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com.diozero.internal.board.raspberrypi.RaspberryPiMmapGpio Maven / Gradle / Ivy
package com.diozero.internal.board.raspberrypi;
/*
* #%L
* Organisation: diozero
* Project: Device I/O Zero - Core
* Filename: RaspberryPiMmapGpio.java
*
* This file is part of the diozero project. More information about this project
* can be found at http://www.diozero.com/
* %%
* Copyright (C) 2016 - 2020 diozero
* %%
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
* #L%
*/
import java.nio.ByteOrder;
import java.nio.IntBuffer;
import com.diozero.api.DeviceMode;
import com.diozero.api.GpioPullUpDown;
import com.diozero.internal.provider.MmapGpioInterface;
import com.diozero.util.MmapBufferNative;
import com.diozero.util.MmapByteBuffer;
import com.diozero.util.SleepUtil;
@SuppressWarnings("unused")
public class RaspberryPiMmapGpio implements MmapGpioInterface {
private static final String GPIOMEM_DEVICE = "/dev/gpiomem";
//private static final int GPIOMEM_LEN = 0xB4;
private static final int GPIOMEM_LEN = 4096;
// From BCM2835 data-sheet, p.91
private static final byte GPFSEL_OFFSET = 0x00 >> 2;
private static final byte GPSET_OFFSET = 0x1c >> 2;
private static final byte GPCLR_OFFSET = 0x28 >> 2;
private static final byte GPLEV_OFFSET = 0x34 >> 2;
private static final byte GPEDS_OFFSET = 0x40 >> 2;
private static final byte GPREN_OFFSET = 0x4c >> 2;
private static final byte GPFEN_OFFSET = 0x58 >> 2;
private static final byte GPHEN_OFFSET = 0x64 >> 2;
private static final byte GPLEN_OFFSET = 0x70 >> 2;
private static final byte GPAREN_OFFSET = 0x7c >> 2;
private static final byte GPAFEN_OFFSET = 0x88 >> 2;
private static final byte GPPUD_OFFSET = 0x94 >> 2;
private static final byte GPPUDCLK_OFFSET = 0x98 >> 2;
// Offset to the GPIO Set registers for each GPIO pin
private static final byte[] GPIO_TO_GPSET = {
7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7,
8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8
};
// Offset to the GPIO Clear registers for each GPIO pin
private static final byte[] GPIO_TO_GPCLR = {
10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,
11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11
};
// Offset to the GPIO Input level registers for each GPIO pin
private static final byte[] GPIO_TO_GPLEV = {
13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,
14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14
};
// GPIO Pin pull up/down register
private static final byte GPPUD = 37;
// Offset to the Pull Up Down Clock register
private static byte[] GPIO_TO_PUDCLK = {
38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,
39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39
};
private static final int PI_PUD_OFF = 0;
private static final int PI_PUD_DOWN = 1;
private static final int PI_PUD_UP = 2;
private boolean initialised;
private MmapByteBuffer mmap;
private IntBuffer gpioIntBuffer;
@Override
public synchronized void initialise() {
if (! initialised) {
mmap = MmapBufferNative.createMmapBuffer(GPIOMEM_DEVICE, 0, GPIOMEM_LEN);
gpioIntBuffer = mmap.getBuffer().order(ByteOrder.LITTLE_ENDIAN).asIntBuffer();
initialised = true;
}
}
@Override
public synchronized void close() {
if (initialised) {
MmapBufferNative.closeMmapBuffer(mmap.getFd(), mmap.getAddress(), mmap.getLength());
}
}
/**
* Returns the function of a GPIO: 0=input, 1=output, 4=alt0
* @param gpio GPIO number
* @return GPIO mode (0 - INPUT, 1 - OUTPUT)
*/
@Override
public DeviceMode getMode(int gpio) {
int reg = gpio / 10;
int shift = (gpio % 10) * 3;
switch ((gpioIntBuffer.get(reg) >> shift) & 7) {
case 0:
return DeviceMode.DIGITAL_INPUT;
case 1:
return DeviceMode.DIGITAL_OUTPUT;
default:
return DeviceMode.UNKNOWN;
}
}
@Override
public void setMode(int gpio, DeviceMode mode) {
int reg = gpio / 10;
int shift = (gpio % 10) * 3;
switch (mode) {
case DIGITAL_INPUT:
gpioIntBuffer.put(reg, gpioIntBuffer.get(reg) & ~(7 << shift));
break;
case DIGITAL_OUTPUT:
gpioIntBuffer.put(reg, (gpioIntBuffer.get(reg) & ~(7 << shift)) | (1 << shift));
break;
default:
throw new IllegalArgumentException("Invalid GPIO mode " + mode + " for pin " + gpio);
}
}
@Override
public void setPullUpDown(int gpio, GpioPullUpDown pud) {
// pigpio:
/*
gpioReg.put(GPPUD, pud);
// Sleep 20us
SleepUtil.busySleep(20_000);
gpioReg.put(GPPUDCLK0 + gpio >> 5, 1 << (gpio & 0x1F));
SleepUtil.busySleep(20_000);
gpioReg.put(GPPUD, 0);
gpioReg.put(GPPUDCLK0 + gpio >> 5, 0);
*/
int pi_pud;
switch (pud) {
case PULL_UP:
pi_pud = PI_PUD_UP;
break;
case PULL_DOWN:
pi_pud = PI_PUD_DOWN;
break;
default:
case NONE:
pi_pud = PI_PUD_OFF;
break;
}
// wiringPi:
gpioIntBuffer.put(GPPUD, pi_pud & 3);
SleepUtil.busySleep(5_000);
gpioIntBuffer.put(GPIO_TO_PUDCLK[gpio], 1 << (gpio & 0x1F));
SleepUtil.busySleep(5_000);
gpioIntBuffer.put(GPPUD, 0);
SleepUtil.busySleep(5_000);
gpioIntBuffer.put(GPIO_TO_PUDCLK[gpio], 0);
SleepUtil.busySleep(5_000);
}
@Override
public boolean gpioRead(int gpio) {
//return (gpioReg.get(GPLEV0 + (gpio >> 5)) & (1 << (gpio & 0x1F))) != 0;
return (gpioIntBuffer.get(GPIO_TO_GPLEV[gpio]) & (1 << (gpio & 0x1F))) != 0;
}
@Override
public void gpioWrite(int gpio, boolean value) {
if (value) {
// pigpio
//gpioReg.put(GPSET0 + gpio >> 5, 1 << (gpio & 0x1F));
// wiringPi
gpioIntBuffer.put(GPIO_TO_GPSET[gpio], 1 << (gpio & 0x1F));
} else {
// pigpio
//gpioReg.put(GPCLR0 + gpio >> 5, 1 << (gpio & 0x1F));
// wiringPi
gpioIntBuffer.put(GPIO_TO_GPCLR[gpio], 1 << (gpio & 0x1F));
}
}
}
