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Version 3.14: WiringPi functions upgrade to GPIO_V2 IOCTL

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This commit is contained in:
phylax2020
2025-02-11 16:02:33 +01:00
parent 0bf457519d
commit 92be5caccd
5 changed files with 457 additions and 256 deletions
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2
VERSION
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@@ -1 +1 @@
3.13 3.14

60
documentation/deutsch/functions.md
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@@ -291,11 +291,11 @@ Registriert eine Interrupt Service Routine (ISR) bzw. Funktion die bei Flankenwe
>>> >>>
```C ```C
int wiringPiISR(int pin, int mode, void (*function)(unsigned int, long long int), int bouncetime); int wiringPiISR(int pin, int edgeMode, void (*function)(unsigned int, long long int), unsigned long bouncetime);
``` ```
``pin``: Der gewünschte Pin (BCM\-, WiringPi\- oder Pin\-Nummer). ``pin``: Der gewünschte Pin (BCM\-, WiringPi\- oder Pin\-Nummer).
``mode``: Auslösende Flankenmodus ``edgeMode``: Auslösende Flankenmodus
- INT_EDGE_RISING ... Steigende Flanke - INT_EDGE_RISING ... Steigende Flanke
- INT_EDGE_FALLING ... Fallende Flanke - INT_EDGE_FALLING ... Fallende Flanke
- INT_EDGE_BOTH ... Steigende und fallende Flanke - INT_EDGE_BOTH ... Steigende und fallende Flanke
@@ -304,13 +304,13 @@ int wiringPiISR(int pin, int mode, void (*function)(unsigned int, long long int)
> unsigned int: pin > unsigned int: pin
> long long int: Zeitstempel > long long int: Zeitstempel
``bouncetime``: Entprellzeit in ms, 0 ms schaltet das Entprellen ab ``bouncetime``: Entprellzeit in Microsekunden, 0 ms schaltet das Entprellen ab
``Rückgabewert``: ``Rückgabewert``:
> 0 ... Erfolgreich > 0 ... Erfolgreich
<!-- > <>0 ... Fehler, zur Zeit nicht implementiert --> <!-- > <>0 ... Fehler, zur Zeit nicht implementiert -->
Beispiel siehe waitForInterruptInit. Beispiel siehe waitForInterrupt.
### wiringPiISRStop ### wiringPiISRStop
@@ -330,42 +330,29 @@ int wiringPiISRStop (int pin)
### waitForInterrupt ### waitForInterrupt
Wartet auf einen Aufruf der Interrupt Service Routine (ISR) mit Timeout und Entprellzeit in Millisekunden. Wartet auf einen Aufruf der Interrupt Service Routine (ISR) mit Timeout und Entprellzeit in Mikrosekunden.
Blockiert das Programm bis zum Eintreffen der auslösenden Flanke oder bis zum Ablauf des Timeouts.
>>> >>>
```C ```C
long long int waitForInterrupt (int pin, int mS, int bouncetime) long long int waitForInterrupt (int pin, int edgeMode, int mS, unsigned long bouncetime)
``` ```
``pin``: Der gewünschte Pin (BCM\-, WiringPi\- oder Pin\-Nummer). ``pin``: Der gewünschte Pin (BCM\-, WiringPi\- oder Pin\-Nummer).
``edgeMode``: Auslösende Flankenmodus
- INT_EDGE_RISING ... Steigende Flanke
- INT_EDGE_FALLING ... Fallende Flanke
- INT_EDGE_BOTH ... Steigende und fallende Flanke
``mS``: Timeout in Milisekunden. ``mS``: Timeout in Milisekunden.
- \-1 warten ohne timeout - \-1 warten ohne timeout
- 0 wartet nicht - 0 wartet nicht
- 1...n wartet maximal n mS Millisekunden - 1...n wartet maximal n mS Millisekunden
``bouncetime``: Entprellzeit in Millisekunden, 0 schaltet Entprellen ab ``bouncetime``: Entprellzeit in Microsekunden, 0 schaltet Entprellen ab.
