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Signed-off-by: Your Name <you@example.com>
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Your Name 2018-11-28 10:52:27 -05:00
commit 23616a1c4b
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4
.gitignore vendored Normal file
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.obj
*.swp
*.swo
bbflash

87
Makefile Normal file
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PACKAGE = $(notdir $(realpath .))
ADD_CFLAGS =
ADD_LFLAGS =
GIT_VERSION= $(shell git describe --tags)
#TRGT ?= arm-none-eabi-
CC = $(TRGT)gcc
CXX = $(TRGT)g++
OBJCOPY = $(TRGT)objcopy
RM = rm -rf
COPY = cp -a
PATH_SEP = /
ifeq ($(OS),Windows_NT)
COPY = copy
RM = del
PATH_SEP = \\
endif
DBG_CFLAGS = -ggdb -g -DDEBUG -Wall
DBG_LFLAGS = -ggdb -g -Wall
CFLAGS = $(ADD_CFLAGS) \
-Wall -Wextra \
-ffunction-sections -fdata-sections -fno-common \
-fomit-frame-pointer -Os \
-DGIT_VERSION=u\"$(GIT_VERSION)\" -std=gnu11
CXXFLAGS = $(CFLAGS) -std=c++11
LFLAGS = $(ADD_LFLAGS) $(CFLAGS) \
OBJ_DIR = .obj
CSOURCES = $(wildcard *.c)
CPPSOURCES = $(wildcard *.cpp)
ASOURCES = $(wildcard *.S)
COBJS = $(addprefix $(OBJ_DIR)/, $(notdir $(CSOURCES:.c=.o)))
CXXOBJS = $(addprefix $(OBJ_DIR)/, $(notdir $(CPPSOURCES:.cpp=.o)))
AOBJS = $(addprefix $(OBJ_DIR)/, $(notdir $(ASOURCES:.S=.o)))
OBJECTS = $(COBJS) $(CXXOBJS) $(AOBJS)
VPATH = .
QUIET = @
ALL = all
TARGET = $(PACKAGE)
CLEAN = clean
$(ALL): $(TARGET)
$(OBJECTS): | $(OBJ_DIR)
$(TARGET): $(OBJECTS)
$(QUIET) echo " LD $@"
$(QUIET) $(CXX) $(OBJECTS) $(LFLAGS) -o $@
$(DEBUG): CFLAGS += $(DBG_CFLAGS)
$(DEBUG): LFLAGS += $(DBG_LFLAGS)
CFLAGS += $(DBG_CFLAGS)
LFLAGS += $(DBG_LFLAGS)
$(DEBUG): $(TARGET)
$(OBJ_DIR):
$(QUIET) mkdir $(OBJ_DIR)
$(COBJS) : $(OBJ_DIR)/%.o : %.c Makefile
$(QUIET) echo " CC $< $(notdir $@)"
$(QUIET) $(CC) -c $< $(CFLAGS) -o $@ -MMD
$(OBJ_DIR)/%.o: %.cpp
$(QUIET) echo " CXX $< $(notdir $@)"
$(QUIET) $(CXX) -c $< $(CXXFLAGS) -o $@ -MMD
$(OBJ_DIR)/%.o: %.S
$(QUIET) echo " AS $< $(notdir $@)"
$(QUIET) $(CC) -x assembler-with-cpp -c $< $(CFLAGS) -o $@ -MMD
.PHONY: clean
clean:
$(QUIET) echo " RM $(subst /,$(PATH_SEP),$(wildcard $(OBJ_DIR)/*.d))"
-$(QUIET) $(RM) $(subst /,$(PATH_SEP),$(wildcard $(OBJ_DIR)/*.d))
$(QUIET) echo " RM $(subst /,$(PATH_SEP),$(wildcard $(OBJ_DIR)/*.d))"
-$(QUIET) $(RM) $(subst /,$(PATH_SEP),$(wildcard $(OBJ_DIR)/*.o))
$(QUIET) echo " RM $(TARGET)"
-$(QUIET) $(RM) $(TARGET)
include $(wildcard $(OBJ_DIR)/*.d)

