int main (int argc, char **argv) {
int opt, flag, n_pin, n_alt;
flag=0;
while ((opt = getopt (argc, argv, "hp:f:")) != -1) {
switch (opt) {
case 'h':
break;
case 'p':
n_pin = atoi(optarg); flag |= 0b0001; break;
case 'f':
n_alt = atoi(optarg); flag |= 0b0010; break;
case '?':
// getopt() prints error messages, so don't need to repeat them here
return 1;
default:
abort ();
}
}
if (flag != 0b0011) {
fprintf (stderr, "Usage:\n$ gpio_alt -p PIN_NUM -f FUNC_NUM\n");
return 1;
}
setup_io(); // Set up gpi pointer for direct register access
INP_GPIO(n_pin); // Always use INP_GPIO(x) before using SET_GPIO_ALT(x,y)
SET_GPIO_ALT(n_pin, n_alt);
printf("Set pin %i to alternative-function %i\n", n_pin, n_alt);
return 0;
}
int initGPIO() {
// Map the GPIO and Aux memory
mGPIO = mapMem ( GPIO_BASE, 0x1000 );
// UART1 = Mini-UART, UART0 - PL011
// Set GPIO15 and 16 for UART1 to ALT5 Mini-Uart
INP_GPIO ( kBufferDirectionPin );
OUT_GPIO ( kBufferDirectionPin );
INP_GPIO ( kScopeTriggerPin );
OUT_GPIO ( kScopeTriggerPin );
INP_GPIO ( kUART1TxPin );
SET_GPIO_ALT ( kUART1TxPin, 5 );
INP_GPIO ( kUART1RxPin );
SET_GPIO_ALT ( kUART1RxPin, 5 );
INP_GPIO ( kUART1RTSPin);
SET_GPIO_ALT ( kUART1RTSPin, 5 );
}
/**
* init_module() - This function is called when the module is loaded
*
* Return: On succes the function retuns a 0 (SUCCES). Otherwise a
* negative number is returned.
*/
int init_module(void)
{
Major = register_chrdev(0, DEVICE_NAME, &fops);
if (Major < 0)
{
printk(KERN_ALERT "Registering char device failed with %d\n", Major);
return Major;
}
printk(KERN_INFO "I was assigned major number %d. To talk to\n", Major);
printk(KERN_INFO "the driver, create a device file with\n");
printk(KERN_INFO "'mknod /dev/%s c %d 0'.\n", DEVICE_NAME, Major);
printk(KERN_INFO "Try various minor numbers. Try to echo to\n");
printk(KERN_INFO "the device file.\n");
printk(KERN_INFO "Remove the device file and module when done.\n");
gpio = (volatile unsigned int *)ioremap(GPIO_BASE, 1024);
pwm = (volatile unsigned int *)ioremap(PWM_BASE, 1024);
clk = (volatile unsigned int *)ioremap(CLOCK_BASE, 1024);
// Set pin directions for the output
INP_GPIO(GPIO_OUTP);
OUT_GPIO(GPIO_OUTP);
// PWM and clock settings
SET_GPIO_ALT(GPIO_PWM1, GPIO_ALT);
// stop clock and waiting for busy flag doesn't work, so kill clock
*(clk + CLK_CTL) = CLK_PASSWD | CLK_CTL_KILL;
udelay(10);
// Set clock divider
*(clk + CLK_DIV) = CLK_PASSWD | CLK_DIV_DIVI(96);
// source=osc and enable clock
*(clk + CLK_CTL) = CLK_PASSWD | CLK_CTL_ENAB | CLK_CTL_SRC(CLK_CTL_SRC_OSC);
// disable PWM and start with a clean register
*(pwm + PWM_CTL) = 0;
// needs some time until the PWM module gets disabled, without the delay the PWM module crashes
udelay(10);
// Set the PWM range
*(pwm + PWM_RNG2) = 4000;
// Initialize with a 50% dutycycle
setServo(50);
// start PWM in M/S transmission mode
*(pwm + PWM_CTL) = PWM_CTL_MSEN2 | PWM_CTL_PWEN2;
interrupt_config();
return SUCCESS;
}
void init_uart()
{
// Disable UART0.