``Rückgabewert``: ``Rückgabewert``:
> \>0 ... Zeitstempel des Interrupt Ereignisses in Mikrosekunden > \>0 ... Zeitstempel des Interrupt Ereignisses in Mikrosekunden
> 0 ... Timeout > 0 ... Timeout
> \-1 ... GPIO Device Chip nicht erfolgreich geöffnet > \-1 ... GPIO Device Chip nicht erfolgreich geöffnet
> \-2 ... ISR wurde nicht registriert (waitForInterruptInit muss aufgerufen werden) > \-2 ... ISR wurde nicht registriert
### waitForInterruptInit
Initialisiert die Funktion waitForInterrupt, definiert, welche Flanke den Interrupt erzeugen soll
>>>
```C
int waitForInterruptInit (int pin, int mode)
```
``pin``: Der gewünschte Pin (BCM\-, WiringPi\- oder Pin\-Nummer)
``mode``: INT_EDGE_RISING, INT_EDGE_FALLING, INT_EDGE_BOTH
``Rückgabewert``:
> \-1 ... Fehler
> 0 ... erfolgreich
**Beispiel:** **Beispiel:**
@@ -373,7 +360,7 @@ int waitForInterruptInit (int pin, int mode)
```C ```C
/* /*
* isr_debounce.c: * isr_debounce.c:
* Wait for Interrupt test program WiringPi >=3.13 - ISR method * Wait for Interrupt test program WiringPi >=3.14 - ISR method
* *
* *
*/ */
@@ -382,11 +369,13 @@ int waitForInterruptInit (int pin, int mode)
#include <string.h> #include <string.h>
#include <errno.h> #include <errno.h>
#include <stdlib.h> #include <stdlib.h>
#include <unistd.h>
#include <wiringPi.h> #include <wiringPi.h>
#include <time.h> #include <time.h>
#define BOUNCETIME 300 #define BOUNCETIME 3000 // microseconds
#define BOUNCETIME_WFI 300
#define TIMEOUT 10000 #define TIMEOUT 10000
//************************************* //*************************************
// BCM pins // BCM pins
@@ -447,18 +436,9 @@ int main (void)
pinMode(OUTpin, OUTPUT); pinMode(OUTpin, OUTPUT);
digitalWrite (OUTpin, LOW) ; digitalWrite (OUTpin, LOW) ;
// test waitForInterrupt
ret = waitForInterruptInit (IRQpin, INT_EDGE_FALLING);
if (ret < 0) {
printf("waitForInterruptInit returned error %d\n", ret);
pinMode(OUTpin, INPUT);
return 0;
}
printf("Testing waitForInterrupt IRQ @ GPIO%d, timeout is %d\n", IRQpin, TIMEOUT); printf("Testing waitForInterrupt IRQ @ GPIO%d, timeout is %d\n", IRQpin, TIMEOUT);
ret = waitForInterrupt(IRQpin, TIMEOUT, 0); ret = waitForInterrupt(IRQpin, INT_EDGE_FALLING, TIMEOUT, BOUNCETIME_WFI );
if (ret < 0) { if (ret < 0) {
printf("waitForInterrupt returned error %lld\n", ret); printf("waitForInterrupt returned error %lld\n", ret);
wiringPiISRStop (IRQpin) ; wiringPiISRStop (IRQpin) ;
@@ -470,11 +450,11 @@ int main (void)
wiringPiISRStop (IRQpin) ; wiringPiISRStop (IRQpin) ;
} }
else { else {
printf("waitForInterrupt: falling edge fired at %lld microseconds\n\n", ret); printf("waitForInterrupt: falling edge fired at %lld microseconds\n\n", ret);
wiringPiISRStop (IRQpin) ; wiringPiISRStop (IRQpin) ;
} }
printf("Testing IRQ @ GPIO%d with trigger @ GPIO%d falling edge and bouncetime %d ms. Toggle LED @ OUTpin on IRQ.\n\n", IRQpin, IRQpin, BOUNCETIME, OUTpin); printf("Testing IRQ @ GPIO%d with trigger @ GPIO%d falling edge and bouncetime %d microseconds. Toggle LED @ OUTpin on IRQ.\n\n", IRQpin, IRQpin, BOUNCETIME, OUTpin);
printf("To stop program hit return key\n\n"); printf("To stop program hit return key\n\n");
wiringPiISR (IRQpin, INT_EDGE_FALLING, &wfi, BOUNCETIME) ; wiringPiISR (IRQpin, INT_EDGE_FALLING, &wfi, BOUNCETIME) ;

4
version.h
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@@ -1,3 +1,3 @@
#define VERSION "3.13" #define VERSION "3.14"
#define VERSION_MAJOR 3 #define VERSION_MAJOR 3
#define VERSION_MINOR 13 #define VERSION_MINOR 14

641
wiringPi/wiringPi.c
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@@ -56,6 +56,7 @@
#include <stdarg.h> #include <stdarg.h>
#include <stdint.h> #include <stdint.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdbool.h>
#include <ctype.h> #include <ctype.h>
#include <poll.h> #include <poll.h>
#include <unistd.h> #include <unistd.h>
@@ -471,12 +472,14 @@ static int isrFds [64] =
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
} ; } ;
// ISR Data // ISR Data
static int chipFd = -1; static int chipFd = -1;
static void (*isrFunctions [64])(unsigned int, long long int) ; static void (*isrFunctions [64])(unsigned int, long long int) ;
static pthread_t isrThreads[64]; static pthread_t isrThreads[64];
static int isrMode[64]; static int isrMode[64]; // irq on rising/falling edge
static unsigned long long lastcall[64]; static unsigned long isrDebouncePeriodUs [64]; // 0: debounce is off
// Doing it the Arduino way with lookup tables... // Doing it the Arduino way with lookup tables...
