 0, sizeof(sp)); - sp.sched_priority = sched_get_priority_max(SCHED_FIFO); - sched_setscheduler(0, SCHED_FIFO, &sp); - mlockall(MCL_CURRENT | MCL_FUTURE); - \endcode - - \par Crashing on some versions of Raspbian - Some people have reported that various versions of Rasbian will crash or hang - if certain GPIO pins are toggled: https://github.com/raspberrypi/linux/issues/2550 - when using bcm2835. - A workaround is to add this line to your /boot/config.txt: - \code - dtoverlay=gpio-no-irq - \endcode - - \par Bindings to other languages - - mikem has made Perl bindings available at CPAN: - http://search.cpan.org/~mikem/Device-BCM2835-1.9/lib/Device/BCM2835.pm - Matthew Baker has kindly made Python bindings available at: - https: github.com/mubeta06/py-libbcm2835 - Gary Marks has created a Serial Peripheral Interface (SPI) command-line utility - for Raspberry Pi, based on the bcm2835 library. The - utility, spincl, is licensed under Open Source GNU GPLv3 by iP Solutions (http://ipsolutionscorp.com), as a - free download with source included: http://ipsolutionscorp.com/raspberry-pi-spi-utility/ - - \par Open Source Licensing GPL V3 - - This is the appropriate option if you want to share the source code of your - application with everyone you distribute it to, and you also want to give them - the right to share who uses it. If you wish to use this software under Open - Source Licensing, you must contribute all your source code to the open source - community in accordance with the GPL Version 3 when your application is - distributed. See https://www.gnu.org/licenses/gpl-3.0.html and COPYING - - \par Commercial Licensing - - This is the appropriate option if you are creating proprietary applications - and you are not prepared to distribute and share the source code of your - application. To purchase a commercial license, contact info@airspayce.com - - \par Acknowledgements - - Some of this code has been inspired by Dom and Gert. - The I2C code has been inspired by Alan Barr. - - \par Revision History - - \version 1.0 Initial release - - \version 1.1 Minor bug fixes - - \version 1.2 Added support for SPI - - \version 1.3 Added bcm2835_spi_transfern() - - \version 1.4 Fixed a problem that prevented SPI CE1 being used. Reported by David Robinson. - - \version 1.5 Added bcm2835_close() to deinit the library. Suggested by C?sar Ortiz - - \version 1.6 Document testing on 2012-07-15-wheezy-raspbian and Occidentalisv01 - Functions bcm2835_gpio_ren(), bcm2835_gpio_fen(), bcm2835_gpio_hen() - bcm2835_gpio_len(), bcm2835_gpio_aren() and bcm2835_gpio_afen() now - changes only the pin specified. Other pins that were already previously - enabled stay enabled. - Added bcm2835_gpio_clr_ren(), bcm2835_gpio_clr_fen(), bcm2835_gpio_clr_hen() - bcm2835_gpio_clr_len(), bcm2835_gpio_clr_aren(), bcm2835_gpio_clr_afen() - to clear the enable for individual pins, suggested by Andreas Sundstrom. - - \version 1.7 Added bcm2835_spi_transfernb to support different buffers for read and write. - - \version 1.8 Improvements to read barrier, as suggested by maddin. - - \version 1.9 Improvements contributed by mikew: - I noticed that it was mallocing memory for the mmaps on /dev/mem. - It's not necessary to do that, you can just mmap the file directly, - so I've removed the mallocs (and frees). - I've also modified delayMicroseconds() to use nanosleep() for long waits, - and a busy wait on a high resolution timer for the rest. This is because - I've found that calling nanosleep() takes at least 100-200 us. - You need to link using '-lrt' using this version. - I've added some unsigned casts to the debug prints to silence compiler - warnings I was getting, fixed some typos, and changed the value of - BCM2835_PAD_HYSTERESIS_ENABLED to 0x08 as per Gert van Loo's doc at - http://www.scribd.com/doc/101830961/GPIO-Pads-Control2 - Also added a define for the passwrd value that Gert says is needed to - change pad control settings. - - \version 1.10 Changed the names of the delay functions to bcm2835_delay() - and bcm2835_delayMicroseconds() to prevent collisions with wiringPi. - Macros to map delay()-> bcm2835_delay() and - Macros to map delayMicroseconds()-> bcm2835_delayMicroseconds(), which - can be disabled by defining BCM2835_NO_DELAY_COMPATIBILITY - - \version 1.11 Fixed incorrect link to download file - - \version 1.12 New GPIO pin definitions for RPi version 2 (which has a different GPIO mapping) - - \version 1.13 New GPIO pin definitions for RPi version 2 plug P5 - Hardware base pointers are now available (after initialisation) externally as bcm2835_gpio - bcm2835_pwm bcm2835_clk bcm2835_pads bcm2835_spi0. - - \version 1.14 Now compiles even if CLOCK_MONOTONIC_RAW is not available, uses CLOCK_MONOTONIC instead. - Fixed errors in documentation of SPI divider frequencies based on 250MHz clock. - Reported by Ben Simpson. - - \version 1.15 Added bcm2835_close() to end of examples as suggested by Mark Wolfe. - - \version 1.16 Added bcm2835_gpio_set_multi, bcm2835_gpio_clr_multi and bcm2835_gpio_write_multi - to allow a mask of pins to be set all at once. Requested by Sebastian Loncar. - - \version 1.17 Added bcm2835_gpio_write_mask. Requested by Sebastian Loncar. - - \version 1.18 Added bcm2835_i2c_* functions. Changes to bcm2835_delayMicroseconds: - now uses the RPi system timer counter, instead of clock_gettime, for improved accuracy. - No need to link with -lrt now. Contributed by Arjan van Vught. - \version 1.19 Removed inlines added by previous patch since they don't seem to work everywhere. - Reported by olly. - - \version 1.20 Patch from Mark Dootson to close /dev/mem after access to the peripherals has been granted. - - \version 1.21 delayMicroseconds is now not susceptible to 32 bit timer overruns. - Patch courtesy Jeremy Mortis. - - \version 1.22 Fixed incorrect definition of BCM2835_GPFEN0 which broke the ability to set - falling edge events. Reported by Mark Dootson. - - \version 1.23 Added bcm2835_i2c_set_baudrate and bcm2835_i2c_read_register_rs. - Improvements to bcm2835_i2c_read and bcm2835_i2c_write functions - to fix ocasional reads not completing. Patched by Mark Dootson. - - \version 1.24 Mark Dootson p[atched a problem with his previously submitted code - under high load from other processes. - - \version 1.25 Updated author and distribution location details to airspayce.com - - \version 1.26 Added missing unmapmem for pads in bcm2835_close to prevent a memory leak. - Reported by Hartmut Henkel. - - \version 1.27 bcm2835_gpio_set_pad() no longer needs BCM2835_PAD_PASSWRD: it is - now automatically included. - Added support for PWM mode with bcm2835_pwm_* functions. - - \version 1.28 Fixed a problem where bcm2835_spi_writenb() would have problems with transfers of more than - 64 bytes dues to read buffer filling. Patched by Peter Würtz. - - \version 1.29 Further fix to SPI from Peter Würtz. - - \version 1.30 10 microsecond delays from bcm2835_spi_transfer and bcm2835_spi_transfern for - significant performance improvements, Patch by Alan Watson. - - \version 1.31 Fix a GCC warning about dummy variable, patched by Alan Watson. Thanks. - - \version 1.32 Added option I2C_V1 definition to compile for version 1 RPi. - By default I2C code is generated for the V2 RPi which has SDA1 and SCL1 connected. - Contributed by Malcolm Wiles based on work by Arvi Govindaraj. - - \version 1.33 Added command line utilities i2c and gpio to examples. Contributed by Shahrooz Shahparnia. - - \version 1.34 Added bcm2835_i2c_write_read_rs() which writes an arbitrary number of bytes, - sends a repeat start, and reads from the device. Contributed by Eduardo Steinhorst. - - \version 1.35 Fix build errors when compiled under Qt. Also performance improvements with SPI transfers. Contributed b Udo Klaas. - - \version 1.36 Make automake's test runner detect that we're skipping tests when not root, the second - one makes us skip the test when using fakeroot (as used when building - Debian packages). Contributed by Guido Günther. - - \version 1.37 Moved confiure.in to configure.ac as receommnded by autoreconf.<br> - Improvements to bcm2835_st_read to account for possible timer overflow, contributed by 'Ed'.<br> - Added definitions for Raspberry Pi B+ J8 header GPIO pins.<br> - - \version 1.38 Added bcm2835_regbase for the benefit of C# wrappers, patch by Frank Hommers <br> - - \version 1.39 Beta version of RPi2 compatibility. Not tested here on RPi2 hardware. - Testers please confirm correct operation on RPi2.<br> - Unnecessary 'volatile' qualifiers removed from all variables and signatures.<br> - Removed unsupportable PWM dividers, based on a report from Christophe Cecillon.<br> - Minor improvements to spi.c example.<br> - - \version 1.40 Correct operation on RPi2 has been confirmed.<br> - Fixed a number of compiler errors and warnings that occur when bcm2835.h is included - in code compiled with -Wall -Woverflow -Wstrict-overflow -Wshadow -Wextra -pedantic. - Reported by tlhackque.<br> - Fixed a problem where calling bcm2835_delayMicroseconds loops forever when debug is set. Reported by tlhackque.<br> - Reinstated use of volatile in 2 functions where there was a danger of lost reads or writes. Reported by tlhackque.<br> - - \version 1.41 Added BCM2835_VERSION macro and new function bcm2835_version(); Requested by tlhackque.<br> - Improvements to peripheral memory barriers as suggested by tlhackque.<br> - Reinstated some necessary volatile declarations as requested by tlhackque.<br> - - \version 1.42 Further improvements to memory barriers with the patient assistance and patches of tlhackque.<br> - - \version 1.43 Fixed problems with compiling barriers on RPI 2 with Arch Linux and gcc 4.9.2. - Reported and patched by Lars Christensen.<br> - Testing on RPI 2, with ArchLinuxARM-rpi-2-latest and 2015-02-16-raspbian-wheezy.<br> - - \version 1.44 Added documention about the need for device tree to be enabled on RPI2.<br> - Improvements to detection of availability of DMB instruction based on value of __ARM_ARCH macro.