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V21

This commit is contained in:
joan 2014-09-03 19:52:48 +01:00
parent dcacaec554
commit 167f0fc8c1
13 changed files with 708 additions and 423 deletions
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3
MakeRemote
View File

@ -23,7 +23,8 @@ install: $(LIB)
sudo install -m 0644 libpigpiod_if.a /usr/local/lib sudo install -m 0644 libpigpiod_if.a /usr/local/lib
sudo install -m 0755 -d /usr/local/bin sudo install -m 0755 -d /usr/local/bin
sudo install -m 0755 pigs /usr/local/bin sudo install -m 0755 pigs /usr/local/bin
sudo python setup.py install sudo python2 setup.py install
sudo python3 setup.py install
sudo install -m 0755 -d /usr/local/man/man1 sudo install -m 0755 -d /usr/local/man/man1
sudo install -m 0644 *.1 /usr/local/man/man1 sudo install -m 0644 *.1 /usr/local/man/man1
sudo install -m 0755 -d /usr/local/man/man3 sudo install -m 0755 -d /usr/local/man/man3

5
command.c
View File

@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
*/ */
/* /*
This version is for pigpio version 18+ This version is for pigpio version 21+
*/ */
#include <stdio.h> #include <stdio.h>
@ -454,6 +454,9 @@ static errInfo_t errInfo[]=
{PI_SER_READ_FAILED , "ser read failed"}, {PI_SER_READ_FAILED , "ser read failed"},
{PI_SER_READ_NO_DATA , "ser read no data available"}, {PI_SER_READ_NO_DATA , "ser read no data available"},
{PI_UNKNOWN_COMMAND , "unknown command"}, {PI_UNKNOWN_COMMAND , "unknown command"},
{PI_SPI_XFER_FAILED , "spi xfer/read/write failed"},
{PI_BAD_POINTER , "bad (NULL) pointer"},
{PI_NO_AUX_SPI , "need a B+ for auxiliary SPI"},
}; };

140
pigpio.3
View File

@ -2370,6 +2370,13 @@ active low chip select.
.br .br
.br
An auxiliary SPI device is available on the B+ and may be
selected by setting the A bit in the flags. The auxiliary
device has 3 chip selects and a selectable word size in bits.
.br
.br .br
.EX .EX
@ -2377,7 +2384,7 @@ active low chip select.
.br .br
spiBaud: >1 spiBaud: >1
.br .br
spiFlags: 0-0xFF spiFlags: see below
.br .br
.EE .EE
@ -2386,21 +2393,21 @@ spiFlags: 0-0xFF
.br .br
Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL,
PI_BAD_SPI_SPEED, PI_BAD_FLAGS, or PI_SPI_OPEN_FAILED. PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED.
.br .br
.br .br
spiFlags consists of the least significant 8 bits. spiFlags consists of the least significant 22 bits.
.br .br
.br .br
.EX .EX
7 6 5 4 3 2 1 0 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
.br .br
n n n n W P m m b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
.br .br
.EE .EE
@ -2431,19 +2438,51 @@ Mode POL PHA
.br .br
.br .br
P is 0 for active low chip select (normal) and 1 for active high. px is 0 if CEx is active low (default) and 1 for active high.
.br .br
.br .br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. ux is 0 if the CEx gpio is reserved for SPI (default) and 1 otherwise.
.br
.br
A is 0 for the standard SPI device, 1 for the auxiliary SPI. The
auxiliary device is only present on the B+.
.br
.br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard
SPI device only.
.br .br
.br .br
nnnn defines the number of bytes (0-15) to write before switching nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored the MOSI line to MISO to read data. This field is ignored
if W is not set. if W is not set. Standard SPI device only.
.br
.br
T is 1 if the least significant bit is transmitted on MOSI first, the
default (0) shifts the most significant bit out first. Auxiliary SPI
device only.
.br
.br
R is 1 if the least significant bit is received on MISO first, the
default (0) receives the most significant bit first. Auxiliary SPI
device only.
.br
.br
bbbbbb defines the word size in bits (0-32). The default (0)
sets 8 bits per word. Auxiliary SPI device only.
.br .br
@ -3611,7 +3650,7 @@ Returns the actual length of the delay in microseconds.
.br .br
.br .br
Delays of 50 microseconds or less use busy waits. Delays of 100 microseconds or less use busy waits.
.IP "\fBuint32_t gpioTick(void)\fP" .IP "\fBuint32_t gpioTick(void)\fP"
.IP "" 4 .IP "" 4
@ -4728,6 +4767,26 @@ typedef struct
.br .br
.IP "\fBgpioSample_t\fP" 0
.EX
typedef struct
.br
{
.br
uint32_t tick;
.br
uint32_t level;
.br
} gpioSample_t;
.br
.EE
.br
.br
.IP "\fBgpioSignalFunc_t\fP" 0 .IP "\fBgpioSignalFunc_t\fP" 0
.EX .EX
@ -5195,7 +5254,7 @@ PI_PUD_UP 2
.br .br
.br .br
An array of pulsed to be added to a waveform. An array of pulses to be added to a waveform.
.br .br
@ -5519,64 +5578,7 @@ A SPI channel, 0 or 1.
.br .br
.br .br
spiFlags consists of the least significant 8 bits. See \fBspiOpen\fP.
.br
.br
.EX
7 6 5 4 3 2 1 0
.br
n n n n W P m m
.br
.EE
.br
.br
mm defines the SPI mode.
.br
.br
.EX
Mode POL PHA
.br
0 0 0
.br
1 0 1
.br
2 1 0
.br
3 1 1
.br
.EE
.br
.br
P is 0 for active low chip select (normal) and 1 for active high.
.br
.br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
.br
.br
nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored
if W is not set.
.br
.br
The other bits in flags should be set to zero.
.br .br
@ -6174,6 +6176,8 @@ A 16-bit word value.
.br .br
#define PI_BAD_POINTER -90 // bad (NULL) pointer #define PI_BAD_POINTER -90 // bad (NULL) pointer
.br .br
#define PI_NO_AUX_SPI -91 // need a B+ for auxiliary SPI
.br
.br .br