// Yes, it's probably more innefficient than all the bit-twidling, but it // Yes, it's probably more innefficient than all the bit-twidling, but it
@@ -1734,11 +1737,14 @@ void releaseLine(int pin) {
lineFlags[pin] = 0; lineFlags[pin] = 0;
close(lineFds[pin]); close(lineFds[pin]);
lineFds[pin] = -1; lineFds[pin] = -1;
isrDebouncePeriodUs[pin] = 0;
} }
int requestLine(int pin, unsigned int lineRequestFlags) { int requestLine(int pin, unsigned int lineRequestFlags) {
struct gpiohandle_request rq; struct gpio_v2_line_request req;
struct gpio_v2_line_config config;
int ret;
if (lineFds[pin]>=0) { if (lineFds[pin]>=0) {
if (lineRequestFlags == lineFlags[pin]) { if (lineRequestFlags == lineFlags[pin]) {
//already requested //already requested
@@ -1753,17 +1759,25 @@ int requestLine(int pin, unsigned int lineRequestFlags) {
if (wiringPiGpioDeviceGetFd()<0) { if (wiringPiGpioDeviceGetFd()<0) {
return -1; // error return -1; // error
} }
rq.lineoffsets[0] = pin;
rq.lines = 1; memset(&req, 0, sizeof(req));
rq.flags = lineRequestFlags; memset(&config, 0, sizeof(config));
int ret = ioctl(chipFd, GPIO_GET_LINEHANDLE_IOCTL, &rq); config.flags = lineRequestFlags;
if (ret || rq.fd<0) { strcpy(req.consumer, "wiringpi_gpio_req");
req.offsets[0] = pin;
req.num_lines = 1;
req.config = config;
ret = ioctl(chipFd, GPIO_V2_GET_LINE_IOCTL, &req);
if (ret || req.fd<0) {
ReportDeviceError("get line handle", pin, "RequestLine", ret); ReportDeviceError("get line handle", pin, "RequestLine", ret);
return -1; // error return -1; // error
} }
lineFlags[pin] = lineRequestFlags; lineFlags[pin] = lineRequestFlags;
lineFds[pin] = rq.fd; lineFds[pin] = req.fd;
if (wiringPiDebug) if (wiringPiDebug)
printf ("requestLine succeeded: pin:%d, flags: %u, fd :%d\n", pin, lineRequestFlags, lineFds[pin]) ; printf ("requestLine succeeded: pin:%d, flags: %u, fd :%d\n", pin, lineRequestFlags, lineFds[pin]) ;
return lineFds[pin]; return lineFds[pin];
@@ -1863,16 +1877,16 @@ void pinModeFlagsDevice (int pin, int mode, unsigned int flags) {
if (wiringPiDebug) if (wiringPiDebug)
printf ("pinModeFlagsDevice: pin:%d mode:%d, flags: %u\n", pin, mode, flags) ; printf ("pinModeFlagsDevice: pin:%d mode:%d, flags: %u\n", pin, mode, flags) ;
lflag &= ~(GPIOHANDLE_REQUEST_INPUT | GPIOHANDLE_REQUEST_OUTPUT); lflag &= ~(GPIO_V2_LINE_FLAG_INPUT | GPIO_V2_LINE_FLAG_OUTPUT);
switch(mode) { switch(mode) {
default: default:
fprintf(stderr, "pinMode: invalid mode request (only input und output supported)\n"); fprintf(stderr, "pinMode: invalid mode request (only input und output supported)\n");
return; return;
case INPUT: case INPUT:
lflag |= GPIOHANDLE_REQUEST_INPUT; lflag |= GPIO_V2_LINE_FLAG_INPUT;
break; break;
case OUTPUT: case OUTPUT:
lflag |= GPIOHANDLE_REQUEST_OUTPUT; lflag |= GPIO_V2_LINE_FLAG_OUTPUT;
break; break;
case PM_OFF: case PM_OFF:
pinModeFlagsDevice(pin, INPUT, 0); pinModeFlagsDevice(pin, INPUT, 0);
@@ -2038,20 +2052,20 @@ void pinMode (int pin, int mode)
*/ */
void pullUpDnControlDevice (int pin, int pud) { void pullUpDnControlDevice (int pin, int pud) {
unsigned int flag = lineFlags[pin]; unsigned int flag = lineFlags[pin];
unsigned int biasflags = GPIOHANDLE_REQUEST_BIAS_DISABLE | GPIOHANDLE_REQUEST_BIAS_PULL_UP | GPIOHANDLE_REQUEST_BIAS_PULL_DOWN; unsigned int biasflags = GPIO_V2_LINE_FLAG_BIAS_DISABLED | GPIO_V2_LINE_FLAG_BIAS_PULL_UP | GPIO_V2_LINE_FLAG_BIAS_PULL_DOWN;
flag &= ~biasflags; flag &= ~biasflags;
switch (pud){ switch (pud){
case PUD_OFF: flag |= GPIOHANDLE_REQUEST_BIAS_DISABLE; break; case PUD_OFF: flag |= GPIO_V2_LINE_FLAG_BIAS_DISABLED; break;
case PUD_UP: flag |= GPIOHANDLE_REQUEST_BIAS_PULL_UP; break; case PUD_UP: flag |= GPIO_V2_LINE_FLAG_BIAS_PULL_UP; break;
case PUD_DOWN: flag |= GPIOHANDLE_REQUEST_BIAS_PULL_DOWN; break; case PUD_DOWN: flag |= GPIO_V2_LINE_FLAG_BIAS_PULL_DOWN; break;
default: return ; /* An illegal value */ default: return ; /* An illegal value */
} }
// reset input/output // reset input/output
if (lineFlags[pin] & GPIOHANDLE_REQUEST_OUTPUT) { if (lineFlags[pin] & GPIO_V2_LINE_FLAG_OUTPUT) {
pinModeFlagsDevice (pin, OUTPUT, flag); pinModeFlagsDevice (pin, OUTPUT, flag);
} else if(lineFlags[pin] & GPIOHANDLE_REQUEST_INPUT) { } else if(lineFlags[pin] & GPIO_V2_LINE_FLAG_INPUT) {
pinModeFlagsDevice (pin, INPUT, flag); pinModeFlagsDevice (pin, INPUT, flag);
} else { } else {
lineFlags[pin] = flag; // only store for later lineFlags[pin] = flag; // only store for later
@@ -2135,7 +2149,33 @@ void pullUpDnControl (int pin, int pud)
} }
} }
/*
helper functions for gpio_v2_line_values bits
*/
static inline void gpiotools_set_bit(__u64 *b, int n)
{
*b |= _BITULL(n);
}
static inline void gpiotools_clear_bit(__u64 *b, int n)
{
*b &= ~_BITULL(n);
}
static inline void gpiotools_assign_bit(__u64 *b, int n, bool value)
{
if (value)
gpiotools_set_bit(b, n);
else
gpiotools_clear_bit(b, n);
}
static inline int gpiotools_test_bit(__u64 b, int n)
{
return !!(b & _BITULL(n));
}
//*********************************************
/* /*
@@ -2145,19 +2185,23 @@ void pullUpDnControl (int pin, int pud)
*/ */
int digitalReadDevice (int pin) { // INPUT and OUTPUT should work int digitalReadDevice (int pin) { // INPUT and OUTPUT should work