<br> - - \version 1.45 Fixed an error in the pad group offsets that would prevent bcm2835_gpio_set_pad() - and bcm2835_gpio_pad() working correctly with non-0 pad groups. Reported by Guido. - - \version 1.46 2015-09-18 - Added symbolic definitions for remaining pins on 40 pin GPIO header on RPi 2. <br> - - \version 1.47 2015-11-18 - Fixed possibly incorrect reads in bcm2835_i2c_read_register_rs, patch from Eckhardt Ulrich.<br> - - \version 1.48 2015-12-08 - Added patch from Eckhardt Ulrich that fixed problems that could cause hanging with bcm2835_i2c_read_register_rs - and others. - - \version 1.49 2016-01-05 - Added patch from Jonathan Perkin with new functions bcm2835_gpio_eds_multi() and bcm2835_gpio_set_eds_multi(). - - \version 1.50 2016-02-28 - Added support for running as non-root, permitting access to GPIO only. Functions - bcm2835_spi_begin() and bcm2835_i2c_begin() will now return 0 if not running as root - (which prevents access to the SPI and I2C peripherals, amongst others). - Testing on Raspbian Jessie. - - \version 1.51 2016-11-03 - Added documentation about SPI clock divider and resulting SPI speeds on RPi3. - Fixed a problem where seg fault could occur in bcm2835_delayMicroseconds() if not running as root. Patch from Pok. - - \version 1.52 2017-02-03 - Added link to commercial license purchasing. - - \version 1.53 2018-01-14 - Added support for AUX SPI (SPI1) - Contributed by Arjan van Vught (http://www.raspberrypi-dmx.org/) - - \version 1.54 2018-01-17 - Fixed compile errors in new AUX spi code under some circumstances. - - \version 1.55 2018-01-20 - Fixed version numbers. - Fixed some warnings. - - \version 1.56 2018-06-10 - Supports bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_LSBFIRST), after which SPI bytes are reversed on read or write. - Based on a suggestion by Damiano Benedetti. - - \version 1.57 2018-08-28 - Added SPI function bcm2835_spi_set_speed_hz(uint32_t speed_hz); - Contributed by Arjan van Vught (http://www.raspberrypi-dmx.org/) - - \version 1.58 2018-11-29 - Added examples/spiram, which shows how to use the included little library (spiram.c and spiram.h) - to read and write SPI RAM chips such as 23K256-I/P - - \version 1.59 2019-05-22 - Fixed a bug in bcm2835_i2c_read reported by Charles Hayward where a noisy I2C line cold cause a seg fault by - reading too many characters. - - \version 1.60 2019-07-23 - Applied patch from Mark Dootson for RPi 4 compatibility. Thanks Mark. Not tested here on RPi4, but others report it works. - Tested as still working correctly on earlier RPi models. Tested with Debian Buster on earlier models - - \version 1.61 2020-01-11 - Fixed errors in the documentation for bcm2835_spi_write. - Fixes issue seen on Raspberry Pi 4 boards where 64-bit off_t is used by - default via -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64. The offset was - being incorrectly converted, this way is clearer and fixes the problem. Contributed by Jonathan Perkin. - - \version 1.62 2020-01-12 - Fixed a problem that could cause compile failures with size_t and off_t - - \version 1.63 2020-03-07 - Added bcm2835_aux_spi_transfer, contributed by Michivi - Adopted GPL V3 licensing - - \version 1.64 2020-04-11 - Fixed error in definitions of BCM2835_AUX_SPI_STAT_TX_LVL and BCM2835_AUX_SPI_STAT_RX_LVL. Patch from - Eric Marzec. Thanks. - - \version 1.65, 1.66 2020-04-16 - Added support for use of capability cap_sys_rawio to determine if access to /dev/mem is available for non-root - users. Contributed by Doug McFadyen. - - \version 1.67, 1.66 2020-06-11 - Fixed an error in bcm2835_i2c_read() where the status byte was not correctly updated with BCM2835_BSC_S_DONE - Reported by Zihan. Thanks. - - \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS -*/ - - -/* Defines for BCM2835 */ -#ifndef BCM2835_H -#define BCM2835_H - -#include <stdint.h> - -#define BCM2835_VERSION 10066 /* Version 1.66 */ - -// Define this if you want to use libcap2 to determine if you have the cap_sys_rawio capability -// and therefore the capability of opening /dev/mem, even if you are not root. -// See the comments above in the documentation for 'Running As Root' -//#define BCM2835_HAVE_LIBCAP - -/* RPi 2 is ARM v7, and has DMB instruction for memory barriers. - Older RPis are ARM v6 and don't, so a coprocessor instruction must be used instead. - However, not all versions of gcc in all distros support the dmb assembler instruction even on compatible processors. - This test is so any ARMv7 or higher processors with suitable GCC will use DMB. -*/ -#if __ARM_ARCH >= 7 -#define BCM2835_HAVE_DMB -#endif - -/*! \defgroup constants Constants for passing to and from library functions - The values here are designed to be passed to various functions in the bcm2835 library. - @{ -*/ - -/*! This means pin HIGH, true, 3.3volts on a pin. */ -#define HIGH 0x1 -/*! This means pin LOW, false, 0volts on a pin. */ -#define LOW 0x0 - -/*! Return the minimum of 2 numbers */ -#ifndef MIN -#define MIN(a, b) (a < b ? a : b) -#endif - -/*! Speed of the core clock core_clk */ -#define BCM2835_CORE_CLK_HZ 250000000 /*!< 250 MHz */ - -/*! On all recent OSs, the base of the peripherals is read from a /proc file */ -#define BMC2835_RPI2_DT_FILENAME "/proc/device-tree/soc/ranges" - -/*! Physical addresses for various peripheral register sets - Base Physical Address of the BCM 2835 peripheral registers - Note this is different for the RPi2 BCM2836, where this is derived from /proc/device-tree/soc/ranges - If /proc/device-tree/soc/ranges exists on a RPi 1 OS, it would be expected to contain the - following numbers: -*/ -/*! Peripherals block base address on RPi 1 */ -#define BCM2835_PERI_BASE 0x20000000 -/*! Size of the peripherals block on RPi 1 */ -#define BCM2835_PERI_SIZE 0x01000000 -/*! Alternate base address for RPI 2 / 3 */ -#define BCM2835_RPI2_PERI_BASE 0x3F000000 -/*! Alternate base address for RPI 4 */ -#define BCM2835_RPI4_PERI_BASE 0xFE000000 -/*! Alternate size for RPI 4 */ -#define BCM2835_RPI4_PERI_SIZE 0x01800000 - -/*! Offsets for the bases of various peripherals within the peripherals block - / Base Address of the System Timer registers -*/ -#define BCM2835_ST_BASE 0x3000 -/*! Base Address of the Pads registers */ -#define BCM2835_GPIO_PADS 0x100000 -/*! Base Address of the Clock/timer registers */ -#define BCM2835_CLOCK_BASE 0x101000 -/*! Base Address of the GPIO registers */ -#define BCM2835_GPIO_BASE 0x200000 -/*! Base Address of the SPI0 registers */ -#define BCM2835_SPI0_BASE 0x204000 -/*! Base Address of the BSC0 registers */ -#define BCM2835_BSC0_BASE 0x205000 -/*! Base Address of the PWM registers */ -#define BCM2835_GPIO_PWM 0x20C000 -/*! Base Address of the AUX registers */ -#define BCM2835_AUX_BASE 0x215000 -/*! Base Address of the AUX_SPI1 registers */ -#define BCM2835_SPI1_BASE 0x215080 -/*! Base Address of the AUX_SPI2 registers */ -#define BCM2835_SPI2_BASE 0x2150C0 -/*! Base Address of the BSC1 registers */ -#define BCM2835_BSC1_BASE 0x804000 - -#include <stdlib.h> - -/*! Physical address and size of the peripherals block - May be overridden on RPi2 -*/ -extern off_t bcm2835_peripherals_base; -/*! Size of the peripherals block to be mapped */ -extern size_t bcm2835_peripherals_size; - -/*! Virtual memory address of the mapped peripherals block */ -extern uint32_t *bcm2835_peripherals; - -/*! Base of the ST (System Timer) registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_st; - -/*! Base of the GPIO registers. - Available after bcm2835_init has been called -*/ -extern volatile uint32_t *bcm2835_gpio; - -/*! Base of the PWM registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_pwm; - -/*! Base of the CLK registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_clk; - -/*! Base of the PADS registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_pads; - -/*! Base of the SPI0 registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_spi0; - -/*! Base of the BSC0 registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_bsc0; - -/*! Base of the BSC1 registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_bsc1; - -/*! Base of the AUX registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_aux; - -/*! Base of the SPI1 registers. - Available after bcm2835_init has been called (as root) -*/ -extern volatile uint32_t *bcm2835_spi1; - - -/*! \brief bcm2835RegisterBase - Register bases for bcm2835_regbase() -*/ -typedef enum -{ - BCM2835_REGBASE_ST = 1, /*!< Base of the ST (System Timer) registers. */ - BCM2835_REGBASE_GPIO = 2, /*!< Base of the GPIO registers. */ - BCM2835_REGBASE_PWM = 3, /*!< Base of the PWM registers. */ - BCM2835_REGBASE_CLK = 4, /*!< Base of the CLK registers. */ - BCM2835_REGBASE_PADS = 5, /*!< Base of the PADS registers. */ - BCM2835_REGBASE_SPI0 = 6, /*!< Base of the SPI0 registers. */ - BCM2835_REGBASE_BSC0 = 7, /*!< Base of the BSC0 registers. */ - BCM2835_REGBASE_BSC1 = 8, /*!< Base of the BSC1 registers. */ - BCM2835_REGBASE_AUX = 9, /*!< Base of the AUX registers. */ - BCM2835_REGBASE_SPI1 = 10 /*!< Base of the SPI1 registers. */ -} bcm2835RegisterBase; - -/*! Size of memory page on RPi */ -#define BCM2835_PAGE_SIZE (4*1024) -/*! Size of memory block on RPi */ -#define BCM2835_BLOCK_SIZE (4*1024) - - -/* Defines for GPIO - The BCM2835 has 54 GPIO pins. - BCM2835 data sheet, Page 90 onwards. -*/ -/*! GPIO register offsets from BCM2835_GPIO_BASE. - Offsets into the GPIO Peripheral block in bytes per 6.1 Register View -*/ -#define BCM2835_GPFSEL0 0x0000 /*!< GPIO Function Select 0 */ -#define BCM2835_GPFSEL1 0x0004 /*!< GPIO Function Select 1 */ -#define BCM2835_GPFSEL2 0x0008 /*!< GPIO Function Select 2 */ -#define BCM2835_GPFSEL3 0x000c /*!< GPIO Function Select 3 */ -#define BCM2835_GPFSEL4 0x0010 /*!< GPIO Function Select 4 */ -#define BCM2835_GPFSEL5 0x0014 /*!< GPIO Function Select 5 */ -#define BCM2835_GPSET0 0x001c /*!< GPIO Pin Output Set 0 */ -#define BCM2835_GPSET1 0x0020 /*!< GPIO Pin Output Set 1 */ -#define BCM2835_GPCLR0 0x0028 /*!< GPIO Pin Output Clear 0 */ -#define BCM2835_GPCLR1 0x002c /*!< GPIO Pin Output Clear 1 */ -#define BCM2835_GPLEV0 0x0034 /*!< GPIO Pin Level 0 */ -#define BCM2835_GPLEV1 0x0038 /*!< GPIO Pin Level 1 */ -#define BCM2835_GPEDS0 0x0040 /*!< GPIO Pin Event Detect Status 0 */ -#define BCM2835_GPEDS1 0x0044 /*!< GPIO Pin Event Detect Status 1 */ -#define BCM2835_GPREN0 0x004c /*!< GPIO Pin Rising Edge Detect Enable 0 */ -#define BCM2835_GPREN1 0x0050 /*!