Initial commit for interrupts based on wiringPi.

Makefile

@@ -53,7 +53,8 @@ OBJECTS+=gpio.o compatibility.o
 
 else ifeq "$(RPI)" "1"
 DRIVER_DIR=$(ARCH_DIR)/RPi
-OBJECTS+=bcm2835.o	
+OBJECTS+=bcm2835.o
+OBJECTS+=interrupt.o
 # The recommended compiler flags for the Raspberry Pi
 CCFLAGS=-Ofast -mfpu=vfp -mfloat-abi=hard -march=armv6zk -mtune=arm1176jzf-s
 
@@ -88,6 +89,9 @@ compatibility.o: $(DRIVER_DIR)/compatibility.c
 
 gpio.o: $(DRIVER_DIR)/gpio.cpp
 	g++ -Wall -fPIC ${CCFLAGS} -c $(DRIVER_DIR)/gpio.cpp
+
+interrupt.o: $(DRIVER_DIR)/interrupt.c
+	g++ -Wall -fPIC ${CCFLAGS} -pthread -c $(DRIVER_DIR)/interrupt.c
 	
 # clear build files
 clean:

examples_RPi/Makefile

@@ -23,13 +23,13 @@ endif
 
 # define all programs
 #PROGRAMS = scanner pingtest gettingstarted
-PROGRAMS = gettingstarted gettingstarted_call_response transfer pingpair_dyn
+PROGRAMS = gettingstarted gettingstarted_call_response transfer pingpair_dyn transfer_interrupt
 SOURCES = ${PROGRAMS:=.cpp}
 
 all: ${PROGRAMS}
 
 ${PROGRAMS}: ${SOURCES}
-	g++ ${CCFLAGS} -Wall -I../ -lrf24-bcm $@.cpp -o $@
+	g++ ${CCFLAGS} -Wall -pthread -I../ -lrf24-bcm $@.cpp -o $@
 
 clean:
 	rm -rf $(PROGRAMS)