struct gpio_v2_line_values lv;
if (lineFds[pin]<0) { int ret;
if (lineFds[pin]<0) {
// line not requested - auto request on first read as input // line not requested - auto request on first read as input
pinModeDevice(pin, INPUT); pinModeDevice(pin, INPUT);
} }
lv.mask = 0;
lv.bits = 0;
if (lineFds[pin]>=0) { if (lineFds[pin]>=0) {
struct gpiohandle_data data; gpiotools_set_bit(&lv.mask, 0);
int ret = ioctl(lineFds[pin], GPIOHANDLE_GET_LINE_VALUES_IOCTL, &data); ret = ioctl(lineFds[pin], GPIO_V2_LINE_GET_VALUES_IOCTL, &lv);
if (ret) { if (ret) {
ReportDeviceError("get line values", pin, "digitalRead", ret); ReportDeviceError("get line values", pin, "digitalRead", ret);
return LOW; // error return LOW; // error
} }
return data.values[0]; return gpiotools_test_bit(lv.bits, 0);
} }
return LOW; // error , need to request line before return LOW; // error , need to request line before
} }
@@ -2239,7 +2283,9 @@ unsigned int digitalRead8 (int pin)
*/ */
void digitalWriteDevice (int pin, int value) { void digitalWriteDevice (int pin, int value) {
int ret;
struct gpio_v2_line_values values;
if (wiringPiDebug) if (wiringPiDebug)
printf ("digitalWriteDevice: ioctl pin:%d value: %d\n", pin, value) ; printf ("digitalWriteDevice: ioctl pin:%d value: %d\n", pin, value) ;
@@ -2247,22 +2293,25 @@ void digitalWriteDevice (int pin, int value) {
// line not requested - auto request on first write as output // line not requested - auto request on first write as output
pinModeDevice(pin, OUTPUT); pinModeDevice(pin, OUTPUT);
} }
if (lineFds[pin]>=0 && (lineFlags[pin] & GPIOHANDLE_REQUEST_OUTPUT)>0) {
struct gpiohandle_data data; if (lineFds[pin]>=0 && (lineFlags[pin] & GPIO_V2_LINE_FLAG_OUTPUT)>0) {
data.values[0] = value; values.mask = 0;
if (wiringPiDebug) values.bits = 0;
printf ("digitalWriteDevice: ioctl pin:%d cmd: GPIOHANDLE_SET_LINE_VALUES_IOCTL, value: %d\n", pin, value) ; gpiotools_set_bit(&values.mask, 0);
int ret = ioctl(lineFds[pin], GPIOHANDLE_SET_LINE_VALUES_IOCTL, &data); gpiotools_assign_bit(&values.bits, 0, !!value);
if (ret) {
ReportDeviceError("set line values", pin, "digitalWrite", ret); ret = ioctl(lineFds[pin], GPIO_V2_LINE_SET_VALUES_IOCTL, &values);
return; // error if (ret == -1) {
} ReportDeviceError("digitalWriteDevice", pin, "GPIO_V2_LINE_SET_VALUES_IOCTL", ret);
return; // error
}
} else { } else {
fprintf(stderr, "digitalWrite: no output (%d)\n", lineFlags[pin]); fprintf(stderr, "digitalWrite: no output (%d)\n", lineFlags[pin]);
} }
return; // error return; // error
} }
void digitalWrite (int pin, int value) void digitalWrite (int pin, int value)
{ {
struct wiringPiNodeStruct *node = wiringPiNodes ; struct wiringPiNodeStruct *node = wiringPiNodes ;
@@ -2560,6 +2609,103 @@ unsigned int digitalReadByte2 (void)
} }
//--------------------------------------------------------------------
// waitForInteruptInit
// Prepares waitForInterrupt for edgeMode, and debounce_period_us
//
// returns -1 on error
// returns 0 on success
//--------------------------------------------------------------------
int waitForInterruptInit (int pin, int edgeMode, unsigned long debounce_period_us)
{
const char* strmode = "";
struct gpio_v2_line_config config;
struct gpio_v2_line_request req;
int attr, ret;
if (wiringPiMode == WPI_MODE_PINS) {
pin = pinToGpio [pin] ;
} else if (wiringPiMode == WPI_MODE_PHYS) {
pin = physToGpio [pin] ;
}
/* open gpio */
// sleep(1);
if (wiringPiGpioDeviceGetFd()<0) {
return -1;
}
memset(&req, 0, sizeof(req));
memset(&config, 0, sizeof(config));
/* setup config */
config.flags = GPIO_V2_LINE_FLAG_INPUT;
switch(edgeMode) {
default:
case INT_EDGE_SETUP:
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptMode mode INT_EDGE_SETUP - exiting\n") ;
}
return -1;
case INT_EDGE_FALLING:
config.flags |= GPIO_V2_LINE_FLAG_EDGE_FALLING;
strmode = "falling";
break;
case INT_EDGE_RISING:
config.flags |= GPIO_V2_LINE_FLAG_EDGE_RISING;
strmode = "rising";
break;
case INT_EDGE_BOTH:
config.flags |= (GPIO_V2_LINE_FLAG_EDGE_FALLING | GPIO_V2_LINE_FLAG_EDGE_RISING);
strmode = "both";
break;
}
strcpy(req.consumer, "wiringpi_gpio_irq");
if (debounce_period_us) {
attr = config.num_attrs;
config.num_attrs++;
gpiotools_set_bit(&config.attrs[attr].mask, 0);
config.attrs[attr].attr.id = GPIO_V2_LINE_ATTR_ID_DEBOUNCE;
config.attrs[attr].attr.debounce_period_us = debounce_period_us;
}
req.num_lines = 1;
req.offsets[0] = pin;
req.event_buffer_size = 32;
req.config = config;
ret = ioctl(chipFd, GPIO_V2_GET_LINE_IOCTL, &req);
if (ret == -1) {
ReportDeviceError("GPIO_V2_GET_LINE_IOCTL", pin , strmode, ret);
return -1;
}
if (wiringPiDebug) {
printf ("wiringPi: GPIO get line %d , mode %s succeded, fd=%d\n", pin, strmode, req.fd) ;
}
int fd_line = req.fd;
isrFds [pin] = fd_line;
isrDebouncePeriodUs[pin] = debounce_period_us;
/* set event fd nonbloack read */
/*
int flags = fcntl(fd_line, F_GETFL);
flags |= O_NONBLOCK;
ret = fcntl(fd_line, F_SETFL, flags);
if (ret) {
fprintf(stderr, "wiringPi: ERROR: fcntl set nonblock return=%d\n", ret);
return -1;
}
*/
return 0;
}
/* /*
* waitForInterrupt: * waitForInterrupt:
* Pi Specific. * Pi Specific.