UART0_CR = ZERO;
// Setup the GPIO pin 14 && 15 (Alternate Function 0).
SET_GPIO_ALT(14, 0);
SET_GPIO_ALT(15, 0);
// Disable pull up/down for all GPIO pins & delay for 150 cy
GPIO_PULL = ZERO;
short_wait_150();
// Disable pull up/down for pin 14,15 & delay for 150 cycles.
GPIO_PULLCLK0 = ((1 << 14)|(1 << 15));
short_wait_150();
// Write 0 to GPPUDCLK0 to make it take effect.
GPIO_PULLCLK0 = ZERO;
// Clear pending interrupts. p.192 0x7ff binär 11 einser, gesamtes interrupt clear register gesetzt
UART0_ICR = 0x7FF;
// Set integer & fractional part of baud (= übertragunsrate; symbole/sekunde) rate.
// Divider = UART_CLOCK/(16 * Baud)
// Fraction part register = (Fractional part * 64) + 0.5
// UART_CLOCK = 3000000; Baud = 115200.
// Divider = 3000000/(16 * 115200) = 1.627 = ~1.
// Fractional part register = (.627 * 64) + 0.5 = 40.6 = ~40.
UART0_IBRD = 1;
UART0_FBRD = 40;
// Enable FIFO & 8 bit data transmissio (1 stop bit, no parity) p.184.
UART0_LCRH = ((1 << 4)|(1 << 5)|(1 << 6));
// Mask all interrupts p.188/189.
UART0_IMSC = ((1 << 1) | (1 << 4) | (1 << 5) |
(1 << 6) | (1 << 7) | (1 << 8) |
(1 << 9) | (1 << 10));
// Enable UART0, receive & transfer part of UART p.186/187.
UART0_CR = ((1 << 0) | (1 << 8) | (1 << 9));
} // Initialisation finished/ UART0 ready.
int init()
{
if ( setup_io() == 0 )
{
return -1;
}
// activate SPI bus pins
INP_GPIO(8); SET_GPIO_ALT(8,0);
INP_GPIO(9); SET_GPIO_ALT(9,0);
INP_GPIO(10); SET_GPIO_ALT(10,0);
INP_GPIO(11); SET_GPIO_ALT(11,0);
// Setup SPI bus
setup_spi();
return 0;
}
static void audio_init(void)
{
/* Values read from raspbian: */
/* PWMCLK_CNTL = 148 = 10010100
PWMCLK_DIV = 16384
PWM_CONTROL=9509 = 10010100100101
PWM0_RANGE=1024
PWM1_RANGE=1024 */
unsigned int range = 0x400;
unsigned int idiv = 2;
/* unsigned int pwmFrequency = (19200000 / idiv) / range; */
SET_GPIO_ALT(40, 0);
SET_GPIO_ALT(45, 0);
pause(2);
*(clk + BCM2835_PWMCLK_CNTL) = PM_PASSWORD | (1 << 5); // stop clock
*(clk + BCM2835_PWMCLK_DIV) = PM_PASSWORD | (idiv<<12); // set divisor
*(clk + BCM2835_PWMCLK_CNTL) = PM_PASSWORD | 16 | 1; // enable + oscillator (raspbian has this as plla)
pause(2);
// disable PWM
*(pwm + BCM2835_PWM_CONTROL) = 0;
pause(2);
*(pwm+BCM2835_PWM0_RANGE) = range;
*(pwm+BCM2835_PWM1_RANGE) = range;
*(pwm+BCM2835_PWM_CONTROL) =
BCM2835_PWM1_USEFIFO | // Use FIFO and not PWM mode
// BCM2835_PWM1_REPEATFF |
BCM2835_PWM1_ENABLE | // enable channel 1
BCM2835_PWM0_USEFIFO | // use FIFO and not PWM mode
// BCM2835_PWM0_REPEATFF | */
1<<6 | // clear FIFO
BCM2835_PWM0_ENABLE; // enable channel 0
pause(2);
}
void init_pwm()
{
INP_GPIO(18);
