282 lines
6.5 KiB
C
282 lines
6.5 KiB
C
|
#include <stdio.h>
|
||
|
|
#include <stdlib.h>
|
||
|
|
#include <stdarg.h>
|
||
|
|
#include <unistd.h>
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <string.h>
|
||
|
|
#include <fcntl.h>
|
||
|
|
#include <errno.h>
|
||
|
|
#include <sys/mman.h>
|
||
|
|
#include <sys/stat.h>
|
||
|
|
#include <sys/types.h>
|
||
|
|
#include <time.h>
|
||
|
|
|
||
|
|
static volatile uint32_t piModel = 1;
|
||
|
|
|
||
|
|
static volatile uint32_t piPeriphBase = 0x20000000;
|
||
|
|
static volatile uint32_t piBusAddr = 0x40000000;
|
||
|
|
|
||
|
|
#define SYST_BASE (piPeriphBase + 0x003000)
|
||
|
|
#define DMA_BASE (piPeriphBase + 0x007000)
|
||
|
|
#define CLK_BASE (piPeriphBase + 0x101000)
|
||
|
|
#define GPIO_BASE (piPeriphBase + 0x200000)
|
||
|
|
#define UART0_BASE (piPeriphBase + 0x201000)
|
||
|
|
#define PCM_BASE (piPeriphBase + 0x203000)
|
||
|
|
#define SPI0_BASE (piPeriphBase + 0x204000)
|
||
|
|
#define I2C0_BASE (piPeriphBase + 0x205000)
|
||
|
|
#define PWM_BASE (piPeriphBase + 0x20C000)
|
||
|
|
#define BSCS_BASE (piPeriphBase + 0x214000)
|
||
|
|
#define UART1_BASE (piPeriphBase + 0x215000)
|
||
|
|
#define I2C1_BASE (piPeriphBase + 0x804000)
|
||
|
|
#define I2C2_BASE (piPeriphBase + 0x805000)
|
||
|
|
#define DMA15_BASE (piPeriphBase + 0xE05000)
|
||
|
|
|
||
|
|
#define DMA_LEN 0x1000 /* allow access to all channels */
|
||
|
|
#define CLK_LEN 0xA8
|
||
|
|
#define GPIO_LEN 0xB4
|
||
|
|
#define SYST_LEN 0x1C
|
||
|
|
#define PCM_LEN 0x24
|
||
|
|
#define PWM_LEN 0x28
|
||
|
|
#define I2C_LEN 0x1C
|
||
|
|
|
||
|
|
#define GPSET0 7
|
||
|
|
#define GPSET1 8
|
||
|
|
|
||
|
|
#define GPCLR0 10
|
||
|
|
#define GPCLR1 11
|
||
|
|
|
||
|
|
#define GPLEV0 13
|
||
|
|
#define GPLEV1 14
|
||
|
|
|
||
|
|
#define GPPUD 37
|
||
|
|
#define GPPUDCLK0 38
|
||
|
|
#define GPPUDCLK1 39
|
||
|
|
|
||
|
|
#define SYST_CS 0
|
||
|
|
#define SYST_CLO 1
|
||
|
|
#define SYST_CHI 2
|
||
|
|
|
||
|
|
#define CLK_PASSWD (0x5A<<24)
|
||
|
|
|
||
|
|
#define CLK_CTL_MASH(x)((x)<<9)
|
||
|
|
#define CLK_CTL_BUSY (1 <<7)
|
||
|
|
#define CLK_CTL_KILL (1 <<5)
|
||
|
|
#define CLK_CTL_ENAB (1 <<4)
|
||
|
|
#define CLK_CTL_SRC(x) ((x)<<0)
|
||
|
|
|
||
|
|
#define CLK_SRCS 4
|
||
|
|
|
||
|
|
#define CLK_CTL_SRC_OSC 1 /* 19.2 MHz */
|
||
|
|
#define CLK_CTL_SRC_PLLC 5 /* 1000 MHz */
|
||
|
|
#define CLK_CTL_SRC_PLLD 6 /* 500 MHz */
|
||
|
|
#define CLK_CTL_SRC_HDMI 7 /* 216 MHz */
|
||
|
|
|
||
|
|
#define CLK_DIV_DIVI(x) ((x)<<12)
|
||
|
|
#define CLK_DIV_DIVF(x) ((x)<< 0)
|
||
|
|
|
||
|
|
#define CLK_GP0_CTL 28
|
||
|
|
#define CLK_GP0_DIV 29
|
||
|
|
#define CLK_GP1_CTL 30
|
||
|
|
#define CLK_GP1_DIV 31
|
||
|
|
#define CLK_GP2_CTL 32
|
||
|
|
#define CLK_GP2_DIV 33
|
||
|
|
|
||
|
|
#define CLK_PCM_CTL 38
|
||
|
|
#define CLK_PCM_DIV 39
|
||
|