427
pigpio.c
View File

@ -25,7 +25,7 @@ OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to <http://unlicense.org/> For more information, please refer to <http://unlicense.org/>
*/ */
/* pigpio version 20 */ /* pigpio version 21 */
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
@ -286,6 +286,7 @@ bit 0 READ_LAST_NOT_SET_ERROR
#define DMA_BUS_ADR 0x40000000 #define DMA_BUS_ADR 0x40000000
#define AUX_BASE 0x20215000
#define CLK_BASE 0x20101000 #define CLK_BASE 0x20101000
#define DMA_BASE 0x20007000 #define DMA_BASE 0x20007000
#define DMA15_BASE 0x20E05000 #define DMA15_BASE 0x20E05000
@ -294,9 +295,8 @@ bit 0 READ_LAST_NOT_SET_ERROR
#define PWM_BASE 0x2020C000 #define PWM_BASE 0x2020C000
#define SPI_BASE 0x20204000 #define SPI_BASE 0x20204000
#define SYST_BASE 0x20003000 #define SYST_BASE 0x20003000
#define UART0_BASE 0x20201000
#define UART1_BASE 0x20215000
#define AUX_LEN 0xD8
#define CLK_LEN 0xA8 #define CLK_LEN 0xA8
#define DMA_LEN 0x1000 /* allow access to all channels */ #define DMA_LEN 0x1000 /* allow access to all channels */
#define GPIO_LEN 0xB4 #define GPIO_LEN 0xB4
@ -493,9 +493,7 @@ bit 0 READ_LAST_NOT_SET_ERROR
#define SPI_CS_LEN_LONG (1<<25) #define SPI_CS_LEN_LONG (1<<25)
#define SPI_CS_DMA_LEN (1<<24) #define SPI_CS_DMA_LEN (1<<24)
#define SPI_CS_CSPOL2 (1<<23) #define SPI_CS_CSPOLS(x) ((x)<<21)
#define SPI_CS_CSPOL1 (1<<22)
#define SPI_CS_CSPOL0 (1<<21)
#define SPI_CS_RXF (1<<20) #define SPI_CS_RXF (1<<20)
#define SPI_CS_RXR (1<<19) #define SPI_CS_RXR (1<<19)
#define SPI_CS_TXD (1<<18) #define SPI_CS_TXD (1<<18)
@ -527,7 +525,7 @@ bit 0 READ_LAST_NOT_SET_ERROR
#define SPI_CS1 1 #define SPI_CS1 1
#define SPI_CS2 2 #define SPI_CS2 2
/* SPI gpios. */ /* standard SPI gpios (ALT0) */
#define PI_SPI_CE0 8 #define PI_SPI_CE0 8
#define PI_SPI_CE1 7 #define PI_SPI_CE1 7
@ -535,6 +533,80 @@ bit 0 READ_LAST_NOT_SET_ERROR
#define PI_SPI_MISO 9 #define PI_SPI_MISO 9
#define PI_SPI_MOSI 10 #define PI_SPI_MOSI 10
/* auxiliary SPI gpios (ALT4) */
#define PI_ASPI_CE0 18
#define PI_ASPI_CE1 17
#define PI_ASPI_CE2 16
#define PI_ASPI_MISO 19
#define PI_ASPI_MOSI 20
#define PI_ASPI_SCLK 21
/* AUX */
#define AUX_IRQ 0
#define AUX_ENABLES 1
#define AUX_MU_IO_REG 16
#define AUX_MU_IER_REG 17
#define AUX_MU_IIR_REG 18
#define AUX_MU_LCR_REG 19
#define AUX_MU_MCR_REG 20
#define AUX_MU_LSR_REG 21
#define AUX_MU_MSR_REG 22
#define AUX_MU_SCRATCH 23
#define AUX_MU_CNTL_REG 24
#define AUX_MU_STAT_REG 25
#define AUX_MU_BAUD_REG 26
#define AUX_SPI0_CNTL0_REG 32
#define AUX_SPI0_CNTL1_REG 33
#define AUX_SPI0_STAT_REG 34
#define AUX_SPI0_PEEK_REG 35
#define AUX_SPI0_IO_REG 40
#define AUX_SPI0_TX_HOLD 44
#define AUX_SPI1_CNTL0_REG 48
#define AUX_SPI1_CNTL1_REG 49
#define AUX_SPI1_STAT_REG 50
#define AUX_SPI1_PEEK_REG 51
#define AUX_SPI1_IO_REG 56
#define AUX_SPI1_TX_HOLD 60
#define AUXENB_SPI2 (1<<2)
#define AUXENB_SPI1 (1<<1)
#define AUXENB_UART (1<<0)
#define AUXSPI_CNTL0_SPEED(x) ((x)<<20)
#define AUXSPI_CNTL0_CS(x) ((x)<<17)
#define AUXSPI_CNTL0_POSTINP (1<<16)
#define AUXSPI_CNTL0_VAR_CS (1<<15)
#define AUXSPI_CNTL0_VAR_WIDTH (1<<14)
#define AUXSPI_CNTL0_DOUT_HOLD(x) ((x)<<12)
#define AUXSPI_CNTL0_ENABLE (1<<11)
#define AUXSPI_CNTL0_IN_RISING(x) ((x)<<10)
#define AUXSPI_CNTL0_CLR_FIFOS (1<<9)
#define AUXSPI_CNTL0_OUT_RISING(x) ((x)<<8)
#define AUXSPI_CNTL0_INVERT_CLK(x) ((x)<<7)
#define AUXSPI_CNTL0_MSB_FIRST(x) ((x)<<6)
#define AUXSPI_CNTL0_SHIFT_LEN(x) ((x)<<0)
#define AUXSPI_CNTL1_CS_HIGH(x) ((x)<<8)
#define AUXSPI_CNTL1_TX_IRQ (1<<7)
#define AUXSPI_CNTL1_DONE_IRQ (1<<6)
#define AUXSPI_CNTL1_MSB_FIRST(x)((x)<<1)
#define AUXSPI_CNTL1_KEEP_INPUT (1<<0)
#define AUXSPI_STAT_TX_FIFO(x) ((x)<<28)
#define AUXSPI_STAT_RX_FIFO(x) ((x)<<20)
#define AUXSPI_STAT_TX_FULL (1<<10)
#define AUXSPI_STAT_TX_EMPTY (1<<9)
#define AUXSPI_STAT_RX_EMPTY (1<<7)
#define AUXSPI_STAT_BUSY (1<<6)
#define AUXSPI_STAT_BITS(x) ((x)<<0)
/* --------------------------------------------------------------- */ /* --------------------------------------------------------------- */
#define NORMAL_DMA (DMA_NO_WIDE_BURSTS | DMA_WAIT_RESP) #define NORMAL_DMA (DMA_NO_WIDE_BURSTS | DMA_WAIT_RESP)
@ -781,6 +853,19 @@ typedef struct
uint32_t flags; uint32_t flags;
} spiInfo_t; } spiInfo_t;
#define PI_SPI_FLAGS_CHANNEL(x) ((x&7)<<29)
#define PI_SPI_FLAGS_GET_CHANNEL(x) (((x)>>29)&7)
#define PI_SPI_FLAGS_GET_BITLEN(x) (((x)>>16)&63)
#define PI_SPI_FLAGS_GET_RX_LSB(x) (((x)>>15)&1)
#define PI_SPI_FLAGS_GET_TX_LSB(x) (((x)>>14)&1)
#define PI_SPI_FLAGS_GET_3WREN(x) (((x)>>10)&15)
#define PI_SPI_FLAGS_GET_3WIRE(x) (((x)>>9)&1)
#define PI_SPI_FLAGS_GET_AUX_SPI(x) (((x)>>8)&1)
#define PI_SPI_FLAGS_GET_RESVD(x) (((x)>>5)&7)
#define PI_SPI_FLAGS_GET_CSPOLS(x) (((x)>>2)&7)
#define PI_SPI_FLAGS_GET_MODE(x) ((x)&3)
typedef struct typedef struct
{ {
uint32_t startTick; uint32_t startTick;
@ -982,6 +1067,7 @@ static dmaIPage_t * * dmaIPhys = MAP_FAILED;