SET_GPIO_ALT(18, 5); // enable PWM on GPIO 18
PWM_CTL &= 1;
PWM_DATA = 512;
PWM_RANGE = 1024;
//OUT_GPIO(18);
//GPIO_SET = 1 << 18;
}
//
// Set GPIO pins to the right mode
// DEMO GPIO mapping:
// Function Mode
// GPIO0= LED Output
// GPIO1= LED Output
// GPIO4= PWM channel-B Output
// GPIO7= SPI chip select B Funct. 0
// GPIO8= SPI chip select A Funct. 0
// GPIO9= SPI MISO Funct. 0
// GPIO10= SPI MOSI Funct. 0
// GPIO11= SPI CLK Funct. 0
// GPIO14= UART TXD (Funct. 0)
// GPIO15= UART RXD (Funct. 0)
// GPIO17= LED Output
// GPIO18= PWM channel-A Funct. 5
// GPIO21= LED Output
// GPIO22= LED Output
// GPIO23= LED Output
// GPIO24= Pushbutton Input
// GPIO25= Pushbutton Input
//
// Always call INP_GPIO(x) first
// as that is how the macros work
void setup_gpio()
{
INP_GPIO(0); OUT_GPIO(0);
INP_GPIO(1); OUT_GPIO(1);
INP_GPIO(4); OUT_GPIO(4);
INP_GPIO(7); SET_GPIO_ALT(7,0);
INP_GPIO(8); SET_GPIO_ALT(8,0);
INP_GPIO(9); SET_GPIO_ALT(9,0);
INP_GPIO(10); SET_GPIO_ALT(10,0);
INP_GPIO(11); SET_GPIO_ALT(11,0);
// 14 and 15 are already set to UART mode
// by Linux. Best if we don't touch them
// INP_GPIO(14); SET_GPIO_ALT(14,0);
// INP_GPIO(54); SET_GPIO_ALT(15,0);
INP_GPIO(17); OUT_GPIO(17);
INP_GPIO(18); SET_GPIO_ALT(18,5);
INP_GPIO(21); OUT_GPIO(21);
INP_GPIO(22); OUT_GPIO(22);
INP_GPIO(23); OUT_GPIO(23);
INP_GPIO(24);
INP_GPIO(25);
// enable pull-up on GPIO24&25
GPIO_PULL = 2;
short_wait();
// clock on GPIO 24 & 25 (bit 24 & 25 set)
GPIO_PULLCLK0 = 0x03000000;
short_wait();
GPIO_PULL = 0;
GPIO_PULLCLK0 = 0;
} // setup_gpio
/*
* Establish the PWM frequency:
*/
static int
pwm_frequency(float freq) {
const double clock_rate = 19200000.0;
long idiv;
int rc = 0;
/*
* Kill the clock:
*/
ugclk[PWMCLK_CNTL] = 0x5A000020; /* Kill clock */
pwm_ctl->PWEN1 = 0; /* Disable PWM */
usleep(10);
/*
* Compute and set the divisor :
*/
idiv = (long) ( clock_rate / (double) freq );
if ( idiv < 1 ) {
idiv = 1; /* Lowest divisor */
rc = -1;
} else if ( idiv >= 0x1000 ) {
idiv = 0xFFF; /* Highest divisor */
rc = +1;
}
ugclk[PWMCLK_DIV] = 0x5A000000 | ( idiv << 12 );
/*
* Set source to oscillator and enable clock:
*/
ugclk[PWMCLK_CNTL] = 0x5A000011;
/*
* GPIO 18 is PWM, when set to Alt Func 5 :
*/
INP_GPIO(18); /* Set ALT = 0 */
SET_GPIO_ALT(18,5); /* Or in '5' */
pwm_ctl->MODE1 = 0; /* PWM mode */
pwm_ctl->RPTL1 = 0;
pwm_ctl->SBIT1 = 0;
pwm_ctl->POLA1 = 0;
pwm_ctl->USEF1 = 0;
pwm_ctl->MSEN1 = 0; /* PWM mode */
pwm_ctl->CLRF1 = 1;
return rc;
}
int
pwm_init ()
{
int mem_fd;
mem_fd = open_memory();
if ( mem_fd < 0)
{
debug("[%s] Can't open /dev/mem.\n", __func__);
return -1;
}
// FIXME: Check return values?
