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/*
* gpio.c:
* Swiss-Army-Knife, Set-UID command-line interface to the Raspberry
* Pi's GPIO.
* Copyright (c) 2012-2015 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 <stdlib.h>
#include <stdint.h>
#include <ctype.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <wiringPi.h>
#include <wpiExtensions.h>
#include <gertboard.h>
#include <piFace.h>
#include "version.h"
extern int wiringPiDebug ;
// External functions I can't be bothered creating a separate .h file for:
extern void doReadall (void) ;
extern void doAllReadall (void) ;
extern void doPins (void) ;
#ifndef TRUE
# define TRUE (1==1)
# define FALSE (1==2)
#endif
#define PI_USB_POWER_CONTROL 38
#define I2CDETECT "/usr/sbin/i2cdetect"
#define MODPROBE "/sbin/modprobe"
#define RMMOD "/sbin/rmmod"
int wpMode ;
char *usage = "Usage: gpio -v\n"
" gpio -h\n"
" gpio [-g|-1] [-x extension:params] ...\n"
" gpio [-p] <read/write/wb> ...\n"
" gpio <read/write/aread/awritewb/pwm/clock/mode> ...\n"
" gpio <toggle/blink> <pin>\n"
" gpio readall/reset\n"
" gpio unexportall/exports\n"
" gpio export/edge/unexport ...\n"
" gpio wfi <pin> <mode>\n"
" gpio drive <group> <value>\n"
" gpio pwm-bal/pwm-ms \n"
" gpio pwmr <range> \n"
" gpio pwmc <divider> \n"
" gpio load spi/i2c\n"
" gpio unload spi/i2c\n"
" gpio i2cd/i2cdetect\n"
" gpio rbx/rbd\n"
" gpio wb <value>\n"
" gpio usbp high/low\n"
" gpio gbr <channel>\n"
" gpio gbw <channel> <value>" ; // No trailing newline needed here.
#ifdef NOT_FOR_NOW
/*
* decodePin:
* Decode a pin "number" which can actually be a pin name to represent
* one of the Pi's on-board pins.
*********************************************************************************
*/
static int decodePin (const char *str)
{
// The first case - see if it's a number:
if (isdigit (str [0]))
return atoi (str) ;
return 0 ;
}
#endif
/*
* findExecutable:
* Code to locate the path to the given executable. We have a fixed list
* of locations to try which completely overrides any $PATH environment.
* This may be detrimental, however it avoids the reliance on $PATH
* which may be a security issue when this program is run a set-uid-root.
*********************************************************************************
*/
static const char *searchPath [] =
{
"/sbin",
"/usr/sbin",
"/bin",
"/usr/bin",
NULL,
} ;
static char *findExecutable (const char *progName)
{
static char *path = NULL ;
int len = strlen (progName) ;
int i = 0 ;
struct stat statBuf ;
for (i = 0 ; searchPath [i] != NULL ; ++i)
{
path = malloc (strlen (searchPath [i]) + len + 2) ;
sprintf (path, "%s/%s", searchPath [i], progName) ;
if (stat (path, &statBuf) == 0)
return path ;
free (path) ;
}
return NULL ;
}
/*
* 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)
{
// Removed (ignoring) the check for not existing as I'm fed-up with morons telling me that
// the warning message is an error.
if (errno != ENOENT)
fprintf (stderr, "%s: Unable to change ownership of %s: %s\n", cmd, file, strerror (errno)) ;
}
}
/*
* 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 /proc/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 checkDevTree (char *argv [])
{
struct stat statBuf ;
if (stat ("/proc/device-tree", &statBuf) == 0) // We're on a devtree system ...