static dmaOPage_t * * dmaOVirt = MAP_FAILED; static dmaOPage_t * * dmaOVirt = MAP_FAILED;
static dmaOPage_t * * dmaOPhys = MAP_FAILED; static dmaOPage_t * * dmaOPhys = MAP_FAILED;
static volatile uint32_t * auxReg = MAP_FAILED;
static volatile uint32_t * clkReg = MAP_FAILED; static volatile uint32_t * clkReg = MAP_FAILED;
static volatile uint32_t * dmaReg = MAP_FAILED; static volatile uint32_t * dmaReg = MAP_FAILED;
static volatile uint32_t * gpioReg = MAP_FAILED; static volatile uint32_t * gpioReg = MAP_FAILED;
@ -2852,6 +2938,10 @@ int i2cClose(unsigned handle)
/* ======================================================================= */ /* ======================================================================= */
/*SPI */
static uint32_t spi_dummy; /* only used to prevent warning */
static unsigned old_mode_ce0; static unsigned old_mode_ce0;
static unsigned old_mode_ce1; static unsigned old_mode_ce1;
static unsigned old_mode_sclk; static unsigned old_mode_sclk;
@ -2861,30 +2951,102 @@ static unsigned old_mode_mosi;
static uint32_t old_spi_cs; static uint32_t old_spi_cs;
static uint32_t old_spi_clk; static uint32_t old_spi_clk;
static uint32_t spi_dummy; /* only used to prevent warning */ static unsigned old_mode_ace0;
static unsigned old_mode_ace1;
static unsigned old_mode_ace2;
static unsigned old_mode_asclk;
static unsigned old_mode_amiso;
static unsigned old_mode_amosi;
static void spiInit(void) static uint32_t old_spi_cntl0;
static uint32_t old_spi_cntl1;
static void spiInit(uint32_t flags)
{ {
int resvd;
resvd = PI_SPI_FLAGS_GET_RESVD(flags);
if (PI_SPI_FLAGS_GET_AUX_SPI(flags))
{
/* enable module and access to registers */
auxReg[AUX_ENABLES] |= AUXENB_SPI1;
/* save original state */
old_mode_ace0 = gpioGetMode(PI_ASPI_CE0);
old_mode_ace1 = gpioGetMode(PI_ASPI_CE1);
old_mode_ace2 = gpioGetMode(PI_ASPI_CE2);
old_mode_asclk = gpioGetMode(PI_ASPI_SCLK);
old_mode_amiso = gpioGetMode(PI_ASPI_MISO);
old_mode_amosi = gpioGetMode(PI_ASPI_MOSI);
old_spi_cntl0 = auxReg[AUX_SPI0_CNTL0_REG];
old_spi_cntl1 = auxReg[AUX_SPI0_CNTL1_REG];
/* set gpios to SPI mode */
if (!(resvd&1)) gpioSetMode(PI_ASPI_CE0, PI_ALT4);
if (!(resvd&2)) gpioSetMode(PI_ASPI_CE1, PI_ALT4);
if (!(resvd&4)) gpioSetMode(PI_ASPI_CE2, PI_ALT4);
gpioSetMode(PI_ASPI_SCLK, PI_ALT4);
gpioSetMode(PI_ASPI_MISO, PI_ALT4);
gpioSetMode(PI_ASPI_MOSI, PI_ALT4);
}
else
{
/* save original state */
old_mode_ce0 = gpioGetMode(PI_SPI_CE0); old_mode_ce0 = gpioGetMode(PI_SPI_CE0);
old_mode_ce1 = gpioGetMode(PI_SPI_CE1); old_mode_ce1 = gpioGetMode(PI_SPI_CE1);
old_mode_sclk = gpioGetMode(PI_SPI_SCLK); old_mode_sclk = gpioGetMode(PI_SPI_SCLK);
old_mode_miso = gpioGetMode(PI_SPI_MISO); old_mode_miso = gpioGetMode(PI_SPI_MISO);
old_mode_mosi = gpioGetMode(PI_SPI_MOSI); old_mode_mosi = gpioGetMode(PI_SPI_MOSI);
gpioSetMode(PI_SPI_CE0, PI_ALT0); old_spi_cs = spiReg[SPI_CS];
gpioSetMode(PI_SPI_CE1, PI_ALT0); old_spi_clk = spiReg[SPI_CLK];
/* set gpios to SPI mode */
if (!(resvd&1)) gpioSetMode(PI_SPI_CE0, PI_ALT0);
if (!(resvd&2)) gpioSetMode(PI_SPI_CE1, PI_ALT0);
gpioSetMode(PI_SPI_SCLK, PI_ALT0); gpioSetMode(PI_SPI_SCLK, PI_ALT0);
gpioSetMode(PI_SPI_MISO, PI_ALT0); gpioSetMode(PI_SPI_MISO, PI_ALT0);
gpioSetMode(PI_SPI_MOSI, PI_ALT0); gpioSetMode(PI_SPI_MOSI, PI_ALT0);
}
old_spi_cs = spiReg[SPI_CS];
old_spi_clk = spiReg[SPI_CLK];
} }
static void spiTerm(void) void spiTerm(uint32_t flags)
{ {
gpioSetMode(PI_SPI_CE0, old_mode_ce0); int resvd;
gpioSetMode(PI_SPI_CE1, old_mode_ce1);
resvd = PI_SPI_FLAGS_GET_RESVD(flags);
if (PI_SPI_FLAGS_GET_AUX_SPI(flags))
{
/* restore original state */
if (!(resvd&1)) gpioSetMode(PI_ASPI_CE0, old_mode_ace0);
if (!(resvd&2)) gpioSetMode(PI_ASPI_CE1, old_mode_ace1);
if (!(resvd&4)) gpioSetMode(PI_ASPI_CE2, old_mode_ace2);
gpioSetMode(PI_ASPI_SCLK, old_mode_asclk);
gpioSetMode(PI_ASPI_MISO, old_mode_amiso);
gpioSetMode(PI_ASPI_MOSI, old_mode_amosi);
auxReg[AUX_SPI0_CNTL0_REG] = old_spi_cntl0;
auxReg[AUX_SPI0_CNTL1_REG] = old_spi_cntl1;
}
else
{
/* restore original state */
if (!(resvd&1)) gpioSetMode(PI_SPI_CE0, old_mode_ce0);
if (!(resvd&2)) gpioSetMode(PI_SPI_CE1, old_mode_ce1);
gpioSetMode(PI_SPI_SCLK, old_mode_sclk); gpioSetMode(PI_SPI_SCLK, old_mode_sclk);
gpioSetMode(PI_SPI_MISO, old_mode_miso); gpioSetMode(PI_SPI_MISO, old_mode_miso);
gpioSetMode(PI_SPI_MOSI, old_mode_mosi); gpioSetMode(PI_SPI_MOSI, old_mode_mosi);
@ -2892,21 +3054,120 @@ static void spiTerm(void)
spiReg[SPI_CS] = old_spi_cs; spiReg[SPI_CS] = old_spi_cs;
spiReg[SPI_CLK] = old_spi_clk; spiReg[SPI_CLK] = old_spi_clk;
} }
}
#define PI_SPI_FLAGS_CHAN(x) ((x)<<30) uint32_t _spiTXBits(char *buf, int pos, int bitlen, int msbf)
{
uint32_t bits=0;
/* if (buf)
3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 {
1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 if (bitlen <= 8) bits = *((( uint8_t*)buf)+pos);
