gpioclk.cpp

// Simple program to route either the cyrstal clock or PLL clock to the
// output GPIO pin.

/*
License:
  This program is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 2 of the License, or
  (at your option) any later version.

  This program 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 General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <ctype.h>
#include <dirent.h>
#include <math.h>
#include <fcntl.h>
#include <assert.h>
#include <sys/mman.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <signal.h>
#include <malloc.h>
#include <time.h>
#include <sys/time.h>
#include <getopt.h>
#include <vector>
#include <iostream>
#include <sstream>
#include <iomanip>

using namespace std;

#define ABORT(a) exit(a)
// Used for debugging
#define MARK std::cout << "Currently in file: " << __FILE__ << " line: " << __LINE__ << std::endl

// Nominal clock frequencies
#define F_XTAL     (19200000.0)
#define F_PLLD_CLK (500000000.0)

// Choose proper base address depending on RPI1/RPI2 setting from makefile.
#ifdef RPI2
#define BCM2708_PERI_BASE 0x3f000000
//#pragma message "Raspberry Pi 2/3 detected."
#else
#define BCM2708_PERI_BASE 0x20000000
//#pragma message "Raspberry Pi 1 detected."
#endif

#define GPIO_BASE                (BCM2708_PERI_BASE + 0x200000) /* GPIO controller */
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)

// This must be declared global so that it can be called by the atexit
// function.
volatile unsigned *allof7e = NULL;

// GPIO setup macros. Always use INP_GPIO(x) before using OUT_GPIO(x) or SET_GPIO_ALT(x,y)
#define INP_GPIO(g) *(gpio+((g)/10)) &= ~(7<<(((g)%10)*3))
#define OUT_GPIO(g) *(gpio+((g)/10)) |=  (1<<(((g)%10)*3))
#define SET_GPIO_ALT(g,a) *(gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))

#define GPIO_SET *(gpio+7)  // sets   bits which are 1 ignores bits which are 0
#define GPIO_CLR *(gpio+10) // clears bits which are 1 ignores bits which are 0
#define GPIO_GET *(gpio+13) // sets   bits which are 1 ignores bits which are 0

#define ACCESS(base) *(volatile int*)((long int)allof7e+base-0x7e000000)
#define SETBIT(base, bit) ACCESS(base) |= 1<<bit
#define CLRBIT(base, bit) ACCESS(base) &= ~(1<<bit)
#define CM_GP0CTL (0x7e101070)
#define GPFSEL0 (0x7E200000)
#define PADS_GPIO_0_27  (0x7e10002c)
#define CM_GP0DIV (0x7e101074)
#define CLKBASE (0x7E101000)
#define DMABASE (0x7E007000)
#define PWMBASE  (0x7e20C000) /* PWM controller */

typedef enum {PLLD,XTAL} source_t;

struct GPCTL {
    char SRC         : 4;
    char ENAB        : 1;
    char KILL        : 1;
    char             : 1;
    char BUSY        : 1;
    char FLIP        : 1;
    char MASH        : 2;
    unsigned int     : 13;
    char PASSWD      : 8;
};

void txon(
  const source_t & source,
  const double & divisor
) {
    SETBIT(GPFSEL0 , 14);
    CLRBIT(GPFSEL0 , 13);
    CLRBIT(GPFSEL0 , 12);

    // Set GPIO drive strength, more info: http://www.scribd.com/doc/101830961/GPIO-Pads-Control2
    //ACCESS(PADS_GPIO_0_27) = 0x5a000018 + 0;  //2mA -3.4dBm
    //ACCESS(PADS_GPIO_0_27) = 0x5a000018 + 1;  //4mA +2.1dBm
    //ACCESS(PADS_GPIO_0_27) = 0x5a000018 + 2;  //6mA +4.9dBm
    //ACCESS(PADS_GPIO_0_27) = 0x5a000018 + 3;  //8mA +6.6dBm(default)
    //ACCESS(PADS_GPIO_0_27) = 0x5a000018 + 4;  //10mA +8.2dBm
    //ACCESS(PADS_GPIO_0_27) = 0x5a000018 + 5;  //12mA +9.2dBm
    //ACCESS(PADS_GPIO_0_27) = 0x5a000018 + 6;  //14mA +10.0dBm
    ACCESS(PADS_GPIO_0_27) = 0x5a000018 + 7;  //16mA +10.6dBm

    // Set the divider
    //cout << divisor << endl;
    //cout << divisor*pow(2.0,12) << endl;
    int div_val=(0x5a<<24)+((int)(divisor*pow(2.0,12)));
    //cout << hex << div_val << dec << endl;
    ACCESS(CM_GP0DIV) = div_val;