< GPIO Pin Rising Edge Detect Enable 1 */ -#define BCM2835_GPFEN0 0x0058 /*!< GPIO Pin Falling Edge Detect Enable 0 */ -#define BCM2835_GPFEN1 0x005c /*!< GPIO Pin Falling Edge Detect Enable 1 */ -#define BCM2835_GPHEN0 0x0064 /*!< GPIO Pin High Detect Enable 0 */ -#define BCM2835_GPHEN1 0x0068 /*!< GPIO Pin High Detect Enable 1 */ -#define BCM2835_GPLEN0 0x0070 /*!< GPIO Pin Low Detect Enable 0 */ -#define BCM2835_GPLEN1 0x0074 /*!< GPIO Pin Low Detect Enable 1 */ -#define BCM2835_GPAREN0 0x007c /*!< GPIO Pin Async. Rising Edge Detect 0 */ -#define BCM2835_GPAREN1 0x0080 /*!< GPIO Pin Async. Rising Edge Detect 1 */ -#define BCM2835_GPAFEN0 0x0088 /*!< GPIO Pin Async. Falling Edge Detect 0 */ -#define BCM2835_GPAFEN1 0x008c /*!< GPIO Pin Async. Falling Edge Detect 1 */ -#define BCM2835_GPPUD 0x0094 /*!< GPIO Pin Pull-up/down Enable */ -#define BCM2835_GPPUDCLK0 0x0098 /*!< GPIO Pin Pull-up/down Enable Clock 0 */ -#define BCM2835_GPPUDCLK1 0x009c /*!< GPIO Pin Pull-up/down Enable Clock 1 */ - -/* 2711 has a different method for pin pull-up/down/enable */ -#define BCM2835_GPPUPPDN0 0x00e4 /* Pin pull-up/down for pins 15:0 */ -#define BCM2835_GPPUPPDN1 0x00e8 /* Pin pull-up/down for pins 31:16 */ -#define BCM2835_GPPUPPDN2 0x00ec /* Pin pull-up/down for pins 47:32 */ -#define BCM2835_GPPUPPDN3 0x00f0 /* Pin pull-up/down for pins 57:48 */ - -/*! \brief bcm2835PortFunction - Port function select modes for bcm2835_gpio_fsel() -*/ -typedef enum -{ - BCM2835_GPIO_FSEL_INPT = 0x00, /*!< Input 0b000 */ - BCM2835_GPIO_FSEL_OUTP = 0x01, /*!< Output 0b001 */ - BCM2835_GPIO_FSEL_ALT0 = 0x04, /*!< Alternate function 0 0b100 */ - BCM2835_GPIO_FSEL_ALT1 = 0x05, /*!< Alternate function 1 0b101 */ - BCM2835_GPIO_FSEL_ALT2 = 0x06, /*!< Alternate function 2 0b110, */ - BCM2835_GPIO_FSEL_ALT3 = 0x07, /*!< Alternate function 3 0b111 */ - BCM2835_GPIO_FSEL_ALT4 = 0x03, /*!< Alternate function 4 0b011 */ - BCM2835_GPIO_FSEL_ALT5 = 0x02, /*!< Alternate function 5 0b010 */ - BCM2835_GPIO_FSEL_MASK = 0x07 /*!< Function select bits mask 0b111 */ -} bcm2835FunctionSelect; - -/*! \brief bcm2835PUDControl - Pullup/Pulldown defines for bcm2835_gpio_pud() -*/ -typedef enum -{ - BCM2835_GPIO_PUD_OFF = 0x00, /*!< Off ? disable pull-up/down 0b00 */ - BCM2835_GPIO_PUD_DOWN = 0x01, /*!< Enable Pull Down control 0b01 */ - BCM2835_GPIO_PUD_UP = 0x02 /*!< Enable Pull Up control 0b10 */ -} bcm2835PUDControl; - -/* need a value for pud functions that can't work unless RPI 4 */ -#define BCM2835_GPIO_PUD_ERROR 0x08 - -/*! Pad control register offsets from BCM2835_GPIO_PADS */ -#define BCM2835_PADS_GPIO_0_27 0x002c /*!< Pad control register for pads 0 to 27 */ -#define BCM2835_PADS_GPIO_28_45 0x0030 /*!< Pad control register for pads 28 to 45 */ -#define BCM2835_PADS_GPIO_46_53 0x0034 /*!< Pad control register for pads 46 to 53 */ - -/*! Pad Control masks */ -#define BCM2835_PAD_PASSWRD (0x5A << 24) /*!< Password to enable setting pad mask */ -#define BCM2835_PAD_SLEW_RATE_UNLIMITED 0x10 /*!< Slew rate unlimited */ -#define BCM2835_PAD_HYSTERESIS_ENABLED 0x08 /*!< Hysteresis enabled */ -#define BCM2835_PAD_DRIVE_2mA 0x00 /*!< 2mA drive current */ -#define BCM2835_PAD_DRIVE_4mA 0x01 /*!< 4mA drive current */ -#define BCM2835_PAD_DRIVE_6mA 0x02 /*!< 6mA drive current */ -#define BCM2835_PAD_DRIVE_8mA 0x03 /*!< 8mA drive current */ -#define BCM2835_PAD_DRIVE_10mA 0x04 /*!< 10mA drive current */ -#define BCM2835_PAD_DRIVE_12mA 0x05 /*!< 12mA drive current */ -#define BCM2835_PAD_DRIVE_14mA 0x06 /*!< 14mA drive current */ -#define BCM2835_PAD_DRIVE_16mA 0x07 /*!< 16mA drive current */ - -/*! \brief bcm2835PadGroup - Pad group specification for bcm2835_gpio_pad() -*/ -typedef enum -{ - BCM2835_PAD_GROUP_GPIO_0_27 = 0, /*!< Pad group for GPIO pads 0 to 27 */ - BCM2835_PAD_GROUP_GPIO_28_45 = 1, /*!< Pad group for GPIO pads 28 to 45 */ - BCM2835_PAD_GROUP_GPIO_46_53 = 2 /*!< Pad group for GPIO pads 46 to 53 */ -} bcm2835PadGroup; - -/*! \brief GPIO Pin Numbers - - Here we define Raspberry Pin GPIO pins on P1 in terms of the underlying BCM GPIO pin numbers. - These can be passed as a pin number to any function requiring a pin. - Not all pins on the RPi 26 bin IDE plug are connected to GPIO pins - and some can adopt an alternate function. - RPi version 2 has some slightly different pinouts, and these are values RPI_V2_*. - RPi B+ has yet differnet pinouts and these are defined in RPI_BPLUS_*. - At bootup, pins 8 and 10 are set to UART0_TXD, UART0_RXD (ie the alt0 function) respectively - When SPI0 is in use (ie after bcm2835_spi_begin()), SPI0 pins are dedicated to SPI - and cant be controlled independently. - If you are using the RPi Compute Module, just use the GPIO number: there is no need to use one of these - symbolic names -*/ -typedef enum -{ - RPI_GPIO_P1_03 = 0, /*!< Version 1, Pin P1-03 */ - RPI_GPIO_P1_05 = 1, /*!< Version 1, Pin P1-05 */ - RPI_GPIO_P1_07 = 4, /*!< Version 1, Pin P1-07 */ - RPI_GPIO_P1_08 = 14, /*!< Version 1, Pin P1-08, defaults to alt function 0 UART0_TXD */ - RPI_GPIO_P1_10 = 15, /*!< Version 1, Pin P1-10, defaults to alt function 0 UART0_RXD */ - RPI_GPIO_P1_11 = 17, /*!< Version 1, Pin P1-11 */ - RPI_GPIO_P1_12 = 18, /*!< Version 1, Pin P1-12, can be PWM channel 0 in ALT FUN 5 */ - RPI_GPIO_P1_13 = 21, /*!< Version 1, Pin P1-13 */ - RPI_GPIO_P1_15 = 22, /*!< Version 1, Pin P1-15 */ - RPI_GPIO_P1_16 = 23, /*!< Version 1, Pin P1-16 */ - RPI_GPIO_P1_18 = 24, /*!< Version 1, Pin P1-18 */ - RPI_GPIO_P1_19 = 10, /*!< Version 1, Pin P1-19, MOSI when SPI0 in use */ - RPI_GPIO_P1_21 = 9, /*!< Version 1, Pin P1-21, MISO when SPI0 in use */ - RPI_GPIO_P1_22 = 25, /*!< Version 1, Pin P1-22 */ - RPI_GPIO_P1_23 = 11, /*!< Version 1, Pin P1-23, CLK when SPI0 in use */ - RPI_GPIO_P1_24 = 8, /*!< Version 1, Pin P1-24, CE0 when SPI0 in use */ - RPI_GPIO_P1_26 = 7, /*!< Version 1, Pin P1-26, CE1 when SPI0 in use */ - - /* RPi Version 2 */ - RPI_V2_GPIO_P1_03 = 2, /*!< Version 2, Pin P1-03 */ - RPI_V2_GPIO_P1_05 = 3, /*!< Version 2, Pin P1-05 */ - RPI_V2_GPIO_P1_07 = 4, /*!< Version 2, Pin P1-07 */ - RPI_V2_GPIO_P1_08 = 14, /*!< Version 2, Pin P1-08, defaults to alt function 0 UART0_TXD */ - RPI_V2_GPIO_P1_10 = 15, /*!< Version 2, Pin P1-10, defaults to alt function 0 UART0_RXD */ - RPI_V2_GPIO_P1_11 = 17, /*!< Version 2, Pin P1-11 */ - RPI_V2_GPIO_P1_12 = 18, /*!< Version 2, Pin P1-12, can be PWM channel 0 in ALT FUN 5 */ - RPI_V2_GPIO_P1_13 = 27, /*!< Version 2, Pin P1-13 */ - RPI_V2_GPIO_P1_15 = 22, /*!< Version 2, Pin P1-15 */ - RPI_V2_GPIO_P1_16 = 23, /*!< Version 2, Pin P1-16 */ - RPI_V2_GPIO_P1_18 = 24, /*!< Version 2, Pin P1-18 */ - RPI_V2_GPIO_P1_19 = 10, /*!< Version 2, Pin P1-19, MOSI when SPI0 in use */ - RPI_V2_GPIO_P1_21 = 9, /*!< Version 2, Pin P1-21, MISO when SPI0 in use */ - RPI_V2_GPIO_P1_22 = 25, /*!< Version 2, Pin P1-22 */ - RPI_V2_GPIO_P1_23 = 11, /*!< Version 2, Pin P1-23, CLK when SPI0 in use */ - RPI_V2_GPIO_P1_24 = 8, /*!< Version 2, Pin P1-24, CE0 when SPI0 in use */ - RPI_V2_GPIO_P1_26 = 7, /*!< Version 2, Pin P1-26, CE1 when SPI0 in use */ - RPI_V2_GPIO_P1_29 = 5, /*!< Version 2, Pin P1-29 */ - RPI_V2_GPIO_P1_31 = 6, /*!< Version 2, Pin P1-31 */ - RPI_V2_GPIO_P1_32 = 12, /*!< Version 2, Pin P1-32 */ - RPI_V2_GPIO_P1_33 = 13, /*!< Version 2, Pin P1-33 */ - RPI_V2_GPIO_P1_35 = 19, /*!< Version 2, Pin P1-35, can be PWM channel 1 in ALT FUN 5 */ - RPI_V2_GPIO_P1_36 = 16, /*!< Version 2, Pin P1-36 */ - RPI_V2_GPIO_P1_37 = 26, /*!< Version 2, Pin P1-37 */ - RPI_V2_GPIO_P1_38 = 20, /*!< Version 2, Pin P1-38 */ - RPI_V2_GPIO_P1_40 = 21, /*!< Version 2, Pin P1-40 */ - - /* RPi Version 2, new plug P5 */ - RPI_V2_GPIO_P5_03 = 28, /*!< Version 2, Pin P5-03 */ - RPI_V2_GPIO_P5_04 = 29, /*!< Version 2, Pin P5-04 */ - RPI_V2_GPIO_P5_05 = 30, /*!< Version 2, Pin P5-05 */ - RPI_V2_GPIO_P5_06 = 31, /*!< Version 2, Pin P5-06 */ - - /* RPi B+ J8 header, also RPi 2 40 pin GPIO header */ - RPI_BPLUS_GPIO_J8_03 = 2, /*!< B+, Pin J8-03 */ - RPI_BPLUS_GPIO_J8_05 = 3, /*!< B+, Pin J8-05 */ - RPI_BPLUS_GPIO_J8_07 = 4, /*!< B+, Pin J8-07 */ - RPI_BPLUS_GPIO_J8_08 = 14, /*!< B+, Pin J8-08, defaults to alt function 0 UART0_TXD */ - RPI_BPLUS_GPIO_J8_10 = 15, /*!< B+, Pin J8-10, defaults to alt function 0 UART0_RXD */ - RPI_BPLUS_GPIO_J8_11 = 17, /*!< B+, Pin J8-11 */ - RPI_BPLUS_GPIO_J8_12 = 18, /*!< B+, Pin J8-12, can be PWM channel 0 in ALT FUN 5 */ - RPI_BPLUS_GPIO_J8_13 = 27, /*!< B+, Pin J8-13 */ - RPI_BPLUS_GPIO_J8_15 = 22, /*!< B+, Pin J8-15 */ - RPI_BPLUS_GPIO_J8_16 = 23, /*!< B+, Pin J8-16 */ - RPI_BPLUS_GPIO_J8_18 = 24, /*!< B+, Pin J8-18 */ - RPI_BPLUS_GPIO_J8_19 = 10, /*!< B+, Pin J8-19, MOSI when SPI0 in use */ - RPI_BPLUS_GPIO_J8_21 = 9, /*!< B+, Pin J8-21, MISO when SPI0 in use */ - RPI_BPLUS_GPIO_J8_22 = 25, /*!< B+, Pin J8-22 */ - RPI_BPLUS_GPIO_J8_23 = 11, /*!< B+, Pin J8-23, CLK when SPI0 in use */ - RPI_BPLUS_GPIO_J8_24 = 8, /*!< B+, Pin J8-24, CE0 when SPI0 in use */ - RPI_BPLUS_GPIO_J8_26 = 7, /*!< B+, Pin J8-26, CE1 when SPI0 in use */ - RPI_BPLUS_GPIO_J8_29 = 5, /*!< B+, Pin J8-29, */ - RPI_BPLUS_GPIO_J8_31 = 6, /*!< B+, Pin J8-31, */ - RPI_BPLUS_GPIO_J8_32 = 12, /*!< B+, Pin J8-32, */ - RPI_BPLUS_GPIO_J8_33 = 13, /*!< B+, Pin J8-33, */ - RPI_BPLUS_GPIO_J8_35 = 19, /*!< B+, Pin J8-35, can be PWM channel 1 in ALT FUN 5 */ - RPI_BPLUS_GPIO_J8_36 = 16, /*!< B+, Pin J8-36, */ - RPI_BPLUS_GPIO_J8_37 = 26, /*!< B+, Pin J8-37, */ - RPI_BPLUS_GPIO_J8_38 = 20, /*!< B+, Pin J8-38, */ - RPI_BPLUS_GPIO_J8_40 = 21 /*!< B+, Pin J8-40, */ -} RPiGPIOPin; - -/* Defines for AUX - GPIO register offsets from BCM2835_AUX_BASE. -*/ -#define BCM2835_AUX_IRQ 0x0000 /*!< xxx */ -#define BCM2835_AUX_ENABLE 0x0004 /*!< */ - -#define BCM2835_AUX_ENABLE_UART1 0x01 /*!< */ -#define BCM2835_AUX_ENABLE_SPI0 0x02 /*!< SPI0 (SPI1 in the device) */ -#define BCM2835_AUX_ENABLE_SPI1 0x04 /*!< SPI1 (SPI2 in the device) */ - - -#define BCM2835_AUX_SPI_CNTL0 0x0000 /*!< */ -#define BCM2835_AUX_SPI_CNTL1 0x0004 /*!< */ -#define BCM2835_AUX_SPI_STAT 0x0008 /*!< */ -#define BCM2835_AUX_SPI_PEEK 0x000C /*!< Read but do not take from FF */ -#define BCM2835_AUX_SPI_IO 0x0020 /*!< Write = TX, read=RX */ -#define BCM2835_AUX_SPI_TXHOLD 0x0030 /*!< Write = TX keep CS, read=RX */ - -#define BCM2835_AUX_SPI_CLOCK_MIN 30500 /*!