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#include <stdint.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <string.h>
#include "rpi.h"
#define S_MOSI 10
#define S_MISO 9
#define S_CLK 11
#define S_CE0 8
#define S_HOLD 25
#define S_WP 24
#define S_D0 S_MOSI
#define S_D1 S_MISO
#define S_D2 S_WP
#define S_D3 S_HOLD
#define F_RESET 27
#define F_DONE 17
enum spi_state {
SS_UNCONFIGURED = 0,
SS_SINGLE,
SS_DUAL_RX,
SS_DUAL_TX,
SS_QUAD_RX,
SS_QUAD_TX,
SS_HARDWARE,
};
enum spi_type {
ST_UNCONFIGURED,
ST_SINGLE,
ST_DUAL,
ST_QUAD,
ST_QPI,
};
struct bb_spi {
enum spi_state state;
enum spi_type type;
int qpi;
};
static void spi_set_state(struct bb_spi *spi, enum spi_state state) {
if (spi->state == state)
return;
switch (state) {
case SS_SINGLE:
gpioSetMode(S_CLK, PI_OUTPUT); // CLK
gpioSetMode(S_CE0, PI_OUTPUT); // CE0#
gpioSetMode(S_MOSI, PI_OUTPUT); // MOSI
gpioSetMode(S_MISO, PI_INPUT); // MISO
gpioSetMode(S_HOLD, PI_OUTPUT);
gpioSetMode(S_WP, PI_OUTPUT);
break;
case SS_DUAL_RX:
gpioSetMode(S_CLK, PI_OUTPUT); // CLK
gpioSetMode(S_CE0, PI_OUTPUT); // CE0#
gpioSetMode(S_MOSI, PI_INPUT); // MOSI
gpioSetMode(S_MISO, PI_INPUT); // MISO
gpioSetMode(S_HOLD, PI_OUTPUT);
gpioSetMode(S_WP, PI_OUTPUT);
break;
case SS_DUAL_TX:
gpioSetMode(S_CLK, PI_OUTPUT); // CLK
gpioSetMode(S_CE0, PI_OUTPUT); // CE0#
gpioSetMode(S_MOSI, PI_OUTPUT); // MOSI
gpioSetMode(S_MISO, PI_OUTPUT); // MISO
gpioSetMode(S_HOLD, PI_OUTPUT);
gpioSetMode(S_WP, PI_OUTPUT);
break;
case SS_QUAD_RX:
gpioSetMode(S_CLK, PI_OUTPUT); // CLK
gpioSetMode(S_CE0, PI_OUTPUT); // CE0#
gpioSetMode(S_MOSI, PI_INPUT); // MOSI
gpioSetMode(S_MISO, PI_INPUT); // MISO
gpioSetMode(S_HOLD, PI_INPUT);
gpioSetMode(S_WP, PI_INPUT);
break;
case SS_QUAD_TX:
gpioSetMode(S_CLK, PI_OUTPUT); // CLK
gpioSetMode(S_CE0, PI_OUTPUT); // CE0#
gpioSetMode(S_MOSI, PI_OUTPUT); // MOSI
gpioSetMode(S_MISO, PI_OUTPUT); // MISO
gpioSetMode(S_HOLD, PI_OUTPUT);
gpioSetMode(S_WP, PI_OUTPUT);
break;
case SS_HARDWARE:
gpioSetMode(S_CLK, PI_ALT0); // CLK
gpioSetMode(S_CE0, PI_ALT0); // CE0#
gpioSetMode(S_MOSI, PI_ALT0); // MOSI
gpioSetMode(S_MISO, PI_ALT0); // MISO
gpioSetMode(S_HOLD, PI_OUTPUT);
gpioSetMode(S_WP, PI_OUTPUT);
break;
default:
fprintf(stderr, "Unrecognized spi state\n");
return;
}
spi->state = state;
}
static void spi_pause(void) {
// usleep(1);
return;
}
static void spiBegin(struct bb_spi *spi) {
spi_set_state(spi, SS_SINGLE);
gpioWrite(S_CE0, 0);
}
static void spiEnd(struct bb_spi *spi) {
(void)spi;
gpioWrite(S_CE0, 1);
}