@@ -2567,25 +2713,124 @@ unsigned int digitalReadByte2 (void)
* This is actually done via the /dev/gpiochip interface regardless of * This is actually done via the /dev/gpiochip interface regardless of
* the wiringPi access mode in-use. Maybe sometime it might get a better * the wiringPi access mode in-use. Maybe sometime it might get a better
* way for a bit more efficiency. * way for a bit more efficiency.
* Returns timestamp in microseconds, when interrupt happened * Returns timestamp in microseconds on interrupt
********************************************************************************* *********************************************************************************
*/ */
long long int waitForInterrupt (int pin, int mS, int bouncetime) // bounctime in milliseconds long long int waitForInterrupt (int pin, int edgeMode, int mS, unsigned long debounce_period_us) // ms < 0 wait infinite, = 0 return immediately, > 0 wait timeout
{ {
long long int ret; long long int ret;
int fd; int fd;
struct pollfd polls ; struct pollfd polls ;
struct gpioevent_data evdata; struct gpio_v2_line_event evdata;
//struct gpio_v2_line_request req2;
struct timeval tv_timenow; if (wiringPiMode == WPI_MODE_PINS)
unsigned long long timenow; pin = pinToGpio [pin] ;
int finished = 0; else if (wiringPiMode == WPI_MODE_PHYS)
int initial_edge = 1; pin = physToGpio [pin] ;
if (wiringPiDebug) { if (waitForInterruptInit (pin, edgeMode, debounce_period_us ) != 0)
printf ("waitForInterrupt: mS = %d, bouncetime = %d\n", mS, bouncetime) ; return -1 ;
fd = isrFds[pin];
// Setup poll structure
polls.fd = fd;
polls.events = POLLIN | POLLERR ;
polls.revents = 0;
ret = (long long int)poll(&polls, 1, mS);
if (ret < 0) {
if (wiringPiDebug)
fprintf(stderr, "wiringPi: ERROR: poll returned=%lld\n", ret);
} else if (ret == 0) {
if (wiringPiDebug)
fprintf(stderr, "wiringPi: timeout: poll returned=%lld\n", ret);
} }
else {
if (wiringPiDebug)
printf ("wiringPi: IRQ line %d received %lld, fd=%d\n", pin, ret, isrFds[pin]) ;
if (polls.revents & POLLIN) {
/* read event data */
int readret = read(isrFds [pin], &evdata, sizeof(evdata));
if (readret == sizeof(evdata)) {
if (wiringPiDebug)
printf ("wiringPi: IRQ at PIN: %d, timestamp: %lld\n", evdata.offset, evdata.timestamp_ns) ;
switch (evdata.id) {
case GPIO_V2_LINE_EVENT_RISING_EDGE:
if (wiringPiDebug)
printf("wiringPi: rising edge\n");
break;
case GPIO_V2_LINE_EVENT_FALLING_EDGE:
if (wiringPiDebug)
printf("wiringPi: falling edge\n");
break;
default:
if (wiringPiDebug)
printf("wiringPi: unknown event\n");
break;
}
ret = evdata.timestamp_ns / 1000LL; // nanoseconds u64 to microseconds
}
else {
ret = -1;
}
}
}
return ret;
}
int waitForInterruptClose (int pin) {
if (isrFds[pin]>0) {
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptClose close thread 0x%lX\n", (unsigned long)isrThreads[pin]) ;
}
if (isrThreads[pin] != 0) {
if (pthread_cancel(isrThreads[pin]) == 0) {
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptClose thread canceled successfuly\n") ;
}
} else {
if (wiringPiDebug) {
fprintf (stderr, "wiringPi: waitForInterruptClose could not cancel thread\n");
}
}
}
close(isrFds [pin]);
}
isrFds [pin] = -1;
isrFunctions [pin] = NULL;
isrDebouncePeriodUs[pin] = 0;
/* -not closing so far - other isr may be using it - only close if no other is using - will code later
if (chipFd>0) {
close(chipFd);
}
chipFd = -1;
*/
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptClose finished\n") ;
}
return 0;
}
/*
* wfi:
* Pi Specific.