|
|
||
|
|
#define CLK_PWM_CTL 40
|
||
|
|
#define CLK_PWM_DIV 41
|
||
|
|
|
||
|
|
|
||
|
|
static volatile uint32_t *gpioReg = MAP_FAILED;
|
||
|
|
static volatile uint32_t *systReg = MAP_FAILED;
|
||
|
|
static volatile uint32_t *clkReg = MAP_FAILED;
|
||
|
|
|
||
|
|
#define PI_BANK (gpio>>5)
|
||
|
|
#define PI_BIT (1<<(gpio&0x1F))
|
||
|
|
|
||
|
|
/* gpio modes. */
|
||
|
|
|
||
|
|
#define PI_INPUT 0
|
||
|
|
#define PI_OUTPUT 1
|
||
|
|
#define PI_ALT0 4
|
||
|
|
#define PI_ALT1 5
|
||
|
|
#define PI_ALT2 6
|
||
|
|
#define PI_ALT3 7
|
||
|
|
#define PI_ALT4 3
|
||
|
|
#define PI_ALT5 2
|
||
|
|
|
||
|
|
void gpioSetMode(unsigned gpio, unsigned mode) {
|
||
|
|
int reg, shift;
|
||
|
|
|
||
|
|
reg = gpio/10;
|
||
|
|
shift = (gpio%10) * 3;
|
||
|
|
|
||
|
|
gpioReg[reg] = (gpioReg[reg] & ~(7<<shift)) | (mode<<shift);
|
||
|
|
}
|
||
|
|
|
||
|
|
int gpioGetMode(unsigned gpio) {
|
||
|
|
int reg, shift;
|
||
|
|
|
||
|
|
reg = gpio/10;
|
||
|
|
shift = (gpio%10) * 3;
|
||
|
|
|
||
|
|
return (*(gpioReg + reg) >> shift) & 7;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Values for pull-ups/downs off, pull-down and pull-up. */
|
||
|
|
|
||
|
|
#define PI_PUD_OFF 0
|
||
|
|
#define PI_PUD_DOWN 1
|
||
|
|
#define PI_PUD_UP 2
|
||
|
|
|
||
|
|
void gpioSetPullUpDown(unsigned gpio, unsigned pud) {
|
||
|
|
*(gpioReg + GPPUD) = pud;
|
||
|
|
|
||
|
|
usleep(20);
|
||
|
|
|
||
|
|
*(gpioReg + GPPUDCLK0 + PI_BANK) = PI_BIT;
|
||
|
|
|
||
|
|
usleep(20);
|
||
|
|
|
||
|
|
*(gpioReg + GPPUD) = 0;
|
||
|
|
|
||
|
|
*(gpioReg + GPPUDCLK0 + PI_BANK) = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
int gpioRead(unsigned gpio) {
|
||
|
|
if ((*(gpioReg + GPLEV0 + PI_BANK) & PI_BIT) != 0) return 1;
|
||
|
|
else return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
void gpioWrite(unsigned gpio, unsigned level) {
|
||
|
|
if (level == 0) *(gpioReg + GPCLR0 + PI_BANK) = PI_BIT;
|
||
|
|
else *(gpioReg + GPSET0 + PI_BANK) = PI_BIT;
|
||
|
|
}
|
||
|
|
|
||
|
|
void gpioTrigger(unsigned gpio, unsigned pulseLen, unsigned level) {
|
||
|
|
if (level == 0) *(gpioReg + GPCLR0 + PI_BANK) = PI_BIT;
|
||
|
|
else *(gpioReg + GPSET0 + PI_BANK) = PI_BIT;
|
||
|
|
|
||
|
|
usleep(pulseLen);
|
||
|
|
|
||
|
|
if (level != 0) *(gpioReg + GPCLR0 + PI_BANK) = PI_BIT;
|
||
|
|
else *(gpioReg + GPSET0 + PI_BANK) = PI_BIT;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Bit (1<<x) will be set if gpio x is high. */
|
||
|
|
|
||
|
|
uint32_t gpioReadBank1(void) { return (*(gpioReg + GPLEV0)); }
|
||
|
|
uint32_t gpioReadBank2(void) { return (*(gpioReg + GPLEV1)); }
|
||
|
|
|
||
|
|
/* To clear gpio x bit or in (1<<x). */
|
||
|
|
|
||
|
|
void gpioClearBank1(uint32_t bits) { *(gpioReg + GPCLR0) = bits; }
|
||
|
|
void gpioClearBank2(uint32_t bits) { *(gpioReg + GPCLR1) = bits; }
|
||
|
|