examples_RPi/transfer_interrupt.cpp

+/*
+TMRh20 2014
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+/** General Data Transfer Rate Test
+ * This example demonstrates basic data transfer functionality with the
+ updated library. This example will display the transfer rates acheived using
+ the slower form of high-speed transfer using blocking-writes.
+ */
+
+#include <cstdlib>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <RF24/RF24.h>
+#include <unistd.h>
+
+using namespace std;
+//
+// Hardware configuration
+//
+
+/****************** Raspberry Pi ***********************/
+
+// Radio CE Pin, CSN Pin, SPI Speed
+// See http://www.airspayce.com/mikem/bcm2835/group__constants.html#ga63c029bd6500167152db4e57736d0939 and the related enumerations for pin information.
+
+// Setup for GPIO 22 CE and CE0 CSN with SPI Speed @ 4Mhz
+//RF24 radio(RPI_V2_GPIO_P1_22, BCM2835_SPI_CS0, BCM2835_SPI_SPEED_4MHZ);
+
+// NEW: Setup for RPi B+
+//RF24 radio(RPI_BPLUS_GPIO_J8_15,RPI_BPLUS_GPIO_J8_24, BCM2835_SPI_SPEED_8MHZ);
+
+// Setup for GPIO 15 CE and CE0 CSN with SPI Speed @ 8Mhz
+RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);
+
+/*** RPi Alternate ***/
+//Note: Specify SPI BUS 0 or 1 instead of CS pin number.
+// See http://tmrh20.github.io/RF24/RPi.html for more information on usage
+
+//RPi Alternate, with MRAA
+//RF24 radio(15,0);
+
+//RPi Alternate, with SPIDEV - Note: Edit RF24/arch/BBB/spi.cpp and  set 'this->device = "/dev/spidev0.0";;' or as listed in /dev
+//RF24 radio(22,0);
+
+
+/****************** Linux (BBB,x86,etc) ***********************/
+
+// See http://tmrh20.github.io/RF24/pages.html for more information on usage
+// See http://iotdk.intel.com/docs/master/mraa/ for more information on MRAA
+// See https://www.kernel.org/doc/Documentation/spi/spidev for more information on SPIDEV
+
+// Setup for ARM(Linux) devices like BBB using spidev (default is "/dev/spidev1.0" )
+//RF24 radio(115,0);
+
+//BBB Alternate, with mraa
+// CE pin = (Header P9, Pin 13) = 59 = 13 + 46 
+//Note: Specify SPI BUS 0 or 1 instead of CS pin number. 
+//RF24 radio(59,0);
+
+/**************************************************************/
+
+// Radio pipe addresses for the 2 nodes to communicate.
+const uint64_t addresses[2] = { 0xABCDABCD71LL, 0x544d52687CLL };
+
+
+uint8_t data[32];
+unsigned long startTime, stopTime, counter, rxTimer=0;
+
+void intHandler()
+{
+	//Read as long data is available
+	//Single interrupts may be lost if a lot of data comes in.
+	while(radio.available())
+	{
+      radio.read(&data,32);
+      counter++;
+    }
+}
+
+int main(int argc, char** argv){
+
+  bool role_ping_out = 1, role_pong_back = 0;
+  bool role = 0;
+
+  // Print preamble:
+
+  cout << "RF24/examples/Transfer/\n";
+
+  radio.begin();                           // Setup and configure rf radio
+  radio.setChannel(1);
+  radio.setPALevel(RF24_PA_MAX);
+  radio.setDataRate(RF24_1MBPS);
+  radio.setAutoAck(1);                     // Ensure autoACK is enabled
+  radio.setRetries(2,15);                  // Optionally, increase the delay between retries & # of retries
+  radio.setCRCLength(RF24_CRC_8);          // Use 8-bit CRC for performance
+  radio.printDetails();
+/********* Role chooser ***********/
+
+  printf("\n ************ Role Setup ***********\n");
+  string input = "";
+  char myChar = {0};
+  cout << "Choose a role: Enter 0 for receiver, 1 for transmitter (CTRL+C to exit)\n>";
+  getline(cin,input);
+
+  attachInterrupt(23, INT_EDGE_FALLING, intHandler); //Attach interrupt to bcm pin 23
+
+  if(input.length() == 1) {
+	myChar = input[0];
+	if(myChar == '0'){
+		cout << "Role: Pong Back, awaiting transmission " << endl << endl;
+	}else{  cout << "Role: Ping Out, starting transmission " << endl << endl;
+		role = role_ping_out;
+	}
+  }
+/***********************************/
+
+    if ( role == role_ping_out )    {
+      radio.openWritingPipe(addresses[1]);
+      radio.openReadingPipe(1,addresses[0]);
+	  radio.stopListening();
+    } else {
+      radio.openWritingPipe(addresses[0]);
+      radio.openReadingPipe(1,addresses[1]);
+      radio.startListening();
+    }
+
+
+  for(int i=0; i<32; i++){
+     data[i] = rand() % 255;               			//Load the buffer with random data
+  }
+
+    // forever loop
+    while (1)
+	{
+	if (role == role_ping_out){
+		sleep(2);
+		printf("Initiating Basic Data Transfer\n\r");
+
+		long int cycles = 10000; 					//Change this to a higher or lower number.
+		
+		// unsigned long pauseTime = millis();		//Uncomment if autoAck == 1 ( NOACK )
+		startTime = millis();
+	
+		for(int i=0; i<cycles; i++){        		//Loop through a number of cycles
+      			data[0] = i;                        //Change the first byte of the payload for identification
+      			if(!radio.writeFast(&data,32)){     //Write to the FIFO buffers
+        			counter++;                      //Keep count of failed payloads
+      			}
+
+				
+				//This is only required when NO ACK ( enableAutoAck(0) ) payloads are used
+		/*		if(millis() - pauseTime > 3){       // Need to drop out of TX mode every 4ms if sending a steady stream of multicast data
+					pauseTime = millis();		    
+					radio.txStandBy();				// This gives the PLL time to sync back up	
+				}
+		*/
+		}
+		stopTime = millis();
+
+		if(!radio.txStandBy()){ counter+=3; }
+
+  		float numBytes = cycles*32;
+   		float rate = numBytes / (stopTime - startTime);
+
+  		printf("Transfer complete at %.2f KB/s \n\r",rate);
+   		printf("%lu of %lu Packets Failed to Send\n\r",counter,cycles);
+  		counter = 0;
+
+	}
+
+
+	if(role == role_pong_back)
+	{
+		counter = 0;
+		delay(10000);
+		rxTimer = millis();
+		printf("Rate: ");
+		float numBytes = counter*32;
+		printf("%.2f KB/s \n\r",numBytes/100);
+		printf("Payload Count: %lu \n\r", counter);
+	}
+	
+} // loop
+} // main
+

utility/RPi/includes.h

@@ -5,6 +5,6 @@
   #define RF24_RPi
   #include "RPi/bcm2835.h" 
   #include "RPi/RF24_arch_config.h"
-   
+  #include "RPi/interrupt.h"
   