C C - - - - - - - - - - - - - - - - - - - - - - N N N N 3 P M M else if (bitlen <= 16) bits = *(((uint16_t*)buf)+pos);
else bits = *(((uint32_t*)buf)+pos);
CC channel if (msbf) bits <<= (32-bitlen);
NNNN switch to 3-wire after NNNN bytes }
3 3-wire part
P CS polarity return bits;
MM mode }
*/
static void spiGo( void _spiRXBits(char *buf, int pos, int bitlen, int msbf, uint32_t bits)
{
if (buf)
{
if (!msbf) bits >>= (32-bitlen);
if (bitlen <= 8) *((( uint8_t*)buf)+pos) = bits;
else if (bitlen <= 16) *(((uint16_t*)buf)+pos) = bits;
else *(((uint32_t*)buf)+pos) = bits;
}
}
void spiGoA(
unsigned speed, /* bits per second */
uint32_t flags, /* flags */
char *txBuf, /* tx buffer */
char *rxBuf, /* rx buffer */
unsigned count) /* number of bytes */
{
char bit_cs;
char bit_ir[4] = {1, 0, 1, 0};
char bit_or[4] = {0, 1, 0, 1};
char bit_ic[4] = {0, 0, 1, 1};
int mode, bitlen, txmsbf, rxmsbf, channel;
unsigned txCnt=0;
unsigned rxCnt=0;
uint32_t spiDefaults;
uint32_t statusReg;
int txFull, rxEmpty;
channel = PI_SPI_FLAGS_GET_CHANNEL(flags);
mode = PI_SPI_FLAGS_GET_MODE (flags);
bitlen = PI_SPI_FLAGS_GET_BITLEN (flags);
if (!bitlen) bitlen = 8;
txmsbf = !PI_SPI_FLAGS_GET_TX_LSB (flags);
rxmsbf = !PI_SPI_FLAGS_GET_RX_LSB (flags);
bit_cs = ~PI_SPI_FLAGS_GET_CSPOLS(flags);
bit_cs = (1<<channel) ^ bit_cs;
bit_cs &= 7;
spiDefaults = AUXSPI_CNTL0_SPEED(125000000/speed) |
AUXSPI_CNTL0_CS(bit_cs) |
AUXSPI_CNTL0_IN_RISING(bit_ir[mode]) |
AUXSPI_CNTL0_OUT_RISING(bit_or[mode]) |
AUXSPI_CNTL0_INVERT_CLK(bit_ic[mode]) |
AUXSPI_CNTL0_MSB_FIRST(txmsbf) |
AUXSPI_CNTL0_SHIFT_LEN(bitlen);
auxReg[AUX_SPI0_CNTL0_REG] = AUXSPI_CNTL0_ENABLE | AUXSPI_CNTL0_CLR_FIFOS;
auxReg[AUX_SPI0_CNTL0_REG] = AUXSPI_CNTL0_ENABLE | spiDefaults;
auxReg[AUX_SPI0_CNTL1_REG] = AUXSPI_CNTL1_MSB_FIRST(rxmsbf);
while ((txCnt < count) || (rxCnt < count))
{
statusReg = auxReg[AUX_SPI0_STAT_REG];
rxEmpty = statusReg & AUXSPI_STAT_RX_EMPTY;
txFull = (((statusReg>>28)&15) > 2);
if (rxCnt < count)
{
if (!rxEmpty)
{
_spiRXBits(rxBuf, rxCnt++, bitlen, rxmsbf, auxReg[AUX_SPI0_IO_REG]);
}
}
if (txCnt < count)
{
if (!txFull)
{
if (txCnt != (count-1))
{
auxReg[AUX_SPI0_TX_HOLD] =
_spiTXBits(txBuf, txCnt++, bitlen, txmsbf);
}
else
{
auxReg[AUX_SPI0_IO_REG] =
_spiTXBits(txBuf, txCnt++, bitlen, txmsbf);
}
}
}
}
while ((auxReg[AUX_SPI0_STAT_REG] & AUXSPI_STAT_BUSY)) ;
auxReg[AUX_SPI0_CNTL0_REG] = spiDefaults; /* stop */
}
static void spiGoS(
unsigned speed, unsigned speed,
uint32_t flags, uint32_t flags,
char *txBuf, char *txBuf,
@ -2917,15 +3178,18 @@ static void spiGo(
unsigned rxCnt=0; unsigned rxCnt=0;
unsigned cnt, cnt4w, cnt3w; unsigned cnt, cnt4w, cnt3w;
uint32_t spiDefaults; uint32_t spiDefaults;
unsigned mode, channel, cspol, flag3w, ren3w; unsigned mode, channel, cspol, cspols, flag3w, ren3w;
uint32_t status;
mode = flags & 3; channel = PI_SPI_FLAGS_GET_CHANNEL(flags);
cspol = (flags >> 2) & 1; mode = PI_SPI_FLAGS_GET_MODE (flags);
flag3w = (flags >> 3) & 1; cspols = PI_SPI_FLAGS_GET_CSPOLS(flags);
ren3w = (flags >> 4) & 15; cspol = (cspols>>channel) & 1;
channel = (flags >> 30) & 3; flag3w = PI_SPI_FLAGS_GET_3WIRE(flags);
ren3w = PI_SPI_FLAGS_GET_3WREN(flags);
spiDefaults = SPI_CS_MODE(mode) | spiDefaults = SPI_CS_MODE(mode) |
SPI_CS_CSPOLS(cspols) |
SPI_CS_CS(channel) | SPI_CS_CS(channel) |
SPI_CS_CSPOL(cspol) | SPI_CS_CSPOL(cspol) |
SPI_CS_CLEAR(3); SPI_CS_CLEAR(3);
@ -2957,19 +3221,21 @@ static void spiGo(
while((txCnt < cnt) || (rxCnt < cnt)) while((txCnt < cnt) || (rxCnt < cnt))
{ {
while((txCnt < cnt) && ((spiReg[SPI_CS] & SPI_CS_TXD))) status = spiReg[SPI_CS];
{
if (txBuf) spiReg[SPI_FIFO] = txBuf[txCnt];
else spiReg[SPI_FIFO] = 0;
txCnt++;
}
while((rxCnt < cnt) && ((spiReg[SPI_CS] & SPI_CS_RXD))) while((rxCnt < cnt) && ((status & SPI_CS_RXD)))
{ {
if (rxBuf) rxBuf[rxCnt] = spiReg[SPI_FIFO]; if (rxBuf) rxBuf[rxCnt] = spiReg[SPI_FIFO];
else spi_dummy = spiReg[SPI_FIFO]; else spi_dummy = spiReg[SPI_FIFO];
rxCnt++; rxCnt++;
} }
while((txCnt < cnt) && ((status & SPI_CS_TXD)))
{
if (txBuf) spiReg[SPI_FIFO] = txBuf[txCnt];
else spiReg[SPI_FIFO] = 0;
txCnt++;
}
} }
while (!(spiReg[SPI_CS] & SPI_CS_DONE)) ; while (!(spiReg[SPI_CS] & SPI_CS_DONE)) ;
@ -2978,23 +3244,25 @@ static void spiGo(
cnt += cnt3w; cnt += cnt3w;
while((txCnt < cnt) || (rxCnt < cnt))
{
spiReg[SPI_CS] |= SPI_CS_REN; spiReg[SPI_CS] |= SPI_CS_REN;
while((txCnt < cnt) && ((spiReg[SPI_CS] & SPI_CS_TXD))) while((txCnt < cnt) || (rxCnt < cnt))
{ {
if (txBuf) spiReg[SPI_FIFO] = txBuf[txCnt]; status = spiReg[SPI_CS];
else spiReg[SPI_FIFO] = 0;
txCnt++;
}
while((rxCnt < cnt) && ((spiReg[SPI_CS] & SPI_CS_RXD))) while((rxCnt < cnt) && ((status & SPI_CS_RXD)))
{ {
if (rxBuf) rxBuf[rxCnt] = spiReg[SPI_FIFO]; if (rxBuf) rxBuf[rxCnt] = spiReg[SPI_FIFO];
else spi_dummy = spiReg[SPI_FIFO]; else spi_dummy = spiReg[SPI_FIFO];
rxCnt++; rxCnt++;
} }
while((txCnt < cnt) && ((status & SPI_CS_TXD)))
{
if (txBuf) spiReg[SPI_FIFO] = txBuf[txCnt];
else spiReg[SPI_FIFO] = 0;