gpio = map_register(mem_fd, GPIO_BASE);
clk = map_register(mem_fd, CLOCK_BASE);
pwm = map_register(mem_fd, PWM_BASE);
/* GPIO18= PWM channel-A Funct. 5
Setup GPIO18 as PWM output */
INP_GPIO(18);
SET_GPIO_ALT(18, 5);
/* Derive PWM clock direct from X-tal
thus any system auto-slow-down-clock-to-save-power does not effect it
The values below depends on the X-tal frequency! */
PWMCLK_DIV = 0x5A000000 | (32 << 12);/* set pwm div to 32 (19.2/3 = 600KHz) */
PWMCLK_CNTL = 0x5A000011; /* Source=osc and enable */
/* Make sure it is off and that the B driver (GPIO4) is low */
GPIO_CLR0 = 1 << 4; /* Set GPIO 4 LOW */
PWM_CONTROL = 0;
usleep(100);
/* I use 1024 steps for the PWM
(Just a nice value which I happen to like) */
PWM0_RANGE = PWM_MAX;
usleep(100);
PWM_CONTROL = PWM0_ENABLE;
usleep(100);
return 1;
}
static void spi_init_pinmode(void)
{
#define INP_GPIO(g) *(gpio+((g)/10)) &= ~(7<<(((g)%10)*3))
#define SET_GPIO_ALT(g,a) *(gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))
int pin;
u32 *gpio = ioremap(GPIO_BASE, SZ_16K);
for (pin = 7; pin <= 11; pin++) {
INP_GPIO(pin);
SET_GPIO_ALT(pin, 0);
}
iounmap(gpio);
#undef INP_GPIO
#undef SET_GPIO_ALT
}
static void spi_init_pinmode(void)
{
#define INP_GPIO(g) *(gpio+((g)/10)) &= ~(7<<(((g)%10)*3))
#define SET_GPIO_ALT(g,a) *(gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))
int pin;
u32 *gpio = ioremap(GPIO_BASE, SZ_16K);
/* SPI is on GPIO 7..11 */
for (pin = 7; pin <= 11; pin++) {
INP_GPIO(pin); /* set mode to GPIO input first */
SET_GPIO_ALT(pin, 0); /* set mode to ALT 0 */
}
iounmap(gpio);
#undef INP_GPIO
#undef SET_GPIO_ALT
}
// init hardware
void initHardware()
{
// mmap register space
setupRegisterMemoryMappings();
// set PWM alternate function for GPIO18
SET_GPIO_ALT(12, 0);
// stop clock and waiting for busy flag doesn't work, so kill clock
*(clk + PWMCLK_CNTL) = 0x5A000000 | (1 << 5);
usleep(10);
// set frequency
// DIVI is the integer part of the divisor
// the fractional part (DIVF) drops clock cycles to get the output frequency, bad for servo motors
// 320 bits for one cycle of 20 milliseconds = 62.5 us per bit = 16 kHz
int idiv = (int) (19200000.0f / 16000.0f);
if (idiv < 1 || idiv > 0x1000) {
printf("idiv out of range: %x\n", idiv);
exit(-1);
}
*(clk + PWMCLK_DIV) = 0x5A000000 | (idiv<<12);
// source=osc and enable clock
*(clk + PWMCLK_CNTL) = 0x5A000011;
// disable PWM
*(pwm + PWM_CTL) = 0;
// needs some time until the PWM module gets disabled, without the delay the PWM module crashs
usleep(10);
// filled with 0 for 20 milliseconds = 320 bits
*(pwm + PWM_RNG1) = 320;