static uint8_t spiXfer(struct bb_spi *spi, uint8_t out) {
int bit;
uint8_t in = 0;
for (bit = 7; bit >= 0; bit--) {
if (out & (1 << bit)) {
gpioWrite(S_MOSI, 1);
}
else {
gpioWrite(S_MOSI, 0);
}
gpioWrite(S_CLK, 1);
spi_pause();
in |= ((!!gpioRead(S_MISO)) << bit);
gpioWrite(S_CLK, 0);
spi_pause();
}
return in;
}
static void spiSingleTx(struct bb_spi *spi, uint8_t out) {
spi_set_state(spi, SS_SINGLE);
spiXfer(spi, out);
}
static uint8_t spiSingleRx(struct bb_spi *spi) {
spi_set_state(spi, SS_SINGLE);
return spiXfer(spi, 0xff);
}
static void spiDualTx(struct bb_spi *spi, uint8_t out) {
int bit;
spi_set_state(spi, SS_DUAL_TX);
for (bit = 7; bit >= 0; bit -= 2) {
if (out & (1 << (bit - 1))) {
gpioWrite(S_D0, 1);
}
else {
gpioWrite(S_D0, 0);
}
if (out & (1 << (bit - 0))) {
gpioWrite(S_D1, 1);
}
else {
gpioWrite(S_D1, 0);
}
gpioWrite(S_CLK, 1);
spi_pause();
gpioWrite(S_CLK, 0);
spi_pause();
}
}
static void spiQuadTx(struct bb_spi *spi, uint8_t out) {
int bit;
spi_set_state(spi, SS_QUAD_TX);
for (bit = 7; bit >= 0; bit -= 4) {
if (out & (1 << (bit - 3))) {
gpioWrite(S_D0, 1);
}
else {
gpioWrite(S_D0, 0);
}
if (out & (1 << (bit - 2))) {
gpioWrite(S_D1, 1);
}
else {
gpioWrite(S_D1, 0);
}
if (out & (1 << (bit - 1))) {
gpioWrite(S_D2, 1);
}
else {
gpioWrite(S_D2, 0);
}
if (out & (1 << (bit - 0))) {
gpioWrite(S_D3, 1);
}
else {
gpioWrite(S_D3, 0);
}
gpioWrite(S_CLK, 1);
spi_pause();
gpioWrite(S_CLK, 0);
spi_pause();
}
}
void spiCommand(struct bb_spi *spi, uint8_t cmd) {
if (spi->qpi)
spiQuadTx(spi, cmd);
else
spiSingleTx(spi, cmd);
}
static uint8_t spiDualRx(struct bb_spi *spi) {
int bit;
uint8_t in = 0;
spi_set_state(spi, SS_QUAD_RX);
for (bit = 7; bit >= 0; bit -= 2) {
gpioWrite(S_CLK, 1);
spi_pause();
in |= ((!!gpioRead(S_D0)) << (bit - 1));
in |= ((!!gpioRead(S_D1)) << (bit - 0));
gpioWrite(S_CLK, 0);
spi_pause();
}
return in;
}
static uint8_t spiQuadRx(struct bb_spi *spi) {
int bit;
uint8_t in = 0;
spi_set_state(spi, SS_QUAD_RX);
for (bit = 7; bit >= 0; bit -= 4) {
gpioWrite(S_CLK, 1);
spi_pause();
in |= ((!!gpioRead(S_D0)) << (bit - 3));
in |= ((!!gpioRead(S_D1)) << (bit - 2));
in |= ((!!gpioRead(S_D2)) << (bit - 1));
in |= ((!!gpioRead(S_D3)) << (bit - 0));
gpioWrite(S_CLK, 0);
spi_pause();
}
return in;
}
int spiTx(struct bb_spi *spi, uint8_t word) {
switch (spi->type) {
case ST_SINGLE:
spiSingleTx(spi, word);
break;
case ST_DUAL:
spiDualTx(spi, word);
break;
case ST_QUAD:
case ST_QPI:
spiQuadTx(spi, word);
break;
default:
return -1;
}
return 0;
}
uint8_t spiRx(struct bb_spi *spi) {