txCnt++;
}
} }
while (!(spiReg[SPI_CS] & SPI_CS_DONE)) ; while (!(spiReg[SPI_CS] & SPI_CS_DONE)) ;
@ -3002,13 +3270,30 @@ static void spiGo(
spiReg[SPI_CS] = spiDefaults; /* stop */ spiReg[SPI_CS] = spiDefaults; /* stop */
} }
static int spiAnyOpen(void) static void spiGo(
unsigned speed,
uint32_t flags,
char *txBuf,
char *rxBuf,
unsigned count)
{ {
int i; if (PI_SPI_FLAGS_GET_AUX_SPI(flags))
spiGoA(speed, flags, txBuf, rxBuf, count);
else
spiGoS(speed, flags, txBuf, rxBuf, count);
}
static int spiAnyOpen(uint32_t flags)
{
int i, aux;
aux = PI_SPI_FLAGS_GET_AUX_SPI(flags);
for (i=0; i<PI_SPI_SLOTS; i++) for (i=0; i<PI_SPI_SLOTS; i++)
{ {
if (spiInfo[i].state == PI_SPI_OPENED) return 1; if ((spiInfo[i].state == PI_SPI_OPENED) &&
(PI_SPI_FLAGS_GET_AUX_SPI(spiInfo[i].flags) == aux))
return 1;
} }
return 0; return 0;
} }
@ -3022,16 +3307,26 @@ int spiOpen(unsigned spiChan, unsigned spiBaud, unsigned spiFlags)
CHECK_INITED; CHECK_INITED;
if (spiChan >= PI_NUM_SPI_CHANNEL) if (PI_SPI_FLAGS_GET_AUX_SPI(spiFlags))
{
if (gpioHardwareRevision() < 16)
SOFT_ERROR(PI_NO_AUX_SPI, "no auxiliary SPI, need a B+");
i = PI_NUM_AUX_SPI_CHANNEL;
}
else
i = PI_NUM_STD_SPI_CHANNEL;
if (spiChan >= i)
SOFT_ERROR(PI_BAD_SPI_CHANNEL, "bad spiChan (%d)", spiChan); SOFT_ERROR(PI_BAD_SPI_CHANNEL, "bad spiChan (%d)", spiChan);
if (!spiBaud) if ((spiBaud < MIN_SPI_SPEED) || (spiBaud > MAX_SPI_SPEED))
SOFT_ERROR(PI_BAD_SPI_SPEED, "bad spiBaud (%d)", spiBaud); SOFT_ERROR(PI_BAD_SPI_SPEED, "bad spiBaud (%d)", spiBaud);
if (spiFlags > 256) if (spiFlags > (1<<22))
SOFT_ERROR(PI_BAD_FLAGS, "bad spiFlags (0x%X)", spiFlags); SOFT_ERROR(PI_BAD_FLAGS, "bad spiFlags (0x%X)", spiFlags);
if (!spiAnyOpen()) spiInit(); /* initialise on first open */ if (!spiAnyOpen(spiFlags)) spiInit(spiFlags); /* initialise on first open */
slot = -1; slot = -1;
@ -3049,7 +3344,7 @@ int spiOpen(unsigned spiChan, unsigned spiBaud, unsigned spiFlags)
SOFT_ERROR(PI_NO_HANDLE, "no SPI handles"); SOFT_ERROR(PI_NO_HANDLE, "no SPI handles");
spiInfo[slot].speed = spiBaud; spiInfo[slot].speed = spiBaud;
spiInfo[slot].flags = spiFlags | PI_SPI_FLAGS_CHAN(spiChan); spiInfo[slot].flags = spiFlags | PI_SPI_FLAGS_CHANNEL(spiChan);
return slot; return slot;
} }
@ -3068,7 +3363,8 @@ int spiClose(unsigned handle)
spiInfo[handle].state = PI_I2C_CLOSED; spiInfo[handle].state = PI_I2C_CLOSED;
if (!spiAnyOpen()) spiTerm(); /* terminate on last close */ if (!spiAnyOpen(spiInfo[handle].flags))
spiTerm(spiInfo[handle].flags); /* terminate on last close */
return 0; return 0;
} }
@ -4979,6 +5275,11 @@ static int initPeripherals(void)
if (pcmReg == MAP_FAILED) if (pcmReg == MAP_FAILED)
SOFT_ERROR(PI_INIT_FAILED, "mmap pcm failed (%m)"); SOFT_ERROR(PI_INIT_FAILED, "mmap pcm failed (%m)");
auxReg = initMapMem(fdMem, AUX_BASE, AUX_LEN);
if (auxReg == MAP_FAILED)
SOFT_ERROR(PI_INIT_FAILED, "mmap aux failed (%m)");
return 0; return 0;
} }
@ -5120,9 +5421,10 @@ static int initDMAcbs(void)
DBG(DBG_STARTUP, "dmaBloc=%08X dmaIn=%08X", DBG(DBG_STARTUP, "dmaBloc=%08X dmaIn=%08X",
(uint32_t)dmaBloc, (uint32_t)dmaIn); (uint32_t)dmaBloc, (uint32_t)dmaIn);
DBG(DBG_STARTUP, "gpioReg=%08X pwmReg=%08X pcmReg=%08X clkReg=%08X", DBG(DBG_STARTUP,
"gpioReg=%08X pwmReg=%08X pcmReg=%08X clkReg=%08X auxReg=%08X",
(uint32_t)gpioReg, (uint32_t)pwmReg, (uint32_t)gpioReg, (uint32_t)pwmReg,
(uint32_t)pcmReg, (uint32_t)clkReg); (uint32_t)pcmReg, (uint32_t)clkReg, (uint32_t)auxReg);
for (i=0; i<DMAI_PAGES; i++) for (i=0; i<DMAI_PAGES; i++)
DBG(DBG_STARTUP, "dmaIPhys[%d]=%08X", i, (uint32_t)dmaIPhys[i]); DBG(DBG_STARTUP, "dmaIPhys[%d]=%08X", i, (uint32_t)dmaIPhys[i]);
@ -5431,6 +5733,7 @@ static void initClearGlobals(void)
dmaVirt = MAP_FAILED; dmaVirt = MAP_FAILED;
dmaPhys = MAP_FAILED; dmaPhys = MAP_FAILED;
auxReg = MAP_FAILED;
clkReg = MAP_FAILED; clkReg = MAP_FAILED;
dmaReg = MAP_FAILED; dmaReg = MAP_FAILED;
gpioReg = MAP_FAILED; gpioReg = MAP_FAILED;
@ -5485,6 +5788,7 @@ static void initReleaseResources(void)
/* release mmap'd memory */ /* release mmap'd memory */
if (auxReg != MAP_FAILED) munmap((void *)auxReg, AUX_LEN);
if (clkReg != MAP_FAILED) munmap((void *)clkReg, CLK_LEN); if (clkReg != MAP_FAILED) munmap((void *)clkReg, CLK_LEN);
if (dmaReg != MAP_FAILED) munmap((void *)dmaReg, DMA_LEN); if (dmaReg != MAP_FAILED) munmap((void *)dmaReg, DMA_LEN);
if (gpioReg != MAP_FAILED) munmap((void *)gpioReg, GPIO_LEN); if (gpioReg != MAP_FAILED) munmap((void *)gpioReg, GPIO_LEN);
@ -5493,6 +5797,7 @@ static void initReleaseResources(void)
if (systReg != MAP_FAILED) munmap((void *)systReg, SYST_LEN); if (systReg != MAP_FAILED) munmap((void *)systReg, SYST_LEN);
if (spiReg != MAP_FAILED) munmap((void *)spiReg, SPI_LEN); if (spiReg != MAP_FAILED) munmap((void *)spiReg, SPI_LEN);
auxReg = MAP_FAILED;
clkReg = MAP_FAILED; clkReg = MAP_FAILED;
dmaReg = MAP_FAILED; dmaReg = MAP_FAILED;
gpioReg = MAP_FAILED; gpioReg = MAP_FAILED;