< 30,5kHz */ -#define BCM2835_AUX_SPI_CLOCK_MAX 125000000 /*!< 125Mhz */ - -#define BCM2835_AUX_SPI_CNTL0_SPEED 0xFFF00000 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_SPEED_MAX 0xFFF /*!< */ -#define BCM2835_AUX_SPI_CNTL0_SPEED_SHIFT 20 /*!< */ - -#define BCM2835_AUX_SPI_CNTL0_CS0_N 0x000C0000 /*!< CS 0 low */ -#define BCM2835_AUX_SPI_CNTL0_CS1_N 0x000A0000 /*!< CS 1 low */ -#define BCM2835_AUX_SPI_CNTL0_CS2_N 0x00060000 /*!< CS 2 low */ - -#define BCM2835_AUX_SPI_CNTL0_POSTINPUT 0x00010000 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_VAR_CS 0x00008000 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_VAR_WIDTH 0x00004000 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_DOUTHOLD 0x00003000 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_ENABLE 0x00000800 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_CPHA_IN 0x00000400 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_CLEARFIFO 0x00000200 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_CPHA_OUT 0x00000100 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_CPOL 0x00000080 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_MSBF_OUT 0x00000040 /*!< */ -#define BCM2835_AUX_SPI_CNTL0_SHIFTLEN 0x0000003F /*!< */ - -#define BCM2835_AUX_SPI_CNTL1_CSHIGH 0x00000700 /*!< */ -#define BCM2835_AUX_SPI_CNTL1_IDLE 0x00000080 /*!< */ -#define BCM2835_AUX_SPI_CNTL1_TXEMPTY 0x00000040 /*!< */ -#define BCM2835_AUX_SPI_CNTL1_MSBF_IN 0x00000002 /*!< */ -#define BCM2835_AUX_SPI_CNTL1_KEEP_IN 0x00000001 /*!< */ - -#define BCM2835_AUX_SPI_STAT_TX_LVL 0xF0000000 /*!< */ -#define BCM2835_AUX_SPI_STAT_RX_LVL 0x00F00000 /*!< */ -#define BCM2835_AUX_SPI_STAT_TX_FULL 0x00000400 /*!< */ -#define BCM2835_AUX_SPI_STAT_TX_EMPTY 0x00000200 /*!< */ -#define BCM2835_AUX_SPI_STAT_RX_FULL 0x00000100 /*!< */ -#define BCM2835_AUX_SPI_STAT_RX_EMPTY 0x00000080 /*!< */ -#define BCM2835_AUX_SPI_STAT_BUSY 0x00000040 /*!< */ -#define BCM2835_AUX_SPI_STAT_BITCOUNT 0x0000003F /*!< */ - -/* Defines for SPI - GPIO register offsets from BCM2835_SPI0_BASE. - Offsets into the SPI Peripheral block in bytes per 10.5 SPI Register Map -*/ -#define BCM2835_SPI0_CS 0x0000 /*!< SPI Master Control and Status */ -#define BCM2835_SPI0_FIFO 0x0004 /*!< SPI Master TX and RX FIFOs */ -#define BCM2835_SPI0_CLK 0x0008 /*!< SPI Master Clock Divider */ -#define BCM2835_SPI0_DLEN 0x000c /*!< SPI Master Data Length */ -#define BCM2835_SPI0_LTOH 0x0010 /*!< SPI LOSSI mode TOH */ -#define BCM2835_SPI0_DC 0x0014 /*!< SPI DMA DREQ Controls */ - -/* Register masks for SPI0_CS */ -#define BCM2835_SPI0_CS_LEN_LONG 0x02000000 /*!< Enable Long data word in Lossi mode if DMA_LEN is set */ -#define BCM2835_SPI0_CS_DMA_LEN 0x01000000 /*!< Enable DMA mode in Lossi mode */ -#define BCM2835_SPI0_CS_CSPOL2 0x00800000 /*!< Chip Select 2 Polarity */ -#define BCM2835_SPI0_CS_CSPOL1 0x00400000 /*!< Chip Select 1 Polarity */ -#define BCM2835_SPI0_CS_CSPOL0 0x00200000 /*!< Chip Select 0 Polarity */ -#define BCM2835_SPI0_CS_RXF 0x00100000 /*!< RXF - RX FIFO Full */ -#define BCM2835_SPI0_CS_RXR 0x00080000 /*!< RXR RX FIFO needs Reading (full) */ -#define BCM2835_SPI0_CS_TXD 0x00040000 /*!< TXD TX FIFO can accept Data */ -#define BCM2835_SPI0_CS_RXD 0x00020000 /*!< RXD RX FIFO contains Data */ -#define BCM2835_SPI0_CS_DONE 0x00010000 /*!< Done transfer Done */ -#define BCM2835_SPI0_CS_TE_EN 0x00008000 /*!< Unused */ -#define BCM2835_SPI0_CS_LMONO 0x00004000 /*!< Unused */ -#define BCM2835_SPI0_CS_LEN 0x00002000 /*!< LEN LoSSI enable */ -#define BCM2835_SPI0_CS_REN 0x00001000 /*!< REN Read Enable */ -#define BCM2835_SPI0_CS_ADCS 0x00000800 /*!< ADCS Automatically Deassert Chip Select */ -#define BCM2835_SPI0_CS_INTR 0x00000400 /*!< INTR Interrupt on RXR */ -#define BCM2835_SPI0_CS_INTD 0x00000200 /*!< INTD Interrupt on Done */ -#define BCM2835_SPI0_CS_DMAEN 0x00000100 /*!< DMAEN DMA Enable */ -#define BCM2835_SPI0_CS_TA 0x00000080 /*!< Transfer Active */ -#define BCM2835_SPI0_CS_CSPOL 0x00000040 /*!< Chip Select Polarity */ -#define BCM2835_SPI0_CS_CLEAR 0x00000030 /*!< Clear FIFO Clear RX and TX */ -#define BCM2835_SPI0_CS_CLEAR_RX 0x00000020 /*!< Clear FIFO Clear RX */ -#define BCM2835_SPI0_CS_CLEAR_TX 0x00000010 /*!< Clear FIFO Clear TX */ -#define BCM2835_SPI0_CS_CPOL 0x00000008 /*!< Clock Polarity */ -#define BCM2835_SPI0_CS_CPHA 0x00000004 /*!< Clock Phase */ -#define BCM2835_SPI0_CS_CS 0x00000003 /*!< Chip Select */ - -/*! \brief bcm2835SPIBitOrder SPI Bit order - Specifies the SPI data bit ordering for bcm2835_spi_setBitOrder() -*/ -typedef enum -{ - BCM2835_SPI_BIT_ORDER_LSBFIRST = 0, /*!< LSB First */ - BCM2835_SPI_BIT_ORDER_MSBFIRST = 1 /*!< MSB First */ -}bcm2835SPIBitOrder; - -/*! \brief SPI Data mode - Specify the SPI data mode to be passed to bcm2835_spi_setDataMode() -*/ -typedef enum -{ - BCM2835_SPI_MODE0 = 0, /*!< CPOL = 0, CPHA = 0 */ - BCM2835_SPI_MODE1 = 1, /*!< CPOL = 0, CPHA = 1 */ - BCM2835_SPI_MODE2 = 2, /*!< CPOL = 1, CPHA = 0 */ - BCM2835_SPI_MODE3 = 3 /*!< CPOL = 1, CPHA = 1 */ -}bcm2835SPIMode; - -/*! \brief bcm2835SPIChipSelect - Specify the SPI chip select pin(s) -*/ -typedef enum -{ - BCM2835_SPI_CS0 = 0, /*!< Chip Select 0 */ - BCM2835_SPI_CS1 = 1, /*!< Chip Select 1 */ - BCM2835_SPI_CS2 = 2, /*!< Chip Select 2 (ie pins CS1 and CS2 are asserted) */ - BCM2835_SPI_CS_NONE = 3 /*!< No CS, control it yourself */ -} bcm2835SPIChipSelect; - -/*! \brief bcm2835SPIClockDivider - Specifies the divider used to generate the SPI clock from the system clock. - Figures below give the divider, clock period and clock frequency. - Clock divided is based on nominal core clock rate of 250MHz on RPi1 and RPi2, and 400MHz on RPi3. - It is reported that (contrary to the documentation) any even divider may used. - The frequencies shown for each divider have been confirmed by measurement on RPi1 and RPi2. - The system clock frequency on RPi3 is different, so the frequency you get from a given divider will be different. - See comments in 'SPI Pins' for information about reliable SPI speeds. - Note: it is possible to change the core clock rate of the RPi 3 back to 250MHz, by putting - \code - core_freq=250 - \endcode - in the config.txt -*/ -typedef enum -{ - BCM2835_SPI_CLOCK_DIVIDER_65536 = 0, /*!< 65536 = 3.814697260kHz on Rpi2, 6.1035156kHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_32768 = 32768, /*!< 32768 = 7.629394531kHz on Rpi2, 12.20703125kHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_16384 = 16384, /*!< 16384 = 15.25878906kHz on Rpi2, 24.4140625kHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_8192 = 8192, /*!< 8192 = 30.51757813kHz on Rpi2, 48.828125kHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_4096 = 4096, /*!< 4096 = 61.03515625kHz on Rpi2, 97.65625kHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_2048 = 2048, /*!< 2048 = 122.0703125kHz on Rpi2, 195.3125kHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_1024 = 1024, /*!< 1024 = 244.140625kHz on Rpi2, 390.625kHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_512 = 512, /*!< 512 = 488.28125kHz on Rpi2, 781.25kHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_256 = 256, /*!< 256 = 976.5625kHz on Rpi2, 1.5625MHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_128 = 128, /*!< 128 = 1.953125MHz on Rpi2, 3.125MHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_64 = 64, /*!< 64 = 3.90625MHz on Rpi2, 6.250MHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_32 = 32, /*!< 32 = 7.8125MHz on Rpi2, 12.5MHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_16 = 16, /*!< 16 = 15.625MHz on Rpi2, 25MHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_8 = 8, /*!< 8 = 31.25MHz on Rpi2, 50MHz on RPI3 */ - BCM2835_SPI_CLOCK_DIVIDER_4 = 4, /*!< 4 = 62.5MHz on Rpi2, 100MHz on RPI3. Dont expect this speed to work reliably. */ - BCM2835_SPI_CLOCK_DIVIDER_2 = 2, /*!< 2 = 125MHz on Rpi2, 200MHz on RPI3, fastest you can get. Dont expect this speed to work reliably.*/ - BCM2835_SPI_CLOCK_DIVIDER_1 = 1 /*!< 1 = 3.814697260kHz on Rpi2, 6.1035156kHz on RPI3, same as 0/65536 */ -} bcm2835SPIClockDivider; - -/* Defines for I2C - GPIO register offsets from BCM2835_BSC*_BASE. - Offsets into the BSC Peripheral block in bytes per 3.1 BSC Register Map -*/ -#define BCM2835_BSC_C 0x0000 /*!< BSC Master Control */ -#define BCM2835_BSC_S 0x0004 /*!< BSC Master Status */ -#define BCM2835_BSC_DLEN 0x0008 /*!< BSC Master Data Length */ -#define BCM2835_BSC_A 0x000c /*!< BSC Master Slave Address */ -#define BCM2835_BSC_FIFO 0x0010 /*!< BSC Master Data FIFO */ -#define BCM2835_BSC_DIV 0x0014 /*!< BSC Master Clock Divider */ -#define BCM2835_BSC_DEL 0x0018 /*!< BSC Master Data Delay */ -#define BCM2835_BSC_CLKT 0x001c /*!< BSC Master Clock Stretch Timeout */ - -/* Register masks for BSC_C */ -#define BCM2835_BSC_C_I2CEN 0x00008000 /*!< I2C Enable, 0 = disabled, 1 = enabled */ -#define BCM2835_BSC_C_INTR 0x00000400 /*!< Interrupt on RX */ -#define BCM2835_BSC_C_INTT 0x00000200 /*!< Interrupt on TX */ -#define BCM2835_BSC_C_INTD 0x00000100 /*!< Interrupt on DONE */ -#define BCM2835_BSC_C_ST 0x00000080 /*!< Start transfer, 1 = Start a new transfer */ -#define BCM2835_BSC_C_CLEAR_1 0x00000020 /*!< Clear FIFO Clear */ -#define BCM2835_BSC_C_CLEAR_2 0x00000010 /*!< Clear FIFO Clear */ -#define BCM2835_BSC_C_READ 0x00000001 /*!< Read transfer */ - -/* Register masks for BSC_S */ -#define BCM2835_BSC_S_CLKT 0x00000200 /*!< Clock stretch timeout */ -#define BCM2835_BSC_S_ERR 0x00000100 /*!< ACK error */ -#define BCM2835_BSC_S_RXF 0x00000080 /*!< RXF FIFO full, 0 = FIFO is not full, 1 = FIFO is full */ -#define BCM2835_BSC_S_TXE 0x00000040 /*!< TXE FIFO full, 0 = FIFO is not full, 1 = FIFO is full */ -#define BCM2835_BSC_S_RXD 0x00000020 /*!< RXD FIFO contains data */ -#define BCM2835_BSC_S_TXD 0x00000010 /*!< TXD FIFO can accept data */ -#define BCM2835_BSC_S_RXR 0x00000008 /*!< RXR FIFO needs reading (full) */ -#define BCM2835_BSC_S_TXW 0x00000004 /*!< TXW FIFO needs writing (full) */ -#define BCM2835_BSC_S_DONE 0x00000002 /*!< Transfer DONE */ -#define BCM2835_BSC_S_TA 0x00000001 /*!< Transfer Active */ - -#define BCM2835_BSC_FIFO_SIZE 16 /*!