    // Turn on
    struct GPCTL setupword6= {6/*SRC*/, 1, 0, 0, 0, 3,0x5a};
    struct GPCTL setupword1= {1/*SRC*/, 1, 0, 0, 0, 3,0x5a};
    struct GPCTL setupword;
    if (source==PLLD) {
      setupword=setupword6;
    } else {
      setupword=setupword1;
    }
    ACCESS(CM_GP0CTL) = *((int*)&setupword);
}

void txoff()
{
    struct GPCTL setupword = {6/*SRC*/, 0, 0, 0, 0, 1,0x5a};
    ACCESS(CM_GP0CTL) = *((int*)&setupword);
}

void handSig(const int h) {
  exit(0);
}

//
// Set up a memory regions to access GPIO
//
void setup_io(
  int & mem_fd,
  char * & gpio_mem,
  char * & gpio_map,
  volatile unsigned * & gpio
) {
    /* open /dev/mem */
    if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
        printf("can't open /dev/mem \n");
        exit (-1);
    }

    /* mmap GPIO */

    // Allocate MAP block
    if ((gpio_mem = (char *)malloc(BLOCK_SIZE + (PAGE_SIZE-1))) == NULL) {
        printf("allocation error \n");
        exit (-1);
    }

    // Make sure pointer is on 4K boundary
    if ((unsigned long)gpio_mem % PAGE_SIZE)
        gpio_mem += PAGE_SIZE - ((unsigned long)gpio_mem % PAGE_SIZE);

    // Now map it
    gpio_map = (char *)mmap(
                   gpio_mem,
                   BLOCK_SIZE,
                   PROT_READ|PROT_WRITE,
                   MAP_SHARED|MAP_FIXED,
                   mem_fd,
                   GPIO_BASE
               );

    if ((long)gpio_map < 0) {
        printf("mmap error %ld\n", (long int)gpio_map);
        exit (-1);
    }

    // Always use volatile pointer!
    gpio = (volatile unsigned *)gpio_map;

}

void setup_gpios(
  volatile unsigned * & gpio
){
   int g;
   // Switch GPIO 7..11 to output mode

    /************************************************************************\
     * You are about to change the GPIO settings of your computer.          *
     * Mess this up and it will stop working!                               *
     * It might be a good idea to 'sync' before running this program        *
     * so at least you still have your code changes written to the SD-card! *
    \************************************************************************/

    // Set GPIO pins 7-11 to output
    for (g=7; g<=11; g++) {
        INP_GPIO(g); // must use INP_GPIO before we can use OUT_GPIO
        //OUT_GPIO(g);
    }

}

void print_usage() {
  cout << "Usage:" << endl;
  cout << "  gpioclk [source options] [frequency options]" << endl;
  cout << endl;
  cout << "Options:" << endl;
  cout << "  -s --source PLLD|XTAL" << endl;
  cout << "    Choose GIO clock source. PLLD=500MHz nominal, XTAL=19.2MHz nominal" << endl;
  cout << "    Default: PLLD" << endl;
  cout << "  -f --freq f" << endl;
  cout << "    Desired output frequency in Hz" << endl;
  cout << "  -d --divisor d" << endl;
  cout << "    Set the frequency divider value directly" << endl;
  cout << endl;
  cout << "Either --freq or --divisor (but not both) must be specified." << endl;
  cout << "Divisor is a floating point number where the integer portion is 12 bits wide" << endl;
  cout << "and the fractional portion is also 12 bits wide." << endl;
}

void parse_commandline(
  // Inputs
  const int & argc,
  char * const argv[],
  // Outputs
  source_t & source,
  bool & freq_specified,
  double & freq,
  bool & div_specified,
  double & divisor
) {
  // Default values
  source=PLLD;
  freq_specified=false;
  freq=0;
  div_specified=false;
  divisor=0;

  static struct option long_options[] = {
    {"help",             no_argument,       0, 'h'},
    {"source",           required_argument, 0, 's'},
    {"freq",             required_argument, 0, 'f'},
    {"divisor",          required_argument, 0, 'd'},
    {0, 0, 0, 0}
  };

  while (1) {
    /* getopt_long stores the option index here. */
    int option_index = 0;
    int c = getopt_long (argc, argv, "hs:f:d:",
                     long_options, &option_index);
    if (c == -1)
      break;