switch (spi->type) {
case ST_SINGLE:
return spiSingleRx(spi);
case ST_DUAL:
return spiDualRx(spi);
case ST_QUAD:
case ST_QPI:
return spiQuadRx(spi);
default:
return 0xff;
}
}
uint8_t spiReadSr(struct bb_spi *spi, int sr) {
uint8_t val = 0xff;
switch (sr) {
case 1:
spiBegin(spi);
spiCommand(spi, 0x05);
val = spiRx(spi);
spiEnd(spi);
break;
case 2:
spiBegin(spi);
spiCommand(spi, 0x35);
val = spiRx(spi);
spiEnd(spi);
break;
case 3:
spiBegin(spi);
spiCommand(spi, 0x15);
val = spiRx(spi);
spiEnd(spi);
break;
default:
fprintf(stderr, "unrecognized status register: %d\n", sr);
break;
}
return val;
}
void spiWriteSr(struct bb_spi *spi, int sr, uint8_t val) {
switch (sr) {
case 1:
spiBegin(spi);
spiCommand(spi, 0x50);
spiEnd(spi);
spiBegin(spi);
spiCommand(spi, 0x01);
spiCommand(spi, val);
spiEnd(spi);
break;
case 2:
spiBegin(spi);
spiCommand(spi, 0x50);
spiEnd(spi);
spiBegin(spi);
spiCommand(spi, 0x31);
spiCommand(spi, val);
spiEnd(spi);
break;
case 3:
spiBegin(spi);
spiCommand(spi, 0x50);
spiEnd(spi);
spiBegin(spi);
spiCommand(spi, 0x11);
spiCommand(spi, val);
spiEnd(spi);
break;
default:
fprintf(stderr, "unrecognized status register: %d\n", sr);
break;
}
}
int spiSetType(struct bb_spi *spi, enum spi_type type) {
if (spi->type == type)
return 0;
switch (type) {
case ST_SINGLE:
if (spi->type == ST_QPI) {
spiBegin(spi);
spiCommand(spi, 0xff); // Exit QPI Mode
spiEnd(spi);
spi->qpi = 0;
}
spi->type = type;
spi_set_state(spi, SS_SINGLE);
break;
case ST_DUAL:
if (spi->type == ST_QPI) {
spiBegin(spi);
spiCommand(spi, 0xff); // Exit QPI Mode
spiEnd(spi);
spi->qpi = 0;
}
spi->type = type;
spi_set_state(spi, SS_DUAL_TX);
break;
case ST_QUAD:
if (spi->type == ST_QPI) {
spiBegin(spi);
spiCommand(spi, 0xff); // Exit QPI Mode
spiEnd(spi);
spi->qpi = 0;
}
// Enable QE bit
spiWriteSr(spi, 2, spiReadSr(spi, 2) | (1 << 1));
spi->type = type;
spi_set_state(spi, SS_QUAD_TX);
break;
case ST_QPI:
// Enable QE bit
spiWriteSr(spi, 2, spiReadSr(spi, 2) | (1 << 1));
spiBegin(spi);
spiCommand(spi, 0x38); // Enter QPI Mode
spiEnd(spi);
spi->qpi = 1;
spi->type = type;
spi_set_state(spi, SS_QUAD_TX);
break;
default:
fprintf(stderr, "Unrecognized SPI type: %d\n", type);
return 1;
}
return 0;
}
int spiRead(struct bb_spi *spi, uint32_t addr, uint8_t *data, unsigned int count) {
unsigned int i;
spiBegin(spi);
switch (spi->type) {
case ST_SINGLE:
case ST_QPI:
spiCommand(spi, 0x0b);
break;
case ST_DUAL:
spiCommand(spi, 0x3b);
break;
case ST_QUAD:
spiCommand(spi, 0x6b);
