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Merged from git.drogon.net, SPI driver helpers, C++ wrappers, softPwm, piNes, gertboard, SPI

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This commit is contained in:
Gordon Henderson
2012-08-28 18:37:54 +01:00
committed by Philip Howard
parent 21f0472265
commit ae40bdaf6a
22 changed files with 1708 additions and 279 deletions
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450
gpio/gpio.c
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@@ -1,6 +1,7 @@
/*
* gpio.c:
* Set-UID command-line interface to the Raspberry Pi's GPIO
* Swiss-Army-Knife, Set-UID command-line interface to the Raspberry
* Pi's GPIO.
* Copyright (c) 2012 Gordon Henderson
***********************************************************************
* This file is part of wiringPi:
@@ -21,7 +22,6 @@
***********************************************************************
*/
#include <wiringPi.h>
#include <stdio.h>
#include <stdlib.h>
@@ -32,15 +32,144 @@
#include <sys/types.h>
#include <fcntl.h>
#include <wiringPi.h>
#include <gertboard.h>
#define VERSION "1.0"
#ifndef TRUE
# define TRUE (1==1)
# define FALSE (1==2)
#endif
#define VERSION "1.2"
static int wpMode ;
char *usage = "Usage: gpio -v\n"
" gpio -h\n"
" gpio [-g] <read/write/pwm/mode> ...\n"
" gpio [-p] <read/write/mode> ...\n"
" gpio <export/edge/unexport/unexportall/exports> ..." ;
" gpio export/edge/unexport/unexportall/exports ...\n"
" gpio drive <group> <value>\n"
" gpio pwm-bal/pwm-ms \n"
" gpio pwmr <range> \n"
" gpio load spi/i2c\n"
" gpio gbr <channel>\n"
" gpio gbw <channel> <value>\n" ;
/*
* changeOwner:
* Change the ownership of the file to the real userId of the calling
* program so we can access it.
*********************************************************************************
*/
static void changeOwner (char *cmd, char *file)
{
uid_t uid = getuid () ;
uid_t gid = getgid () ;
if (chown (file, uid, gid) != 0)
{
if (errno == ENOENT) // Warn that it's not there
fprintf (stderr, "%s: Warning: File not present: %s\n", cmd, file) ;
else
{
fprintf (stderr, "%s: Unable to change ownership of %s: %s\n", cmd, file, strerror (errno)) ;
exit (1) ;
}
}
}
/*
* moduleLoaded:
* Return true/false if the supplied module is loaded
*********************************************************************************
*/
static int moduleLoaded (char *modName)
{
int len = strlen (modName) ;
int found = FALSE ;
FILE *fd = fopen ("/proc/modules", "r") ;
char line [80] ;
if (fd == NULL)
{
fprintf (stderr, "gpio: Unable to check modules: %s\n", strerror (errno)) ;
exit (1) ;
}
while (fgets (line, 80, fd) != NULL)
{
if (strncmp (line, modName, len) != 0)
continue ;
found = TRUE ;
break ;
}
fclose (fd) ;
return found ;
}
/*
* doLoad:
* Load either the spi or i2c modules and change device ownerships, etc.
*********************************************************************************
*/
static void _doLoadUsage (char *argv [])
{
fprintf (stderr, "Usage: %s load <spi/i2c>\n", argv [0]) ;
exit (1) ;
}
static void doLoad (int argc, char *argv [])
{
char *module ;
char cmd [80] ;
char *file1, *file2 ;
if (argc != 3)
_doLoadUsage (argv) ;
/**/ if (strcasecmp (argv [2], "spi") == 0)
{
module = "spi_bcm2708" ;
file1 = "/dev/spidev0.0" ;
file2 = "/dev/spidev0.1" ;
}
else if (strcasecmp (argv [2], "i2c") == 0)
{
module = "i2c_bcm2708" ;
file1 = "/dev/i2c-0" ;
file2 = "/dev/i2c-1" ;
}
else
_doLoadUsage (argv) ;
if (!moduleLoaded (module))
{
sprintf (cmd, "modprobe %s", module) ;
system (cmd) ;
}
if (!moduleLoaded (module))
{
fprintf (stderr, "%s: Unable to load %s\n", argv [0], module) ;
exit (1) ;
}
sleep (1) ; // To let things get settled
changeOwner (argv [0], file1) ;
changeOwner (argv [0], file2) ;
}
/*
@@ -49,7 +178,7 @@ char *usage = "Usage: gpio -v\n"
*********************************************************************************
*/
void doExports (void)
static void doExports (int argc, char *argv [])
{
int fd ;
int i, l, first ;
@@ -140,8 +269,6 @@ void doExport (int argc, char *argv [])
int pin ;
char *mode ;
char fName [128] ;
uid_t uid ;
gid_t gid ;
if (argc != 4)
{
@@ -183,27 +310,11 @@ void doExport (int argc, char *argv [])
// Change ownership so the current user can actually use it!