* Wait for Interrupt on a GPIO pin, called from interruptHandler
* Returns timestamp in microseconds on interrupt
*********************************************************************************
*/
long long int wfi(int pin)
{
long long int ret;
int fd;
struct pollfd polls ;
struct gpio_v2_line_event evdata;
if (wiringPiMode == WPI_MODE_PINS) if (wiringPiMode == WPI_MODE_PINS)
pin = pinToGpio [pin] ; pin = pinToGpio [pin] ;
@@ -2600,150 +2845,49 @@ long long int waitForInterrupt (int pin, int mS, int bouncetime) // bounctime i
polls.events = POLLIN | POLLERR ; polls.events = POLLIN | POLLERR ;
polls.revents = 0; polls.revents = 0;
// Wait for it ... ret = (long long int)poll(&polls, 1, -1); // no timeout, wait forevver
while (!finished) {
ret = (long long int)poll(&polls, 1, mS); if (ret < 0) {
if (ret < 0) { if (wiringPiDebug)
if (wiringPiDebug) { fprintf(stderr, "wiringPi: ERROR: poll returned=%lld\n", ret);
fprintf(stderr, "wiringPi: ERROR: poll returned=%lld\n", ret); } else if (ret == 0) {
if (wiringPiDebug)
fprintf(stderr, "wiringPi: timeout: poll returned=%lld\n", ret);
}
else {
if (wiringPiDebug)
printf ("wiringPi: IRQ line %d received %lld, fd=%d\n", pin, ret, isrFds[pin]) ;
if (polls.revents & POLLIN) {
/* read event data */
int readret = read(isrFds [pin], &evdata, sizeof(evdata));
if (readret == sizeof(evdata)) {
if (wiringPiDebug)
printf ("wiringPi: IRQ at PIN: %d, timestamp: %lld\n", evdata.offset, evdata.timestamp_ns) ;
switch (evdata.id) {
case GPIO_V2_LINE_EVENT_RISING_EDGE:
if (wiringPiDebug)
printf("wiringPi: rising edge\n");
break;
case GPIO_V2_LINE_EVENT_FALLING_EDGE:
if (wiringPiDebug)
printf("wiringPi: falling edge\n");
break;
default:
if (wiringPiDebug)
printf("wiringPi: unknown event\n");
break;
}
ret = evdata.timestamp_ns / 1000LL; // nanoseconds u64 to microseconds
} }
break; else {
} else if (ret == 0) { ret = -1;
if (wiringPiDebug) {
fprintf(stderr, "wiringPi: timeout: poll returned=%lld\n", ret);
}
break;
}
else {
//if (polls.revents & POLLIN)
if (wiringPiDebug) {
printf ("wiringPi: IRQ line %d received %lld, fd=%d\n", pin, ret, isrFds[pin]) ;
}
if (initial_edge) { // first time triggers with current state, so ignore
initial_edge = 0;
} else {
/* read event data */
int readret = read(isrFds [pin], &evdata, sizeof(evdata));
if (readret == sizeof(evdata)) {
if (wiringPiDebug) {
printf ("wiringPi: IRQ data id: %d, timestamp: %lld\n", evdata.id, evdata.timestamp) ;
}
// ret = evdata.id;
gettimeofday(&tv_timenow, NULL);
timenow = tv_timenow.tv_sec*1E6 + tv_timenow.tv_usec;
if (bouncetime == 0 || timenow - lastcall[pin] > (unsigned int)bouncetime*1000 || lastcall[pin] == 0 || lastcall[pin] > timenow) {
lastcall[pin] = timenow;
finished = 1;
ret = evdata.timestamp / 1000LL; // nanoseconds u64 to microseconds
}
} else {
ret = -1;
break;
}
} }
} }
} }
return ret; return ret;
} }
int waitForInterruptInit (int pin, int mode)
{
const char* strmode = "";
if (wiringPiMode == WPI_MODE_PINS) {
pin = pinToGpio [pin] ;
} else if (wiringPiMode == WPI_MODE_PHYS) {
pin = physToGpio [pin] ;
}
/* open gpio */
sleep(1);
if (wiringPiGpioDeviceGetFd()<0) {
return -1;
}
struct gpioevent_request req;
req.lineoffset = pin;
req.handleflags = GPIOHANDLE_REQUEST_INPUT;
switch(mode) {
default:
case INT_EDGE_SETUP:
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptMode mode INT_EDGE_SETUP - exiting\n") ;
}
return -1;
case INT_EDGE_FALLING:
req.eventflags = GPIOEVENT_REQUEST_FALLING_EDGE;
strmode = "falling";
break;
case INT_EDGE_RISING:
req.eventflags = GPIOEVENT_REQUEST_RISING_EDGE;
strmode = "rising";
break;
case INT_EDGE_BOTH:
req.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
strmode = "both";
break;
}
strncpy(req.consumer_label, "wiringpi_gpio_irq", sizeof(req.consumer_label) - 1);
//later implement GPIO_V2_GET_LINE_IOCTL req2
int ret = ioctl(chipFd, GPIO_GET_LINEEVENT_IOCTL, &req);
if (ret) {
ReportDeviceError("get line event", pin , strmode, ret);
return -1;
}
if (wiringPiDebug) {
printf ("wiringPi: GPIO get line %d , mode %s succeded, fd=%d\n", pin, strmode, req.fd) ;
}
/* set event fd nonbloack read */