break;
default:
fprintf(stderr, "unrecognized spi mode\n");
spiEnd(spi);
return 1;
}
spiCommand(spi, addr >> 16);
spiCommand(spi, addr >> 8);
spiCommand(spi, addr >> 0);
spiCommand(spi, 0x00);
for (i = 0; i < count; i++)
data[i] = spiRx(spi);
spiEnd(spi);
return 0;
}
int spi_wait_for_not_busy(struct bb_spi *spi) {
uint8_t sr1;
sr1 = spiReadSr(spi, 1);
do {
sr1 = spiReadSr(spi, 1);
} while (sr1 & (1 << 0));
return 0;
}
int spiWrite(struct bb_spi *spi, uint32_t addr, const uint8_t *data, unsigned int count) {
unsigned int i;
if (addr & 0xff) {
fprintf(stderr, "Error: Target address is not page-aligned to 256 bytes\n");
return 1;
}
// Erase all applicable blocks
uint32_t erase_addr;
for (erase_addr = 0; erase_addr < count; erase_addr += 32768) {
spiBegin(spi);
spiCommand(spi, 0x06);
spiEnd(spi);
spiBegin(spi);
spiCommand(spi, 0x52);
spiCommand(spi, erase_addr >> 16);
spiCommand(spi, erase_addr >> 8);
spiCommand(spi, erase_addr >> 0);
spiEnd(spi);
spi_wait_for_not_busy(spi);
}
uint8_t write_cmd;
switch (spi->type) {
case ST_DUAL:
fprintf(stderr, "dual writes are broken -- need to temporarily set SINGLE mode\n");
return 1;
case ST_SINGLE:
case ST_QPI:
write_cmd = 0x02;
break;
case ST_QUAD:
write_cmd = 0x32;
break;
default:
fprintf(stderr, "unrecognized spi mode\n");
return 1;
}
while (count) {
spiBegin(spi);
spiCommand(spi, 0x06);
spiEnd(spi);
spiBegin(spi);
spiCommand(spi, write_cmd);
spiCommand(spi, addr >> 16);
spiCommand(spi, addr >> 8);
spiCommand(spi, addr >> 0);
for (i = 0; (i < count) && (i < 256); i++)
spiTx(spi, *data++);
spiEnd(spi);
count -= i;
addr += i;
spi_wait_for_not_busy(spi);
}
return 0;
}
uint8_t spiReset(struct bb_spi *spi) {
// XXX You should check the "Ready" bit before doing this!
spiSetType(spi, ST_SINGLE);
spiBegin(spi);
spiSingleTx(spi, 0x66); // "Enable Reset" command
spiEnd(spi);
spiBegin(spi);
spiSingleTx(spi, 0x99); // "Reset Device" command
spiEnd(spi);
usleep(30);
return 0;
}
void fpgaSlaveMode(void) {
// Set the CS pin to a GPIO, which will let us control it
gpioSetMode(S_CE0, PI_OUTPUT);
// Set CS to 0, which will put the FPGA into slave mode
gpioWrite(S_CE0, 0);
usleep(10000); // XXX figure out correct sleep length here
// Bring the FPGA out of reset
gpioWrite(F_RESET, 1);
usleep(1200); // 13.2.SPI Slave Configuration Process
}
int spiInit(struct bb_spi *spi) {
spi->state = SS_UNCONFIGURED;
spi->type = ST_UNCONFIGURED;
spi->qpi = 0;
// Reset the SPI flash, which will return it to SPI mode even
// if it's in QPI mode.