102
pigpio.h
View File

@ -31,7 +31,7 @@ For more information, please refer to <http://unlicense.org/>
#include <stdint.h> #include <stdint.h>
#include <pthread.h> #include <pthread.h>
#define PIGPIO_VERSION 20 #define PIGPIO_VERSION 21
/*TEXT /*TEXT
@ -483,20 +483,30 @@ typedef void *(gpioThreadFunc_t) (void *);
/* I2C, SPI, SER */ /* I2C, SPI, SER */
#define MIN_SPI_SPEED 32000
#define MAX_SPI_SPEED 125000000
#define PI_I2C_SLOTS 32 #define PI_I2C_SLOTS 32
#define PI_SPI_SLOTS 8 #define PI_SPI_SLOTS 16
#define PI_SER_SLOTS 8 #define PI_SER_SLOTS 8
#define PI_NUM_I2C_BUS 2 #define PI_NUM_I2C_BUS 2
#define PI_NUM_SPI_CHANNEL 2
#define PI_NUM_AUX_SPI_CHANNEL 3
#define PI_NUM_STD_SPI_CHANNEL 2
#define PI_MAX_I2C_DEVICE_COUNT 8192 #define PI_MAX_I2C_DEVICE_COUNT 8192
#define PI_MAX_SPI_DEVICE_COUNT 8192 #define PI_MAX_SPI_DEVICE_COUNT 8192
#define PI_SPI_FLAGS_3WREN(x) ((x)<<4) #define PI_SPI_FLAGS_BITLEN(x) ((x&63)<<16)
#define PI_SPI_FLAGS_3WIRE(x) ((x)<<3) #define PI_SPI_FLAGS_RX_LSB(x) ((x&1)<<15)
#define PI_SPI_FLAGS_CSPOL(x) ((x)<<2) #define PI_SPI_FLAGS_TX_LSB(x) ((x&1)<<14)
#define PI_SPI_FLAGS_MODE(x) ((x)<<0) #define PI_SPI_FLAGS_3WREN(x) ((x&15)<<10)
#define PI_SPI_FLAGS_3WIRE(x) ((x&1)<<9)
#define PI_SPI_FLAGS_AUX_SPI(x) ((x&1)<<8)
#define PI_SPI_FLAGS_RESVD(x) ((x&7)<<5)
#define PI_SPI_FLAGS_CSPOLS(x) ((x&7)<<2)
#define PI_SPI_FLAGS_MODE(x) ((x&3))
/* Longest busy delay */ /* Longest busy delay */
@ -1886,20 +1896,24 @@ Data will be transferred at baud bits per second. The flags may
be used to modify the default behaviour of 4-wire operation, mode 0, be used to modify the default behaviour of 4-wire operation, mode 0,
active low chip select. active low chip select.
An auxiliary SPI device is available on the B+ and may be
selected by setting the A bit in the flags. The auxiliary
device has 3 chip selects and a selectable word size in bits.
. . . .
spiChan: 0-1 spiChan: 0-1
spiBaud: >1 spiBaud: >1
spiFlags: 0-0xFF spiFlags: see below
. . . .
Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL,
PI_BAD_SPI_SPEED, PI_BAD_FLAGS, or PI_SPI_OPEN_FAILED. PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED.
spiFlags consists of the least significant 8 bits. spiFlags consists of the least significant 22 bits.
. . . .
7 6 5 4 3 2 1 0 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
n n n n W P m m b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
. . . .
mm defines the SPI mode. mm defines the SPI mode.
@ -1912,13 +1926,30 @@ Mode POL PHA
3 1 1 3 1 1
. . . .
P is 0 for active low chip select (normal) and 1 for active high. px is 0 if CEx is active low (default) and 1 for active high.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. ux is 0 if the CEx gpio is reserved for SPI (default) and 1 otherwise.
A is 0 for the standard SPI device, 1 for the auxiliary SPI. The
auxiliary device is only present on the B+.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard
SPI device only.
nnnn defines the number of bytes (0-15) to write before switching nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored the MOSI line to MISO to read data. This field is ignored
if W is not set. if W is not set. Standard SPI device only.
T is 1 if the least significant bit is transmitted on MOSI first, the
default (0) shifts the most significant bit out first. Auxiliary SPI
device only.
R is 1 if the least significant bit is received on MISO first, the
default (0) receives the most significant bit first. Auxiliary SPI
device only.
bbbbbb defines the word size in bits (0-32). The default (0)
sets 8 bits per word. Auxiliary SPI device only.
The other bits in flags should be set to zero. The other bits in flags should be set to zero.
D*/ D*/
@ -2614,7 +2645,7 @@ micros: the number of microseconds to sleep
Returns the actual length of the delay in microseconds. Returns the actual length of the delay in microseconds.
Delays of 50 microseconds or less use busy waits. Delays of 100 microseconds or less use busy waits.
D*/ D*/
@ -3230,6 +3261,15 @@ typedef struct
} gpioPulse_t; } gpioPulse_t;
. . . .
gpioSample_t::
. .
typedef struct
{
uint32_t tick;
uint32_t level;
} gpioSample_t;
. .
gpioSignalFunc_t:: gpioSignalFunc_t::
. . . .
typedef void (*gpioSignalFunc_t) (int signum); typedef void (*gpioSignalFunc_t) (int signum);
@ -3415,7 +3455,7 @@ pulseLen::
*pulses:: *pulses::
An array of pulsed to be added to a waveform. An array of pulses to be added to a waveform.
pulsewidth::0, 500-2500 pulsewidth::0, 500-2500
. . . .
@ -3546,32 +3586,7 @@ A SPI channel, 0 or 1.
spiFlags:: spiFlags::
spiFlags consists of the least significant 8 bits. See [*spiOpen*].
. .
7 6 5 4 3 2 1 0
n n n n W P m m
. .
mm defines the SPI mode.
. .
Mode POL PHA
0 0 0
1 0 1
2 1 0
3 1 1
. .
P is 0 for active low chip select (normal) and 1 for active high.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored
if W is not set.
The other bits in flags should be set to zero.
spiSS:: spiSS::
@ -3903,6 +3918,7 @@ after this command is issued.
#define PI_UNKNOWN_COMMAND -88 // unknown command #define PI_UNKNOWN_COMMAND -88 // unknown command
#define PI_SPI_XFER_FAILED -89 // spi xfer/read/write failed #define PI_SPI_XFER_FAILED -89 // spi xfer/read/write failed
#define PI_BAD_POINTER -90 // bad (NULL) pointer #define PI_BAD_POINTER -90 // bad (NULL) pointer
#define PI_NO_AUX_SPI -91 // need a B+ for auxiliary SPI
/*DEF_E*/ /*DEF_E*/