uid = getuid () ;
gid = getgid () ;
sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
if (chown (fName, uid, gid) != 0)
{
fprintf (stderr, "%s: Unable to change ownership of the value file: %s\n", argv [1], strerror (errno)) ;
exit (1) ;
}
// Also change ownership of the edge file - if it exists
changeOwner (argv [0], fName) ;
sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
if (chown (fName, uid, gid) != 0)
{
if (errno != ENOENT) // Silently ignore File not found - older kernel
{
fprintf (stderr, "%s: Unable to change ownership of the value file: %s\n", argv [1], strerror (errno)) ;
exit (1) ;
}
}
changeOwner (argv [0], fName) ;
}
@@ -222,8 +333,6 @@ void doEdge (int argc, char *argv [])
int pin ;
char *mode ;
char fName [128] ;
uid_t uid ;
gid_t gid ;
if (argc != 4)
{
@@ -231,8 +340,7 @@ void doEdge (int argc, char *argv [])
exit (1) ;
}
pin = atoi (argv [2]) ;
pin = atoi (argv [2]) ;
mode = argv [3] ;
// Export the pin and set direction to input
@@ -263,40 +371,23 @@ void doEdge (int argc, char *argv [])
exit (1) ;
}
/**/ if (strcasecmp (mode, "none") == 0)
fprintf (fd, "none\n") ;
else if (strcasecmp (mode, "rising") == 0)
fprintf (fd, "rising\n") ;
else if (strcasecmp (mode, "falling") == 0)
fprintf (fd, "falling\n") ;
else if (strcasecmp (mode, "both") == 0)
fprintf (fd, "both\n") ;
/**/ if (strcasecmp (mode, "none") == 0) fprintf (fd, "none\n") ;
else if (strcasecmp (mode, "rising") == 0) fprintf (fd, "rising\n") ;
else if (strcasecmp (mode, "falling") == 0) fprintf (fd, "falling\n") ;
else if (strcasecmp (mode, "both") == 0) fprintf (fd, "both\n") ;
else
{
fprintf (stderr, "%s: Invalid mode: %s. Should be none, rising, falling or both\n", argv [1], mode) ;
exit (1) ;
}
// Change ownership so the current user can actually use it!
uid = getuid () ;
gid = getgid () ;
// Change ownership of the value and edge files, so the current user can actually use it!
sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
if (chown (fName, uid, gid) != 0)
{
fprintf (stderr, "%s: Unable to change ownership of the value file: %s\n", argv [1], strerror (errno)) ;
exit (1) ;
}
// Also change ownership of the edge file
changeOwner (argv [0], fName) ;
sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
if (chown (fName, uid, gid) != 0)
{
fprintf (stderr, "%s: Unable to change ownership of the value file: %s\n", argv [1], strerror (errno)) ;
exit (1) ;
}
changeOwner (argv [0], fName) ;
fclose (fd) ;
}
@@ -383,18 +474,12 @@ void doMode (int argc, char *argv [])
mode = argv [3] ;
/**/ if (strcasecmp (mode, "in") == 0)
pinMode (pin, INPUT) ;
else if (strcasecmp (mode, "out") == 0)
pinMode (pin, OUTPUT) ;
else if (strcasecmp (mode, "pwm") == 0)
pinMode (pin, PWM_OUTPUT) ;
else if (strcasecmp (mode, "up") == 0)
pullUpDnControl (pin, PUD_UP) ;
else if (strcasecmp (mode, "down") == 0)
pullUpDnControl (pin, PUD_DOWN) ;
else if (strcasecmp (mode, "tri") == 0)
pullUpDnControl (pin, PUD_OFF) ;
/**/ if (strcasecmp (mode, "in") == 0) pinMode (pin, INPUT) ;
else if (strcasecmp (mode, "out") == 0) pinMode (pin, OUTPUT) ;
else if (strcasecmp (mode, "pwm") == 0) pinMode (pin, PWM_OUTPUT) ;
else if (strcasecmp (mode, "up") == 0) pullUpDnControl (pin, PUD_UP) ;
else if (strcasecmp (mode, "down") == 0) pullUpDnControl (pin, PUD_DOWN) ;
else if (strcasecmp (mode, "tri") == 0) pullUpDnControl (pin, PUD_OFF) ;
else
{
fprintf (stderr, "%s: Invalid mode: %s. Should be in/out/pwm/up/down/tri\n", argv [1], mode) ;
@@ -402,13 +487,125 @@ void doMode (int argc, char *argv [])
}
}
/*
* doPadDrive:
* gpio drive group value
*********************************************************************************
*/
