wiringpi2 2.0.0

data/ext/wiringpi/WiringPi/wiringPi/softPwm.c

@@ -0,0 +1,130 @@
+/*
+ * softPwm.c:
+ *	Provide 2 channels of software driven PWM.
+ *	Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ *	https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ *    wiringPi is free software: you can redistribute it and/or modify
+ *    it under the terms of the GNU Lesser General Public License as
+ *    published by the Free Software Foundation, either version 3 of the
+ *    License, or (at your option) any later version.
+ *
+ *    wiringPi is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU Lesser General Public License for more details.
+ *
+ *    You should have received a copy of the GNU Lesser General Public
+ *    License along with wiringPi.
+ *    If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "softPwm.h"
+
+#define	MAX_PINS	64
+
+// The PWM Frequency is derived from the "pulse time" below. Essentially,
+//	the frequency is a function of the range and this pulse time.
+//	The total period will be range * pulse time in uS, so a pulse time
+//	of 100 and a range of 100 gives a period of 100 * 100 = 10,000 uS
+//	which is a frequency of 100Hz.
+//
+//	It's possible to get a higher frequency by lowering the pulse time,
+//	however CPU uage will skyrocket as wiringPi uses a hard-loop to time
+//	periods under 100uS - this is because the Linux timer calls are just
+//	accurate at all, and have an overhead.
+//
+//	Another way to increase the frequency is to reduce the range - however
+//	that reduces the overall output accuracy...
+
+#define	PULSE_TIME	100
+
+static int marks [MAX_PINS] ;
+static int range [MAX_PINS] ;
+
+int newPin = -1 ;
+
+
+/*
+ * softPwmThread:
+ *	Thread to do the actual PWM output
+ *********************************************************************************
+ */
+
+static PI_THREAD (softPwmThread)
+{
+  int pin, mark, space ;
+
+  pin    = newPin ;
+  newPin = -1 ;
+
+  piHiPri (50) ;
+
+  for (;;)
+  {
+    mark  = marks [pin] ;
+    space = range [pin] - mark ;
+
+    if (mark != 0)
+      digitalWrite (pin, HIGH) ;
+    delayMicroseconds (mark * 100) ;
+
+    if (space != 0)
+      digitalWrite (pin, LOW) ;
+    delayMicroseconds (space * 100) ;
+  }
+
+  return NULL ;
+}
+
+
+/*
+ * softPwmWrite:
+ *	Write a PWM value to the given pin
+ *********************************************************************************
+ */
+
+void softPwmWrite (int pin, int value)
+{
+  pin &= 63 ;
+
+  /**/ if (value < 0)
+    value = 0 ;
+  else if (value > range [pin])
+    value = range [pin] ;
+
+  marks [pin] = value ;
+}
+
+
+/*
+ * softPwmCreate:
+ *	Create a new PWM thread.
+ *********************************************************************************
+ */
+
+int softPwmCreate (int pin, int initialValue, int pwmRange)
+{
+  int res ;
+
+  pinMode      (pin, OUTPUT) ;
+  digitalWrite (pin, LOW) ;
+
+  marks [pin] = initialValue ;
+  range [pin] = pwmRange ;
+
+  newPin = pin ;
+  res = piThreadCreate (softPwmThread) ;
+
+  while (newPin != -1)
+    delay (1) ;
+
+  return res ;
+}

data/ext/wiringpi/WiringPi/wiringPi/softPwm.h

@@ -0,0 +1,34 @@
+/*
+ * softPwm.h:
+ *	Provide 2 channels of software driven PWM.
+ *	Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ *	https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ *    wiringPi is free software: you can redistribute it and/or modify
+ *    it under the terms of the GNU Lesser General Public License as
+ *    published by the Free Software Foundation, either version 3 of the
+ *    License, or (at your option) any later version.
+ *
+ *    wiringPi is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU Lesser General Public License for more details.
+ *
+ *    You should have received a copy of the GNU Lesser General Public
+ *    License along with wiringPi.
+ *    If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int  softPwmCreate (int pin, int value, int range) ;
+extern void softPwmWrite  (int pin, int value) ;
+
+#ifdef __cplusplus
+}
+#endif