spiReset(spi);
spiSetType(spi, ST_SINGLE);
return 0;
}
static inline int isprint(int c)
{
return c > 32 && c < 127;
}
int print_hex_offset(FILE *stream,
const void *block, int count, int offset, uint32_t start)
{
int byte;
const uint8_t *b = block;
count += offset;
b -= offset;
for ( ; offset < count; offset += 16) {
fprintf(stream, "%08x", start + offset);
for (byte = 0; byte < 16; byte++) {
if (byte == 8)
fprintf(stream, " ");
fprintf(stream, " ");
if (offset + byte < count)
fprintf(stream, "%02x", b[offset + byte] & 0xff);
else
fprintf(stream, " ");
}
fprintf(stream, " |");
for (byte = 0; byte < 16 && byte + offset < count; byte++)
fprintf(stream, "%c", isprint(b[offset + byte]) ? b[offset + byte] : '.');
fprintf(stream, "|\r\n");
}
return 0;
}
int print_hex(const void *block, int count, uint32_t start)
{
FILE *stream = stdout;
return print_hex_offset(stream, block, count, 0, start);
}
int main(int argc, char *argv[])
{
int result;
struct bb_spi spi;
if (gpioInitialise() < 0) {
fprintf(stderr, "Unable to initialize GPIO\n");
return 1;
}
/* The dance to put the FPGA into programming mode:
* 1) Put it into reset (set C_RESET to 0)
* 2) Drive CS to 0
* 3) Bring it out of reset
* 4) Let CS go back to 1
* 5) Set HOLD/ on the SPI flash by setting pin 25 to 0
* To program the FPGA
*/
// Have the SPI flash pay attention to us
gpioWrite(S_HOLD, 1);
// Disable WP
gpioWrite(S_WP, 1);
// Put the FPGA into reset
gpioSetMode(F_RESET, PI_OUTPUT);
gpioWrite(F_RESET, 0);
// Also monitor the C_DONE pin
gpioSetMode(F_DONE, PI_INPUT);
// Restart the FPGA in slave mode
//fpgaSlaveMode();
result = gpioRead(F_DONE);
fprintf(stderr, "Reset before running: %d\n", result);
spiInit(&spi);
spiSetType(&spi, ST_QPI);
// Assert CS
spiBegin(&spi);
int i;
fprintf(stderr, "Write:");
spiCommand(&spi, 0x90);
spiTx(&spi, 0x00); // A23-16
spiTx(&spi, 0x00); // A15-8
spiRx(&spi); // Dummy0
spiRx(&spi); // Dummy1
fprintf(stderr, "\nRead:");
for (i=0; i<16; i++) {
fprintf(stderr, " 0x%02x", spiRx(&spi));
}
fprintf(stderr, "\n");
spiEnd(&spi);
uint8_t data[383316];
{
memset(data, 0xaa, sizeof(data));
int fd = open("/tmp/image-gateware+bios+micropython.bin", O_RDONLY);
if (read(fd, data, sizeof(data)) != sizeof(data)) {
perror("uanble to read");
return 1;
}
spiWrite(&spi, 0, data, sizeof(data));
}
{
uint8_t page0[256];
spiRead(&spi, 0, page0, sizeof(page0));
print_hex(page0, sizeof(page0), 0);
}
{
uint8_t check_data[sizeof(data)];
spiRead(&spi, 0, check_data, sizeof(check_data));
int j;
for (j=0; j<sizeof(check_data); j++) {
if (data[j] != check_data[j]) {
fprintf(stderr, "check data %d different: %02x vs %02x\n", j, check_data[j], data[j]);
}
}
}
result = gpioRead(F_DONE);
fprintf(stderr, "Programming result: %d\n", result);
// Deassert CS
gpioWrite(S_CE0, 1);
// Deassert hold, if set
gpioWrite(S_HOLD, 1);
// Return the SPI pins to SPI mode, so we can talk to
// the FPGA normally
spiSetType(&spi, ST_SINGLE);
spiInit(&spi);
spi_set_state(&spi, SS_HARDWARE);
return 0;
}

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#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;
}

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#ifndef RPI_H_
#define RPI_H_
/* 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 gpioGetMode(unsigned gpio);
/* 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);
int gpioRead(unsigned gpio);
void gpioWrite(unsigned gpio, unsigned level);
void gpioTrigger(unsigned gpio, unsigned pulseLen, unsigned level);
/* Bit (1<<x) will be set if gpio x is high. */
uint32_t gpioReadBank1(void);
uint32_t gpioReadBank2(void);
/* To clear gpio x bit or in (1<<x). */
void gpioClearBank1(uint32_t bits);
void gpioClearBank2(uint32_t bits);
/* To set gpio x bit or in (1<<x). */
void gpioSetBank1(uint32_t bits);
void gpioSetBank2(uint32_t bits);
unsigned gpioHardwareRevision(void);
/* Returns the number of microseconds after system boot. Wraps around
after 1 hour 11 minutes 35 seconds.
*/
uint32_t gpioTick(void);
int gpioInitialise(void);
#endif /* RPI_H_ */