{
fprintf (stderr,
"%s: Unable to load/unload modules as this Pi has the device tree enabled.\n"
" You need to run the raspi-config program (as root) and select the\n"
" modules (SPI or I2C) that you wish to load/unload there and reboot.\n"
" There is more information here:\n"
" https://www.raspberrypi.org/forums/viewtopic.php?f=28&t=97314\n", argv [0]) ;
exit (1) ;
}
}
static void _doLoadUsage (char *argv [])
{
fprintf (stderr, "Usage: %s load <spi/i2c> [I2C baudrate in Kb/sec]\n", argv [0]) ;
exit (1) ;
}
static void doLoad (int argc, char *argv [])
{
char *module1, *module2 ;
char cmd [80] ;
char *file1, *file2 ;
char args1 [32], args2 [32] ;
checkDevTree (argv) ;
if (argc < 3)
_doLoadUsage (argv) ;
args1 [0] = args2 [0] = 0 ;
/**/ if (strcasecmp (argv [2], "spi") == 0)
{
module1 = "spidev" ;
module2 = "spi_bcm2708" ;
file1 = "/dev/spidev0.0" ;
file2 = "/dev/spidev0.1" ;
if (argc == 4)
{
fprintf (stderr, "%s: Unable to set the buffer size now. Load aborted. Please see the man page.\n", argv [0]) ;
exit (1) ;
}
else if (argc > 4)
_doLoadUsage (argv) ;
}
else if (strcasecmp (argv [2], "i2c") == 0)
{
module1 = "i2c_dev" ;
module2 = "i2c_bcm2708" ;
file1 = "/dev/i2c-0" ;
file2 = "/dev/i2c-1" ;
if (argc == 4)
sprintf (args2, " baudrate=%d", atoi (argv [3]) * 1000) ;
else if (argc > 4)
_doLoadUsage (argv) ;
}
else
_doLoadUsage (argv) ;
if (findExecutable ("modprobe") == NULL)
printf ("No found\n") ;
if (!moduleLoaded (module1))
{
sprintf (cmd, "%s %s%s", findExecutable (MODPROBE), module1, args1) ;
system (cmd) ;
}
if (!moduleLoaded (module2))
{
sprintf (cmd, "%s %s%s", findExecutable (MODPROBE), module2, args2) ;
system (cmd) ;
}
if (!moduleLoaded (module2))
{
fprintf (stderr, "%s: Unable to load %s\n", argv [0], module2) ;
exit (1) ;
}
sleep (1) ; // To let things get settled
changeOwner (argv [0], file1) ;
changeOwner (argv [0], file2) ;
}
/*
* doUnLoad:
* Un-Load either the spi or i2c modules and change device ownerships, etc.
*********************************************************************************
*/
static void _doUnLoadUsage (char *argv [])
{
fprintf (stderr, "Usage: %s unload <spi/i2c>\n", argv [0]) ;
exit (1) ;
}
static void doUnLoad (int argc, char *argv [])
{
char *module1, *module2 ;
char cmd [80] ;
checkDevTree (argv) ;
if (argc != 3)
_doUnLoadUsage (argv) ;
/**/ if (strcasecmp (argv [2], "spi") == 0)
{
module1 = "spidev" ;
module2 = "spi_bcm2708" ;
}
else if (strcasecmp (argv [2], "i2c") == 0)
{
module1 = "i2c_dev" ;
module2 = "i2c_bcm2708" ;
}
else
_doUnLoadUsage (argv) ;
if (moduleLoaded (module1))
{
sprintf (cmd, "%s %s", findExecutable (RMMOD), module1) ;
system (cmd) ;
}
if (moduleLoaded (module2))
{
sprintf (cmd, "%s %s", findExecutable (RMMOD), module2) ;
system (cmd) ;
}
}
/*
* doI2Cdetect:
* Run the i2cdetect command with the right runes for this Pi revision
*********************************************************************************
*/
static void doI2Cdetect (int argc, char *argv [])
{
int port = piGpioLayout () == 1 ? 0 : 1 ;
char *c, *command ;
if ((c = findExecutable (I2CDETECT)) == NULL)
{
fprintf (stderr, "%s: Unable to find i2cdetect command: %s\n", argv [0], strerror (errno)) ;
return ;
}
if (!moduleLoaded ("i2c_dev"))
{
fprintf (stderr, "%s: The I2C kernel module(s) are not loaded.\n", argv [0]) ;
return ;
}