83
pigpio.py
View File

@ -246,7 +246,7 @@ import os
import atexit import atexit
import codecs import codecs
VERSION = "1.10" VERSION = "1.11"
exceptions = True exceptions = True
@ -485,6 +485,8 @@ PI_SER_READ_FAILED =-86
PI_SER_READ_NO_DATA =-87 PI_SER_READ_NO_DATA =-87
PI_UNKNOWN_COMMAND =-88 PI_UNKNOWN_COMMAND =-88
PI_SPI_XFER_FAILED =-89 PI_SPI_XFER_FAILED =-89
_PI_BAD_POINTER =-90
PI_NO_AUX_SPI =-91
# pigpio error text # pigpio error text
@ -576,6 +578,8 @@ _errors=[
[PI_SER_READ_NO_DATA , "ser read no data available"], [PI_SER_READ_NO_DATA , "ser read no data available"],
[PI_UNKNOWN_COMMAND , "unknown command"], [PI_UNKNOWN_COMMAND , "unknown command"],
[PI_SPI_XFER_FAILED , "SPI xfer/read/write failed"], [PI_SPI_XFER_FAILED , "SPI xfer/read/write failed"],
[_PI_BAD_POINTER , "bad (NULL) pointer"],
[PI_NO_AUX_SPI , "need a B+ for auxiliary SPI"],
] ]
class _socklock: class _socklock:
@ -1745,7 +1749,7 @@ class pi():
Normally you would only use the [*i2c_**] functions if Normally you would only use the [*i2c_**] functions if
you are or will be connecting to the Pi over a network. If you are or will be connecting to the Pi over a network. If
you will always run on the local Pi use the standard smbus you will always run on the local Pi use the standard smbus
modules instead. module instead.
... ...
h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1 h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1
@ -2100,7 +2104,7 @@ class pi():
# Don't raise exception. Must release lock. # Don't raise exception. Must release lock.
bytes = u2i(_pigpio_command_ext( bytes = u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CPK, handle, reg, len(data), [data]), False) self.sl, _PI_CMD_I2CPK, handle, reg, len(data), [data], False))
if bytes > 0: if bytes > 0:
data = self._rxbuf(bytes) data = self._rxbuf(bytes)
else: else:
@ -2169,7 +2173,7 @@ class pi():
# Don't raise exception. Must release lock. # Don't raise exception. Must release lock.
bytes = u2i(_pigpio_command_ext( bytes = u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CRI, handle, reg, 4, extents), False) self.sl, _PI_CMD_I2CRI, handle, reg, 4, extents, False))
if bytes > 0: if bytes > 0:
data = self._rxbuf(bytes) data = self._rxbuf(bytes)
else: else:
@ -2184,6 +2188,11 @@ class pi():
modify the default behaviour of 4-wire operation, mode 0, modify the default behaviour of 4-wire operation, mode 0,
active low chip select. active low chip select.
An auxiliary SPI device is available on the B+ and may be
selected by setting the A bit in the flags. The auxiliary
device has 3 chip selects and a selectable word size in bits.
spi_channel:= 0 or 1, the SPI channel. spi_channel:= 0 or 1, the SPI channel.
spi_baud:= >0, the transmission rate in bits per second. spi_baud:= >0, the transmission rate in bits per second.
spi_flags:= see below. spi_flags:= see below.
@ -2191,13 +2200,13 @@ class pi():
Normally you would only use the [*spi_**] functions if Normally you would only use the [*spi_**] functions if
you are or will be connecting to the Pi over a network. If you are or will be connecting to the Pi over a network. If
you will always run on the local Pi use the standard SPI you will always run on the local Pi use the standard SPI
modules instead. module instead.
spiFlags consists of the least significant 8 bits. spi_flags consists of the least significant 22 bits.
. . . .
7 6 5 4 3 2 1 0 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
n n n n W P m m b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
. . . .
mm defines the SPI mode. mm defines the SPI mode.
@ -2210,13 +2219,31 @@ class pi():
3 1 1 3 1 1
. . . .
P is 0 for active low chip select (normal) and 1 for active high. px is 0 if CEx is active low (default) and 1 for active high.
ux is 0 if the CEx gpio is reserved for SPI (default)
and 1 otherwise.
A is 0 for the standard SPI device, 1 for the auxiliary SPI.
The auxiliary device is only present on the B+.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
Standard SPI device only.
nnnn defines the number of bytes (0-15) to write before switching nnnn defines the number of bytes (0-15) to write before
the MOSI line to MISO to read data. This field is ignored switching the MOSI line to MISO to read data. This field
if W is not set. is ignored if W is not set. Standard SPI device only.
T is 1 if the least significant bit is transmitted on MOSI
first, the default (0) shifts the most significant bit out
first. Auxiliary SPI device only.
R is 1 if the least significant bit is received on MISO
first, the default (0) receives the most significant bit
first. Auxiliary SPI device only.
bbbbbb defines the word size in bits (0-32). The default (0)
sets 8 bits per word. Auxiliary SPI device only.
The other bits in flags should be set to zero. The other bits in flags should be set to zero.
@ -2333,7 +2360,7 @@ class pi():
# Don't raise exception. Must release lock. # Don't raise exception. Must release lock.
bytes = u2i(_pigpio_command_ext( bytes = u2i(_pigpio_command_ext(
self.sl, _PI_CMD_SPIX, handle, 0, len(data), [data]), False) self.sl, _PI_CMD_SPIX, handle, 0, len(data), [data], False))
if bytes > 0: if bytes > 0:
data = self._rxbuf(bytes) data = self._rxbuf(bytes)
else: else:
@ -2353,7 +2380,7 @@ class pi():
Normally you would only use the [*serial_**] functions if Normally you would only use the [*serial_**] functions if
you are or will be connecting to the Pi over a network. If you are or will be connecting to the Pi over a network. If
you will always run on the local Pi use the standard serial you will always run on the local Pi use the standard serial
modules instead. module instead.
... ...
h1 = pi.serial_open("/dev/ttyAMA0", 300) h1 = pi.serial_open("/dev/ttyAMA0", 300)
@ -3066,33 +3093,7 @@ def xref():
A SPI channel. A SPI channel.
spi_flags: 32 bit spi_flags: 32 bit
See [*spi_open*].
spi_flags consists of the least significant 8 bits.
. .
7 6 5 4 3 2 1 0
n n n n W P m m
. .
mm defines the SPI mode.
. .
Mode POL PHA
0 0 0
1 0 1
2 1 0
3 1 1
. .
P is 0 for active low chip select (normal) and 1 for active high.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored
if W is not set.
The other bits in flags should be set to zero.
t1: t1:
A tick (earlier). A tick (earlier).

118
pigpiod_if.3
View File

@ -2228,6 +2228,13 @@ active low chip select.
.br .br
.br
An auxiliary SPI device is available on the B+ and may be
selected by setting the A bit in the flags. The auxiliary
device has 3 chip selects and a selectable word size in bits.
.br
.br .br
.EX .EX
@ -2244,21 +2251,21 @@ spi_channel: 0-1.
.br .br
Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL,
PI_BAD_SPI_SPEED, PI_BAD_FLAGS, or PI_SPI_OPEN_FAILED. PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED.
.br .br
.br .br
spiFlags consists of the least significant 8 bits. spi_flags consists of the least significant 22 bits.
.br .br
.br .br
.EX .EX
7 6 5 4 3 2 1 0 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
.br .br
n n n n W P m m b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
.br .br
.EE .EE
@ -2289,19 +2296,51 @@ Mode POL PHA
.br .br
.br .br
P is 0 for active low chip select (normal) and 1 for active high. px is 0 if CEx is active low (default) and 1 for active high.
.br .br
.br .br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. ux is 0 if the CEx gpio is reserved for SPI (default) and 1 otherwise.
.br
.br
A is 0 for the standard SPI device, 1 for the auxiliary SPI. The
auxiliary device is only present on the B+.
.br
.br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard
SPI device only.
.br .br
.br .br
nnnn defines the number of bytes (0-15) to write before switching nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored the MOSI line to MISO to read data. This field is ignored
if W is not set. if W is not set. Standard SPI device only.
.br
.br
T is 1 if the least significant bit is transmitted on MOSI first, the
default (0) shifts the most significant bit out first. Auxiliary SPI
device only.
.br
.br
R is 1 if the least significant bit is received on MISO first, the
default (0) receives the most significant bit first. Auxiliary SPI
device only.
.br
.br
bbbbbb defines the word size in bits (0-32). The default (0)
sets 8 bits per word. Auxiliary SPI device only.
.br .br
@ -3156,7 +3195,7 @@ PI_PUD_UP 2
.br .br
.IP "\fB*pulses\fP" 0 .IP "\fB*pulses\fP" 0
An array of pulsed to be added to a waveform. An array of pulses to be added to a waveform.
.br .br
@ -3270,10 +3309,6 @@ The speed in bits per second to use for the SPI device.
.br .br
.br
.br
.IP "\fBspi_channel\fP" 0 .IP "\fBspi_channel\fP" 0
A SPI channel, 0 or 1. A SPI channel, 0 or 1.
@ -3282,64 +3317,7 @@ A SPI channel, 0 or 1.
.br .br
.IP "\fBspi_flags\fP" 0 .IP "\fBspi_flags\fP" 0
spi_flags consists of the least significant 8 bits. See \fBspi_open\fP.
.br
.br
.EX
7 6 5 4 3 2 1 0
.br
n n n n W P m m
.br
.EE
.br
.br
mm defines the SPI mode.
.br
.br
.EX
Mode POL PHA
.br
0 0 0
.br
1 0 1
.br
2 1 0
.br
3 1 1
.br
.EE
.br
.br
P is 0 for active low chip select (normal) and 1 for active high.
.br
.br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
.br
.br
nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored
if W is not set.
.br
.br
The other bits in flags should be set to zero.
.br .br

2
pigpiod_if.c
View File

@ -25,7 +25,7 @@ OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to <http://unlicense.org/> For more information, please refer to <http://unlicense.org/>
*/ */
/* PIGPIOD_IF_VERSION 8 */ /* PIGPIOD_IF_VERSION 9 */
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>