int fd_line = req.fd;
isrFds [pin] = fd_line;
int flags = fcntl(fd_line, F_GETFL);
flags |= O_NONBLOCK;
ret = fcntl(fd_line, F_SETFL, flags);
if (ret) {
fprintf(stderr, "wiringPi: ERROR: fcntl set nonblock return=%d\n", ret);
return -1;
}
return 0;
}
int waitForInterruptClose (int pin) {
if (isrFds[pin]>0) {
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptClose close thread 0x%lX\n", (unsigned long)isrThreads[pin]) ;
}
if (isrThreads[pin] && pthread_cancel(isrThreads[pin]) == 0) {
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptClose thread canceled successfuly\n") ;
}
} else {
if (wiringPiDebug) {
fprintf (stderr, "wiringPi: waitForInterruptClose could not cancel thread\n");
}
}
close(isrFds [pin]);
}
isrFds [pin] = -1;
isrFunctions [pin] = NULL;
lastcall[pin] = 0;
/* -not closing so far - other isr may be using it - only close if no other is using - will code later
if (chipFd>0) {
close(chipFd);
}
chipFd = -1;
*/
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptClose finished\n") ;
}
return 0;
}
int wiringPiISRStop (int pin) { int wiringPiISRStop (int pin) {
return waitForInterruptClose (pin); return waitForInterruptClose (pin);
} }
@@ -2756,20 +2900,89 @@ int wiringPiISRStop (int pin) {
********************************************************************************* *********************************************************************************
*/ */
static void *interruptHandler (void *arg) void *interruptHandler (void *arg)
{ {
int pin ; const char* strmode = "";
int bouncetime; int pin, mode ;
unsigned long debounce_period_us;
struct gpio_v2_line_config config;
struct gpio_v2_line_request req;
int attr, ret;
pin = *(int *)arg;
/* pin = pinPass ;
pinPass = -1 ;
*/
if (wiringPiGpioDeviceGetFd()<0) {
return NULL;
}
mode = isrMode[pin];
debounce_period_us = isrDebouncePeriodUs[pin];
if (wiringPiDebug) {
printf ("interruptHandler: GPIO line %d, mode %d, debounce_period_us %lu \n", pin, mode, debounce_period_us) ;
}
memset(&req, 0, sizeof(req));
memset(&config, 0, sizeof(config));
/* setup config */
config.flags = GPIO_V2_LINE_FLAG_INPUT;
switch(mode) {
default:
case INT_EDGE_SETUP:
if (wiringPiDebug) {
printf ("wiringPi: waitForInterruptMode mode INT_EDGE_SETUP - exiting\n") ;
}
return NULL;
case INT_EDGE_FALLING:
config.flags |= GPIO_V2_LINE_FLAG_EDGE_FALLING;
strmode = "falling";
break;
case INT_EDGE_RISING:
config.flags |= GPIO_V2_LINE_FLAG_EDGE_RISING;
strmode = "rising";
break;
case INT_EDGE_BOTH:
config.flags |= (GPIO_V2_LINE_FLAG_EDGE_FALLING | GPIO_V2_LINE_FLAG_EDGE_RISING);
strmode = "both";
break;
}
strcpy(req.consumer, "wiringpi_gpio_irq");
if (debounce_period_us) {
attr = config.num_attrs;
config.num_attrs++;
gpiotools_set_bit(&config.attrs[attr].mask, 0);
config.attrs[attr].attr.id = GPIO_V2_LINE_ATTR_ID_DEBOUNCE;
config.attrs[attr].attr.debounce_period_us = debounce_period_us;
}
req.num_lines = 1;
req.offsets[0] = pin;
req.config = config;
ret = ioctl(chipFd, GPIO_V2_GET_LINE_IOCTL, &req);
if (ret == -1) {
ReportDeviceError("get line event", pin , strmode, ret);
return NULL;
}
/*
if (wiringPiDebug) {
printf ("wiringPi: GPIO get line %d , mode %s succeded, fd=%d\n", pin, strmode, req.fd) ;
}
*/
/* set event fd */
int fd_line = req.fd;
isrFds [pin] = fd_line;
(void)piHiPri (55) ; // Only effective if we run as root (void)piHiPri (55) ; // Only effective if we run as root
pin = pinPass ;
bouncetime = *(int *)arg;
pinPass = -1 ;
for (;;) { for (;;) {
long long int ret = waitForInterrupt(pin, -1, bouncetime); long long int ret = wfi(pin); // poll for event and return timestamp
if ( ret> 0) { // return timestamp in microseconds if ( ret> 0) { // return timestamp in microseconds
if (wiringPiDebug) { if (wiringPiDebug) {
printf ("wiringPi: call function\n") ; printf ("wiringPi: call function\n") ;
} }
@@ -2795,10 +3008,11 @@ static void *interruptHandler (void *arg)
* Pi Specific. * Pi Specific.
* Take the details and create an interrupt handler that will do a call- * Take the details and create an interrupt handler that will do a call-
* back to the user supplied function. * back to the user supplied function.