< BSC FIFO size */ - -/*! \brief bcm2835I2CClockDivider - Specifies the divider used to generate the I2C clock from the system clock. - Clock divided is based on nominal base clock rate of 250MHz -*/ -typedef enum -{ - BCM2835_I2C_CLOCK_DIVIDER_2500 = 2500, /*!< 2500 = 10us = 100 kHz */ - BCM2835_I2C_CLOCK_DIVIDER_626 = 626, /*!< 622 = 2.504us = 399.3610 kHz */ - BCM2835_I2C_CLOCK_DIVIDER_150 = 150, /*!< 150 = 60ns = 1.666 MHz (default at reset) */ - BCM2835_I2C_CLOCK_DIVIDER_148 = 148 /*!< 148 = 59ns = 1.689 MHz */ -} bcm2835I2CClockDivider; - -/*! \brief bcm2835I2CReasonCodes - Specifies the reason codes for the bcm2835_i2c_write and bcm2835_i2c_read functions. -*/ -typedef enum -{ - BCM2835_I2C_REASON_OK = 0x00, /*!< Success */ - BCM2835_I2C_REASON_ERROR_NACK = 0x01, /*!< Received a NACK */ - BCM2835_I2C_REASON_ERROR_CLKT = 0x02, /*!< Received Clock Stretch Timeout */ - BCM2835_I2C_REASON_ERROR_DATA = 0x04 /*!< Not all data is sent / received */ -} bcm2835I2CReasonCodes; - -/* Defines for ST - GPIO register offsets from BCM2835_ST_BASE. - Offsets into the ST Peripheral block in bytes per 12.1 System Timer Registers - The System Timer peripheral provides four 32-bit timer channels and a single 64-bit free running counter. - BCM2835_ST_CLO is the System Timer Counter Lower bits register. - The system timer free-running counter lower register is a read-only register that returns the current value - of the lower 32-bits of the free running counter. - BCM2835_ST_CHI is the System Timer Counter Upper bits register. - The system timer free-running counter upper register is a read-only register that returns the current value - of the upper 32-bits of the free running counter. -*/ -#define BCM2835_ST_CS 0x0000 /*!< System Timer Control/Status */ -#define BCM2835_ST_CLO 0x0004 /*!< System Timer Counter Lower 32 bits */ -#define BCM2835_ST_CHI 0x0008 /*!< System Timer Counter Upper 32 bits */ - -/*! @} */ - - -/* Defines for PWM, word offsets (ie 4 byte multiples) */ -#define BCM2835_PWM_CONTROL 0 -#define BCM2835_PWM_STATUS 1 -#define BCM2835_PWM_DMAC 2 -#define BCM2835_PWM0_RANGE 4 -#define BCM2835_PWM0_DATA 5 -#define BCM2835_PWM_FIF1 6 -#define BCM2835_PWM1_RANGE 8 -#define BCM2835_PWM1_DATA 9 - -/* Defines for PWM Clock, word offsets (ie 4 byte multiples) */ -#define BCM2835_PWMCLK_CNTL 40 -#define BCM2835_PWMCLK_DIV 41 -#define BCM2835_PWM_PASSWRD (0x5A << 24) /*!< Password to enable setting PWM clock */ - -#define BCM2835_PWM1_MS_MODE 0x8000 /*!< Run in Mark/Space mode */ -#define BCM2835_PWM1_USEFIFO 0x2000 /*!< Data from FIFO */ -#define BCM2835_PWM1_REVPOLAR 0x1000 /*!< Reverse polarity */ -#define BCM2835_PWM1_OFFSTATE 0x0800 /*!< Ouput Off state */ -#define BCM2835_PWM1_REPEATFF 0x0400 /*!< Repeat last value if FIFO empty */ -#define BCM2835_PWM1_SERIAL 0x0200 /*!< Run in serial mode */ -#define BCM2835_PWM1_ENABLE 0x0100 /*!< Channel Enable */ - -#define BCM2835_PWM0_MS_MODE 0x0080 /*!< Run in Mark/Space mode */ -#define BCM2835_PWM_CLEAR_FIFO 0x0040 /*!< Clear FIFO */ -#define BCM2835_PWM0_USEFIFO 0x0020 /*!< Data from FIFO */ -#define BCM2835_PWM0_REVPOLAR 0x0010 /*!< Reverse polarity */ -#define BCM2835_PWM0_OFFSTATE 0x0008 /*!< Ouput Off state */ -#define BCM2835_PWM0_REPEATFF 0x0004 /*!< Repeat last value if FIFO empty */ -#define BCM2835_PWM0_SERIAL 0x0002 /*!< Run in serial mode */ -#define BCM2835_PWM0_ENABLE 0x0001 /*!< Channel Enable */ - -/*! \brief bcm2835PWMClockDivider - Specifies the divider used to generate the PWM clock from the system clock. - Figures below give the divider, clock period and clock frequency. - Clock divided is based on nominal PWM base clock rate of 19.2MHz - The frequencies shown for each divider have been confirmed by measurement -*/ -typedef enum -{ - BCM2835_PWM_CLOCK_DIVIDER_2048 = 2048, /*!< 2048 = 9.375kHz */ - BCM2835_PWM_CLOCK_DIVIDER_1024 = 1024, /*!< 1024 = 18.75kHz */ - BCM2835_PWM_CLOCK_DIVIDER_512 = 512, /*!< 512 = 37.5kHz */ - BCM2835_PWM_CLOCK_DIVIDER_256 = 256, /*!< 256 = 75kHz */ - BCM2835_PWM_CLOCK_DIVIDER_128 = 128, /*!< 128 = 150kHz */ - BCM2835_PWM_CLOCK_DIVIDER_64 = 64, /*!< 64 = 300kHz */ - BCM2835_PWM_CLOCK_DIVIDER_32 = 32, /*!< 32 = 600.0kHz */ - BCM2835_PWM_CLOCK_DIVIDER_16 = 16, /*!< 16 = 1.2MHz */ - BCM2835_PWM_CLOCK_DIVIDER_8 = 8, /*!< 8 = 2.4MHz */ - BCM2835_PWM_CLOCK_DIVIDER_4 = 4, /*!< 4 = 4.8MHz */ - BCM2835_PWM_CLOCK_DIVIDER_2 = 2, /*!< 2 = 9.6MHz, fastest you can get */ - BCM2835_PWM_CLOCK_DIVIDER_1 = 1 /*!< 1 = 4.6875kHz, same as divider 4096 */ -} bcm2835PWMClockDivider; - -/* Historical name compatibility */ -#ifndef BCM2835_NO_DELAY_COMPATIBILITY -#define delay(x) bcm2835_delay(x) -#define delayMicroseconds(x) bcm2835_delayMicroseconds(x) -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - /*! \defgroup init Library initialisation and management - These functions allow you to intialise and control the bcm2835 library - @{ - */ - - /*! Initialise the library by opening /dev/mem (if you are root) - or /dev/gpiomem (if you are not) - and getting pointers to the - internal memory for BCM 2835 device registers. You must call this (successfully) - before calling any other - functions in this library (except bcm2835_set_debug). - If bcm2835_init() fails by returning 0, - calling any other function may result in crashes or other failures. - If bcm2835_init() succeeds but you are not running as root, then only gpio operations - are permitted, and calling any other functions may result in crashes or other failures. . - Prints messages to stderr in case of errors. - \return 1 if successful else 0 - */ - extern int bcm2835_init(void); - - /*! Close the library, deallocating any allocated memory and closing /dev/mem - \return 1 if successful else 0 - */ - extern int bcm2835_close(void); - - /*! Sets the debug level of the library. - A value of 1 prevents mapping to /dev/mem, and makes the library print out - what it would do, rather than accessing the GPIO registers. - A value of 0, the default, causes normal operation. - Call this before calling bcm2835_init(); - \param[in] debug The new debug level. 1 means debug - */ - extern void bcm2835_set_debug(uint8_t debug); - - /*! Returns the version number of the library, same as BCM2835_VERSION - \return the current library version number - */ - extern unsigned int bcm2835_version(void); - - /*! @} */ - - /*! \defgroup lowlevel Low level register access - These functions provide low level register access, and should not generally - need to be used - - @{ - */ - - /*! Gets the base of a register - \param[in] regbase You can use one of the common values BCM2835_REGBASE_* - in \ref bcm2835RegisterBase - \return the register base - \sa Physical Addresses - */ - extern uint32_t* bcm2835_regbase(uint8_t regbase); - - /*! Reads 32 bit value from a peripheral address WITH a memory barrier before and after each read. - This is safe, but slow. The MB before protects this read from any in-flight reads that didn't - use a MB. The MB after protects subsequent reads from another peripheral. - - \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. - \return the value read from the 32 bit register - \sa Physical Addresses - */ - extern uint32_t bcm2835_peri_read(volatile uint32_t* paddr); - - /*! Reads 32 bit value from a peripheral address WITHOUT the read barriers - You should only use this when: - o your code has previously called bcm2835_peri_read() for a register - within the same peripheral, and no read or write to another peripheral has occurred since. - o your code has called bcm2835_memory_barrier() since the last access to ANOTHER peripheral. - - \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. - \return the value read from the 32 bit register - \sa Physical Addresses - */ - extern uint32_t bcm2835_peri_read_nb(volatile uint32_t* paddr); - - - /*! Writes 32 bit value from a peripheral address WITH a memory barrier before and after each write - This is safe, but slow. The MB before ensures that any in-flight write to another peripheral - completes before this write is issued. The MB after ensures that subsequent reads and writes - to another peripheral will see the effect of this write. - - This is a tricky optimization; if you aren't sure, use the barrier version. - - \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. - \param[in] value The 32 bit value to write - \sa Physical Addresses - */ - extern void bcm2835_peri_write(volatile uint32_t* paddr, uint32_t value); - - /*! Writes 32 bit value from a peripheral address without the write barrier - You should only use this when: - o your code has previously called bcm2835_peri_write() for a register - within the same peripheral, and no other peripheral access has occurred since. - o your code has called bcm2835_memory_barrier() since the last access to ANOTHER peripheral. - - This is a tricky optimization; if you aren't sure, use the barrier version. - - \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. - \param[in] value The 32 bit value to write - \sa Physical Addresses - */ - extern void bcm2835_peri_write_nb(volatile uint32_t* paddr, uint32_t value); - - /*! Alters a number of bits in a 32 peripheral regsiter. - It reads the current valu and then alters the bits defines as 1 in mask, - according to the bit value in value. - All other bits that are 0 in the mask are unaffected. - Use this to alter a subset of the bits in a register. - Memory barriers are used. Note that this is not atomic; an interrupt - routine can cause unexpected results. - \param[in] paddr Physical address to read from. See BCM2835_GPIO_BASE etc. - \param[in] value The 32 bit value to write, masked in by mask. - \param[in] mask Bitmask that defines the bits that will be altered in the register. - \sa Physical Addresses - */ - extern void bcm2835_peri_set_bits(volatile uint32_t* paddr, uint32_t value, uint32_t mask); - /*! @} end of lowlevel */ - - /*! \defgroup gpio GPIO register access - These functions allow you to control the GPIO interface. You can set the - function of each GPIO pin, read the input state and set the output state. - @{ - */ - - /*! Sets the Function Select register for the given pin, which configures - the pin as Input, Output or one of the 6 alternate functions. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - \param[in] mode Mode to set the pin to, one of BCM2835_GPIO_FSEL_* from \ref bcm2835FunctionSelect - */ - extern void bcm2835_gpio_fsel(uint8_t pin, uint8_t mode); - - /*! Sets the specified pin output to - HIGH. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - \sa bcm2835_gpio_write() - */ - extern void bcm2835_gpio_set(uint8_t pin); - - /*! Sets the specified pin output to - LOW. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - \sa bcm2835_gpio_write() - */ - extern void bcm2835_gpio_clr(uint8_t pin); - - /*! Sets any of the first 32 GPIO output pins specified in the mask to - HIGH. - \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) - \sa bcm2835_gpio_write_multi() - */ - extern void bcm2835_gpio_set_multi(uint32_t mask); - - /*! Sets any of the first 32 GPIO output pins specified in the mask to - LOW. - \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) - \sa bcm2835_gpio_write_multi() - */ - extern void bcm2835_gpio_clr_multi(uint32_t mask); - - /*! Reads the current level on the specified - pin and returns either HIGH or LOW. Works whether or not the pin - is an input or an output. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - \return the current level either HIGH or LOW - */ - extern uint8_t bcm2835_gpio_lev(uint8_t pin); - - /*! Event Detect Status. - Tests whether the specified pin has detected a level or edge - as requested by bcm2835_gpio_ren(), bcm2835_gpio_fen(), bcm2835_gpio_hen(), - bcm2835_gpio_len(), bcm2835_gpio_aren(), bcm2835_gpio_afen(). - Clear the flag for a given pin by calling bcm2835_gpio_set_eds(pin); - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - \return HIGH if the event detect status for the given pin is true. - */ - extern uint8_t bcm2835_gpio_eds(uint8_t pin); - - /*! Same as bcm2835_gpio_eds() but checks if any of the pins specified in - the mask have detected a level or edge. - \param[in] mask Mask of pins to check. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) - \return Mask of pins HIGH if the event detect status for the given pin is true. - */ - extern uint32_t bcm2835_gpio_eds_multi(uint32_t mask); - - /*! Sets the Event Detect Status register for a given pin to 1, - which has the effect of clearing the flag. Use this afer seeing - an Event Detect Status on the pin. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_set_eds(uint8_t pin); - - /*! Same as bcm2835_gpio_set_eds() but clears the flag for any pin which - is set in the mask. - \param[in] mask Mask of pins to clear. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) - */ - extern void bcm2835_gpio_set_eds_multi(uint32_t mask); - - /*! Enable Rising Edge Detect Enable for the specified pin. - When a rising edge is detected, sets the appropriate pin in Event Detect Status. - The GPRENn registers use - synchronous edge detection. This means the input signal is sampled using the - system clock and then it is looking for a ?011? pattern on the sampled signal. This - has the effect of suppressing glitches. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_ren(uint8_t pin); - - /*! Disable Rising Edge Detect Enable for the specified pin. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_clr_ren(uint8_t pin); - - /*! Enable Falling Edge Detect Enable for the specified pin. - When a falling edge is detected, sets the appropriate pin in Event Detect Status. - The GPRENn registers use - synchronous edge detection. This means the input signal is sampled using the - system clock and then it is looking for a ?100? pattern on the sampled signal. This - has the effect of suppressing glitches. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_fen(uint8_t pin); - - /*! Disable Falling Edge Detect Enable for the specified pin. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_clr_fen(uint8_t pin); - - /*! Enable High Detect Enable for the specified pin. - When a HIGH level is detected on the pin, sets the appropriate pin in Event Detect Status. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_hen(uint8_t pin); - - /*! Disable High Detect Enable for the specified pin. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_clr_hen(uint8_t pin); - - /*! Enable Low Detect Enable for the specified pin. - When a LOW level is detected on the pin, sets the appropriate pin in Event Detect Status. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_len(uint8_t pin); - - /*! Disable Low Detect Enable for the specified pin. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_clr_len(uint8_t pin); - - /*! Enable Asynchronous Rising Edge Detect Enable for the specified pin. - When a rising edge is detected, sets the appropriate pin in Event Detect Status. - Asynchronous means the incoming signal is not sampled by the system clock. As such - rising edges of very short duration can be detected. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_aren(uint8_t pin); - - /*! Disable Asynchronous Rising Edge Detect Enable for the specified pin. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_clr_aren(uint8_t pin); - - /*! Enable Asynchronous Falling Edge Detect Enable for the specified pin. - When a falling edge is detected, sets the appropriate pin in Event Detect Status. - Asynchronous means the incoming signal is not sampled by the system clock. As such - falling edges of very short duration can be detected. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_afen(uint8_t pin); - - /*! Disable Asynchronous Falling Edge Detect Enable for the specified pin. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - extern void bcm2835_gpio_clr_afen(uint8_t pin); - - /*! Sets the Pull-up/down register for the given pin. This is - used with bcm2835_gpio_pudclk() to set the Pull-up/down resistor for the given pin. - However, it is usually more convenient to use bcm2835_gpio_set_pud(). - \param[in] pud The desired Pull-up/down mode. One of BCM2835_GPIO_PUD_* from bcm2835PUDControl - On the RPI 4, although this function and bcm2835_gpio_pudclk() are supported for backward - compatibility, new code should always use bcm2835_gpio_set_pud(). - \sa bcm2835_gpio_set_pud() - */ - extern void bcm2835_gpio_pud(uint8_t pud); - - /*! Clocks the Pull-up/down value set earlier by bcm2835_gpio_pud() into the pin. - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - \param[in] on HIGH to clock the value from bcm2835_gpio_pud() into the pin. - LOW to remove the clock. - - On the RPI 4, although this function and bcm2835_gpio_pud() are supported for backward - compatibility, new code should always use bcm2835_gpio_set_pud(). - - \sa bcm2835_gpio_set_pud() - */ - extern void bcm2835_gpio_pudclk(uint8_t pin, uint8_t on); - - /*! Reads and returns the Pad Control for the given GPIO group. - Caution: requires root access. - \param[in] group The GPIO pad group number, one of BCM2835_PAD_GROUP_GPIO_* - \return Mask of bits from BCM2835_PAD_* from \ref bcm2835PadGroup - */ - extern uint32_t bcm2835_gpio_pad(uint8_t group); - - /*! Sets the Pad Control for the given GPIO group. - Caution: requires root access. - \param[in] group The GPIO pad group number, one of BCM2835_PAD_GROUP_GPIO_* - \param[in] control Mask of bits from BCM2835_PAD_* from \ref bcm2835PadGroup. Note - that it is not necessary to include BCM2835_PAD_PASSWRD in the mask as this - is automatically included. - */ - extern void bcm2835_gpio_set_pad(uint8_t group, uint32_t control); - - /*! Delays for the specified number of milliseconds. - Uses nanosleep(), and therefore does not use CPU until the time is up. - However, you are at the mercy of nanosleep(). From the manual for nanosleep(): - If the interval specified in req is not an exact multiple of the granularity - underlying clock (see time(7)), then the interval will be - rounded up to the next multiple. Furthermore, after the sleep completes, - there may still be a delay before the CPU becomes free to once - again execute the calling thread. - \param[in] millis Delay in milliseconds - */ - extern void bcm2835_delay (unsigned int millis); - - /*! Delays for the specified number of microseconds. - Uses a combination of nanosleep() and a busy wait loop on the BCM2835 system timers, - However, you are at the mercy of nanosleep(). From the manual for nanosleep(): - If the interval specified in req is not an exact multiple of the granularity - underlying clock (see time(7)), then the interval will be - rounded up to the next multiple. Furthermore, after the sleep completes, - there may still be a delay before the CPU becomes free to once - again execute the calling thread. - For times less than about 450 microseconds, uses a busy wait on the System Timer. - It is reported that a delay of 0 microseconds on RaspberryPi will in fact - result in a delay of about 80 microseconds. Your mileage may vary. - \param[in] micros Delay in microseconds - */ - extern void bcm2835_delayMicroseconds (uint64_t micros); - - /*! Sets the output state of the specified pin - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - \param[in] on HIGH sets the output to HIGH and LOW to LOW. - */ - extern void bcm2835_gpio_write(uint8_t pin, uint8_t on); - - /*! Sets any of the first 32 GPIO output pins specified in the mask to the state given by on - \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) - \param[in] on HIGH sets the output to HIGH and LOW to LOW. - */ - extern void bcm2835_gpio_write_multi(uint32_t mask, uint8_t on); - - /*! Sets the first 32 GPIO output pins specified in the mask to the value given by value - \param[in] value values required for each bit masked in by mask, eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) - \param[in] mask Mask of pins to affect. Use eg: (1 << RPI_GPIO_P1_03) | (1 << RPI_GPIO_P1_05) - */ - extern void bcm2835_gpio_write_mask(uint32_t value, uint32_t mask); - - /*! Sets the Pull-up/down mode for the specified pin. This is more convenient than - clocking the mode in with bcm2835_gpio_pud() and bcm2835_gpio_pudclk(). - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - \param[in] pud The desired Pull-up/down mode. One of BCM2835_GPIO_PUD_* from bcm2835PUDControl - */ - extern void bcm2835_gpio_set_pud(uint8_t pin, uint8_t pud); - - /*! On the BCM2711 based RPI 4, gets the current Pull-up/down mode for the specified pin. - Returns one of BCM2835_GPIO_PUD_* from bcm2835PUDControl. - On earlier RPI versions