|
||
|
|
/* To set gpio x bit or in (1<<x). */
|
||
|
|
|
||
|
|
void gpioSetBank1(uint32_t bits) { *(gpioReg + GPSET0) = bits; }
|
||
|
|
void gpioSetBank2(uint32_t bits) { *(gpioReg + GPSET1) = bits; }
|
||
|
|
|
||
|
|
unsigned gpioHardwareRevision(void) {
|
||
|
|
static unsigned rev = 0;
|
||
|
|
|
||
|
|
FILE * filp;
|
||
|
|
char buf[512];
|
||
|
|
char term;
|
||
|
|
int chars=4; /* number of chars in revision string */
|
||
|
|
|
||
|
|
if (rev) return rev;
|
||
|
|
|
||
|
|
piModel = 0;
|
||
|
|
|
||
|
|
filp = fopen ("/proc/cpuinfo", "r");
|
||
|
|
|
||
|
|
if (filp != NULL)
|
||
|
|
{
|
||
|
|
while (fgets(buf, sizeof(buf), filp) != NULL)
|
||
|
|
{
|
||
|
|
if (piModel == 0)
|
||
|
|
{
|
||
|
|
if (!strncasecmp("model name", buf, 10))
|
||
|
|
{
|
||
|
|
if (strstr (buf, "ARMv6") != NULL)
|
||
|
|
{
|
||
|
|
piModel = 1;
|
||
|
|
chars = 4;
|
||
|
|
piPeriphBase = 0x20000000;
|
||
|
|
piBusAddr = 0x40000000;
|
||
|
|
}
|
||
|
|
else if (strstr (buf, "ARMv7") != NULL)
|
||
|
|
{
|
||
|
|
piModel = 2;
|
||
|
|
chars = 6;
|
||
|
|
piPeriphBase = 0x3F000000;
|
||
|
|
piBusAddr = 0xC0000000;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!strncasecmp("revision", buf, 8))
|
||
|
|
{
|
||
|
|
if (sscanf(buf+strlen(buf)-(chars+1),
|
||
|
|
"%x%c", &rev, &term) == 2)
|
||
|
|
{
|
||
|
|
if (term != '\n') rev = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
fclose(filp);
|
||
|
|
}
|
||
|
|
return rev;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Returns the number of microseconds after system boot. Wraps around
|
||
|
|
after 1 hour 11 minutes 35 seconds.
|
||
|
|
*/
|
||
|
|
uint32_t gpioTick(void) {
|
||
|
|
return systReg[SYST_CLO];
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/* Map in registers. */
|
||
|
|
static uint32_t *initMapMem(int fd, uint32_t addr, uint32_t len) {
|
||
|
|
return (uint32_t *) mmap(0, len,
|
||
|
|
PROT_READ|PROT_WRITE|PROT_EXEC,
|
||
|
|
MAP_SHARED|MAP_LOCKED,
|
||
|
|
fd, addr);
|
||
|
|
}
|
||
|
|
|
||
|
|
int gpioInitialise(void) {
|
||
|
|
int fd;
|
||
|
|
|
||
|
|
gpioHardwareRevision(); /* sets piModel, needed for peripherals address */
|
||
|
|
|
||
|
|
fd = open("/dev/mem", O_RDWR | O_SYNC) ;
|
||
|
|
|
||
|
|
if (fd < 0)
|
||
|
|
{
|
||
|
|
fprintf(stderr,
|
||
|
|
"This program needs root privileges. Try using sudo\n");
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
gpioReg = initMapMem(fd, GPIO_BASE, GPIO_LEN);
|
||
|
|
systReg = initMapMem(fd, SYST_BASE, SYST_LEN);
|
||
|
|
clkReg = initMapMem(fd, CLK_BASE, CLK_LEN);
|
||
|
|
|
||
|
|
close(fd);
|
||
|
|
|
||
|
|
if ((gpioReg == MAP_FAILED) ||
|
||
|
|
(systReg == MAP_FAILED) ||
|
||
|
|
(clkReg == MAP_FAILED))
|
||
|
|
{
|
||
|
|
fprintf(stderr,
|
||
|
|
"Bad, mmap failed\n");
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
return 0;
|
||
|
|
}
|