    switch (c) {
      char * endp;
      case 0:
        // Code should only get here if a long option was given a non-null
        // flag value.
        cout << "Check code!" << endl;
        ABORT(-1);
        break;
      case 'h':
        print_usage();
        ABORT(-1);
        break;
      case 's':
        if (!strcasecmp(optarg,"PLLD")) {
          source=PLLD;
        } else if (!strcasecmp(optarg,"XTAL")) {
          source=XTAL;
        } else {
          cerr << "Error: unrecognized frequency source" << endl;
          ABORT(-1);
        }
        break;
      case 'f':
        freq_specified=true;
        freq=strtod(optarg,&endp);
        if ((optarg==endp)||(*endp!='\0')) {
          cerr << "Error: could not parse frequency value" << endl;
          ABORT(-1);
        }
        break;
      case 'd':
        div_specified=true;
        divisor=strtod(optarg,&endp);
        if ((optarg==endp)||(*endp!='\0')) {
          cerr << "Error: could not parse frequency value" << endl;
          ABORT(-1);
        }
        break;
      case '?':
        /* getopt_long already printed an error message. */
        ABORT(-1);
      default:
        ABORT(-1);
    }

  }

  if (optind!=argc) {
    cerr << "Error: unrecognized command line options" << endl;
    ABORT(-1);
  }

  // Check consistency among command line options.
  if (freq_specified&&div_specified) {
    cerr << "Error: cannot specify both --freq and --divisor" << endl;
    ABORT(-1);
  }
  if ((!freq_specified)&&(!div_specified)) {
    cerr << "Error: must specify either --freq or --divisor" << endl;
    ABORT(-1);
  }
  if (freq_specified&&(freq<=0)) {
    cerr << "Error: frequency must be positive" << endl;
    ABORT(-1);
  }
  if (div_specified&&(divisor<=0)) {
    cerr << "Error: divisor must be positive" << endl;
    ABORT(-1);
  }

  // Print a summary of the parsed options
  cout << "Clock source: " << ((source==PLLD)?"PLLD":"XTAL") << endl;
  if (freq_specified) {
    cout << "Requested frequency (nominal): " << setprecision(10) << freq << " Hz" << endl;
  } else {
    cout << "Requested divisor: " << setprecision(20) << divisor << endl;
  }
}

int main(const int argc, char * const argv[]) {
#ifdef RPI1
  std::cout << "Detected Raspberry Pi version 1" << std::endl;
#else
  std::cout << "Detected Raspberry Pi version 2/3" << std::endl;
#endif

  // Parse arguments
  source_t source;
  bool freq_specified;
  double freq;
  bool div_specified;
  double divisor;
  parse_commandline(
    argc,
    argv,
    source,
    freq_specified,
    freq,
    div_specified,
    divisor
  );

  const double source_freq=(source==PLLD)?F_PLLD_CLK:F_XTAL;
  const double divisor_max=pow(2.0,13)-2+(1-pow(2.0,-12));

  // Calculate the actual divisor
  double divisor_actual;
  if (freq_specified) {
    divisor=source_freq/freq;
  }
  divisor_actual=divisor;
  if (divisor_actual*pow(2.0,12)!=floor(divisor_actual*pow(2.0,12))) {
    divisor_actual=floor(divisor_actual*pow(2.0,12)+0.5)/pow(2.0,12);
  }
  if (divisor_actual>divisor_max) {
    divisor_actual=divisor_max;
  }
  if (divisor_actual<2) {
    divisor_actual=2;
  }

  // Actual frequency
  const double freq_actual=source_freq/divisor_actual;

  cout << "Actual frequency produced (nominal): " << setprecision(30) << freq_actual << " Hz" << endl;
  cout << "Actual divisor used: " << setprecision(30) << divisor_actual << endl;

  // Initial configuration
  int mem_fd;
  char *gpio_mem, *gpio_map;
  volatile unsigned *gpio = NULL;
  setup_io(mem_fd,gpio_mem,gpio_map,gpio);
  setup_gpios(gpio);
  allof7e = (unsigned *)mmap(
              NULL,
              0x002FFFFF,  //len
              PROT_READ|PROT_WRITE,
              MAP_SHARED,
              mem_fd,
              BCM2708_PERI_BASE //base
          );
  if ((long int)allof7e==-1) {
    cerr << "Error: mmap error!" << endl;
    ABORT(-1);
  }

  cout << "Press CTRL-C to stop / exit" << endl;
  atexit(txoff);
  signal (SIGINT, handSig);
  signal (SIGTERM, handSig);
  signal (SIGHUP, handSig);
  signal (SIGQUIT, handSig);

  txon(source,divisor_actual);

  // Wait forever
  while (1) {
    usleep(1000000);
  }

  return 0;
}