static void doPadDrive (int argc, char *argv [])
{
int group, val ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s drive group value\n", argv [0]) ;
exit (1) ;
}
group = atoi (argv [2]) ;
val = atoi (argv [3]) ;
if ((group < 0) || (group > 2))
{
fprintf (stderr, "%s: drive group not 0, 1 or 2: %d\n", argv [0], group) ;
exit (1) ;
}
if ((val < 0) || (val > 7))
{
fprintf (stderr, "%s: drive value not 0-7: %d\n", argv [0], val) ;
exit (1) ;
}
setPadDrive (group, val) ;
}
/*
* doGbw:
* gpio gbw channel value
*********************************************************************************
*/
static void doGbw (int argc, char *argv [])
{
int channel, value ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s gbr <channel> <value>\n", argv [0]) ;
exit (1) ;
}
channel = atoi (argv [2]) ;
value = atoi (argv [3]) ;
if ((channel < 0) || (channel > 1))
{
fprintf (stderr, "%s: channel must be 0 or 1\n", argv [0]) ;
exit (1) ;
}
if ((value < 0) || (value > 1023))
{
fprintf (stderr, "%s: value must be from 0 to 255\n", argv [0]) ;
exit (1) ;
}
if (gertboardSPISetup () == -1)
{
fprintf (stderr, "Unable to initialise the Gertboard SPI interface: %s\n", strerror (errno)) ;
exit (1) ;
}
gertboardAnalogWrite (channel, value) ;
}
/*
* doGbr:
* gpio gbr channel
*********************************************************************************
*/
static void doGbr (int argc, char *argv [])
{
int channel ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s gbr <channel>\n", argv [0]) ;
exit (1) ;
}
channel = atoi (argv [2]) ;
if ((channel < 0) || (channel > 1))
{
fprintf (stderr, "%s: channel must be 0 or 1\n", argv [0]) ;
exit (1) ;
}
if (gertboardSPISetup () == -1)
{
fprintf (stderr, "Unable to initialise the Gertboard SPI interface: %s\n", strerror (errno)) ;
exit (1) ;
}
printf ("%d\n",gertboardAnalogRead (channel)) ;
}
/*
* doWrite:
* gpio write pin value
*********************************************************************************
*/
void doWrite (int argc, char *argv [])
static void doWrite (int argc, char *argv [])
{
int pin, val ;
@@ -489,6 +686,39 @@ void doPwm (int argc, char *argv [])
}
/*
* doPwmMode: doPwmRange:
* Change the PWM mode and Range values
*********************************************************************************
*/
static void doPwmMode (int mode)
{
pwmSetMode (mode) ;
}
static void doPwmRange (int argc, char *argv [])
{
unsigned int range ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s pwmr <range>\n", argv [0]) ;
exit (1) ;
}
range = (unsigned int)strtoul (argv [2], NULL, 10) ;
if (range == 0)
{
fprintf (stderr, "%s: range must be > 0\n", argv [0]) ;
exit (1) ;
}
pwmSetRange (range) ;
}
/*
* main:
* Start here
@@ -505,10 +735,10 @@ int main (int argc, char *argv [])
return 1 ;
}
if (geteuid () != 0)
if (strcasecmp (argv [1], "-h") == 0)
{
fprintf (stderr, "%s: Must be root to run\n", argv [0]) ;
return 1 ;
printf ("%s: %s\n", argv [0], usage) ;
return 0 ;
}
if (strcasecmp (argv [1], "-v") == 0)
@@ -516,21 +746,54 @@ int main (int argc, char *argv [])
printf ("gpio version: %s\n", VERSION) ;
printf ("Copyright (c) 2012 Gordon Henderson\n") ;
printf ("This is free software with ABSOLUTELY NO WARRANTY.\n") ;
printf ("For details type: %s -warranty\n", argv [0]) ;
return 0 ;
}
if (strcasecmp (argv [1], "-warranty") == 0)
{
printf ("gpio version: %s\n", VERSION) ;
printf ("Copyright (c) 2012 Gordon Henderson\n") ;
printf ("\n") ;
printf (" This program is free software; you can redistribute it and/or modify\n") ;
printf (" it under the terms of the GNU Leser General Public License as published\n") ;
printf (" by the Free Software Foundation, either version 3 of the License, or\n") ;