// 32 bits = 2 milliseconds, init with 1 millisecond
setServo(0);
// start PWM1 in serializer mode
*(pwm + PWM_CTL) = 3;
}
void domex_setup(void) {
//int rep;
signal(SIGINT, sig_handler);
signal(SIGALRM, sig_handler);
// Set up gpi pointer for direct register access
setup_io();
// GPIO23 - NTX2 enable
INP_GPIO(23); // must use INP_GPIO before we can use OUT_GPIO
OUT_GPIO(23);
// GPIO40 and GPIO45 are audio and also support PWM Connect to analogue audio circitury via R21 and R27
// GPIO18 - NTX2 Data
// Set GPIO18 to PWM Function
INP_GPIO(18); // must use INP_GPIO before we can use OUT_GPIO or SET_GPIO_ALT
//OUT_GPIO(18); // For BitBang
SET_GPIO_ALT(18, 5); // For PWM
delayMicrosecs(110);
SetupPWM();
/*
// Setup timer
struct itimerval new,old;
new.it_interval.tv_usec = 0;
new.it_interval.tv_sec = 0;
new.it_value.tv_usec = 10;
new.it_value.tv_sec = 0;
setitimer (ITIMER_REAL, &new, &old);
*/
}
int32_t audio_init(void) {
buf = new_ringbuffer(256);
// Set up the pwm clock
// vals read from raspbian:
// PWMCLK_CNTL = 148 = 10010100 - 100 is allegedly 'plla' but I can't make that work
// PWMCLK_DIV = 16384
// PWM_CONTROL=9509 = 10010100100101
// PWM0_RANGE=1024
// PWM1_RANGE=1024
uint32_t range = 0x400;
uint32_t idiv = 12;
SET_GPIO_ALT(40, 0); // set pins 40/45 (aka phone jack) to pwm function
SET_GPIO_ALT(45, 0);
usleep(10); // I don't know if all these usleeps are really necessary
PUT32(CLOCK_BASE + 4*BCM2835_PWMCLK_CNTL, PM_PASSWORD | BCM2835_PWMCLK_CNTL_KILL);
PUT32(PWM_BASE + 4*BCM2835_PWM_CONTROL, 0);
// In theory this should be divided by 2 again for the two channels, but
// that seems to lead to the wrong rate. TODO: investigate
uint32_t samplerate = 500000000.0 / idiv / range;
PUT32(CLOCK_BASE + 4*BCM2835_PWMCLK_DIV, PM_PASSWORD | (idiv<<12));
PUT32(CLOCK_BASE + 4*BCM2835_PWMCLK_CNTL,
PM_PASSWORD |
BCM2835_PWMCLK_CNTL_ENABLE |
BCM2835_PWMCLK_CNTL_PLLD);
usleep(1);
PUT32(PWM_BASE + 4*BCM2835_PWM0_RANGE, range);
PUT32(PWM_BASE + 4*BCM2835_PWM1_RANGE, range);
usleep(1);
buf->dma_cb->info = BCM2708_DMA_S_INC | BCM2708_DMA_WAIT_RESP | BCM2708_DMA_D_DREQ | BCM2708_DMA_PER_MAP(5);
buf->dma_cb->src = (uint32_t)(buf->buffer);
buf->dma_cb->dst = ((PWM_BASE+4*BCM2835_PWM_FIFO) & 0x00ffffff) | 0x7e000000; // physical address of fifo
buf->dma_cb->length = sizeof(uint32_t) * buf->buffer_sz;
buf->dma_cb->next = (uint32_t)buf->dma_cb;
usleep(1);
PUT32(PWM_BASE + 4*BCM2835_PWM_DMAC, PWMDMAC_ENAB | PWMDMAC_THRSHLD);
usleep(1);
PUT32(PWM_BASE + 4*BCM2835_PWM_CONTROL, PWMCTL_CLRF);
usleep(1);
PUT32(PWM_BASE + 4*BCM2835_PWM_CONTROL,
BCM2835_PWM1_USEFIFO |