data/ext/wiringpi/WiringPi/wiringPi/softServo.c

@@ -0,0 +1,211 @@
+/*
+ * softServo.c:
+ *	Provide N channels of software driven PWM suitable for RC
+ *	servo motors.
+ *	Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ *	https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ *    wiringPi is free software: you can redistribute it and/or modify
+ *    it under the terms of the GNU Lesser General Public License as
+ *    published by the Free Software Foundation, either version 3 of the
+ *    License, or (at your option) any later version.
+ *
+ *    wiringPi is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU Lesser General Public License for more details.
+ *
+ *    You should have received a copy of the GNU Lesser General Public
+ *    License along with wiringPi.
+ *    If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+//#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <sys/time.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "softServo.h"
+
+// RC Servo motors are a bit of an oddity - designed in the days when 
+//	radio control was experimental and people were tryin to make
+//	things as simple as possible as it was all very expensive...
+//
+// So... To drive an RC Servo motor, you need to send it a modified PWM
+//	signal - it needs anything from 1ms to 2ms - with 1ms meaning
+//	to move the server fully left, and 2ms meaning to move it fully
+//	right. Then you need a long gap before sending the next pulse.
+//	The reason for this is that you send a multiplexed stream of these
+//	pulses up the radio signal into the reciever which de-multiplexes
+//	them into the signals for each individual servo. Typically there
+//	might be 8 channels, so you need at least 8 "slots" of 2mS pulses
+//	meaning the entire frame must fit into a 16mS slot - which would
+//	then be repeated...
+//
+// In practice we have a total slot width of about 20mS - so we're sending 50
+//	updates per second to each servo.
+//
+// In this code, we don't need to be too fussy about the gap as we're not doing
+//	the multipexing, but it does need to be at least 10mS, and preferably 16
+//	from what I've been able to determine.
+
+// WARNING:
+//	This code is really experimental. It was written in response to some people
+//	asking for a servo driver, however while it works, there is too much
+//	jitter to successfully drive a small servo - I have tried it with a micro
+//	servo and it worked, but the servo ran hot due to the jitter in the signal
+//	being sent to it.
+//
+//	If you want servo control for the Pi, then use the servoblaster kernel
+//	module.
+
+#define	MAX_SERVOS	8
+
+static int pinMap     [MAX_SERVOS] ;	// Keep track of our pins
+static int pulseWidth [MAX_SERVOS] ;	// microseconds
+
+
+/*
+ * softServoThread:
+ *	Thread to do the actual Servo PWM output
+ *********************************************************************************
+ */
+
+static PI_THREAD (softServoThread)
+{
+  register int i, j, k, m, tmp ;
+  int lastDelay, pin, servo ;
+
+  int myDelays [MAX_SERVOS] ;
+  int myPins   [MAX_SERVOS] ;
+
+  struct timeval  tNow, tStart, tPeriod, tGap, tTotal ;
+  struct timespec tNs ;
+
+  tTotal.tv_sec  =    0 ;
+  tTotal.tv_usec = 8000 ;
+
+  piHiPri (50) ;
+
+  for (;;)
+  {
+    gettimeofday (&tStart, NULL) ;
+
+    memcpy (myDelays, pulseWidth, sizeof (myDelays)) ;
+    memcpy (myPins,   pinMap,     sizeof (myPins)) ;
+
+// Sort the delays (& pins), shortest first
+
+    for (m = MAX_SERVOS / 2 ; m > 0 ; m /= 2 )
+      for (j = m ; j < MAX_SERVOS ; ++j)
+	for (i = j - m ; i >= 0 ; i -= m)
+	{
+	  k = i + m ;
+	  if (myDelays [k] >= myDelays [i])
+	    break ;
+	  else // Swap
+	  {
+	    tmp = myDelays [i] ; myDelays [i] = myDelays [k] ; myDelays [k] = tmp ;
+	    tmp = myPins   [i] ; myPins   [i] = myPins   [k] ; myPins   [k] = tmp ;
+	  }
+	}
+
+// All on
+
+    lastDelay = 0 ;
+    for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+    {
+      if ((pin = myPins [servo]) == -1)
+	continue ;
+
+      digitalWrite (pin, HIGH) ;
+      myDelays [servo] = myDelays [servo] - lastDelay ;
+      lastDelay += myDelays [servo] ;
+    }
+
+// Now loop, turning them all off as required
+
+    for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+    {
+      if ((pin = myPins [servo]) == -1)
+	continue ;
+
+      delayMicroseconds (myDelays [servo]) ;
+      digitalWrite (pin, LOW) ;
+    }
+
+// Wait until the end of an 8mS time-slot
+
+    gettimeofday (&tNow, NULL) ;
+    timersub (&tNow, &tStart, &tPeriod) ;
+    timersub (&tTotal, &tPeriod, &tGap) ;
+    tNs.tv_sec  = tGap.tv_sec ;
+    tNs.tv_nsec = tGap.tv_usec * 1000 ;
+    nanosleep (&tNs, NULL) ;
+  }
+
+  return NULL ;
+}
+
+
+/*
+ * softServoWrite:
+ *	Write a Servo value to the given pin
+ *********************************************************************************
+ */
+
+void softServoWrite (int servoPin, int value)
+{
+  int servo ;
+
+  servoPin &= 63 ;
+
+  /**/ if (value < -250)
+    value = -250 ;
+  else if (value > 1250)
+    value = 1250 ;
+
+  for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+    if (pinMap [servo] == servoPin)
+      pulseWidth [servo] = value + 1000 ; // uS
+}
+
+
+/*
+ * softServoSetup:
+ *	Setup the software servo system
+ *********************************************************************************
+ */
+
+int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7)
+{
+  int servo ;
+
+  if (p0 != -1) { pinMode (p0, OUTPUT) ; digitalWrite (p0, LOW) ; }
+  if (p1 != -1) { pinMode (p1, OUTPUT) ; digitalWrite (p1, LOW) ; }
+  if (p2 != -1) { pinMode (p2, OUTPUT) ; digitalWrite (p2, LOW) ; }
+  if (p3 != -1) { pinMode (p3, OUTPUT) ; digitalWrite (p3, LOW) ; }
+  if (p4 != -1) { pinMode (p4, OUTPUT) ; digitalWrite (p4, LOW) ; }
+  if (p5 != -1) { pinMode (p5, OUTPUT) ; digitalWrite (p5, LOW) ; }
+  if (p6 != -1) { pinMode (p6, OUTPUT) ; digitalWrite (p6, LOW) ; }
+  if (p7 != -1) { pinMode (p7, OUTPUT) ; digitalWrite (p7, LOW) ; }
+
+  pinMap [0] = p0 ;
+  pinMap [1] = p1 ;
+  pinMap [2] = p2 ;
+  pinMap [3] = p3 ;
+  pinMap [4] = p4 ;
+  pinMap [5] = p5 ;
+  pinMap [6] = p6 ;
+  pinMap [7] = p7 ;
+
+  for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+    pulseWidth [servo] = 1500 ;		// Mid point
+  
+  return piThreadCreate (softServoThread) ;
+}