* debounce_period_us in microseconds
********************************************************************************* *********************************************************************************
*/ */
int wiringPiISR (int pin, int mode, void (*function)(unsigned int, long long int), int bouncetime) int wiringPiISR (int pin, int edgeMode, void (*function)(unsigned int, long long int), unsigned long debounce_period_us)
{ {
const int maxpin = GetMaxPin(); const int maxpin = GetMaxPin();
@@ -2806,22 +3020,24 @@ int wiringPiISR (int pin, int mode, void (*function)(unsigned int, long long int
return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-%d (%d)\n", maxpin, pin) ; return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-%d (%d)\n", maxpin, pin) ;
if (wiringPiMode == WPI_MODE_UNINITIALISED) if (wiringPiMode == WPI_MODE_UNINITIALISED)
return wiringPiFailure (WPI_FATAL, "wiringPiISR: wiringPi has not been initialised. Unable to continue.\n") ; return wiringPiFailure (WPI_FATAL, "wiringPiISR: wiringPi has not been initialised. Unable to continue.\n") ;
if (wiringPiMode == WPI_MODE_PINS) {
pin = pinToGpio [pin] ;
} else if (wiringPiMode == WPI_MODE_PHYS) {
pin = physToGpio [pin] ;
}
if (wiringPiDebug) { if (wiringPiDebug) {
printf ("wiringPi: wiringPiISR pin %d, mode %d\n", pin, mode) ; printf ("wiringPi: wiringPiISR pin %d, edgeMode %d\n", pin, edgeMode) ;
} }
if (isrFunctions [pin]) { if (isrFunctions [pin]) {
printf ("wiringPi: ISR function alread active, ignoring \n") ; printf ("wiringPi: ISR function already active, ignoring \n") ;
} }
isrFunctions [pin] = function ; isrFunctions [pin] = function ;
isrMode[pin] = mode; isrMode[pin] = edgeMode;
lastcall[pin] = 0; isrDebouncePeriodUs[pin] = debounce_period_us;
if(waitForInterruptInit (pin, mode)<0) {
if (wiringPiDebug) {
fprintf (stderr, "wiringPi: waitForInterruptInit failed\n") ;
}
}
if (wiringPiDebug) { if (wiringPiDebug) {
printf ("wiringPi: mutex in\n") ; printf ("wiringPi: mutex in\n") ;
} }
@@ -2830,12 +3046,17 @@ int wiringPiISR (int pin, int mode, void (*function)(unsigned int, long long int
if (wiringPiDebug) { if (wiringPiDebug) {
printf("wiringPi: pthread_create before 0x%lX\n", (unsigned long)isrThreads[pin]); printf("wiringPi: pthread_create before 0x%lX\n", (unsigned long)isrThreads[pin]);
} }
if (pthread_create (&isrThreads[pin], NULL, interruptHandler, &bouncetime)==0) { if (pthread_create (&isrThreads[pin], NULL, interruptHandler, &pin)==0) {
if (wiringPiDebug) { if (wiringPiDebug) {
printf("wiringPi: pthread_create successed, 0x%lX\n", (unsigned long)isrThreads[pin]); printf("wiringPi: pthread_create successed, 0x%lX\n", (unsigned long)isrThreads[pin]);
} }
while (pinPass != -1) /* while (pinPass != -1)
delay (1) ; delay (1) ; */
// wait so that interruptHandler is up und running.
// when interruptHandler is running, the calling function wiringPiISR
// must be still alive, otherwise the thread argument &pin points into nirwana,
// when it is picked up from interruptHandler.
delay (10);
} else { } else {
if (wiringPiDebug) { if (wiringPiDebug) {
printf("wiringPi: pthread_create failed\n"); printf("wiringPi: pthread_create failed\n");
@@ -3187,12 +3408,12 @@ int wiringPiSetup (void)
/**/ if (piGpioLayout () == GPIO_LAYOUT_PI1_REV1) // A, B, Rev 1, 1.1 /**/ if (piGpioLayout () == GPIO_LAYOUT_PI1_REV1) // A, B, Rev 1, 1.1
{ {
pinToGpio = pinToGpioR1 ; pinToGpio = pinToGpioR1 ;
physToGpio = physToGpioR1 ; physToGpio = physToGpioR1 ;
} }
else // A2, B2, A+, B+, CM, Pi2, Pi3, Zero, Zero W, Zero 2 W else // A2, B2, A+, B+, CM, Pi2, Pi3, Zero, Zero W, Zero 2 W
{ {
pinToGpio = pinToGpioR2 ; pinToGpio = pinToGpioR2 ;
physToGpio = physToGpioR2 ; physToGpio = physToGpioR2 ;
} }
@@ -3201,7 +3422,7 @@ int wiringPiSetup (void)
// Try /dev/mem. If that fails, then // Try /dev/mem. If that fails, then
// try /dev/gpiomem. If that fails then game over. // try /dev/gpiomem. If that fails then game over.
const char* gpiomemGlobal = gpiomem_global; const char* gpiomemGlobal = gpiomem_global;
const char* gpiomemModule = gpiomem_BCM; const char* gpiomemModule = gpiomem_BCM;
if (PI_MODEL_5 == model) { if (PI_MODEL_5 == model) {
@@ -3242,7 +3463,7 @@ int wiringPiSetup (void)
printf ("wiringPi: access to %s succeded %d\n", usingGpioMem ? gpiomemModule : gpiomemGlobal, fd) ; printf ("wiringPi: access to %s succeded %d\n", usingGpioMem ? gpiomemModule : gpiomemGlobal, fd) ;
} }
// GPIO: // GPIO:
if (PI_MODEL_5 != model) { if (PI_MODEL_5 != model) {
//Set the offsets into the memory interface. //Set the offsets into the memory interface.
GPIO_PADS = piGpioBase + 0x00100000 ; GPIO_PADS = piGpioBase + 0x00100000 ;

6
wiringPi/wiringPi.h
View File

@@ -289,11 +289,11 @@ extern void digitalWriteByte2 (int value) ;
// Interrupts // Interrupts
// (Also Pi hardware specific) // (Also Pi hardware specific)
extern long long int waitForInterrupt (int pin, int mS, int bouncetime) ; extern long long int waitForInterrupt (int pin, int edgeMode, int mS, unsigned long debounce_period_us) ;
extern int wiringPiISR (int pin, int mode, void (*function)(unsigned int, long long int), int bouncetime) ; extern int wiringPiISR (int pin, int mode, void (*function)(unsigned int, long long int), unsigned long debounce_period_us) ;
extern int wiringPiISRStop (int pin) ; //V3.2 extern int wiringPiISRStop (int pin) ; //V3.2
extern int waitForInterruptClose(int pin) ; //V3.2 extern int waitForInterruptClose(int pin) ; //V3.2
extern int waitForInterruptInit (int pin, int mode); //v3.2 // extern int waitForInterruptInit (int pin, int mode); //v3.2
// Threads // Threads