67
pigpiod_if.h
View File

@ -30,7 +30,7 @@ For more information, please refer to <http://unlicense.org/>
#include "pigpio.h" #include "pigpio.h"
#define PIGPIOD_IF_VERSION 8 #define PIGPIOD_IF_VERSION 9
/*TEXT /*TEXT
@ -1564,6 +1564,10 @@ Data will be transferred at baud bits per second. The flags may
be used to modify the default behaviour of 4-wire operation, mode 0, be used to modify the default behaviour of 4-wire operation, mode 0,
active low chip select. active low chip select.
An auxiliary SPI device is available on the B+ and may be
selected by setting the A bit in the flags. The auxiliary
device has 3 chip selects and a selectable word size in bits.
. . . .
spi_channel: 0-1. spi_channel: 0-1.
spi_baud: >1. spi_baud: >1.
@ -1571,13 +1575,13 @@ spi_channel: 0-1.
. . . .
Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL,
PI_BAD_SPI_SPEED, PI_BAD_FLAGS, or PI_SPI_OPEN_FAILED. PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED.
spiFlags consists of the least significant 8 bits. spi_flags consists of the least significant 22 bits.
. . . .
7 6 5 4 3 2 1 0 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
n n n n W P m m b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
. . . .
mm defines the SPI mode. mm defines the SPI mode.
@ -1590,13 +1594,30 @@ Mode POL PHA
3 1 1 3 1 1
. . . .
P is 0 for active low chip select (normal) and 1 for active high. px is 0 if CEx is active low (default) and 1 for active high.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. ux is 0 if the CEx gpio is reserved for SPI (default) and 1 otherwise.
A is 0 for the standard SPI device, 1 for the auxiliary SPI. The
auxiliary device is only present on the B+.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard
SPI device only.
nnnn defines the number of bytes (0-15) to write before switching nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored the MOSI line to MISO to read data. This field is ignored
if W is not set. if W is not set. Standard SPI device only.
T is 1 if the least significant bit is transmitted on MOSI first, the
default (0) shifts the most significant bit out first. Auxiliary SPI
device only.
R is 1 if the least significant bit is received on MISO first, the
default (0) receives the most significant bit first. Auxiliary SPI
device only.
bbbbbb defines the word size in bits (0-32). The default (0)
sets 8 bits per word. Auxiliary SPI device only.
The other bits in flags should be set to zero. The other bits in flags should be set to zero.
D*/ D*/
@ -2047,7 +2068,7 @@ pulseLen::
1-100, the length of a trigger pulse in microseconds. 1-100, the length of a trigger pulse in microseconds.
*pulses:: *pulses::
An array of pulsed to be added to a waveform. An array of pulses to be added to a waveform.
pulsewidth::0, 500-2500 pulsewidth::0, 500-2500
. . . .
@ -2095,37 +2116,11 @@ A standard type used to indicate the size of an object in bytes.
spi_baud:: spi_baud::
The speed in bits per second to use for the SPI device. The speed in bits per second to use for the SPI device.
spi_channel:: spi_channel::
A SPI channel, 0 or 1. A SPI channel, 0 or 1.
spi_flags:: spi_flags::
spi_flags consists of the least significant 8 bits. See [*spi_open*].
. .
7 6 5 4 3 2 1 0
n n n n W P m m
. .
mm defines the SPI mode.
. .
Mode POL PHA
0 0 0
1 0 1
2 1 0
3 1 1
. .
P is 0 for active low chip select (normal) and 1 for active high.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored
if W is not set.
The other bits in flags should be set to zero.
*str:: *str::
An array of characters. An array of characters.

86
pigs.1
View File

@ -1338,7 +1338,6 @@ The frequencies for each sample rate are:
8us 5000 2500 1250 1000 625 500 313 250 200 8us 5000 2500 1250 1000 625 500 313 250 200
10us 4000 2000 1000 800 500 400 250 200 160 10us 4000 2000 1000 800 500 400 250 200 160
.br
#10 #11 #12 #13 #14 #15 #16 #17 #18 #10 #11 #12 #13 #14 #15 #16 #17 #18
1us 1250 1000 800 500 400 250 200 100 50 1us 1250 1000 800 500 400 250 200 100 50
2us 625 500 400 250 200 125 100 50 25 2us 625 500 400 250 200 125 100 50 25
@ -2169,7 +2168,6 @@ will be returned.
.br .br
This command returns a handle to a SPI device on channel \fBc\fP. This command returns a handle to a SPI device on channel \fBc\fP.
.br
.br .br
Data will be transferred at \fBb\fP bits per second. The flags \fBspf\fP Data will be transferred at \fBb\fP bits per second. The flags \fBspf\fP
@ -2177,14 +2175,19 @@ may be used to modify the default behaviour of 4-wire operation,
mode 0, active low chip select. mode 0, active low chip select.
.br .br
The flags consists of the least significant 8 bits. An auxiliary SPI device is available on the B+ and may be
selected by setting the A bit in the flags. The auxiliary
device has 3 chip selects and a selectable word size in bits.
.br
The flags consists of the least significant 22 bits.
.br .br
.EX .EX
7 6 5 4 3 2 1 0 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
.br .br
n n n n W P m m b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
.br .br
.EE .EE
@ -2209,15 +2212,37 @@ Mode POL PHA
.EE .EE
.br .br
P is 0 for active low chip select (normal) and 1 for active high. px is 0 if CEx is active low (default) and 1 for active high.
.br .br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. ux is 0 if the CEx gpio is reserved for SPI (default) and 1 otherwise.
.br
A is 0 for the standard SPI device, 1 for the auxiliary SPI. The
auxiliary device is only present on the B+.
.br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard
SPI device only.
.br .br
nnnn defines the number of bytes (0-15) to write before switching nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored the MOSI line to MISO to read data. This field is ignored
if W is not set. if W is not set. Standard SPI device only.
.br
T is 1 if the least significant bit is transmitted on MOSI first, the
default (0) shifts the most significant bit out first. Auxiliary SPI
device only.
.br
R is 1 if the least significant bit is received on MISO first, the
default (0) receives the most significant bit first. Auxiliary SPI
device only.
.br
bbbbbb defines the word size in bits (0-32). The default (0)
sets 8 bits per word. Auxiliary SPI device only.
.br .br
The other bits in flags should be set to zero. The other bits in flags should be set to zero.
@ -3187,50 +3212,7 @@ The command expects a script id as returned by a call to \fBPROC\fP.
.br .br
.IP "\fBspf\fP - SPI flags (32 bits)" 0 .IP "\fBspf\fP - SPI flags (32 bits)" 0
The flags consists of the least significant 8 bits. See \fBSPIO\fP.
.br
.EX
7 6 5 4 3 2 1 0
.br
n n n n W P m m
.br
.EE
.br
mm defines the SPI mode.
.br
.EX
Mode POL PHA
.br
0 0 0
.br
1 0 1
.br
2 1 0
.br
3 1 1
.br
.EE
.br
P is 0 for active low chip select (normal) and 1 for active high.
.br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
.br
nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored
if W is not set.
.br
The other bits in flags should be set to zero.
.br .br

2
setup.py
View File

@ -3,7 +3,7 @@
from distutils.core import setup from distutils.core import setup
setup(name='pigpio', setup(name='pigpio',
version='1.10', version='1.11',
author='joan', author='joan',
author_email='joan@abyz.co.uk', author_email='joan@abyz.co.uk',
maintainer='joan', maintainer='joan',

2
x_pigs
View File

@ -86,7 +86,7 @@ s=$(pigs pfs $GPIO 800)
if [[ $s = 800 ]]; then echo "PFS-b ok"; else echo "PFS-b fail ($s)"; fi if [[ $s = 800 ]]; then echo "PFS-b ok"; else echo "PFS-b fail ($s)"; fi
s=$(pigs pigpv) s=$(pigs pigpv)
if [[ $s = 20 ]]; then echo "PIGPV ok"; else echo "PIGPV fail ($s)"; fi if [[ $s = 21 ]]; then echo "PIGPV ok"; else echo "PIGPV fail ($s)"; fi
s=$(pigs prs $GPIO 255) s=$(pigs prs $GPIO 255)
if [[ $s = 250 ]]; then echo "PRG-a ok"; else echo "PRG-a fail ($s)"; fi if [[ $s = 250 ]]; then echo "PRG-a ok"; else echo "PRG-a fail ($s)"; fi

2
x_pipe
View File

@ -119,7 +119,7 @@ if [[ $s = 800 ]]; then echo "PFS-b ok"; else echo "PFS-b fail ($s)"; fi
echo "pigpv" >/dev/pigpio echo "pigpv" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 20 ]]; then echo "PIGPV ok"; else echo "PIGPV fail ($s)"; fi if [[ $s = 21 ]]; then echo "PIGPV ok"; else echo "PIGPV fail ($s)"; fi
echo "prs $GPIO 255" >/dev/pigpio echo "prs $GPIO 255" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout