Commit 70c03ddc authored by John's avatar John
Browse files

Add GPIO extension module

parent 2357b192
/*
Copyright (c) 2012-2019 Ben Croston
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <fcntl.h>
#include <sys/mman.h>
#include <string.h>
#include "c_gpio.h"
#define BCM2708_PERI_BASE_DEFAULT 0x20000000
#define BCM2709_PERI_BASE_DEFAULT 0x3f000000
#define GPIO_BASE_OFFSET 0x200000
#define FSEL_OFFSET 0 // 0x0000
#define SET_OFFSET 7 // 0x001c / 4
#define CLR_OFFSET 10 // 0x0028 / 4
#define PINLEVEL_OFFSET 13 // 0x0034 / 4
#define EVENT_DETECT_OFFSET 16 // 0x0040 / 4
#define RISING_ED_OFFSET 19 // 0x004c / 4
#define FALLING_ED_OFFSET 22 // 0x0058 / 4
#define HIGH_DETECT_OFFSET 25 // 0x0064 / 4
#define LOW_DETECT_OFFSET 28 // 0x0070 / 4
#define PULLUPDN_OFFSET 37 // 0x0094 / 4
#define PULLUPDNCLK_OFFSET 38 // 0x0098 / 4
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)
static volatile uint32_t *gpio_map;
void short_wait(void)
{
int i;
for (i=0; i<150; i++) { // wait 150 cycles
asm volatile("nop");
}
}
int setup(void)
{
int mem_fd;
uint8_t *gpio_mem;
uint32_t peri_base = 0;
uint32_t gpio_base;
unsigned char buf[4];
FILE *fp;
char buffer[1024];
char hardware[1024];
int found = 0;
// try /dev/gpiomem first - this does not require root privs
if ((mem_fd = open("/dev/gpiomem", O_RDWR|O_SYNC)) > 0)
{
if ((gpio_map = (uint32_t *)mmap(NULL, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, 0)) == MAP_FAILED) {
return SETUP_MMAP_FAIL;
} else {
return SETUP_OK;
}
}
// revert to /dev/mem method - requires root
// determine peri_base
if ((fp = fopen("/proc/device-tree/soc/ranges", "rb")) != NULL) {
// get peri base from device tree
fseek(fp, 4, SEEK_SET);
if (fread(buf, 1, sizeof buf, fp) == sizeof buf) {
peri_base = buf[0] << 24 | buf[1] << 16 | buf[2] << 8 | buf[3] << 0;
}
fclose(fp);
} else {
// guess peri base based on /proc/cpuinfo hardware field
if ((fp = fopen("/proc/cpuinfo", "r")) == NULL)
return SETUP_CPUINFO_FAIL;
while(!feof(fp) && !found && fgets(buffer, sizeof(buffer), fp)) {
sscanf(buffer, "Hardware : %s", hardware);
if (strcmp(hardware, "BCM2708") == 0 || strcmp(hardware, "BCM2835") == 0) {
// pi 1 hardware
peri_base = BCM2708_PERI_BASE_DEFAULT;
found = 1;
} else if (strcmp(hardware, "BCM2709") == 0 || strcmp(hardware, "BCM2836") == 0) {
// pi 2 hardware
peri_base = BCM2709_PERI_BASE_DEFAULT;
found = 1;
}
}
fclose(fp);
if (!found)
return SETUP_NOT_RPI_FAIL;
}
if (!peri_base)
return SETUP_NOT_RPI_FAIL;
gpio_base = peri_base + GPIO_BASE_OFFSET;
// mmap the GPIO memory registers
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0)
return SETUP_DEVMEM_FAIL;
if ((gpio_mem = malloc(BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
return SETUP_MALLOC_FAIL;
if ((uint32_t)gpio_mem % PAGE_SIZE)
gpio_mem += PAGE_SIZE - ((uint32_t)gpio_mem % PAGE_SIZE);
if ((gpio_map = (uint32_t *)mmap( (void *)gpio_mem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, mem_fd, gpio_base)) == MAP_FAILED)
return SETUP_MMAP_FAIL;
return SETUP_OK;
}
void clear_event_detect(int gpio)
{
int offset = EVENT_DETECT_OFFSET + (gpio/32);
int shift = (gpio%32);
*(gpio_map+offset) |= (1 << shift);
short_wait();
*(gpio_map+offset) = 0;
}
int eventdetected(int gpio)
{
int offset, value, bit;
offset = EVENT_DETECT_OFFSET + (gpio/32);
bit = (1 << (gpio%32));
value = *(gpio_map+offset) & bit;
if (value)
clear_event_detect(gpio);
return value;
}
void set_rising_event(int gpio, int enable)
{
int offset = RISING_ED_OFFSET + (gpio/32);
int shift = (gpio%32);
if (enable)
*(gpio_map+offset) |= 1 << shift;
else
*(gpio_map+offset) &= ~(1 << shift);
clear_event_detect(gpio);
}
void set_falling_event(int gpio, int enable)
{
int offset = FALLING_ED_OFFSET + (gpio/32);
int shift = (gpio%32);
if (enable) {
*(gpio_map+offset) |= (1 << shift);
*(gpio_map+offset) = (1 << shift);
} else {
*(gpio_map+offset) &= ~(1 << shift);
}
clear_event_detect(gpio);
}
void set_high_event(int gpio, int enable)
{
int offset = HIGH_DETECT_OFFSET + (gpio/32);
int shift = (gpio%32);
if (enable)
*(gpio_map+offset) |= (1 << shift);
else
*(gpio_map+offset) &= ~(1 << shift);
clear_event_detect(gpio);
}
void set_low_event(int gpio, int enable)
{
int offset = LOW_DETECT_OFFSET + (gpio/32);
int shift = (gpio%32);
if (enable)
*(gpio_map+offset) |= 1 << shift;
else
*(gpio_map+offset) &= ~(1 << shift);
clear_event_detect(gpio);
}
void set_pullupdn(int gpio, int pud)
{
int clk_offset = PULLUPDNCLK_OFFSET + (gpio/32);
int shift = (gpio%32);
if (pud == PUD_DOWN)
*(gpio_map+PULLUPDN_OFFSET) = (*(gpio_map+PULLUPDN_OFFSET) & ~3) | PUD_DOWN;
else if (pud == PUD_UP)
*(gpio_map+PULLUPDN_OFFSET) = (*(gpio_map+PULLUPDN_OFFSET) & ~3) | PUD_UP;
else // pud == PUD_OFF
*(gpio_map+PULLUPDN_OFFSET) &= ~3;
short_wait();
*(gpio_map+clk_offset) = 1 << shift;
short_wait();
*(gpio_map+PULLUPDN_OFFSET) &= ~3;
*(gpio_map+clk_offset) = 0;
}
void setup_gpio(int gpio, int direction, int pud)
{
int offset = FSEL_OFFSET + (gpio/10);
int shift = (gpio%10)*3;
set_pullupdn(gpio, pud);
if (direction == OUTPUT)
*(gpio_map+offset) = (*(gpio_map+offset) & ~(7<<shift)) | (1<<shift);
else // direction == INPUT
*(gpio_map+offset) = (*(gpio_map+offset) & ~(7<<shift));
}
// Contribution by Eric Ptak <trouch@trouch.com>
int gpio_function(int gpio)
{
int offset = FSEL_OFFSET + (gpio/10);
int shift = (gpio%10)*3;
int value = *(gpio_map+offset);
value >>= shift;
value &= 7;
return value; // 0=input, 1=output, 4=alt0
}
void output_gpio(int gpio, int value)
{
int offset, shift;
if (value) // value == HIGH
offset = SET_OFFSET + (gpio/32);
else // value == LOW
offset = CLR_OFFSET + (gpio/32);
shift = (gpio%32);
*(gpio_map+offset) = 1 << shift;
}
int input_gpio(int gpio)
{
int offset, value, mask;
offset = PINLEVEL_OFFSET + (gpio/32);
mask = (1 << gpio%32);
value = *(gpio_map+offset) & mask;
return value;
}
void cleanup(void)
{
munmap((void *)gpio_map, BLOCK_SIZE);
}
/*
Copyright (c) 2012-2015 Ben Croston
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
int setup(void);
void setup_gpio(int gpio, int direction, int pud);
int gpio_function(int gpio);
void output_gpio(int gpio, int value);
int input_gpio(int gpio);
void set_rising_event(int gpio, int enable);
void set_falling_event(int gpio, int enable);
void set_high_event(int gpio, int enable);
void set_low_event(int gpio, int enable);
int eventdetected(int gpio);
void cleanup(void);
#define SETUP_OK 0
#define SETUP_DEVMEM_FAIL 1
#define SETUP_MALLOC_FAIL 2
#define SETUP_MMAP_FAIL 3
#define SETUP_CPUINFO_FAIL 4
#define SETUP_NOT_RPI_FAIL 5
#define INPUT 1 // is really 0 for control register!
#define OUTPUT 0 // is really 1 for control register!
#define ALT0 4
#define HIGH 1
#define LOW 0
#define PUD_OFF 0
#define PUD_DOWN 1
#define PUD_UP 2
/* GPIO Extension Module
UXLIBS: -lc
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mman.h>
#include "c_gpio.h"
#include "../../basext.h"
#define BCM2708_PERI_BASE_DEFAULT 0x20000000
#define BCM2709_PERI_BASE_DEFAULT 0x3f000000
#define GPIO_BASE_OFFSET 0x200000
#define FSEL_OFFSET 0 // 0x0000
#define SET_OFFSET 7 // 0x001c / 4
#define CLR_OFFSET 10 // 0x0028 / 4
#define PINLEVEL_OFFSET 13 // 0x0034 / 4
#define EVENT_DETECT_OFFSET 16 // 0x0040 / 4
#define RISING_ED_OFFSET 19 // 0x004c / 4
#define FALLING_ED_OFFSET 22 // 0x0058 / 4
#define HIGH_DETECT_OFFSET 25 // 0x0064 / 4
#define LOW_DETECT_OFFSET 28 // 0x0070 / 4
#define PULLUPDN_OFFSET 37 // 0x0094 / 4
#define PULLUPDNCLK_OFFSET 38 // 0x0098 / 4
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)
static volatile uint32_t *gpio_map;
static void short_wait(void)
{
int i;
for (i=0; i<150; i++) { // wait 150 cycles
asm volatile("nop");
}
}
static void clear_event_detect(int gpio)
{
int offset = EVENT_DETECT_OFFSET + (gpio/32);
int shift = (gpio%32);
*(gpio_map+offset) |= (1 << shift);
short_wait();
*(gpio_map+offset) = 0;
}
static void set_pullupdn(int gpio, int pud)
{
int clk_offset = PULLUPDNCLK_OFFSET + (gpio/32);
int shift = (gpio%32);
if (pud == PUD_DOWN)
*(gpio_map+PULLUPDN_OFFSET) = (*(gpio_map+PULLUPDN_OFFSET) & ~3) | PUD_DOWN;
else if (pud == PUD_UP)
*(gpio_map+PULLUPDN_OFFSET) = (*(gpio_map+PULLUPDN_OFFSET) & ~3) | PUD_UP;
else // pud == PUD_OFF
*(gpio_map+PULLUPDN_OFFSET) &= ~3;
short_wait();
*(gpio_map+clk_offset) = 1 << shift;
short_wait();
*(gpio_map+PULLUPDN_OFFSET) &= ~3;
*(gpio_map+clk_offset) = 0;
}
/**************************
Extension Module Functions
**************************/
typedef struct _ModuleObject {
void *HandleArray;
}ModuleObject,*pModuleObject;
besVERSION_NEGOTIATE
return (int)INTERFACE_VERSION;
besEND
besSUB_START
pModuleObject p;
besMODULEPOINTER = besALLOC(sizeof(ModuleObject));
if( besMODULEPOINTER == NULL )return 0;
p = (pModuleObject)besMODULEPOINTER;
return 0;
besEND
besSUB_FINISH
pModuleObject p;
p = (pModuleObject)besMODULEPOINTER;
if( p == NULL )return 0;
return 0;
besEND
/***************
GPIO Functions
***************/
besFUNCTION(sb_short_wait)
int i;
for (i=0; i<150; i++) { // wait 150 cycles
asm volatile("nop");
}
besEND
besFUNCTION(sb_setup)
int mem_fd;
uint8_t *gpio_mem;
uint32_t peri_base = 0;
uint32_t gpio_base;
unsigned char buf[4];
FILE *fp;
char buffer[1024];
char hardware[1024];
int found = 0;
// try /dev/gpiomem first - this does not require root privs
if ((mem_fd = open("/dev/gpiomem", O_RDWR|O_SYNC)) > 0)
{
if ((gpio_map = (uint32_t *)mmap(NULL, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, 0)) == MAP_FAILED) {
besRETURN_LONG(SETUP_MMAP_FAIL);
} else {
besRETURN_LONG(SETUP_OK);
}
}
// revert to /dev/mem method - requires root
// determine peri_base
if ((fp = fopen("/proc/device-tree/soc/ranges", "rb")) != NULL) {
// get peri base from device tree
fseek(fp, 4, SEEK_SET);
if (fread(buf, 1, sizeof buf, fp) == sizeof buf) {
peri_base = buf[0] << 24 | buf[1] << 16 | buf[2] << 8 | buf[3] << 0;
}
fclose(fp);
} else {
// guess peri base based on /proc/cpuinfo hardware field
if ((fp = fopen("/proc/cpuinfo", "r")) == NULL)
besRETURN_LONG(SETUP_CPUINFO_FAIL);
while(!feof(fp) && !found && fgets(buffer, sizeof(buffer), fp)) {
sscanf(buffer, "Hardware : %s", hardware);
if (strcmp(hardware, "BCM2708") == 0 || strcmp(hardware, "BCM2835") == 0) {
// pi 1 hardware
peri_base = BCM2708_PERI_BASE_DEFAULT;
found = 1;
} else if (strcmp(hardware, "BCM2709") == 0 || strcmp(hardware, "BCM2836") == 0) {
// pi 2 hardware
peri_base = BCM2709_PERI_BASE_DEFAULT;
found = 1;
}
}
fclose(fp);
if (!found)
besRETURN_LONG(SETUP_NOT_RPI_FAIL);
}
if (!peri_base)
besRETURN_LONG(SETUP_NOT_RPI_FAIL);
gpio_base = peri_base + GPIO_BASE_OFFSET;
// mmap the GPIO memory registers
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0)
besRETURN_LONG(SETUP_DEVMEM_FAIL);
if ((gpio_mem = malloc(BLOCK_SIZE + (PAGE_SIZE-1))) == NULL)
besRETURN_LONG(SETUP_MALLOC_FAIL);
if ((uint32_t)gpio_mem % PAGE_SIZE)
gpio_mem += PAGE_SIZE - ((uint32_t)gpio_mem % PAGE_SIZE);
if ((gpio_map = (uint32_t *)mmap( (void *)gpio_mem, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED, mem_fd, gpio_base)) == MAP_FAILED)
besRETURN_LONG(SETUP_MMAP_FAIL);
besRETURN_LONG(SETUP_OK);
besEND
besFUNCTION(sb_clear_event_detect)
int gpio;
besARGUMENTS("i")
&gpio
besARGEND
int offset = EVENT_DETECT_OFFSET + (gpio/32);
int shift = (gpio%32);
*(gpio_map+offset) |= (1 << shift);
short_wait();
*(gpio_map+offset) = 0;
besEND
besFUNCTION(sb_eventdetected)
int gpio;
besARGUMENTS("i")
&gpio
besARGEND
int offset, value, bit;
offset = EVENT_DETECT_OFFSET + (gpio/32);
bit = (1 << (gpio%32));
value = *(gpio_map+offset) & bit;
if (value)
clear_event_detect(gpio);
besRETURN_LONG(value);
besEND
besFUNCTION(sb_set_rising_event)
int gpio, enable;
besARGUMENTS("ii")
&gpio, &enable
besARGEND
int offset = RISING_ED_OFFSET + (gpio/32);
int shift = (gpio%32);
if (enable)
*(gpio_map+offset) |= 1 << shift;
else
*(gpio_map+offset) &= ~(1 << shift);
clear_event_detect(gpio);
besEND
besFUNCTION(sb_set_falling_event)
int gpio, enable;
besARGUMENTS("ii")
&gpio, &enable
besARGEND
int offset = FALLING_ED_OFFSET + (gpio/32);
int shift = (gpio%32);
if (enable) {
*(gpio_map+offset) |= (1 << shift);
*(gpio_map+offset) = (1 << shift);
} else {
*(gpio_map+offset) &= ~(1 << shift);
}
clear_event_detect(gpio);
besEND
besFUNCTION(sb_set_high_event)
int gpio, enable;
besARGUMENTS("ii")
&gpio, &enable
besARGEND
int offset = HIGH_DETECT_OFFSET + (gpio/32);
int shift = (gpio%32);
if (enable)
*(gpio_map+offset) |= (1 << shift);
else
*(gpio_map+offset) &= ~(1 << shift);
clear_event_detect(gpio);
besEND
besFUNCTION(sb_set_low_event)
int gpio, enable;
besARGUMENTS("ii")
&gpio, &enable
besARGEND
int offset = LOW_DETECT_OFFSET + (gpio/32);
int shift = (gpio%32);
if (enable)
*(gpio_map+offset) |= 1 << shift;
else
*(gpio_map+offset) &= ~(1 << shift);
clear_event_detect(gpio);
besEND
besFUNCTION(sb_set_pullupdn)
int gpio, pud;
besARGUMENTS("ii")
&gpio, &pud
besARGEND
int clk_offset = PULLUPDNCLK_OFFSET + (gpio/32);