printf (" (at your option) any later version.\n") ;
printf ("\n") ;
printf (" This program is distributed in the hope that it will be useful,\n") ;
printf (" but WITHOUT ANY WARRANTY; without even the implied warranty of\n") ;
printf (" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n") ;
printf (" GNU Lesser General Public License for more details.\n") ;
printf ("\n") ;
printf (" You should have received a copy of the GNU Lesser General Public License\n") ;
printf (" along with this program. If not, see <http://www.gnu.org/licenses/>.\n") ;
printf ("\n") ;
return 0 ;
}
if (geteuid () != 0)
{
fprintf (stderr, "%s: Must be root to run. Program should be suid root. This is an error.\n", argv [0]) ;
return 1 ;
}
// Initial test for /sys/class/gpio operations:
/**/ if (strcasecmp (argv [1], "exports" ) == 0)
{ doExports () ; return 0 ; }
else if (strcasecmp (argv [1], "export" ) == 0)
{ doExport (argc, argv) ; return 0 ; }
else if (strcasecmp (argv [1], "edge" ) == 0)
{ doEdge (argc, argv) ; return 0 ; }
else if (strcasecmp (argv [1], "unexportall") == 0)
{ doUnexportall (argc, argv) ; return 0 ; }
else if (strcasecmp (argv [1], "unexport") == 0)
{ doUnexport (argc, argv) ; return 0 ; }
/**/ if (strcasecmp (argv [1], "exports" ) == 0) { doExports (argc, argv) ; return 0 ; }
else if (strcasecmp (argv [1], "export" ) == 0) { doExport (argc, argv) ; return 0 ; }
else if (strcasecmp (argv [1], "edge" ) == 0) { doEdge (argc, argv) ; return 0 ; }
else if (strcasecmp (argv [1], "unexportall") == 0) { doUnexportall (argc, argv) ; return 0 ; }
else if (strcasecmp (argv [1], "unexport" ) == 0) { doUnexport (argc, argv) ; return 0 ; }
// Check for drive or load commands:
if (strcasecmp (argv [1], "drive") == 0) { doPadDrive (argc, argv) ; return 0 ; }
if (strcasecmp (argv [1], "load" ) == 0) { doLoad (argc, argv) ; return 0 ; }
// Gertboard commands
if (strcasecmp (argv [1], "gbr" ) == 0) { doGbr (argc, argv) ; return 0 ; }
if (strcasecmp (argv [1], "gbw" ) == 0) { doGbw (argc, argv) ; return 0 ; }
// Check for -g argument
@@ -538,7 +801,7 @@ int main (int argc, char *argv [])
{
if (wiringPiSetupGpio () == -1)
{
fprintf (stderr, "%s: Unable to initialise GPIO in GPIO mode.\n", argv [0]) ;
fprintf (stderr, "%s: Unable to initialise GPIO mode.\n", argv [0]) ;
exit (1) ;
}
@@ -570,23 +833,30 @@ int main (int argc, char *argv [])
{
if (wiringPiSetup () == -1)
{
fprintf (stderr, "%s: Unable to initialise GPIO in wiringPi mode\n", argv [0]) ;
fprintf (stderr, "%s: Unable to initialise wiringPi mode\n", argv [0]) ;
exit (1) ;
}
wpMode = WPI_MODE_PINS ;
}
/**/ if (strcasecmp (argv [1], "write" ) == 0)
doWrite (argc, argv) ;
else if (strcasecmp (argv [1], "read" ) == 0)
doRead (argc, argv) ;
else if (strcasecmp (argv [1], "mode" ) == 0)
doMode (argc, argv) ;
else if (strcasecmp (argv [1], "pwm" ) == 0)
doPwm (argc, argv) ;
// Check for PWM operations
if (wpMode != WPI_MODE_PIFACE)
{
if (strcasecmp (argv [1], "pwm-bal") == 0) { doPwmMode (PWM_MODE_BAL) ; return 0 ; }
if (strcasecmp (argv [1], "pwm-ms") == 0) { doPwmMode (PWM_MODE_MS) ; return 0 ; }
if (strcasecmp (argv [1], "pwmr") == 0) { doPwmRange (argc, argv) ; return 0 ; }
}
// Check for wiring commands
/**/ if (strcasecmp (argv [1], "read" ) == 0) doRead (argc, argv) ;
else if (strcasecmp (argv [1], "write") == 0) doWrite (argc, argv) ;
else if (strcasecmp (argv [1], "pwm" ) == 0) doPwm (argc, argv) ;
else if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ;
else
{
fprintf (stderr, "%s: Unknown command: %s. (read/write/pwm/mode expected)\n", argv [0], argv [1]) ;
fprintf (stderr, "%s: Unknown command: %s.\n", argv [0], argv [1]) ;
exit (1) ;
}
return 0 ;