command = malloc (strlen (c) + 16) ;
sprintf (command, "%s -y %d", c, port) ;
if (system (command) < 0)
fprintf (stderr, "%s: Unable to run i2cdetect: %s\n", argv [0], strerror (errno)) ;
}
/*
* doExports:
* List all GPIO exports
*********************************************************************************
*/
static void doExports (int argc, char *argv [])
{
int fd ;
int i, l, first ;
char fName [128] ;
char buf [16] ;
for (first = 0, i = 0 ; i < 64 ; ++i) // Crude, but effective
{
// Try to read the direction
sprintf (fName, "/sys/class/gpio/gpio%d/direction", i) ;
if ((fd = open (fName, O_RDONLY)) == -1)
continue ;
if (first == 0)
{
++first ;
printf ("GPIO Pins exported:\n") ;
}
printf ("%4d: ", i) ;
if ((l = read (fd, buf, 16)) == 0)
sprintf (buf, "%s", "?") ;
buf [l] = 0 ;
if ((buf [strlen (buf) - 1]) == '\n')
buf [strlen (buf) - 1] = 0 ;
printf ("%-3s", buf) ;
close (fd) ;
// Try to Read the value
sprintf (fName, "/sys/class/gpio/gpio%d/value", i) ;
if ((fd = open (fName, O_RDONLY)) == -1)
{
printf ("No Value file (huh?)\n") ;
continue ;
}
if ((l = read (fd, buf, 16)) == 0)
sprintf (buf, "%s", "?") ;
buf [l] = 0 ;
if ((buf [strlen (buf) - 1]) == '\n')
buf [strlen (buf) - 1] = 0 ;
printf (" %s", buf) ;
// Read any edge trigger file
sprintf (fName, "/sys/class/gpio/gpio%d/edge", i) ;
if ((fd = open (fName, O_RDONLY)) == -1)
{
printf ("\n") ;
continue ;
}
if ((l = read (fd, buf, 16)) == 0)
sprintf (buf, "%s", "?") ;
buf [l] = 0 ;
if ((buf [strlen (buf) - 1]) == '\n')
buf [strlen (buf) - 1] = 0 ;
printf (" %-8s\n", buf) ;
close (fd) ;
}
}
/*
* doExport:
* gpio export pin mode
* This uses the /sys/class/gpio device interface.
*********************************************************************************
*/
void doExport (int argc, char *argv [])
{
FILE *fd ;
int pin ;
char *mode ;
char fName [128] ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s export pin mode\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
mode = argv [3] ;
if ((fd = fopen ("/sys/class/gpio/export", "w")) == NULL)
{
fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ;
exit (1) ;
}
fprintf (fd, "%d\n", pin) ;
fclose (fd) ;
sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin) ;
if ((fd = fopen (fName, "w")) == NULL)
{
fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
exit (1) ;
}
/**/ if ((strcasecmp (mode, "in") == 0) || (strcasecmp (mode, "input") == 0))
fprintf (fd, "in\n") ;
else if ((strcasecmp (mode, "out") == 0) || (strcasecmp (mode, "output") == 0))
fprintf (fd, "out\n") ;
else if ((strcasecmp (mode, "high") == 0) || (strcasecmp (mode, "up") == 0))
fprintf (fd, "high\n") ;
else if ((strcasecmp (mode, "low") == 0) || (strcasecmp (mode, "down") == 0))
fprintf (fd, "low\n") ;
else
{
fprintf (stderr, "%s: Invalid mode: %s. Should be in, out, high or low\n", argv [1], mode) ;
exit (1) ;
}
fclose (fd) ;
// Change ownership so the current user can actually use it
sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
changeOwner (argv [0], fName) ;
sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
changeOwner (argv [0], fName) ;
}
/*
* doWfi:
* gpio wfi pin mode
* Wait for Interrupt on a given pin.
* Slight cheat here - it's easier to actually use ISR now (which calls
* gpio to set the pin modes!) then we simply sleep, and expect the thread
* to exit the program. Crude but effective.