not based on the BCM2711, returns BCM2835_GPIO_PUD_ERROR - \param[in] pin GPIO number, or one of RPI_GPIO_P1_* from \ref RPiGPIOPin. - */ - - extern uint8_t bcm2835_gpio_get_pud(uint8_t pin); - - /*! @} */ - - /*! \defgroup spi SPI access - These functions let you use SPI0 (Serial Peripheral Interface) to - interface with an external SPI device. - @{ - */ - - /*! Start SPI operations. - Forces RPi SPI0 pins P1-19 (MOSI), P1-21 (MISO), P1-23 (CLK), P1-24 (CE0) and P1-26 (CE1) - to alternate function ALT0, which enables those pins for SPI interface. - You should call bcm2835_spi_end() when all SPI funcitons are complete to return the pins to - their default functions. - \sa bcm2835_spi_end() - \return 1 if successful, 0 otherwise (perhaps because you are not running as root) - */ - extern int bcm2835_spi_begin(void); - - /*! End SPI operations. - SPI0 pins P1-19 (MOSI), P1-21 (MISO), P1-23 (CLK), P1-24 (CE0) and P1-26 (CE1) - are returned to their default INPUT behaviour. - */ - extern void bcm2835_spi_end(void); - - /*! Sets the SPI bit order - Set the bit order to be used for transmit and receive. The bcm2835 SPI0 only supports BCM2835_SPI_BIT_ORDER_MSB, - so if you select BCM2835_SPI_BIT_ORDER_LSB, the bytes will be reversed in software. - The library defaults to BCM2835_SPI_BIT_ORDER_MSB. - \param[in] order The desired bit order, one of BCM2835_SPI_BIT_ORDER_*, - see \ref bcm2835SPIBitOrder - */ - extern void bcm2835_spi_setBitOrder(uint8_t order); - - /*! Sets the SPI clock divider and therefore the - SPI clock speed. - \param[in] divider The desired SPI clock divider, one of BCM2835_SPI_CLOCK_DIVIDER_*, - see \ref bcm2835SPIClockDivider - */ - extern void bcm2835_spi_setClockDivider(uint16_t divider); - - /*! Sets the SPI clock divider by converting the speed parameter to - the equivalent SPI clock divider. ( see \sa bcm2835_spi_setClockDivider) - \param[in] speed_hz The desired SPI clock speed in Hz - */ - extern void bcm2835_spi_set_speed_hz(uint32_t speed_hz); - - /*! Sets the SPI data mode - Sets the clock polariy and phase - \param[in] mode The desired data mode, one of BCM2835_SPI_MODE*, - see \ref bcm2835SPIMode - */ - extern void bcm2835_spi_setDataMode(uint8_t mode); - - /*! Sets the chip select pin(s) - When an bcm2835_spi_transfer() is made, the selected pin(s) will be asserted during the - transfer. - \param[in] cs Specifies the CS pins(s) that are used to activate the desired slave. - One of BCM2835_SPI_CS*, see \ref bcm2835SPIChipSelect - */ - extern void bcm2835_spi_chipSelect(uint8_t cs); - - /*! Sets the chip select pin polarity for a given pin - When an bcm2835_spi_transfer() occurs, the currently selected chip select pin(s) - will be asserted to the - value given by active. When transfers are not happening, the chip select pin(s) - return to the complement (inactive) value. - \param[in] cs The chip select pin to affect - \param[in] active Whether the chip select pin is to be active HIGH - */ - extern void bcm2835_spi_setChipSelectPolarity(uint8_t cs, uint8_t active); - - /*! Transfers one byte to and from the currently selected SPI slave. - Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect) - during the transfer. - Clocks the 8 bit value out on MOSI, and simultaneously clocks in data from MISO. - Returns the read data byte from the slave. - Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual - \param[in] value The 8 bit data byte to write to MOSI - \return The 8 bit byte simultaneously read from MISO - \sa bcm2835_spi_transfern() - */ - extern uint8_t bcm2835_spi_transfer(uint8_t value); - - /*! Transfers any number of bytes to and from the currently selected SPI slave. - Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect) - during the transfer. - Clocks the len 8 bit bytes out on MOSI, and simultaneously clocks in data from MISO. - The data read read from the slave is placed into rbuf. rbuf must be at least len bytes long - Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual - \param[in] tbuf Buffer of bytes to send. - \param[out] rbuf Received bytes will by put in this buffer - \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send/received - \sa bcm2835_spi_transfer() - */ - extern void bcm2835_spi_transfernb(char* tbuf, char* rbuf, uint32_t len); - - /*! Transfers any number of bytes to and from the currently selected SPI slave - using bcm2835_spi_transfernb. - The returned data from the slave replaces the transmitted data in the buffer. - \param[in,out] buf Buffer of bytes to send. Received bytes will replace the contents - \param[in] len Number of bytes int eh buffer, and the number of bytes to send/received - \sa bcm2835_spi_transfer() - */ - extern void bcm2835_spi_transfern(char* buf, uint32_t len); - - /*! Transfers any number of bytes to the currently selected SPI slave. - Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect) - during the transfer. - \param[in] buf Buffer of bytes to send. - \param[in] len Number of bytes in the buf buffer, and the number of bytes to send - */ - extern void bcm2835_spi_writenb(const char* buf, uint32_t len); - - /*! Transfers half-word to the currently selected SPI slave. - Asserts the currently selected CS pins (as previously set by bcm2835_spi_chipSelect) - during the transfer. - Clocks the 8 bit value out on MOSI, and simultaneously clocks in data from MISO. - Uses polled transfer as per section 10.6.1 of the BCM 2835 ARM Peripherls manual - \param[in] data The 8 bit data byte to write to MOSI - \sa bcm2835_spi_writenb() - */ - extern void bcm2835_spi_write(uint16_t data); - - /*! Start AUX SPI operations. - Forces RPi AUX SPI pins P1-38 (MOSI), P1-38 (MISO), P1-40 (CLK) and P1-36 (CE2) - to alternate function ALT4, which enables those pins for SPI interface. - \return 1 if successful, 0 otherwise (perhaps because you are not running as root) - */ - extern int bcm2835_aux_spi_begin(void); - - /*! End AUX SPI operations. - SPI1 pins P1-38 (MOSI), P1-38 (MISO), P1-40 (CLK) and P1-36 (CE2) - are returned to their default INPUT behaviour. - */ - extern void bcm2835_aux_spi_end(void); - - /*! Sets the AUX SPI clock divider and therefore the AUX SPI clock speed. - \param[in] divider The desired AUX SPI clock divider. - */ - extern void bcm2835_aux_spi_setClockDivider(uint16_t divider); - - /*! - * Calculates the input for \sa bcm2835_aux_spi_setClockDivider - * @param speed_hz A value between \sa BCM2835_AUX_SPI_CLOCK_MIN and \sa BCM2835_AUX_SPI_CLOCK_MAX - * @return Input for \sa bcm2835_aux_spi_setClockDivider - */ - extern uint16_t bcm2835_aux_spi_CalcClockDivider(uint32_t speed_hz); - - /*! Transfers half-word to the AUX SPI slave. - Asserts the currently selected CS pins during the transfer. - \param[in] data The 8 bit data byte to write to MOSI - \return The 16 bit byte simultaneously read from MISO - \sa bcm2835_spi_transfern() - */ - extern void bcm2835_aux_spi_write(uint16_t data); - - /*! Transfers any number of bytes to the AUX SPI slave. - Asserts the CE2 pin during the transfer. - \param[in] buf Buffer of bytes to send. - \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send - */ - extern void bcm2835_aux_spi_writenb(const char *buf, uint32_t len); - - /*! Transfers any number of bytes to and from the AUX SPI slave - using bcm2835_aux_spi_transfernb. - The returned data from the slave replaces the transmitted data in the buffer. - \param[in,out] buf Buffer of bytes to send. Received bytes will replace the contents - \param[in] len Number of bytes in the buffer, and the number of bytes to send/received - \sa bcm2835_aux_spi_transfer() - */ - extern void bcm2835_aux_spi_transfern(char *buf, uint32_t len); - - /*! Transfers any number of bytes to and from the AUX SPI slave. - Asserts the CE2 pin during the transfer. - Clocks the len 8 bit bytes out on MOSI, and simultaneously clocks in data from MISO. - The data read read from the slave is placed into rbuf. rbuf must be at least len bytes long - \param[in] tbuf Buffer of bytes to send. - \param[out] rbuf Received bytes will by put in this buffer - \param[in] len Number of bytes in the tbuf buffer, and the number of bytes to send/received - */ - extern void bcm2835_aux_spi_transfernb(const char *tbuf, char *rbuf, uint32_t len); - - /*! Transfers one byte to and from the AUX SPI slave. - Clocks the 8 bit value out on MOSI, and simultaneously clocks in data from MISO. - Returns the read data byte from the slave. - \param[in] value The 8 bit data byte to write to MOSI - \return The 8 bit byte simultaneously read from MISO - \sa bcm2835_aux_spi_transfern() - */ - extern uint8_t bcm2835_aux_spi_transfer(uint8_t value); - - /*! @} */ - - /*! \defgroup i2c I2C access - These functions let you use I2C (The Broadcom Serial Control bus with the Philips - I2C bus/interface version 2.1 January 2000.) to interface with an external I2C device. - @{ - */ - - /*! Start I2C operations. - Forces RPi I2C pins P1-03 (SDA) and P1-05 (SCL) - to alternate function ALT0, which enables those pins for I2C interface. - You should call bcm2835_i2c_end() when all I2C functions are complete to return the pins to - their default functions - \return 1 if successful, 0 otherwise (perhaps because you are not running as root) - \sa bcm2835_i2c_end() - */ - extern int bcm2835_i2c_begin(void); - - /*! End I2C operations. - I2C pins P1-03 (SDA) and P1-05 (SCL) - are returned to their default INPUT behaviour. - */ - extern void bcm2835_i2c_end(void); - - /*! Sets the I2C slave address. - \param[in] addr The I2C slave address. - */ - extern void bcm2835_i2c_setSlaveAddress(uint8_t addr); - - /*! Sets the I2C clock divider and therefore the I2C clock speed. - \param[in] divider The desired I2C clock divider, one of BCM2835_I2C_CLOCK_DIVIDER_*, - see \ref bcm2835I2CClockDivider - */ - extern void bcm2835_i2c_setClockDivider(uint16_t divider); - - /*! Sets the I2C clock divider by converting the baudrate parameter to - the equivalent I2C clock divider. ( see \sa bcm2835_i2c_setClockDivider) - For the I2C standard 100khz you would set baudrate to 100000 - The use of baudrate corresponds to its use in the I2C kernel device - driver. (Of course, bcm2835 has nothing to do with the kernel driver) - */ - extern void bcm2835_i2c_set_baudrate(uint32_t