// BCM2835_PWM1_REPEATFF |
BCM2835_PWM1_ENABLE |
BCM2835_PWM0_USEFIFO |
// BCM2835_PWM0_REPEATFF |
BCM2835_PWM0_ENABLE | 1<<6);
PUT32(DMA5_CNTL_BASE + BCM2708_DMA_CS, BCM2708_DMA_RESET);
usleep(10);
PUT32(DMA5_CNTL_BASE + BCM2708_DMA_CS, BCM2708_DMA_INT | BCM2708_DMA_END);
PUT32(DMA5_CNTL_BASE + BCM2708_DMA_ADDR, (uint32_t)buf->dma_cb);
PUT32(DMA5_CNTL_BASE + BCM2708_DMA_DEBUG, 7); // clear debug error flags
usleep(10);
PUT32(DMA5_CNTL_BASE + BCM2708_DMA_CS, 0x10880001); // go, mid priority, wait for outstanding writes
// printf("audio init done\r\n");
usleep(1);
return samplerate;
}
void intHandler(int dummy) {
GPIO_CLR = 1 << 7; // turn it off
SET_GPIO_ALT(18, 0);
GPIO_CLR = 1 << 18;
exit(1);
}
modbus_t* modbus_new_rtu(const char *device,
int baud, char parity, int data_bit,
int stop_bit)
{
modbus_t *ctx;
modbus_rtu_t *ctx_rtu;
/* Check device argument */
if (device == NULL || (*device) == 0) {
fprintf(stderr, "The device string is empty\n");
errno = EINVAL;
return NULL;
}
/* Check baud argument */
if (baud == 0) {
fprintf(stderr, "The baud rate value must not be zero\n");
errno = EINVAL;
return NULL;
}
/* Prepare GPIO on Raspberry Pi */
if (rpi_setup_gpio() == -1) {
fprintf(stderr, "GPIO ERROR: %s", rpi_gpio_error);
return NULL;
}
/* Configure GPIO17 (p1-11),and GPIO24 (p1-18) as OUT */
/*INP_GPIO(17);
OUT_GPIO(17);*/
INP_GPIO(24);
OUT_GPIO(24);
/* Configure GPIO pin 11 (GPIO17) as ALT function 3 (RTS) */
INP_GPIO(17);
SET_GPIO_ALT(17, 3);
ctx = (modbus_t *) malloc(sizeof(modbus_t));
_modbus_init_common(ctx);
ctx->backend = &_modbus_rtu_backend;
ctx->backend_data = (modbus_rtu_t *) malloc(sizeof(modbus_rtu_t));
ctx_rtu = (modbus_rtu_t *)ctx->backend_data;
ctx_rtu->device = NULL;
/* Device name and \0 */
ctx_rtu->device = (char *) malloc((strlen(device) + 1) * sizeof(char));
strcpy(ctx_rtu->device, device);
ctx_rtu->baud = baud;
if (parity == 'N' || parity == 'E' || parity == 'O') {
ctx_rtu->parity = parity;
} else {
modbus_free(ctx);
errno = EINVAL;
return NULL;
}
ctx_rtu->data_bit = data_bit;
ctx_rtu->stop_bit = stop_bit;
#if HAVE_DECL_TIOCSRS485
/* The RS232 mode has been set by default */
ctx_rtu->serial_mode = MODBUS_RTU_RS232;
#endif
#if HAVE_DECL_TIOCM_RTS
/* The RTS use has been set by default */
ctx_rtu->rts = MODBUS_RTU_RTS_NONE;
/* Calculate estimated time in micro second to send one byte */
ctx_rtu->onebyte_time = (1000 * 1000) * (1 + data_bit + (parity == 'N' ? 0 : 1) + stop_bit) / baud;
#endif
ctx_rtu->confirmation_to_ignore = FALSE;
return ctx;
}
void QGpio::setAlt (int bit, int func)
{
SET_GPIO_ALT (bit,func);
}