*********************************************************************************
*/
static void wfi (void)
{ exit (0) ; }
void doWfi (int argc, char *argv [])
{
int pin, mode ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s wfi pin mode\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
/**/ if (strcasecmp (argv [3], "rising") == 0) mode = INT_EDGE_RISING ;
else if (strcasecmp (argv [3], "falling") == 0) mode = INT_EDGE_FALLING ;
else if (strcasecmp (argv [3], "both") == 0) mode = INT_EDGE_BOTH ;
else
{
fprintf (stderr, "%s: wfi: Invalid mode: %s. Should be rising, falling or both\n", argv [1], argv [3]) ;
exit (1) ;
}
if (wiringPiISR (pin, mode, &wfi) < 0)
{
fprintf (stderr, "%s: wfi: Unable to setup ISR: %s\n", argv [1], strerror (errno)) ;
exit (1) ;
}
for (;;)
delay (9999) ;
}
/*
* doEdge:
* gpio edge pin mode
* Easy access to changing the edge trigger on a GPIO pin
* This uses the /sys/class/gpio device interface.
*********************************************************************************
*/
void doEdge (int argc, char *argv [])
{
FILE *fd ;
int pin ;
char *mode ;
char fName [128] ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s edge pin mode\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
mode = argv [3] ;
// Export the pin and set direction to input
if ((fd = fopen ("/sys/class/gpio/export", "w")) == NULL)
{
fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ;
exit (1) ;
}
fprintf (fd, "%d\n", pin) ;
fclose (fd) ;
sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin) ;
if ((fd = fopen (fName, "w")) == NULL)
{
fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
exit (1) ;
}
fprintf (fd, "in\n") ;
fclose (fd) ;
sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
if ((fd = fopen (fName, "w")) == NULL)
{
fprintf (stderr, "%s: Unable to open GPIO edge interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
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") ;
else
{
fprintf (stderr, "%s: Invalid mode: %s. Should be none, rising, falling or both\n", argv [1], mode) ;
exit (1) ;
}
// 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) ;
changeOwner (argv [0], fName) ;
sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
changeOwner (argv [0], fName) ;
fclose (fd) ;
}
/*
* doUnexport:
* gpio unexport pin
* This uses the /sys/class/gpio device interface.
*********************************************************************************
*/
void doUnexport (int argc, char *argv [])
{
FILE *fd ;
int pin ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s unexport pin\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
if ((fd = fopen ("/sys/class/gpio/unexport", "w")) == NULL)
{
fprintf (stderr, "%s: Unable to open GPIO export interface\n", argv [0]) ;
exit (1) ;
}
fprintf (fd, "%d\n", pin) ;
fclose (fd) ;
}
/*
* doUnexportAll:
* gpio unexportall
* Un-Export all the GPIO pins.
* This uses the /sys/class/gpio device interface.
*********************************************************************************
*/
void doUnexportall (char *progName)
{
FILE *fd ;
int pin ;
for (pin = 0 ; pin < 63 ; ++pin)
{
if ((fd = fopen ("/sys/class/gpio/unexport", "w")) == NULL)
{
fprintf (stderr, "%s: Unable to open GPIO export interface\n", progName) ;
exit (1) ;
}
fprintf (fd, "%d\n", pin) ;
fclose (fd) ;
}
}
/*
* doReset:
* Reset the GPIO pins - as much as we can do
*********************************************************************************
*/
static void doReset (char *progName)
{
printf ("GPIO Reset is dangerous and has been removed from the gpio command.\n") ;
printf (" - Please write a shell-script to reset the GPIO pins into the state\n") ;
printf (" that you need them in for your applications.\n") ;
}
/*
* doMode:
* gpio mode pin mode ...