data/ext/wiringpi/WiringPi/wiringPi/softServo.h

@@ -0,0 +1,35 @@
+/*
+ * softServo.h:
+ *	Provide N channels of software driven PWM suitable for RC
+ *	servo motors.
+ *	Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ *	https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ *    wiringPi is free software: you can redistribute it and/or modify
+ *    it under the terms of the GNU Lesser General Public License as
+ *    published by the Free Software Foundation, either version 3 of the
+ *    License, or (at your option) any later version.
+ *
+ *    wiringPi is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU Lesser General Public License for more details.
+ *
+ *    You should have received a copy of the GNU Lesser General Public
+ *    License along with wiringPi.
+ *    If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern void softServoWrite  (int pin, int value) ;
+extern int softServoSetup   (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7) ;
+
+#ifdef __cplusplus
+}
+#endif

data/ext/wiringpi/WiringPi/wiringPi/softTone.c

@@ -0,0 +1,121 @@
+/*
+ * softTone.c:
+ *	For that authentic retro sound...
+ *	Er... A little experiment to produce tones out of a Pi using
+ *	one (or 2) GPIO pins and a piezeo "speaker" element.
+ *	(Or a high impedance speaker, but don'y blame me if you blow-up
+ *	the GPIO pins!)
+ *	Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ *	https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ *    wiringPi is free software: you can redistribute it and/or modify
+ *    it under the terms of the GNU Lesser General Public License as
+ *    published by the Free Software Foundation, either version 3 of the
+ *    License, or (at your option) any later version.
+ *
+ *    wiringPi is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU Lesser General Public License for more details.
+ *
+ *    You should have received a copy of the GNU Lesser General Public
+ *    License along with wiringPi.
+ *    If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "softTone.h"
+
+#define	MAX_PINS	64
+
+#define	PULSE_TIME	100
+
+static int freqs [MAX_PINS] ;
+
+static int newPin = -1 ;
+
+
+/*
+ * softToneThread:
+ *	Thread to do the actual PWM output
+ *********************************************************************************
+ */
+
+static PI_THREAD (softToneThread)
+{
+  int pin, freq, halfPeriod ;
+
+  pin    = newPin ;
+  newPin = -1 ;
+
+  piHiPri (50) ;
+
+  for (;;)
+  {
+    freq = freqs [pin] ;
+    if (freq == 0)
+      delay (1) ;
+    else
+    {
+      halfPeriod = 500000 / freq ;
+
+      digitalWrite (pin, HIGH) ;
+      delayMicroseconds (halfPeriod) ;
+
+      digitalWrite (pin, LOW) ;
+      delayMicroseconds (halfPeriod) ;
+    }
+  }
+
+  return NULL ;
+}
+
+
+/*
+ * softToneWrite:
+ *	Write a frequency value to the given pin
+ *********************************************************************************
+ */
+
+void softToneWrite (int pin, int freq)
+{
+  pin &= 63 ;
+
+  /**/ if (freq < 0)
+    freq = 0 ;
+  else if (freq > 5000)	// Max 5KHz
+    freq = 5000 ;
+
+  freqs [pin] = freq ;
+}
+
+
+/*
+ * softToneCreate:
+ *	Create a new tone thread.
+ *********************************************************************************
+ */
+
+int softToneCreate (int pin)
+{
+  int res ;
+
+  pinMode      (pin, OUTPUT) ;
+  digitalWrite (pin, LOW) ;
+
+  freqs [pin] = 0 ;
+
+  newPin = pin ;
+  res = piThreadCreate (softToneThread) ;
+
+  while (newPin != -1)
+    delay (1) ;
+
+  return res ;
+}