-#endif
+#endif
\ No newline at end of file

utility/RPi/interrupt.c

+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <sys/wait.h>
+#include <sys/ioctl.h>
+#include <poll.h>
+#include <sys/stat.h>
+#include "interrupt.h"
+#include <pthread.h>
+
+#define delay(x) bcm2835_delay(x)
+
+static pthread_mutex_t pinMutex ;
+static volatile int    pinPass = -1 ;
+// sysFds:
+//      Map a file descriptor from the /sys/class/gpio/gpioX/value
+
+static int sysFds [64] =
+{
+  -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+  -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+  -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+  -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+} ;
+
+// ISR Data
+static void (*isrFunctions [64])(void) ;
+
+int waitForInterrupt (int pin, int mS)
+{
+  int fd, x ;
+  uint8_t c ;
+  struct pollfd polls ;
+
+  if ((fd = sysFds [pin]) == -1)
+    return -2 ;
+
+// Setup poll structure
+
+  polls.fd     = fd ;
+  polls.events = POLLPRI ;      // Urgent data!
+
+// Wait for it ...
+  x = poll (&polls, 1, mS) ;
+
+// Do a dummy read to clear the interrupt
+//      A one character read appars to be enough.
+//      Followed by a seek to reset it.
+
+  (void)read (fd, &c, 1) ;
+  lseek (fd, 0, SEEK_SET) ;
+
+  return x ;
+}
+
+
+int piHiPri (const int pri)
+{
+  struct sched_param sched ;
+
+  memset (&sched, 0, sizeof(sched)) ;
+
+  if (pri > sched_get_priority_max (SCHED_RR))
+    sched.sched_priority = sched_get_priority_max (SCHED_RR) ;
+  else
+    sched.sched_priority = pri ;
+
+  return sched_setscheduler (0, SCHED_RR, &sched) ;
+}
+
+
+static void *interruptHandler (void *arg)
+{
+  int myPin ;
+
+  (void)piHiPri (55) ;  // Only effective if we run as root
+
+  myPin   = pinPass ;
+  pinPass = -1 ;
+
+  for (;;)
+    if (waitForInterrupt (myPin, -1) > 0)
+      isrFunctions [myPin] () ;
+
+  return NULL ;
+}
+
+
+int attachInterrupt (int pin, int mode, void (*function)(void))
+{
+  pthread_t threadId ;
+  const char *modeS ;
+  char fName   [64] ;
+  char  pinS [8] ;
+  pid_t pid ;
+  int   count, i ;
+  char  c ;
+  int   bcmGpioPin ;
+
+  bcmGpioPin = pin ;
+
+  if (mode != INT_EDGE_SETUP)
+  {
+    /**/ if (mode == INT_EDGE_FALLING)
+      modeS = "falling" ;
+    else if (mode == INT_EDGE_RISING)
+      modeS = "rising" ;
+    else
+      modeS = "both" ;
+
+    sprintf (pinS, "%d", bcmGpioPin) ;
+
+    if ((pid = fork ()) < 0)    // Fail
+      return printf("wiringPiISR: fork failed: %s\n", strerror (errno)) ;
+
+    if (pid == 0)       // Child, exec
+    {
+      /**/ if (access ("/usr/local/bin/gpio", X_OK) == 0)
+      {
+        execl ("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
+        return printf ("wiringPiISR: execl failed: %s\n", strerror (errno)) ;
+      }
+      else if (access ("/usr/bin/gpio", X_OK) == 0)
+      {
+        execl ("/usr/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
+        return printf ("wiringPiISR: execl failed: %s\n", strerror (errno)) ;
+      }
+      else
+        return printf ("wiringPiISR: Can't find gpio program\n") ;
+    }
+    else                // Parent, wait
+      wait (NULL) ;
+  }
+
+  if (sysFds [bcmGpioPin] == -1)
+  {
+    sprintf (fName, "/sys/class/gpio/gpio%d/value",bcmGpioPin) ; //WRONG
+    if ((sysFds [bcmGpioPin] = open (fName, O_RDWR)) < 0)
+      return printf ("wiringPiISR: unable to open %s: %s\n", fName, strerror (errno)) ;
+  }
+
+    ioctl (sysFds [bcmGpioPin], FIONREAD, &count) ;
+  for (i = 0 ; i < count ; ++i)
+    read (sysFds [bcmGpioPin], &c, 1) ;
+
+  isrFunctions [pin] = function ;
+
+  pthread_mutex_lock (&pinMutex) ;
+    pinPass = pin ;
+    pthread_create (&threadId, NULL, interruptHandler, NULL) ;
+    while (pinPass != -1)
+      delay (1) ;
+  pthread_mutex_unlock (&pinMutex) ;
+
+  return 0 ;
+}
+

utility/RPi/interrupt.h

+/*
+Interrupts functions extruded from wiringPi library by Oitzu.
+*/
+
+#include "RF24_arch_config.h"
+
+#define INT_EDGE_SETUP          0
+#define INT_EDGE_FALLING        1
+#define INT_EDGE_RISING         2
+#define INT_EDGE_BOTH           3
+
+static void *interruptHandler (void *arg);
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+extern int waitForInterrupt (int pin, int mS);
+extern int piHiPri (const int pri);
+extern int attachInterrupt (int pin, int mode, void (*function)(void));
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file