*********************************************************************************
*/
void doMode (int argc, char *argv [])
{
int pin ;
char *mode ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s mode pin mode\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
mode = argv [3] ;
/**/ if (strcasecmp (mode, "in") == 0) pinMode (pin, INPUT) ;
else if (strcasecmp (mode, "input") == 0) pinMode (pin, INPUT) ;
else if (strcasecmp (mode, "out") == 0) pinMode (pin, OUTPUT) ;
else if (strcasecmp (mode, "output") == 0) pinMode (pin, OUTPUT) ;
else if (strcasecmp (mode, "pwm") == 0) pinMode (pin, PWM_OUTPUT) ;
else if (strcasecmp (mode, "pwmTone") == 0) pinMode (pin, PWM_TONE_OUTPUT) ;
else if (strcasecmp (mode, "clock") == 0) pinMode (pin, GPIO_CLOCK) ;
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 if (strcasecmp (mode, "off") == 0) pullUpDnControl (pin, PUD_OFF) ;
else if (strcasecmp (mode, "alt0") == 0) pinModeAlt (pin, 0b100) ;
else if (strcasecmp (mode, "alt1") == 0) pinModeAlt (pin, 0b101) ;
else if (strcasecmp (mode, "alt2") == 0) pinModeAlt (pin, 0b110) ;
else if (strcasecmp (mode, "alt3") == 0) pinModeAlt (pin, 0b111) ;
else if (strcasecmp (mode, "alt4") == 0) pinModeAlt (pin, 0b011) ;
else if (strcasecmp (mode, "alt5") == 0) pinModeAlt (pin, 0b010) ;
else
{
fprintf (stderr, "%s: Invalid mode: %s. Should be in/out/pwm/clock/up/down/tri\n", argv [1], mode) ;
exit (1) ;
}
}
/*
* 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) ;
}
/*
* doUsbP:
* Control USB Power - High (1.2A) or Low (600mA)
* gpio usbp high/low
*********************************************************************************
*/
static void doUsbP (int argc, char *argv [])
{
int model, rev, mem, maker, overVolted ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s usbp high|low\n", argv [0]) ;
exit (1) ;
}
// Make sure we're on a B+
piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
if (!((model == PI_MODEL_BP) || (model == PI_MODEL_2)))
{
fprintf (stderr, "USB power contol is applicable to B+ and v2 boards only.\n") ;
exit (1) ;
}
// Make sure we start in BCM_GPIO mode
wiringPiSetupGpio () ;
if ((strcasecmp (argv [2], "high") == 0) || (strcasecmp (argv [2], "hi") == 0))
{
digitalWrite (PI_USB_POWER_CONTROL, 1) ;
pinMode (PI_USB_POWER_CONTROL, OUTPUT) ;
printf ("Switched to HIGH current USB (1.2A)\n") ;
return ;
}
if ((strcasecmp (argv [2], "low") == 0) || (strcasecmp (argv [2], "lo") == 0))
{
digitalWrite (PI_USB_POWER_CONTROL, 0) ;
pinMode (PI_USB_POWER_CONTROL, OUTPUT) ;
printf ("Switched to LOW current USB (600mA)\n") ;
return ;
}
fprintf (stderr, "Usage: %s usbp high|low\n", argv [0]) ;
exit (1) ;
}
/*
* doGbw:
* gpio gbw channel value
* Gertboard Write - To the Analog output
*********************************************************************************
*/
static void doGbw (int argc, char *argv [])
{
int channel, value ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s gbw <channel> <value>\n", argv [0]) ;
exit (1) ;
}
channel = atoi (argv [2]) ;
value = atoi (argv [3]) ;
if ((channel < 0) || (channel > 1))
{
fprintf (stderr, "%s: gbw: Channel number must be 0 or 1\n", argv [0]) ;
exit (1) ;
}
if ((value < 0) || (value > 255))
{
fprintf (stderr, "%s: gbw: Value must be from 0 to 255\n", argv [0]) ;
exit (1) ;
}
if (gertboardAnalogSetup (64) < 0)
{
fprintf (stderr, "Unable to initialise the Gertboard SPI interface: %s\n", strerror (errno)) ;
exit (1) ;
}
analogWrite (64 + channel, value) ;
}
/*
* doGbr:
* gpio gbr channel
* From the analog input
*********************************************************************************
*/
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: gbr: Channel number must be 0 or 1\n", argv [0]) ;
exit (1) ;
}
if (gertboardAnalogSetup (64) < 0)
{
fprintf (stderr, "Unable to initialise the Gertboard SPI interface: %s\n", strerror (errno)) ;
exit (1) ;
}
printf ("%d\n", analogRead (64 + channel)) ;
}
/*
* doWrite:
* gpio write pin value
*********************************************************************************
*/
static void doWrite (int argc, char *argv [])
{
int pin, val ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s write pin value\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
/**/ if ((strcasecmp (argv [3], "up") == 0) || (strcasecmp (argv [3], "on") == 0))
val = 1 ;
else if ((strcasecmp (argv [3], "down") == 0) || (strcasecmp (argv [3], "off") == 0))
val = 0 ;
else
val = atoi (argv [3]) ;
/**/ if (val == 0)
digitalWrite (pin, LOW) ;
else
digitalWrite (pin, HIGH) ;
}
/*
* doAwriterite:
* gpio awrite pin value
*********************************************************************************
*/
static void doAwrite (int argc, char *argv [])
{
int pin, val ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s awrite pin value\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
val = atoi (argv [3]) ;
analogWrite (pin, val) ;
}
/*
* doWriteByte:
* gpio wb value
*********************************************************************************
*/
static void doWriteByte (int argc, char *argv [])
{
int val ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s wb value\n", argv [0]) ;
exit (1) ;
}
val = (int)strtol (argv [2], NULL, 0) ;
digitalWriteByte (val) ;
}
/*
* doReadByte:
* gpio rbx|rbd value
*********************************************************************************
*/
static void doReadByte (int argc, char *argv [], int printHex)
{
int val ;
if (argc != 2)
{
fprintf (stderr, "Usage: %s rbx|rbd\n", argv [0]) ;
exit (1) ;
}
val = digitalReadByte () ;
if (printHex)
printf ("%02X\n", val) ;
else
printf ("%d\n", val) ;
}
/*
* doRead:
* Read a pin and return the value
*********************************************************************************
*/
void doRead (int argc, char *argv [])
{
int pin, val ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s read pin\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
val = digitalRead (pin) ;
printf ("%s\n", val == 0 ? "0" : "1") ;
}
/*
* doAread:
* Read an analog pin and return the value
*********************************************************************************
*/
void doAread (int argc, char *argv [])
{
if (argc != 3)
{
fprintf (stderr, "Usage: %s aread pin\n", argv [0]) ;
exit (1) ;
}
printf ("%d\n", analogRead (atoi (argv [2]))) ;
}
/*
* doToggle:
* Toggle an IO pin
*********************************************************************************
*/
void doToggle (int argc, char *argv [])
{
int pin ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s toggle pin\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
digitalWrite (pin, !digitalRead (pin)) ;
}
/*
* doBlink:
* Blink an IO pin
*********************************************************************************
*/
void doBlink (int argc, char *argv [])
{
int pin ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s blink pin\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
pinMode (pin, OUTPUT) ;
for (;;)
{
digitalWrite (pin, !digitalRead (pin)) ;
delay (500) ;
}
}
/*
* doPwmTone:
* Output a tone in a PWM pin
*********************************************************************************
*/
void doPwmTone (int argc, char *argv [])
{
int pin, freq ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s pwmTone <pin> <freq>\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
freq = atoi (argv [3]) ;
pwmToneWrite (pin, freq) ;
}
/*
* doClock:
* Output a clock on a pin
*********************************************************************************
*/
void doClock (int argc, char *argv [])
{
int pin, freq ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s clock <pin> <freq>\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
freq = atoi (argv [3]) ;
gpioClockSet (pin, freq) ;
}
/*
* doPwm:
* Output a PWM value on a pin
*********************************************************************************
*/
void doPwm (int argc, char *argv [])
{
int pin, val ;
if (argc != 4)
{
fprintf (stderr, "Usage: %s pwm <pin> <value>\n", argv [0]) ;
exit (1) ;
}
pin = atoi (argv [2]) ;
val = atoi (argv [3]) ;
pwmWrite (pin, val) ;
}
/*
* doPwmMode: doPwmRange: doPwmClock:
* Change the PWM mode, range and clock divider 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) ;
}
static void doPwmClock (int argc, char *argv [])
{
unsigned int clock ;
if (argc != 3)
{
fprintf (stderr, "Usage: %s pwmc <clock>\n", argv [0]) ;
exit (1) ;
}
clock = (unsigned int)strtoul (argv [2], NULL, 10) ;
if ((clock < 1) || (clock > 4095))
{
fprintf (stderr, "%s: clock must be between 0 and 4096\n", argv [0]) ;
exit (1) ;
}
pwmSetClock (clock) ;
}
/*
* doVersion:
* Handle the ever more complicated version command and print out
* some usefull information.
