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Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen. https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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Roboter/Code/libraries/RF24-1.3.3/utility/RPi/bcm2835.c

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/* 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 1.25 2018/01/16 21:55:07 mikem Exp mikem $
*/
#include <stdlib.h>
#include <stdio.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/mman.h>
#include <string.h>
#include <sys/time.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
*/
uint32_t *bcm2835_peripherals_base = (uint32_t *)BCM2835_PERI_BASE;
uint32_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;
/* I2C The time needed to transmit one byte. In microseconds.
*/
static int i2c_byte_wait_us = 0;
// Time for millis()
static unsigned long long epoch ;
/*
// 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)
{
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)
{
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);
}
// This function is added in order to simulate arduino millis() function
unsigned int bcm2835_millis(void)
{
struct timeval now;
unsigned long long ms;
gettimeofday(&now, NULL);
ms = (now.tv_sec * 1000000 + now.tv_usec) / 1000 ;
return ((uint32_t) (ms - epoch ));
}
/*
// 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
*/
void bcm2835_gpio_set_pud(uint8_t pin, uint8_t pud)
{
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);
}
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 __attribute__((unused)) order)
{
/* BCM2835_SPI_BIT_ORDER_MSBFIRST is the only one supported by SPI0 */
}
/* 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_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, 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_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, 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_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, 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);
}
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 (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(control, 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, optional for RPi 1
*/
if ((fp = fopen(BMC2835_RPI2_DT_FILENAME , "rb")))
{
unsigned char buf[4];
fseek(fp, BMC2835_RPI2_DT_PERI_BASE_ADDRESS_OFFSET, SEEK_SET);
if (fread(buf, 1, sizeof(buf), fp) == sizeof(buf))
bcm2835_peripherals_base = (uint32_t *)((long)buf[0] << 24 | buf[1] << 16 | buf[2] << 8 | buf[3] << 0);
fseek(fp, BMC2835_RPI2_DT_PERI_SIZE_OFFSET, SEEK_SET);
if (fread(buf, 1, sizeof(buf), fp) == sizeof(buf))
bcm2835_peripherals_size = (buf[0] << 24 | buf[1] << 16 | buf[2] << 8 | buf[3] << 0);
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)
{
/* 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, (off_t)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, (off_t)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