baudrate); - - /*! Transfers any number of bytes to the currently selected I2C slave. - (as previously set by \sa bcm2835_i2c_setSlaveAddress) - \param[in] buf Buffer of bytes to send. - \param[in] len Number of bytes in the buf buffer, and the number of bytes to send. - \return reason see \ref bcm2835I2CReasonCodes - */ - extern uint8_t bcm2835_i2c_write(const char * buf, uint32_t len); - - /*! Transfers any number of bytes from the currently selected I2C slave. - (as previously set by \sa bcm2835_i2c_setSlaveAddress) - \param[in] buf Buffer of bytes to receive. - \param[in] len Number of bytes in the buf buffer, and the number of bytes to received. - \return reason see \ref bcm2835I2CReasonCodes - */ - extern uint8_t bcm2835_i2c_read(char* buf, uint32_t len); - - /*! Allows reading from I2C slaves that require a repeated start (without any prior stop) - to read after the required slave register has been set. For example, the popular - MPL3115A2 pressure and temperature sensor. Note that your device must support or - require this mode. If your device does not require this mode then the standard - combined: - \sa bcm2835_i2c_write - \sa bcm2835_i2c_read - are a better choice. - Will read from the slave previously set by \sa bcm2835_i2c_setSlaveAddress - \param[in] regaddr Buffer containing the slave register you wish to read from. - \param[in] buf Buffer of bytes to receive. - \param[in] len Number of bytes in the buf buffer, and the number of bytes to received. - \return reason see \ref bcm2835I2CReasonCodes - */ - extern uint8_t bcm2835_i2c_read_register_rs(char* regaddr, char* buf, uint32_t len); - - /*! Allows sending an arbitrary number of bytes to I2C slaves before issuing a repeated - start (with no prior stop) and reading a response. - Necessary for devices that require such behavior, such as the MLX90620. - Will write to and read from the slave previously set by \sa bcm2835_i2c_setSlaveAddress - \param[in] cmds Buffer containing the bytes to send before the repeated start condition. - \param[in] cmds_len Number of bytes to send from cmds buffer - \param[in] buf Buffer of bytes to receive. - \param[in] buf_len Number of bytes to receive in the buf buffer. - \return reason see \ref bcm2835I2CReasonCodes - */ - extern uint8_t bcm2835_i2c_write_read_rs(char* cmds, uint32_t cmds_len, char* buf, uint32_t buf_len); - - /*! @} */ - - /*! \defgroup st System Timer access - Allows access to and delays using the System Timer Counter. - @{ - */ - - /*! Read the System Timer Counter register. - \return the value read from the System Timer Counter Lower 32 bits register - */ - extern uint64_t bcm2835_st_read(void); - - /*! Delays for the specified number of microseconds with offset. - \param[in] offset_micros Offset in microseconds - \param[in] micros Delay in microseconds - */ - extern void bcm2835_st_delay(uint64_t offset_micros, uint64_t micros); - - /*! @} */ - - /*! \defgroup pwm Pulse Width Modulation - Allows control of 2 independent PWM channels. A limited subset of GPIO pins - can be connected to one of these 2 channels, allowing PWM control of GPIO pins. - You have to set the desired pin into a particular Alt Fun to PWM output. See the PWM - documentation on the Main Page. - @{ - */ - - /*! Sets the PWM clock divisor, - to control the basic PWM pulse widths. - \param[in] divisor Divides the basic 19.2MHz PWM clock. You can use one of the common - values BCM2835_PWM_CLOCK_DIVIDER_* in \ref bcm2835PWMClockDivider - */ - extern void bcm2835_pwm_set_clock(uint32_t divisor); - - /*! Sets the mode of the given PWM channel, - allowing you to control the PWM mode and enable/disable that channel - \param[in] channel The PWM channel. 0 or 1. - \param[in] markspace Set true if you want Mark-Space mode. 0 for Balanced mode. - \param[in] enabled Set true to enable this channel and produce PWM pulses. - */ - extern void bcm2835_pwm_set_mode(uint8_t channel, uint8_t markspace, uint8_t enabled); - - /*! Sets the maximum range of the PWM output. - The data value can vary between 0 and this range to control PWM output - \param[in] channel The PWM channel. 0 or 1. - \param[in] range The maximum value permitted for DATA. - */ - extern void bcm2835_pwm_set_range(uint8_t channel, uint32_t range); - - /*! Sets the PWM pulse ratio to emit to DATA/RANGE, - where RANGE is set by bcm2835_pwm_set_range(). - \param[in] channel The PWM channel. 0 or 1. - \param[in] data Controls the PWM output ratio as a fraction of the range. - Can vary from 0 to RANGE. - */ - extern void bcm2835_pwm_set_data(uint8_t channel, uint32_t data); - - /*! @} */ -#ifdef __cplusplus -} -#endif - -#endif /* BCM2835_H */ - -/*! @example blink.c - Blinks RPi GPIO pin 11 on and off -*/ - -/*! @example input.c - Reads the state of an RPi input pin -*/ - -/*! @example event.c - Shows how to use event detection on an input pin -*/ - -/*! @example spi.c - Shows how to use SPI interface to transfer a byte to and from an SPI device -*/ - -/*! @example spin.c - Shows how to use SPI interface to transfer a number of bytes to and from an SPI device -*/ - -/*! @example pwm.c - Shows how to use PWM to control GPIO pins -*/ - -/*! @example i2c.c -Command line utility for executing i2c commands with the -Broadcom bcm2835. Contributed by Shahrooz Shahparnia. -*/ - -/*! example gpio.c - Command line utility for executing gpio commands with the - Broadcom bcm2835. Contributed by Shahrooz Shahparnia. -*/ - -/*! example spimem_test.c - Shows how to use the included little library (spiram.c and spiram.h) - to read and write SPI RAM chips such as 23K256-I/P -*/ @@ -1,7 +1,7 @@ IDIR=include TDIR=3rd-party DEFINES=-DDETERMINISTIC -CFLAGS=-static -O3 -Wall -Wextra -std=c99 -D_DEFAULT_SOURCE $(DEFINES) -I$(IDIR) -I$(TDIR) +CFLAGS=-O3 -Wall -Wextra -std=c99 -D_DEFAULT_SOURCE $(DEFINES) -I$(IDIR) -I$(TDIR) LIBS= SRCS=$(wildcard include/*.c) $(wildcard 3rd-party/*.c) diff --git a/buildroot-config b/config-buildroot index a7ddbd0..a7ddbd0 100644 --- a/buildroot-config +++ b/config-buildroot diff --git a/src/ct1986.c b/src/ct1986.c index 44e64e7..91d70b0 100644 --- a/src/ct1986.c +++ b/src/ct1986.c @@ -4,7 +4,8 @@ #include <tak.h> #include <minimax_cnn1986.h> -#include <LCDHD44780.h> + +FILE *lcd = NULL; static char *gamelog = 0; static int human, search_depth; @@ -37,8 +38,9 @@ static void end_game(char *line, char *win) { append_to_gamelog(line, 0); append_to_gamelog(win, 1); - write_string("Game over: "); - write_string(win); + fputs("Game over: ",lcd); + fputs(win,lcd); + fflush(lcd); } static int @@ -47,10 +49,10 @@ handle_turn(char *line) { uint8_t new_win = (won == 0xFF); switch (do_ptn(line)) { // Errors - case PTN_INVALID: { write_string("Invalid PTN."); return -1; break; } - case ACT_ILLEGAL: { write_string("Illegal action."); return -1; break; } + case PTN_INVALID: { fputs("Invalid PTN.",lcd); return -1; break; } + case ACT_ILLEGAL: { fputs("Illegal action.",lcd); return -1; break; } case ACT_OVERFLOW: { - write_string("Move would cause internal overflow, select another."); + fputs("Move would cause internal overflow, select another."); return EXIT_FAILURE; break; } @@ -66,7 +68,7 @@ handle_turn(char *line) { case WIN_ROAD_WHITE: { end_game(line,"R-0"); break; } } } - write_string("Game over, enter `new' to play again."); + fputs("Game over, enter `new' to play again."); if (! new_win) return EXIT_FAILURE; break; } @@ -84,9 +86,10 @@ handle_turn(char *line) { static void new_game(uint8_t size) { reset_state(size); - write_string("New 5x5 game! ct1986 at search depth "); - write_to_lcd(search_depth + '0', LCD_DATA); - write_to_lcd('.', LCD_DATA); + fputs("New 5x5 game! ct1986 at search depth "); + fputc(search_depth + '0', lcd); + fputc('.', lcd); + fflush(lcd); if (gamelog) gamelog = realloc(gamelog, sizeof(char)); else gamelog = malloc(sizeof(char)); gamelog[0] = 0; @@ -95,24 +98,24 @@ new_game(uint8_t size) { static void dot(const uint8_t depth) { if (depth == 0) { - write_to_lcd('#', LCD_DATA); + fputc('#', lcd); } } static int ct1986_turn(const uint8_t search_depth) { // Prepare progress bar - write_string("Computing "); + fputs("Computing "); // Run the minimax float minimax = ct1986_generate(search_depth); // Failed to find a move? if ((minimax <= -infty && (ply & 1) == 1) ||(minimax >= infty && (ply & 1) == 0)) { - write_string("Opponent concedes!"); + fputs("Opponent concedes!"); return EXIT_FAILURE; } else { - write_string("Result: "); - write_string(ct1986_ptn); + fputs("Result: "); + fputs(ct1986_ptn); handle_turn(ct1986_ptn); return EXIT_SUCCESS; } @@ -121,10 +124,10 @@ ct1986_turn(const uint8_t search_depth) { static int input_is_not_turn(const char *line) { if (!strcmp(line,"help")) { - write_string("Valid commands: depth [0-9], help, new, \ + fputs("Valid commands: depth [0-9], help, new, \ play (b|w), self-play, <PTN>."); } else if (!strcmp(line,"log")) { - write_string(gamelog); + fputs(gamelog); } else if (!strcmp(line,"new")) { new_game(5); } else if (!strcmp(line,"self-play")) { @@ -132,10 +135,11 @@ play (b|w), self-play, <PTN>."); } else if (!strncmp(line,"depth",5)) { if (strnlen(line,7) == 7 && line[6] >= '0' && line[6] <= '9') { search_depth = line[6] - '0'; - write_string("New search depth: "); - write_to_lcd(line[6], LCD_DATA); + fputs("New search depth: ",lcd); + fputc(line[6], lcd); + fflush(lcd); } else { - write_string("Usage: depth [0-9]."); + fputs("Usage: depth [0-9].",lcd); } } else if (!strncmp(line,"play",4)) { if (strnlen(line,7) == 6 @@ -145,7 +149,7 @@ play (b|w), self-play, <PTN>."); human = 1 - (line[5] & 1); new_game(5); } else { - write_string("Usage: play (b|w).\n"); + fputs("Usage: play (b|w).\n", lcd); } } else { return EXIT_FAILURE; @@ -158,9 +162,8 @@ main(int argc, char **argv) { (void)(argc); (void)(argv); - puts("Init."); - init_lcd(); - puts("Starting up."); + lcd = fopen("/dev/lcd","w"); + if (lcd == NULL) return EXIT_FAILURE; // Set up output function for ct1986 ct1986_display_progress = ˙ @@ -174,7 +177,7 @@ main(int argc, char **argv) { size_t alloc_size; for (int playing = 1; playing;) { - write_string("Welcome to ct1986!"); + fputs("Welcome to ct1986!\n",lcd); fflush(lcd); fflush(stdout); while ((human == 0) && (read = getline(&line, &alloc_size, stdin)) != -1) { if (read) { |