*********************************************************************************
*/
static void doVersion (char *argv [])
{
int model, rev, mem, maker, warranty ;
struct stat statBuf ;
char name [80] ;
FILE *fd ;
printf ("gpio version: %s\n", VERSION) ;
printf ("Copyright (c) 2012-2015 Gordon Henderson\n") ;
printf ("This is free software with ABSOLUTELY NO WARRANTY.\n") ;
printf ("For details type: %s -warranty\n", argv [0]) ;
printf ("\n") ;
piBoardId (&model, &rev, &mem, &maker, &warranty) ;
printf ("Raspberry Pi Details:\n") ;
printf (" Type: %s, Revision: %s, Memory: %dMB, Maker: %s %s\n",
piModelNames [model], piRevisionNames [rev], piMemorySize [mem], piMakerNames [maker], warranty ? "[Out of Warranty]" : "") ;
// Check for device tree
if (stat ("/proc/device-tree", &statBuf) == 0) // We're on a devtree system ...
printf (" * Device tree is enabled.\n") ;
if (stat ("/proc/device-tree/model", &statBuf) == 0) // Output Kernel idea of board type
{
if ((fd = fopen ("/proc/device-tree/model", "r")) != NULL)
{
fgets (name, 80, fd) ;
fclose (fd) ;
printf (" *--> %s\n", name) ;
}
}
if (stat ("/dev/gpiomem", &statBuf) == 0) // User level GPIO is GO
printf (" * This Raspberry Pi supports user-level GPIO access.\n") ;
else
printf (" * Root or sudo required for GPIO access.\n") ;
}
/*
* main:
* Start here
*********************************************************************************
*/
int main (int argc, char *argv [])
{
int i ;
if (getenv ("WIRINGPI_DEBUG") != NULL)
{
printf ("gpio: wiringPi debug mode enabled\n") ;
wiringPiDebug = TRUE ;
}
if (argc == 1)
{
fprintf (stderr, "%s\n", usage) ;
return 1 ;
}
// Help
if (strcasecmp (argv [1], "-h") == 0)
{
printf ("%s: %s\n", argv [0], usage) ;
return 0 ;
}
// Version & Warranty
// Wish I could remember why I have both -R and -V ...
if ((strcmp (argv [1], "-R") == 0) || (strcmp (argv [1], "-V") == 0))
{
printf ("%d\n", piGpioLayout ()) ;
return 0 ;
}
// Version and information
if (strcmp (argv [1], "-v") == 0)
{
doVersion (argv) ;
return 0 ;
}
if (strcasecmp (argv [1], "-warranty") == 0)
{
printf ("gpio version: %s\n", VERSION) ;
printf ("Copyright (c) 2012-2015 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 (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], "unexport" ) == 0) { doUnexport (argc, argv) ; return 0 ; }
else if (strcasecmp (argv [1], "unexportall") == 0) { doUnexportall (argv [0]) ; return 0 ; }
// Check for load command:
if (strcasecmp (argv [1], "load" ) == 0) { doLoad (argc, argv) ; return 0 ; }
if (strcasecmp (argv [1], "unload" ) == 0) { doUnLoad (argc, argv) ; return 0 ; }
// Check for usb power command
if (strcasecmp (argv [1], "usbp" ) == 0) { doUsbP (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 allreadall command, force Gpio mode
if (strcasecmp (argv [1], "allreadall") == 0)
{
wiringPiSetupGpio () ;
doAllReadall () ;
return 0 ;
}
// Check for -g argument
/**/ if (strcasecmp (argv [1], "-g") == 0)
{
wiringPiSetupGpio () ;
for (i = 2 ; i < argc ; ++i)
argv [i - 1] = argv [i] ;
--argc ;
wpMode = WPI_MODE_GPIO ;
}
// Check for -1 argument
else if (strcasecmp (argv [1], "-1") == 0)
{
wiringPiSetupPhys () ;
for (i = 2 ; i < argc ; ++i)
argv [i - 1] = argv [i] ;
--argc ;
wpMode = WPI_MODE_PHYS ;
}
// Check for -p argument for PiFace
else if (strcasecmp (argv [1], "-p") == 0)
{
piFaceSetup (200) ;
for (i = 2 ; i < argc ; ++i)
argv [i - 1] = argv [i] ;
--argc ;
wpMode = WPI_MODE_PIFACE ;
}
// Default to wiringPi mode
else
{
wiringPiSetup () ;
wpMode = WPI_MODE_PINS ;
}
// Check for -x argument to load in a new extension
if (strcasecmp (argv [1], "-x") == 0)
{
if (argc < 3)
{
fprintf (stderr, "%s: -x missing extension specification.\n", argv [0]) ;
exit (EXIT_FAILURE) ;
}
if (!loadWPiExtension (argv [0], argv [2], TRUE)) // Prints its own error messages
exit (EXIT_FAILURE) ;
for (i = 3 ; i < argc ; ++i)
argv [i - 2] = argv [i] ;
argc -= 2 ;
}
if (argc <= 1)
{
fprintf (stderr, "%s: no command given\n", argv [0]) ;
exit (EXIT_FAILURE) ;
}
// Core wiringPi functions
/**/ if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ;
else 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], "awrite" ) == 0) doAwrite (argc, argv) ;
else if (strcasecmp (argv [1], "aread" ) == 0) doAread (argc, argv) ;
// GPIO Nicies
else if (strcasecmp (argv [1], "toggle" ) == 0) doToggle (argc, argv) ;
else if (strcasecmp (argv [1], "blink" ) == 0) doBlink (argc, argv) ;
// Pi Specifics
else if (strcasecmp (argv [1], "pwm-bal" ) == 0) doPwmMode (PWM_MODE_BAL) ;
else if (strcasecmp (argv [1], "pwm-ms" ) == 0) doPwmMode (PWM_MODE_MS) ;
else if (strcasecmp (argv [1], "pwmr" ) == 0) doPwmRange (argc, argv) ;
else if (strcasecmp (argv [1], "pwmc" ) == 0) doPwmClock (argc, argv) ;
else if (strcasecmp (argv [1], "pwmTone" ) == 0) doPwmTone (argc, argv) ;
else if (strcasecmp (argv [1], "drive" ) == 0) doPadDrive (argc, argv) ;
else if (strcasecmp (argv [1], "readall" ) == 0) doReadall () ;
else if (strcasecmp (argv [1], "nreadall" ) == 0) doReadall () ;
else if (strcasecmp (argv [1], "pins" ) == 0) doPins () ;
else if (strcasecmp (argv [1], "i2cdetect") == 0) doI2Cdetect (argc, argv) ;
else if (strcasecmp (argv [1], "i2cd" ) == 0) doI2Cdetect (argc, argv) ;
else if (strcasecmp (argv [1], "reset" ) == 0) doReset (argv [0]) ;
else if (strcasecmp (argv [1], "wb" ) == 0) doWriteByte (argc, argv) ;
else if (strcasecmp (argv [1], "rbx" ) == 0) doReadByte (argc, argv, TRUE) ;
else if (strcasecmp (argv [1], "rbd" ) == 0) doReadByte (argc, argv, FALSE) ;
else if (strcasecmp (argv [1], "clock" ) == 0) doClock (argc, argv) ;
else if (strcasecmp (argv [1], "wfi" ) == 0) doWfi (argc, argv) ;
else
{
fprintf (stderr, "%s: Unknown command: %s.\n", argv [0], argv [1]) ;
exit (EXIT_FAILURE) ;
}
return 0 ;
}
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